Fix/oled reboot

Core/Inc/top_board/oled/OLED_driver.h

@@ -7,9 +7,7 @@
 #include <stdlib.h>
 
 #define MAX_CHILDEREN 9
-#define MAX_VAR_NAME_LENGTH 9
 #define MAX_MENU_NAME_LENGTH 15
-#define MAX_SUBMENU_NAME_LENGTH 23
 #define MAX_STRING_LENGTH 23
 
 typedef struct page_struct page_struct;
@@ -62,5 +60,8 @@ void end_of_test();
 enum test_type OLED_get_current_page_test_type();
 void end_of_boot_screen(bool MCP_OK);
 void display_text();
+void pageNameTooLongException(char* name);
+void textTooLongException(char* page_name, int line, int length);
+void unknownLineNumber(char* page_name, int line);
 
 #endif /* INC_OLED_H_ */ 

Core/Inc/top_board/oled/menus/info_menu.h

@@ -2,7 +2,6 @@
 #define INC_INFO_MENU_H_
 
 #include "OLED_driver.h"
-#include "general_info.h"
 #include "encoder_page.h"
 #include "mcp_page.h"
 #include "time_page.h"

Core/Inc/top_board/oled/pages.h

@@ -13,6 +13,7 @@
 void pages_init(page_struct *p);
 void pages_set_default_values(page_struct *page, page_struct *parent);
 void add_child_to_parent(page_struct *current);
-
+void page_set_page_name(char* name, page_struct *page);
+void page_put_text_in_line(page_struct *page, char* text, int lineNum);
 
 #endif /* INC_PAGES_H_ */

Core/Src/top_board/Control/stateControl.c

@@ -262,7 +262,7 @@ void wheels_Update() {
 			}
 
 			float feed_back_voltage = wheelFBOn*24.0f*(0.001367311 * (PID(angular_velocity_error, &wheelsK[motor])));
-			float max_fb_voltage = 12.5f;
+			float max_fb_voltage = 3.0f;
 			if (feed_back_voltage > max_fb_voltage) {
 				feed_back_voltage = max_fb_voltage;
 			}
@@ -272,7 +272,7 @@ void wheels_Update() {
 
 
 		// Set motor PWM fraction/voltage
-			float max_voltage = 12.5;
+			float max_voltage = 5.5;
 			// Add PID to commanded speed and convert to PWM (range between -1 and 1)
 			float wheel_voltage_to_be_applied = feed_forward[motor] + feed_back_voltage;
 			if (wheel_voltage_to_be_applied > max_voltage) {

Core/Src/top_board/oled/OLED_driver.c

@@ -21,11 +21,13 @@ static bool oled_initialized = false;
 static page_struct *current_page;
 struct page_struct not_in_test_mode;
 struct page_struct error_menu_has_no_children;
+struct page_struct error_non_specified;
 struct page_struct root_page; 
 static int item_selector;
 static int id_self_test_menu;
 bool flag_error_too_many_children = false;
 bool flag_error_too_many_children_page_init = false;
+bool flag_error_page_name_too_long = false;
 char* page_name_error_too_many_children;
 bool test_is_finished = false;
 static char *robotNames[] = {"404", "WALL-E", "Bob", "Pumba", "Ted", "Eve", "Susie", "James", "Lizzy", "McQueen", "Kevin", "Brum", "Van Robogh", "Wout", "Jenny", "Hermann"};
@@ -36,24 +38,31 @@ static char *robotNames[] = {"404", "WALL-E", "Bob", "Pumba", "Ted", "Eve", "Sus
  * @brief initialize the OLED screen
 */
 void OLED_Init() {
+    // ERROR & EXCEPTION PAGES
     pages_set_default_values(&error_menu_has_no_children, NULL);
     error_menu_has_no_children.id = 50;
     strcpy(error_menu_has_no_children.page_name, "Error");
 
+    pages_set_default_values(&error_non_specified, NULL);
+    error_non_specified.id = 60;
+    strcpy(error_non_specified.page_name, "Error");
+
+    initNotInTestMode();
+    id_self_test_menu = getSelfTestMenuID();
+
     //ROOT
     pages_set_default_values(&root_page, NULL);
     root_page.id = 0;
     strcpy(root_page.page_name, "Root");
 
