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🪄 Formats ESP32SvelteKit

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This commit is contained in:
Rune Harlyk
2024-07-09 20:09:22 +02:00
committed by Rune Harlyk
parent b75c3bc251
commit 0e29dba043
3 changed files with 86 additions and 178 deletions
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esp32/lib/ESP32-sveltekit/ServoController.h
+37 -54
View File
@@ -25,9 +25,9 @@
#define FACTORY_SERVO_CENTER_ANGLE 90
#endif
#define SERVO_STATE_SPEED_MS 20
#define SERVO_MIN 150 // This is the 'minimum' pulse length count (out of 4096)
#define SERVO_MAX 650 // This is the 'maximum' pulse length count (out of 4096)
#define SERVO_STATE_SPEED_MS 20
#define SERVO_MIN 150 // This is the 'minimum' pulse length count (out of 4096)
#define SERVO_MAX 650 // This is the 'maximum' pulse length count (out of 4096)
enum SERVO_STATE { SERVO_STATE_ACTIVE, SERVO_STATE_SWEEPING_FORWARD, SERVO_STATE_SWEEPING_BACKWARD };
@@ -41,18 +41,17 @@ struct servo_t {
};
class ServoConfiguration {
public:
int32_t servo_oscillator_frequency{FACTORY_SERVO_OSCILLATOR_FREQUENCY};
int32_t servo_pwm_frequency{FACTORY_SERVO_PWM_FREQUENCY};
public:
int32_t servo_oscillator_frequency {FACTORY_SERVO_OSCILLATOR_FREQUENCY};
int32_t servo_pwm_frequency {FACTORY_SERVO_PWM_FREQUENCY};
std::vector<servo_t> servos_config;
bool is_active{true};
bool is_active {true};
const int8_t servo_invert[12] = {-1, 1, 1, -1, -1, -1, 1, 1, 1, 1, -1, -1};
static void read(ServoConfiguration &settings, JsonObject &root) {
root["is_active"] = settings.is_active;
root["servo_pwm_frequency"] = settings.servo_pwm_frequency;
root["servo_oscillator_frequency"] =
settings.servo_oscillator_frequency;
root["servo_oscillator_frequency"] = settings.servo_oscillator_frequency;
JsonArray servos = root["servos"].to<JsonArray>();
@@ -68,14 +67,10 @@ class ServoConfiguration {
}
}
static StateUpdateResult update(JsonObject &root,
ServoConfiguration &settings) {
static StateUpdateResult update(JsonObject &root, ServoConfiguration &settings) {
settings.is_active = root["is_active"] | settings.is_active;
settings.servo_pwm_frequency =
root["servo_pwm_frequency"] | settings.servo_pwm_frequency;
settings.servo_oscillator_frequency =
root["servo_oscillator_frequency"] |
settings.servo_oscillator_frequency;
settings.servo_pwm_frequency = root["servo_pwm_frequency"] | settings.servo_pwm_frequency;
settings.servo_oscillator_frequency = root["servo_oscillator_frequency"] | settings.servo_oscillator_frequency;
JsonArray servos = root["servos"];
@@ -83,15 +78,15 @@ class ServoConfiguration {
ESP_LOGI("ControllerSettings", "No servos found, adding default servos");
for (int8_t i = 0; i < FACTORY_SERVO_NUM; i++) {
ESP_LOGI("ControllerSettings", "Adding servo %d", i);
settings.servos_config.push_back(
servo_t{.name = "Servo " + String(i),
.channel = i,
.inverted = 1,
.angle = 0,
.center_angle = FACTORY_SERVO_CENTER_ANGLE
// ,
// .state = SERVO_STATE_ACTIVE
});
settings.servos_config.push_back(servo_t {
.name = "Servo " + String(i),
.channel = i,
.inverted = 1,
.angle = 0,
.center_angle = FACTORY_SERVO_CENTER_ANGLE
// ,
// .state = SERVO_STATE_ACTIVE
});
}
return StateUpdateResult::CHANGED;
}
@@ -99,22 +94,18 @@ class ServoConfiguration {
for (auto new_servo_json : servos) {
JsonObject servo_config = new_servo_json.as<JsonObject>();
int8_t channel = servo_config["channel"] | -1;
servo_t *servo =
get_servo_by_channel(settings.servos_config, channel);
servo_t *servo = get_servo_by_channel(settings.servos_config, channel);
if (servo != nullptr) {
servo->name = servo_config["name"].as<String>() || servo->name;
