🚌 Adds eventbus with bluetooth adapter

esp32/include/msgs/command_msg.hpp

@@ -0,0 +1,17 @@
+#pragma once
+#include <ArduinoJson.h>
+
+struct CommandMsg {
+    float x, y;
+    friend void toJson(JsonVariant v, CommandMsg const &c) {
+        JsonArray arr = v.to<JsonArray>();
+        arr.add(c.x);
+        arr.add(c.y);
+    }
+
+    void fromJson(JsonVariantConst o) {
+        JsonArrayConst arr = o.as<JsonArrayConst>();
+        x = arr[0].as<float>();
+        y = arr[1].as<float>();
+    }
+};

esp32/include/msgs/imu_msg.hpp

@@ -0,0 +1,18 @@
+#pragma once
+#include <ArduinoJson.h>
+
+struct ImuMsg {
+    float ypr[3];
+    friend void toJson(JsonVariant v, ImuMsg const &a) {
+        JsonArray arr = v.to<JsonArray>();
+        arr.add(a.ypr[0]);
+        arr.add(a.ypr[1]);
+        arr.add(a.ypr[2]);
+    }
+    void fromJson(JsonVariantConst o) {
+        JsonArrayConst arr = o.as<JsonArrayConst>();
+        ypr[0] = arr[0].as<float>();
+        ypr[1] = arr[1].as<float>();
+        ypr[2] = arr[2].as<float>();
+    }
+};

esp32/include/msgs/mode_msg.hpp

@@ -0,0 +1,10 @@
+#pragma once
+#include <ArduinoJson.h>
+
+enum class MotionState { ON, OFF };
+
+struct ModeMsg {
+    MotionState mode;
+    friend void toJson(JsonVariant v, ModeMsg const &m) { v.set(static_cast<int>(m.mode)); }
+    void fromJson(JsonVariantConst o) { mode = (MotionState)o.as<int>(); }
+};

esp32/include/msgs/topics.def

@@ -0,0 +1,4 @@
+#define TOPIC_LIST   \
+    X(Imu, ImuMsg)   \
+    X(Mode, ModeMsg) \
+    X(Command, CommandMsg)