-    pages_init(&root_page);
-    initNotInTestMode();
-
     clear_screen();
     current_page = &root_page;
     item_selector = 0;
-    oled_initialized = true;
-    id_self_test_menu = getSelfTestMenuID();
+
     boot_screen();
+
+    pages_init(&root_page);
+    oled_initialized = true;
 }
 
 /**
@@ -72,12 +81,16 @@ void OLED_Update(button_id_t button, bool test_mode) {
         return;
     }
 
-    /* show error if a menu has too many children; afterwards return */
+    /* error handling */
     if (flag_error_too_many_children) {
         if (!flag_error_too_many_children_page_init) menuHasTooManyChildrenException();
         return;
     }
 
+    if (current_page->id == error_non_specified.id) {
+        return;
+    }
+
     /* if no button is pressed return; update variables displayed on page if needed beforehand */
     if (button == BUTTON_NONE) {
         if (current_page->is_test != NOT_A_TEST) {
@@ -124,8 +137,9 @@ void OLED_Update(button_id_t button, bool test_mode) {
  * @display useful information after boot such as ID, team color, MCP alive, and test mode
 */
 void end_of_boot_screen(bool MCP_OK) {
+    if (current_page->id == error_non_specified.id) return;
     clear_screen();
-    strcpy(current_page->page_name, robotNames[robot_get_ID()]);
+    page_set_page_name(robotNames[robot_get_ID()], current_page);
     putPageName();
     char temp[MAX_STRING_LENGTH];
     //ID + TEAM COLOR
@@ -134,10 +148,10 @@ void end_of_boot_screen(bool MCP_OK) {
     } else {
         sprintf(temp, "ID: %d YELLOW", robot_get_ID());
     }
-    strcpy(current_page->line0, temp);
+    page_put_text_in_line(current_page, temp, 0);
     //POWER
     sprintf(temp, "%.2fV REM: %d", powerAlive.voltagePowerBoard, REM_LOCAL_VERSION);
-    strcpy(current_page->line1, temp);
+    page_put_text_in_line(current_page, temp, 1);
     //MCP ALIVE
     if (MCP_OK) {
         strcpy(current_page->line2, "MCP: OK");
@@ -195,7 +209,6 @@ void end_of_test() {
     strcpy(current_page->line1, "Test done!");
     strcpy(current_page->line2, "press \"OK\" to");
     strcpy(current_page->line3, "continue");
-    strcpy(current_page->line3, "");
     display_text();
     SSD1306_UpdateScreen();
 }
@@ -221,6 +234,63 @@ void display_text() {
     SSD1306_Puts(current_page->line3, &Font_7x10, 1);
 }
 
+void pageNameTooLongException(char* name) {
+    current_page = &error_non_specified;
+    clear_screen();
+    SSD1306_GotoXY (5,0);
+    SSD1306_Puts("ERROR", &Font_11x18, 1);
+    SSD1306_GotoXY (5,20);
+    char tempstr[20];
+    SSD1306_Puts("Page name:", &Font_7x10, 1);
+    SSD1306_GotoXY (5,31);
+    sprintf(tempstr, "%s", name);
+    SSD1306_Puts(tempstr, &Font_7x10, 1);
+    SSD1306_GotoXY (5,42);
+    SSD1306_Puts("is too long!", &Font_7x10, 1);
+    SSD1306_GotoXY (5,53);
+    sprintf(tempstr, "length %d > %d", strlen(name), MAX_MENU_NAME_LENGTH);
+    SSD1306_Puts(tempstr, &Font_7x10, 1);
+    SSD1306_UpdateScreen();
+}
+
+void textTooLongException(char* page_name, int line, int length) {
+    current_page = &error_non_specified;
+    clear_screen();
+    SSD1306_GotoXY (5,0);
+    SSD1306_Puts("ERROR", &Font_11x18, 1);
+    SSD1306_GotoXY (5,20);
+    char tempstr[20];
+    sprintf(tempstr, "page %s", page_name);
+    SSD1306_Puts(tempstr, &Font_7x10, 1);
+    SSD1306_GotoXY (5,31);
+    sprintf(tempstr, "line %d ", line);
+    SSD1306_Puts(tempstr, &Font_7x10, 1);
+    SSD1306_GotoXY (5,42);
+    SSD1306_Puts("is too long.", &Font_7x10, 1);
+    SSD1306_GotoXY (5,53);
+    sprintf(tempstr, "length %d > %d", length, MAX_STRING_LENGTH);
+    SSD1306_Puts(tempstr, &Font_7x10, 1);
+    SSD1306_UpdateScreen();
+}
+
+void unknownLineNumber(char* page_name, int line) {
+    current_page = &error_non_specified;
+    clear_screen();
+    SSD1306_GotoXY (5,0);
+    SSD1306_Puts("ERROR", &Font_11x18, 1);
+    SSD1306_GotoXY (5,20);
+    char tempstr[20];
+    sprintf(tempstr, "page %s", page_name);
+    SSD1306_Puts(tempstr, &Font_7x10, 1);
+    SSD1306_GotoXY (5,31);
+    sprintf(tempstr, "line %d ", line);
+    SSD1306_Puts(tempstr, &Font_7x10, 1);
+    SSD1306_GotoXY (5,42);
+    SSD1306_Puts("does not exist", &Font_7x10, 1);
+    SSD1306_GotoXY (5,53);
+    SSD1306_UpdateScreen();
+}
+
 ///////////////////////////////////////////////////// PRIVATE FUNCTION IMPLEMENTATIONS
 /**
  * @brief actions after button press for menu page

