Darkages/SpotMicroESP32-Leika
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Adds actuator service to sync angles

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This commit is contained in:
Rune Harlyk
2024-03-29 21:15:38 +01:00
committed by Rune Harlyk
parent f67071fd74
commit 259bc0b5eb
10 changed files with 207 additions and 115 deletions
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app2/src/app.css
+4
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@@ -2,6 +2,10 @@
@tailwind components;
@tailwind utilities;
#nipple_0_0, #nipple_1_1 {
z-index: 10!important;
}
#three-gui-panel {
top: 64px;
right: 0px;
app2/src/lib/utilities/model-utilities.ts
+1 -1
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@@ -33,7 +33,7 @@ export const loadModelAsync = async (
resolve(Result.err('Failed to load model', error));
}
},
(error) => reject(error)
(error) => resolve(Result.err('Failed to load model', error))
);
});
};
app2/src/routes/+layout.svelte
+3 -10
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@@ -17,11 +17,10 @@
export let data: LayoutData;
onMount(() => {
onMount(async () => {
if ($user.bearer_token !== '') {
validateUser($user);
}
menuOpen = false;
connectToEventSource();
});
@@ -29,10 +28,6 @@
NotificationSource?.close();
});
onDestroy(() => {
NotificationSource.close();
});
async function validateUser(userdata: userProfile) {
try {
const response = await fetch('/rest/verifyAuthorization', {
@@ -186,15 +181,13 @@
<Statusbar />
<!-- Main page content here -->
<slot />
<slot />
</div>
<!-- Side Navigation -->
<div class="drawer-side z-30 shadow-lg">
<label for="main-menu" class="drawer-overlay" />
<Menu
on:menuClicked={() => {
menuOpen = false;
}}
on:menuClicked={() => menuOpen = false}
/>
</div>
</div>
app2/src/routes/+layout.ts
+4 -12
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@@ -14,17 +14,8 @@ const registerFetchIntercept = async () => {
};
};
const setup = async () => {
const outControllerData = (await import('$lib/stores/model-store')).outControllerData;
const mode = (await import('$lib/stores/model-store')).mode;
const socketLocation = (await import('$lib/utilities/location-utilities')).socketLocation;
const socketService = (await import('$lib/services/socket-service')).default;
socketService.connect(socketLocation);
socketService.addPublisher(outControllerData);
socketService.addPublisher(mode, 'mode');
await registerFetchIntercept();
const loadModelFiles = async () => {
const modelRes = await loadModelAsync('/spot_micro.urdf.xacro');
if (modelRes.isOk()) {
const [urdf, JOINT_NAME] = modelRes.inner;
jointNames.set(JOINT_NAME);
@@ -34,8 +25,9 @@ const setup = async () => {
}
};
export const load = async () => {
await setup();
export const load = async ({ fetch }) => {
await registerFetchIntercept();
await loadModelFiles();
const result = await fetch('/rest/features');
const features = await result.json();
return {
app2/src/routes/+page.svelte
+1 -1
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@@ -7,7 +7,7 @@
</script>
<div class="hero bg-base-100 h-screen">
<div class="card md:card-side bg-base-200 shadow-2xl">
<div class="card md:card-side bg-base-200 shadow-2xl flex justify-center items-center">
<div class="w-64 h-64">
<Visualization sky={false} orbit={true} panel={false}/>
</div>
app2/src/routes/demo/Demo.svelte
+32 -86
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@@ -1,33 +1,24 @@
<script lang="ts">
import { onMount, onDestroy } from 'svelte';
import { user } from '$lib/stores/user';
import { servoAngles } from '$lib/stores';
import { page } from '$app/stores';
import { notifications } from '$lib/components/toasts/notifications';
import SettingsCard from '$lib/components/SettingsCard.svelte';
import Light from '~icons/tabler/bulb';
import Info from '~icons/tabler/info-circle';
import Save from '~icons/tabler/device-floppy';
import Reload from '~icons/tabler/reload';
type LightState = {
led_on: boolean;
};
let lightState: LightState = { led_on: false };
let lightOn = false;
async function getLightstate() {
async function getActuatorState() {
try {
const response = await fetch('/rest/lightState', {
const response = await fetch('/rest/actuators', {
method: 'GET',
headers: {
Authorization: $page.data.features.security ? 'Bearer ' + $user.bearer_token : 'Basic',
'Content-Type': 'application/json'
}
});
const light = await response.json();
lightOn = light.led_on;
const actuators = await response.json();
servoAngles.set(actuators.state);
} catch (error) {
console.error('Error:', error);
}
@@ -36,13 +27,13 @@
