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

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

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) {