Core/Src/top_board/oled/menus/info_menu.c

@@ -8,11 +8,10 @@ struct page_struct sensor_menu;
  * @note constraint for children of info menu: 20 < id < 30 
 */
 void info_menu_initChildren(page_struct *parent) {
-    general_info_init(parent);
 
     pages_set_default_values(&communication_menu, parent);
     communication_menu.id = 22;
-    strcpy(communication_menu.page_name, "Communication");
+    page_set_page_name("Communication", &communication_menu);
     communication_menu.is_menu = true;
     add_child_to_parent(&communication_menu);
     time_page_init(&communication_menu);
@@ -21,7 +20,7 @@ void info_menu_initChildren(page_struct *parent) {
 
     pages_set_default_values(&sensor_menu, parent);
     sensor_menu.id = 23;
-    strcpy(sensor_menu.page_name, "Sensors etc.");
+    page_set_page_name("Sensors etc.", &sensor_menu);
     sensor_menu.is_menu = true;
     add_child_to_parent(&sensor_menu);
     encoder_page_init(&sensor_menu);

Core/Src/top_board/oled/menus/kicker_self_test_menu.c

@@ -11,27 +11,27 @@ struct page_struct no_charge;
 void kicker_self_test_menu_initChildren(page_struct *parent) {
     pages_set_default_values(&kick_menu, parent);
     kick_menu.id = 131;
-    strcpy(kick_menu.page_name, "Test Kick");
+    page_set_page_name("Test Kick", &kick_menu);
     kick_menu.is_menu = true;
     add_child_to_parent(&kick_menu);
     kicker_test_initChildren(&kick_menu);
 
     pages_set_default_values(&chip_menu, parent);
     chip_menu.id = 132;
-    strcpy(chip_menu.page_name, "Test Chip");
+    page_set_page_name("Test Chip", &chip_menu);
     chip_menu.is_menu = true;
     add_child_to_parent(&chip_menu);
     chip_test_initChildren(&chip_menu);
 
     pages_set_default_values(&no_charge, parent);
     no_charge.id = 133;
-    strcpy(no_charge.page_name, "No Charging!");
+    page_set_page_name("No Charging!", &no_charge);
     no_charge.is_test = BLOCKING_TEST;
     add_child_to_parent(&no_charge);
 
     pages_set_default_values(&charge, parent);
     charge.id = 134;
-    strcpy(charge.page_name, "Charging!");
+    page_set_page_name("Charging!", &charge);
     charge.is_test = BLOCKING_TEST;
     add_child_to_parent(&charge);
 }