const ws_token = $page.data.features.security ? '?access_token=' + $user.bearer_token : '';
const lightStateSocket = new WebSocket('ws://' + $page.url.host + '/ws/lightState' + ws_token);
const socket = new WebSocket('ws://' + $page.url.host + '/ws' + ws_token);
lightStateSocket.onopen = (event) => {
lightStateSocket.send('Hello');
socket.onopen = (event) => {
// socket.send('Hello');
};
lightStateSocket.addEventListener('close', (event) => {
socket.addEventListener('close', (event) => {
const closeCode = event.code;
const closeReason = event.reason;
console.log('WebSocket closed with code:', closeCode);
@@ -50,88 +41,43 @@
notifications.error('Websocket disconnected', 5000);
});
lightStateSocket.onmessage = (event) => {
socket.onmessage = (event) => {
const message = JSON.parse(event.data);
if (message.type != 'id') {
lightState = message;
servoAngles.set(message.state);
}
};
onDestroy(() => lightStateSocket.close());
onDestroy(() => socket.close());
onMount(() => {
getLightstate();
});
onMount(() => getActuatorState());
async function postLightstate() {
try {
const response = await fetch('/rest/lightState', {
method: 'POST',
headers: {
Authorization: $page.data.features.security ? 'Bearer ' + $user.bearer_token : 'Basic',
'Content-Type': 'application/json'
},
body: JSON.stringify({ led_on: lightOn })
});
if (response.status == 200) {
notifications.success('Light state updated.', 3000);
const light = await response.json();
lightOn = light.led_on;
} else {
notifications.error('User not authorized.', 3000);
}
} catch (error) {
console.error('Error:', error);
}
}
function updateAngle(index: number, value: number) {
servoAngles.update(($servoAngles) => {
$servoAngles[index] = value;
socket.send(JSON.stringify({ state: $servoAngles }));
return $servoAngles;
});
}
</script>
<SettingsCard collapsible={false}>
<Light slot="icon" class="lex-shrink-0 mr-2 h-6 w-6 self-end" />
<span slot="title">Light State</span>
<div class="w-full">
<h1 class="text-xl font-semibold">REST Example</h1>
<div class="alert alert-info my-2 shadow-lg">
<Info class="h-6 w-6 flex-shrink-0 stroke-current" />
<span>The form below controls the LED via the RESTful service exposed by the ESP device.</span
>
</div>
<div class="flex flex-row flex-wrap justify-between gap-x-2">
<div class="form-control w-52">
<label class="label cursor-pointer">
<span class="mr-4">Light State?</span>
<input type="checkbox" bind:checked={lightOn} class="checkbox checkbox-primary" />
</label>
</div>
<div class="flex-grow" />
<button class="btn btn-primary inline-flex items-center" on:click={postLightstate}
><Save class="mr-2 h-5 w-5" /><span>Save</span></button
>
<button class="btn btn-primary inline-flex items-center" on:click={getLightstate}
><Reload class="mr-2 h-5 w-5" /><span>Reload</span></button
>
</div>
<div class="divider" />
<h1 class="text-xl font-semibold">Websocket Example</h1>
<div class="alert alert-info my-2 shadow-lg">
<Info class="h-6 w-6 flex-shrink-0 stroke-current" />
<span
>The switch below controls the LED via the WebSocket. It will automatically update whenever
the LED state changes.</span
>
</div>
<div class="form-control w-52">
<label class="label cursor-pointer">
<span class="">Light State?</span>
<input
type="checkbox"
class="toggle toggle-primary"
bind:checked={lightState.led_on}
on:change={() => {
lightStateSocket.send(JSON.stringify(lightState));
}}
/>
</label>
<div class="form-control">
<div class="w-full flex justify-between">
{#each $servoAngles as angle, index}
<input
type="number"
class="input w-12"
id={`angle-${index}`}
value={angle}
on:input={(event) => updateAngle(index, parseFloat(event.target?.value))}
/>
{/each}
</div>
</div>
</div>
</SettingsCard>
app2/src/routes/menu.svelte
+1 -1
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@@ -180,7 +180,7 @@
<h1 class="px-4 text-2xl font-bold">{appName}</h1>
</a>
<ul class="menu rounded-box menu-vertical flex-nowrap overflow-y-auto">
{#each menuItems as menuItem, i (menuItem.title)}
{#each menuItems as menuItem (menuItem.title)}
{#if menuItem.feature}
{#if menuItem.submenu}
<li>
esp32/src/ActuatorStateService.cpp
+53
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@@ -0,0 +1,53 @@
/**
* ESP32 SvelteKit
*
* A simple, secure and extensible framework for IoT projects for ESP32 platforms
* with responsive Sveltekit front-end built with TailwindCSS and DaisyUI.
* https://github.com/theelims/ESP32-sveltekit
*
* Copyright (C) 2018 - 2023 rjwats
* Copyright (C) 2023 theelims
*
* All Rights Reserved. This software may be modified and distributed under
* the terms of the LGPL v3 license. See the LICENSE file for details.
