Darkages/SpotMicroESP32-Leika
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⚡ Moves rest of events to event bus

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This commit is contained in:
Rune Harlyk
2026-02-01 00:44:24 +01:00
parent 57e0aac2aa
commit 0c0ef0ac40
9 changed files with 110 additions and 30 deletions
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esp32/src/main.cpp
+15 -27
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@@ -132,32 +132,18 @@ void setupEventSocket() {
[](const socket_message_FSDownloadComplete &complete, int clientId) { wsSocket.emit(complete, clientId); },
[](const socket_message_FSUploadComplete &complete, int clientId) { wsSocket.emit(complete, clientId); });
wsSocket.on<socket_message_ControllerData>(
[&](const socket_message_ControllerData &data, int clientId) { motionService.handleInput(data); });
wsSocket.on<socket_message_ModeData>([&](const socket_message_ModeData &data, int clientId) {
servoController.setMode(SERVO_CONTROL_STATE::ANGLE);
motionService.handleMode(data);
motionService.isActive() ? servoController.activate() : servoController.deactivate();
});
wsSocket.on<socket_message_WalkGaitData>(
[&](const socket_message_WalkGaitData &data, int clientId) { motionService.handleWalkGait(data); });
wsSocket.on<socket_message_AnglesData>(
[&](const socket_message_AnglesData &data, int clientId) { motionService.handleAngles(data); });
wsSocket.on<socket_message_ServoPWMData>([&](const socket_message_ServoPWMData &data, int clientId) {
servoController.setServoPWM(data.servo_id, data.servo_pwm);
});
wsSocket.on<socket_message_ServoStateData>([&](const socket_message_ServoStateData &data, int clientId) {
data.active ? servoController.activate() : servoController.deactivate();
});
wsSocket.onPublish<socket_message_ControllerData>();
wsSocket.onPublish<socket_message_ModeData>();
wsSocket.onPublish<socket_message_WalkGaitData>();
wsSocket.onPublish<socket_message_AnglesData>();
wsSocket.onPublish<socket_message_ServoPWMData>();
wsSocket.onPublish<socket_message_ServoStateData>();
wsSocket.on<socket_message_FSUploadData>(
[&](const socket_message_FSUploadData &data, int clientId) { FileSystemWS::fsHandler.handleUploadData(data); });
wsSocket.bridgeFromEventBus<socket_message_IMUData>(100);
using CorrelationHandler =
std::function<void(const socket_message_CorrelationRequest &, socket_message_CorrelationResponse &, int)>;
static std::map<pb_size_t, CorrelationHandler> correlationHandlers = {
@@ -257,6 +243,10 @@ void IRAM_ATTR SpotControlLoopEntry(void *) {
peripherals.begin();
servoController.begin();
motionService.begin();
motionService.setModeChangeCallback([](bool active) {
servoController.setMode(SERVO_CONTROL_STATE::ANGLE);
active ? servoController.activate() : servoController.deactivate();
});
#if FT_ENABLED(USE_WS2812)
ledService.begin();
#endif
@@ -310,11 +300,9 @@ void IRAM_ATTR serviceLoopEntry(void *) {
});
EXECUTE_EVERY_N_MS(100, {
if (wsSocket.hasSubscribers(socket_message_Message_imu_tag)) {
socket_message_IMUData imu = socket_message_IMUData_init_zero;
peripherals.getIMUProto(imu);
wsSocket.emit(imu);
}
socket_message_IMUData imu = socket_message_IMUData_init_zero;
peripherals.getIMUProto(imu);
EventBus::publish(imu);
if (wsSocket.hasSubscribers(socket_message_Message_rssi_tag)) {
socket_message_RSSIData rssi = {.rssi = WiFi.RSSI()};