Merge remote-tracking branch 'origin/master' into ICM20948_fix

# Conflicts:
#	esp32/src/main.cpp
#	esp32/src/peripherals/peripherals.cpp

esp32/include/communication/comm_base.hpp

@@ -38,16 +38,16 @@ class CommAdapterBase {
         array.add(event);
         array.add(payload);
 
-        // TODO: Only send to subscribed
-
 #if USE_MSGPACK
         std::string bin;
         serializeMsgPack(doc, bin);
-        send(reinterpret_cast<const uint8_t *>(bin.data()), bin.size(), -1); // TODO: Make CID dynamic
+        xSemaphoreGive(mutex_);
+        send(reinterpret_cast<const uint8_t *>(bin.data()), bin.size(), -1);
 #else
         String out;
         serializeJson(doc, out);
-        send(out.c_str(), cid);
+        xSemaphoreGive(mutex_);
+        send(out.c_str(), -1);
 #endif
     }
 

esp32/include/communication/websocket_adapter.h

@@ -10,7 +10,7 @@
 
 #include <communication/comm_base.hpp>
 
-class Websocket : CommAdapterBase {
+class Websocket : public CommAdapterBase {
   public:
     Websocket(PsychicHttpServer &server, const char *route = "/api/ws");
 

esp32/include/system_service.h

@@ -3,7 +3,7 @@
 #include <ESPmDNS.h>
 #include <PsychicHttp.h>
 #include <WiFi.h>
-// #include <communication/websocket_adapter.h>
+#include <communication/websocket_adapter.h>
 #include <filesystem.h>
 #include <global.h>
 #include "esp_timer.h"
@@ -25,7 +25,7 @@ void sleep();
 void status(JsonObject &root);
 void metrics(JsonObject &root);
 
-void emitMetrics();
+void emitMetrics(Websocket &socket);
 
 const char *resetReason(esp_reset_reason_t reason);
 } // namespace system_service

esp32/src/main.cpp

@@ -132,6 +132,12 @@ void IRAM_ATTR SpotControlLoopEntry(void *) {
 #if FT_ENABLED(USE_WS2812)
         ledService.loop();
 #endif
+        EXECUTE_EVERY_N_MS(250, [&]() {
+            JsonDocument doc;
+            JsonVariant results = doc.to<JsonVariant>();
+            peripherals.getIMUResult(results);
+            socket.emit(EVENT_IMU, results);
+        });
         vTaskDelayUntil(&xLastWakeTime, xFrequency);
     }
 }
@@ -144,7 +150,9 @@ void IRAM_ATTR serviceLoopEntry(void *) {
     MDNS.setInstanceName(APP_NAME);
     apService.begin();
 
+#if FT_ENABLED(USE_CAMERA)
     cameraService.begin();
+#endif
 
     setupServer();
 
@@ -155,7 +163,7 @@ void IRAM_ATTR serviceLoopEntry(void *) {
     for (;;) {
         wifiService.loop();
         apService.loop();
-        EXECUTE_EVERY_N_MS(2000, system_service::emitMetrics());
+        EXECUTE_EVERY_N_MS(2000, system_service::emitMetrics(socket));
 
         vTaskDelay(100 / portTICK_PERIOD_MS);
     }

esp32/src/peripherals/peripherals.cpp

@@ -166,13 +166,16 @@ float Peripherals::rightDistance() { return _right_distance; }
 
 void Peripherals::getIMUResult(JsonVariant &root) {
 #if FT_ENABLED(USE_MPU6050 || USE_BNO055 || USE_ICM20948)
-    _imu.getResults(root);
+    JsonVariant imu = root["imu"].to<JsonVariant>();
+    _imu.getResults(imu);
 #endif
 #if FT_ENABLED(USE_HMC5883 || USE_ICM20948)
-    _mag.getResults(root);
+    JsonVariant mag = root["mag"].to<JsonVariant>();
+    _mag.getResults(mag);
 #endif
 #if FT_ENABLED(USE_BMP180)
-    _bmp.getResults(root);
+    JsonVariant bmp = root["bmp"].to<JsonVariant>();
+    _bmp.getResults(bmp);
 #endif
 }
 

esp32/src/system_service.cpp

@@ -121,13 +121,14 @@ void metrics(JsonObject &root) {
     root["core_temp"] = temperatureRead();
 }
 
-void emitMetrics() {
-    // if (!socket.hasSubscribers(EVENT_ANALYTICS)) return;
-    // analyticsDoc.clear();
-    // JsonObject root = analyticsDoc.to<JsonObject>();
-    // system_service::metrics(root);
-    // JsonVariant data = analyticsDoc.as<JsonVariant>();
-    // socket.emit(EVENT_ANALYTICS, data);
+void emitMetrics(Websocket &socket) {
+    if (!socket.hasSubscribers(EVENT_ANALYTICS)) return;
+
+    JsonDocument doc;
+    JsonObject root = doc.to<JsonObject>();
+    system_service::metrics(root);
+    JsonVariant data = doc.as<JsonVariant>();
+    socket.emit(EVENT_ANALYTICS, data);
 }
 
 const char *resetReason(esp_reset_reason_t reason) {