✨ Adds native http wrapper to replace psychic

esp32/include/communication/native_server.h

@@ -0,0 +1,75 @@
+#pragma once
+
+#include <esp_http_server.h>
+#include <functional>
+#include <vector>
+#include <string>
+#include <map>
+#include <ArduinoJson.h>
+
+using HttpGetHandler = std::function<esp_err_t(httpd_req_t*)>;
+using HttpPostHandler = std::function<esp_err_t(httpd_req_t*, JsonVariant&)>;
+using WsFrameHandler = std::function<esp_err_t(httpd_req_t*, httpd_ws_frame_t*)>;
+using WsOpenHandler = std::function<void(httpd_req_t*)>;
+using WsCloseHandler = std::function<void(int)>;
+
+struct HttpRoute {
+    std::string uri;
+    httpd_method_t method;
+    HttpGetHandler getHandler;
+    HttpPostHandler postHandler;
+    bool isWebsocket;
+};
+
+class NativeServer {
+  public:
+    NativeServer();
+    ~NativeServer();
+
+    void config(size_t maxUriHandlers, size_t stackSize, size_t maxUploadSize);
+    esp_err_t listen(uint16_t port);
+    void stop();
+
+    void on(const char* uri, httpd_method_t method, HttpGetHandler handler);
+    void on(const char* uri, httpd_method_t method, HttpPostHandler handler);
+
+    void onWsFrame(WsFrameHandler handler);
+    void onWsOpen(WsOpenHandler handler);
+    void onWsClose(WsCloseHandler handler);
+    void registerWebsocket(const char* uri);
+
+    esp_err_t wsSend(int sockfd, const uint8_t* data, size_t len);
+    esp_err_t wsSendAll(const uint8_t* data, size_t len);
+    void addWsClient(int sockfd);
+    void removeWsClient(int sockfd);
+    std::vector<int>& getWsClients();
+
+    void addDefaultHeader(const char* key, const char* value);
+
+    httpd_handle_t getHandle() { return server_; }
+
+    static esp_err_t sendJson(httpd_req_t* req, int status, const char* json);
+    static esp_err_t sendJson(httpd_req_t* req, int status, JsonDocument& doc);
+    static esp_err_t sendError(httpd_req_t* req, int status, const char* message);
+    static esp_err_t sendOk(httpd_req_t* req);
+
+  private:
+    httpd_handle_t server_ = nullptr;
+    httpd_config_t config_;
+    std::vector<HttpRoute> routes_;
+    std::map<std::string, std::string> defaultHeaders_;
+    std::vector<int> wsClients_;
+    SemaphoreHandle_t wsMutex_;
+
+    WsFrameHandler wsFrameHandler_;
+    WsOpenHandler wsOpenHandler_;
+    WsCloseHandler wsCloseHandler_;
+
+    static esp_err_t httpHandler(httpd_req_t* req);
+    static esp_err_t wsHandler(httpd_req_t* req);
+
+    void applyDefaultHeaders(httpd_req_t* req);
+    esp_err_t registerRoute(const HttpRoute& route);
+};
+
+extern NativeServer nativeServer;

esp32/include/communication/native_websocket.h

@@ -0,0 +1,22 @@
+#pragma once
+
+#include <Arduino.h>
+#include <communication/native_server.h>
+#include <communication/comm_base.hpp>
+
+class NativeWebsocket : public CommAdapterBase {
+  public:
+    NativeWebsocket(NativeServer& server, const char* route = "/api/ws");
+
+    void begin() override;
+
+  private:
+    NativeServer& server_;
+    const char* route_;
+
+    void onWsOpen(httpd_req_t* req);
+    void onWsClose(int sockfd);
+    esp_err_t onFrame(httpd_req_t* req, httpd_ws_frame_t* frame);
+
+    void send(const uint8_t* data, size_t len, int cid = -1) override;
+};