**/
#include <ActuatorStateService.h>
ActuatorStateService::ActuatorStateService(
PsychicHttpServer *server,
SecurityManager *securityManager
) : _httpEndpoint(
ActuatorState::read,
ActuatorState::update,
this,
server,
ACTUATOR_SETTINGS_ENDPOINT_PATH,
securityManager,
AuthenticationPredicates::IS_AUTHENTICATED),
_webSocketServer(
ActuatorState::read,
ActuatorState::update,
this,
server,
ACTUATOR_SETTINGS_SOCKET_PATH,
securityManager,
AuthenticationPredicates::IS_AUTHENTICATED)
{
// Setup actuator hardware
addUpdateHandler([&](const String &originId){ onConfigUpdated(); }, false);
}
void ActuatorStateService::begin()
{
_httpEndpoint.begin();
_webSocketServer.begin();
onConfigUpdated();
}
void ActuatorStateService::onConfigUpdated()
{
log_i("Update hardware interface for actuators");
// UPDATE HARDWARE INTERFACE FOR ACTUATORS
}
esp32/src/ActuatorStateService.h
+96
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@@ -0,0 +1,96 @@
#ifndef LightStateService_h
#define LightStateService_h
/**
* ESP32 SvelteKit
*
* A simple, secure and extensible framework for IoT projects for ESP32 platforms
* with responsive Sveltekit front-end built with TailwindCSS and DaisyUI.
* https://github.com/theelims/ESP32-sveltekit
*
* Copyright (C) 2018 - 2023 rjwats
* Copyright (C) 2023 theelims
*
* All Rights Reserved. This software may be modified and distributed under
* the terms of the LGPL v3 license. See the LICENSE file for details.
**/
#include <HttpEndpoint.h>
#include <WebSocketServer.h>
#define ACTUATOR_SETTINGS_ENDPOINT_PATH "/rest/actuators"
#define ACTUATOR_SETTINGS_SOCKET_PATH "/ws"
class ActuatorState
{
public:
int16_t state[12] = {0, 45, -90, 0, 45, -90, 0, 45, -90, 0, 45, -90};
static void read(ActuatorState &settings, JsonObject &root)
{
JsonArray array = root.createNestedArray("state");
for(int i = 0; i < 12; i++)
{
array.add(settings.state[i]);
}
}
static StateUpdateResult update(JsonObject &root, ActuatorState &actuatorState)
{
Serial.print("New state array: [");
JsonArray array = root["state"];
bool changed = false;
for(int i = 0; i < 12; i++)
{
Serial.print(array[i].as<int16_t>());
Serial.print(", ");
if (actuatorState.state[i] != array[i].as<int16_t>())
{
actuatorState.state[i] = array[i];
changed = true;
}
}
Serial.println("]");
return changed ? StateUpdateResult::CHANGED : StateUpdateResult::UNCHANGED;
}
static void homeAssistRead(ActuatorState &settings, JsonObject &root)
{
JsonArray array = root.createNestedArray("state");
for(int i = 0; i < 12; i++)
{
array.add(settings.state[i]);
}
}
static StateUpdateResult homeAssistUpdate(JsonObject &root, ActuatorState &actuatorState)
{
JsonArray array = root["state"];
if(array.size() != 12) return StateUpdateResult::ERROR;
bool changed = false;
for(int i = 0; i < 12; i++)
{
if (actuatorState.state[i] != array[i].as<int16_t>())
{
actuatorState.state[i] = array[i];
changed = true;
}
}
return changed ? StateUpdateResult::CHANGED : StateUpdateResult::UNCHANGED;
}
};
class ActuatorStateService : public StatefulService<ActuatorState> {
public:
ActuatorStateService(PsychicHttpServer *server, SecurityManager *securityManager);
void begin();
private:
HttpEndpoint<ActuatorState> _httpEndpoint;
WebSocketServer<ActuatorState> _webSocketServer;
void onConfigUpdated();
};
#endif
esp32/src/main.cpp
+12 -4
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@@ -1,18 +1,26 @@
#include <ESP32SvelteKit.h>
#include <ActuatorStateService.h>
#include <PsychicHttpServer.h>
#define SERIAL_BAUD_RATE 115200
PsychicHttpServer server;
DRAM_ATTR PsychicHttpServer server;
ESP32SvelteKit esp32sveltekit(&server, 120);
DRAM_ATTR ESP32SvelteKit esp32sveltekit(&server, 120);
void setup() {
ActuatorStateService actuatorStateService = ActuatorStateService(&server, esp32sveltekit.getSecurityManager());
void setup()
{
Serial.begin(SERIAL_BAUD_RATE);
esp32sveltekit.begin();
actuatorStateService.begin();
}
void loop() {
void loop()
{
vTaskDelete(NULL);
}