Core/Src/top_board/oled/menus/main_menu.c

@@ -11,21 +11,21 @@ struct page_struct drain_battery_menu;
 void main_menu_initChildren(page_struct *parent) {
     pages_set_default_values(&self_test_menu, parent);
     self_test_menu.id = 1;
-    strcpy(self_test_menu.page_name, "Self Tests");
+    page_set_page_name("Self Tests", &self_test_menu);
     self_test_menu.is_menu = true;
     add_child_to_parent(&self_test_menu);
     self_test_menu_initChildren(&self_test_menu);
 
     pages_set_default_values(&info_menu, parent);
     info_menu.id = 2;
-    strcpy(info_menu.page_name, "Info Menu");
+    page_set_page_name("Info Menu", &info_menu);
     info_menu.is_menu = true;
     add_child_to_parent(&info_menu);
     info_menu_initChildren(&info_menu);
 
     pages_set_default_values(&drain_battery_menu, parent);
     drain_battery_menu.id = 3;
-    strcpy(drain_battery_menu.page_name, "Drain battery");
+    page_set_page_name("Drain Battery", &drain_battery_menu);
     drain_battery_menu.is_menu = true;
     add_child_to_parent(&drain_battery_menu);
     drain_battery_initChildren(&drain_battery_menu);

Core/Src/top_board/oled/menus/self_test_menu.c

@@ -13,15 +13,15 @@ struct page_struct self_test_system_menu;
 void self_test_menu_initChildren(page_struct *parent) {
     pages_set_default_values(&self_test_system_menu, parent);
     self_test_system_menu.id = 15;
-    strcpy(self_test_system_menu.page_name, "System tests");
+    page_set_page_name("System tests", &self_test_system_menu);
     self_test_system_menu.is_menu = true;
     add_child_to_parent(&self_test_system_menu);
     system_test_init(&self_test_system_menu);
 
 
     pages_set_default_values(&self_test_top_menu, parent);
     self_test_top_menu.id = 11;
-    strcpy(self_test_top_menu.page_name, "Top board");
+    page_set_page_name("Top board", &self_test_top_menu);
     self_test_top_menu.is_menu = true;
     add_child_to_parent(&self_test_top_menu);
     buzzer_test_init(&self_test_top_menu);
@@ -32,21 +32,21 @@ void self_test_menu_initChildren(page_struct *parent) {
 
     pages_set_default_values(&self_test_power_menu, parent);
     self_test_power_menu.id = 12;
-    strcpy(self_test_power_menu.page_name, "Power board");
+    page_set_page_name("Power board", &self_test_power_menu);
     self_test_power_menu.is_menu = true;
     add_child_to_parent(&self_test_power_menu);
 
     pages_set_default_values(&self_test_kicker_menu, parent);
     self_test_kicker_menu.id = 13;
-    strcpy(self_test_kicker_menu.page_name, "Kicker board");
+    page_set_page_name("Kicker board", &self_test_kicker_menu);
     self_test_kicker_menu.is_menu = true;
     add_child_to_parent(&self_test_kicker_menu);
     kicker_self_test_menu_initChildren(&self_test_kicker_menu);
 
 
     pages_set_default_values(&self_test_dribbler_menu, parent);
     self_test_dribbler_menu.id = 14;
-    strcpy(self_test_dribbler_menu.page_name, "Dribler board");
+    page_set_page_name("Dribbler board", &self_test_dribbler_menu);
     self_test_dribbler_menu.is_menu = true;
     add_child_to_parent(&self_test_dribbler_menu);
     dribbler_test_InitChildren(&self_test_dribbler_menu);

Core/Src/top_board/oled/pages.c

@@ -23,6 +23,38 @@ void pages_set_default_values(page_struct *page, page_struct *parent) {
     page -> parent = parent;
 }
 
+void page_set_page_name(char* name, page_struct *page) {
+    if (strlen(name) > MAX_MENU_NAME_LENGTH) {
+        pageNameTooLongException(name);
+    } else {
+        strcpy(page->page_name, name);
+    }
+}
+
+void page_put_text_in_line(page_struct *page, char* text, int lineNum) {
+    if (strlen(text) > MAX_STRING_LENGTH) {
+        textTooLongException(page->page_name, lineNum, strlen(text));
+    } else {
+        switch (lineNum) {
+        case 0:
+            strcpy(page->line0, text);
+            break;
+        case 1:
+            strcpy(page->line1, text);
+            break;
+        case 2:
+            strcpy(page->line2, text);
+            break;
+        case 3:
+            strcpy(page->line3, text);
+            break;
+        default:
+            unknownLineNumber(page->page_name, lineNum);
+            break;
+        }
+    }
+}
+
 /**
  * @brief add page as child to it's parent
 */