if (servo_config["inverted"])
servo->inverted = servo_config["inverted"];
if (servo_config["inverted"]) servo->inverted = servo_config["inverted"];
if (servo_config["angle"].is<int16_t>()) {
servo->angle = servo_config["angle"].as<int16_t>();
servo->state = SERVO_STATE_ACTIVE;
}
if (servo_config["center_angle"].is<int16_t>())
servo->center_angle =
servo_config["center_angle"].as<int16_t>();
if (servo_config["sweep"])
servo->state = SERVO_STATE_SWEEPING_FORWARD;
servo->center_angle = servo_config["center_angle"].as<int16_t>();
if (servo_config["sweep"]) servo->state = SERVO_STATE_SWEEPING_FORWARD;
continue;
}
@@ -131,8 +122,7 @@ class ServoConfiguration {
return StateUpdateResult::CHANGED;
};
static servo_t *get_servo_by_channel(std::vector<servo_t> &servos_config,
int8_t channel_id) {
static servo_t *get_servo_by_channel(std::vector<servo_t> &servos_config, int8_t channel_id) {
for (auto &servo : servos_config) {
if (servo.channel == channel_id) {
return &servo;
@@ -142,20 +132,16 @@ class ServoConfiguration {
}
};
class ServoController : public Adafruit_PWMServoDriver,
public StatefulService<ServoConfiguration> {
public:
ServoController(PsychicHttpServer *server, FS *fs,
SecurityManager *securityManager, EventSocket *socket)
class ServoController : public Adafruit_PWMServoDriver, public StatefulService<ServoConfiguration> {
public:
ServoController(PsychicHttpServer *server, FS *fs, SecurityManager *securityManager, EventSocket *socket)
: Adafruit_PWMServoDriver(),
_server(server),
_securityManager(securityManager),
_eventEndpoint(ServoConfiguration::read, ServoConfiguration::update,
this, socket, EVENT_CONFIGURATION_SETTINGS),
_fsPersistence(ServoConfiguration::read, ServoConfiguration::update,
this, fs, SERVO_CONFIG_FILE) {
addUpdateHandler([&](const String &originId) { updateServos(); },
false);
_eventEndpoint(ServoConfiguration::read, ServoConfiguration::update, this, socket,
EVENT_CONFIGURATION_SETTINGS),
_fsPersistence(ServoConfiguration::read, ServoConfiguration::update, this, fs, SERVO_CONFIG_FILE) {
addUpdateHandler([&](const String &originId) { updateServos(); }, false);
}
void configure() {
@@ -164,8 +150,7 @@ class ServoController : public Adafruit_PWMServoDriver,
setOscillatorFrequency(_state.servo_oscillator_frequency);
setPWMFreq(_state.servo_pwm_frequency);
deactivate();
ESP_LOGI("ServoController",
"Configured with oscillator frequency %d and PWM frequency %d",
ESP_LOGI("ServoController", "Configured with oscillator frequency %d and PWM frequency %d",
_state.servo_oscillator_frequency, _state.servo_pwm_frequency);
}
@@ -195,7 +180,7 @@ class ServoController : public Adafruit_PWMServoDriver,
}
}
void setAngle(servo_t* servo) {
void setAngle(servo_t *servo) {
int8_t channel = servo->channel;
bool invert = servo->inverted;
int16_t angle = invert ? 180 - servo->angle : servo->angle;
@@ -203,9 +188,7 @@ class ServoController : public Adafruit_PWMServoDriver,
setPWM(channel, 0, angleToPwm(angle));
}
uint16_t angleToPwm(int angle) {
return map(angle, 0, 180, SERVO_MIN, SERVO_MAX);
}
uint16_t angleToPwm(int angle) { return map(angle, 0, 180, SERVO_MIN, SERVO_MAX); }
void updateServoState() {
for (auto &servo : _state.servos_config) {
@@ -233,13 +216,13 @@ class ServoController : public Adafruit_PWMServoDriver,
}
}
private:
private:
PsychicHttpServer *_server;
SecurityManager *_securityManager;
EventEndpoint<ServoConfiguration> _eventEndpoint;
FSPersistence<ServoConfiguration> _fsPersistence;
bool is_active{true};
bool is_active {true};
unsigned long _lastUpdate;
constexpr static int ServoInterval = 2;
};