🚌 Adds eventbus with bluetooth adapter

esp32/src/adapters/bluetooth.cpp

@@ -0,0 +1,81 @@
+#include <adapters/bluetooth.hpp>
+#include <topic.hpp>
+#include <ArduinoJson.h>
+
+static constexpr auto SERVICE_UUID = "6e400001-b5a3-f393-e0a9-e50e24dcca9e";
+static constexpr auto TX_UUID = "6e400003-b5a3-f393-e0a9-e50e24dcca9e";
+static constexpr auto RX_UUID = "6e400002-b5a3-f393-e0a9-e50e24dcca9e";
+
+void BluetoothService::begin(const char* name) {
+#define X(e, t)                                                                  \
+    setHandle<t>(Topic::e, EventBus<t>::subscribe([this](const t* d, size_t n) { \
+                     if (connected && n) emit<Topic::e>(d[0]);                   \
+                 }));
+    TOPIC_LIST
+#undef X
+
+    BLEDevice::init(name);
+    bleServer = BLEDevice::createServer();
+    bleServer->setCallbacks(new ServerCb(this));
+    auto* svc = bleServer->createService(SERVICE_UUID);
+    txCharacteristic = svc->createCharacteristic(TX_UUID, BLECharacteristic::PROPERTY_NOTIFY);
+    txCharacteristic->addDescriptor(new BLE2902());
+    rxCharacteristic = svc->createCharacteristic(RX_UUID, BLECharacteristic::PROPERTY_WRITE);
+    rxCharacteristic->setCallbacks(new RxCb(this));
+    svc->start();
+    bleServer->getAdvertising()->start();
+}
+
+void BluetoothService::handleReceive(const std::string& data) {
+    JsonDocument doc;
+#if USE_MSGPACK
+    if (deserializeMsgPack(doc, data)) return;
+#else
+    if (deserializeJson(doc, data)) return;
+#endif
+
+    serializeJson(doc, Serial);
+    Serial.println();
+
+    auto payload = doc.as<JsonArrayConst>();
+
+    MsgKind msgKind = static_cast<MsgKind>(payload[0].as<uint8_t>());
+    switch (msgKind) {
+        case MsgKind::Connect:
+            for (size_t i = 1; i < payload.size(); ++i) subscribe(static_cast<Topic>(payload[i].as<uint8_t>()), 0);
+            break;
+
+        case MsgKind::Disconnect:
+            for (size_t i = 1; i < payload.size(); ++i) {
+                Topic t = static_cast<Topic>(payload[i].as<uint8_t>());
+                unsubscribe(t, 0);
+#define X(e, m)                            \
+    if (t == Topic::e) {                   \
+        auto* h = &getHandle<m>(Topic::e); \
+        if (h->valid()) h->unsubscribe();  \
+    }
+                TOPIC_LIST
+#undef X
+            }
+            break;
+
+        case MsgKind::Event:
+            if (payload.size() < 3) break;
+            switch (static_cast<Topic>(payload[1].as<uint8_t>())) {
+#define X(e, m) \
+    case Topic::e: EventBus<m>::publishAsync(parse<m>(payload[2]), getHandle<m>(Topic::e)); break;
+                TOPIC_LIST
+#undef X
+                default: break;
+            }
+            break;
+
+        default: break;
+    }
+}
+
+void BluetoothService::send(size_t, const char* data, size_t len) {
+    if (!connected) return;
+    txCharacteristic->setValue((uint8_t*)data, len);
+    txCharacteristic->notify();
+}

esp32/src/main.cpp

@@ -1,6 +1,9 @@
 #include <spot.h>
+#include <event_bus.hpp>
+#include <adapters/bluetooth.hpp>
 
 DRAM_ATTR Spot spot;
+BluetoothService bluetooth;
 
 void IRAM_ATTR SpotControlLoopEntry(void*) {
     ESP_LOGI("main", "Setup complete now runing tsk");
@@ -17,6 +20,7 @@ void IRAM_ATTR SpotControlLoopEntry(void*) {
 
 void setup() {
     Serial.begin(115200);
+    bluetooth.begin("Hexapod");
 
     spot.initialize();