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🔥 Remove json from sensor implementations

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This commit is contained in:
Rune Harlyk
2026-01-03 13:03:55 +01:00
committed by nikguin04
parent fa332995f9
commit 4c6b0c316d
8 changed files with 7 additions and 143 deletions
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esp32/include/peripherals/barometer.h
+1 -21
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@@ -1,9 +1,7 @@
#pragma once
#include <list>
#include <SPI.h>
#include <Wire.h>
#include <ArduinoJson.h>
#include <utils/math_utils.h>
#include <Adafruit_BMP085_U.h>
@@ -11,29 +9,11 @@
#include <peripherals/sensor.hpp>
struct BarometerMsg : public SensorMessageBase {
struct BarometerMsg {
float pressure {-1};
float altitude {-1};
float temperature {-1};
bool success {false};
void toJson(JsonVariant v) const override {
JsonArray arr = v.to<JsonArray>();
arr.add(pressure);
arr.add(altitude);
arr.add(temperature);
arr.add(success);
}
void fromJson(JsonVariantConst v) override {
JsonArrayConst arr = v.as<JsonArrayConst>();
pressure = arr[0] | -1.0f;
altitude = arr[1] | -1.0f;
temperature = arr[2] | -1.0f;
success = arr[3] | false;
}
friend void toJson(JsonVariant v, BarometerMsg const& a) { a.toJson(v); }
};
class Barometer : public SensorBase<BarometerMsg> {
esp32/include/peripherals/gesture.h
-11
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@@ -1,7 +1,6 @@
#pragma once
#include <Wire.h>
#include <ArduinoJson.h>
enum gesture_t : uint16_t {
eGestureNone = 0x0000,
@@ -21,16 +20,6 @@ enum orient_t : uint8_t { kRot0 = 0, kRot90, kRot180, kRot270 };
struct GestureMsg {
gesture_t gesture {eGestureNone};
bool success {false};
friend void toJson(JsonVariant v, GestureMsg const& a) {
JsonArray arr = v.to<JsonArray>();
arr.add(static_cast<uint16_t>(a.gesture));
arr.add(a.success);
}
void fromJson(JsonVariantConst o) {
JsonArrayConst arr = o.as<JsonArrayConst>();
gesture = static_cast<gesture_t>(arr[0].as<uint16_t>());
success = arr[1].as<bool>();
}
};
class PAJ7620U2 {
esp32/include/peripherals/imu.h
+1 -23
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@@ -1,9 +1,7 @@
#pragma once
#include <list>
#include <SPI.h>
#include <Wire.h>
#include <ArduinoJson.h>
#include <utils/math_utils.h>
#if FT_ENABLED(USE_MPU6050)
@@ -16,30 +14,10 @@
#include <peripherals/sensor.hpp>
struct IMUAnglesMsg : public SensorMessageBase {
struct IMUAnglesMsg {
float rpy[3] {0, 0, 0};
float temperature {-1};
bool success {false};
void toJson(JsonVariant v) const override {
JsonArray arr = v.to<JsonArray>();
arr.add(rpy[0]);
arr.add(rpy[1]);
arr.add(rpy[2]);
arr.add(temperature);
arr.add(success);
}
void fromJson(JsonVariantConst v) override {
JsonArrayConst arr = v.as<JsonArrayConst>();
rpy[0] = arr[0] | -1.0f;
rpy[1] = arr[1] | -1.0f;
rpy[2] = arr[2] | -1.0f;
temperature = arr[3] | -1.0f;
success = arr[4] | false;
}
friend void toJson(JsonVariant v, IMUAnglesMsg const& a) { a.toJson(v); }
};
class IMU : public SensorBase<IMUAnglesMsg> {
esp32/include/peripherals/magnetometer.h
+2 -23
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@@ -1,9 +1,7 @@
#pragma once
#include <list>
#include <SPI.h>
#include <Wire.h>
#include <ArduinoJson.h>
#include <utils/math_utils.h>
#include <Adafruit_HMC5883_U.h>
@@ -11,29 +9,10 @@
#include <peripherals/sensor.hpp>
struct MagnetometerMsg : public SensorMessageBase {
struct MagnetometerMsg {
float rpy[3] {0, 0, 0};
float heading {-1};
void toJson(JsonVariant v) const override {
JsonArray arr = v.to<JsonArray>();
arr.add(rpy[0]);
arr.add(rpy[1]);
arr.add(rpy[2]);
arr.add(heading);
arr.add(success);
}
void fromJson(JsonVariantConst v) override {
JsonArrayConst arr = v.as<JsonArrayConst>();
rpy[0] = arr[0] | 0.0f;
rpy[1] = arr[1] | 0.0f;
rpy[2] = arr[2] | 0.0f;
heading = arr[3] | -1.0f;
success = arr[4] | false;
}
friend void toJson(JsonVariant v, MagnetometerMsg const& a) { a.toJson(v); }
bool success {false};
};
class Magnetometer : public SensorBase<MagnetometerMsg> {
esp32/include/peripherals/peripherals.h
+1 -9
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@@ -47,14 +47,8 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
void scanI2C(uint8_t lower = 1, uint8_t higher = 127);
void getI2CResult(JsonVariant &root);
void getI2CResultProto(socket_message_I2CScanData &data);
void getIMUResult(JsonVariant &root);
void getI2CScanProto(socket_message_I2CScanData &data);
void getIMUProto(socket_message_IMUData &data);
void getSonarResult(JsonVariant &root);
void getSettingsProto(socket_message_PeripheralSettingsData &data);
/* IMU FUNCTIONS */
@@ -92,8 +86,6 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
inline void endTransaction() { xSemaphoreGiveRecursive(_accessMutex); }
JsonDocument doc;
char message[MAX_ESP_IMU_SIZE];
#if FT_ENABLED(USE_MPU6050 || USE_BNO055)
IMU _imu;
#endif
esp32/include/peripherals/sensor.hpp
-20
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@@ -1,30 +1,10 @@
#pragma once
#include <ArduinoJson.h>
struct SensorMessageBase {
bool success;
virtual void toJson(JsonVariant v) const = 0;
virtual void fromJson(JsonVariantConst v) = 0;
virtual ~SensorMessageBase() = default;
};
template <class T>
class SensorBase {
static_assert(std::is_base_of<SensorMessageBase, T>::value, "T must inherit from SensorMessageBase");
public:
SensorBase() {}
virtual bool initialize() = 0;
virtual bool update() = 0;
virtual void getResults(JsonVariant &root) { _msg.toJson(root); }
virtual T getResult() { return _msg; }
virtual bool isActive() { return _msg.success; }
protected:
esp32/src/main.cpp
+1 -1
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@@ -155,7 +155,7 @@ void setupEventSocket() {
socket.on<socket_message_I2CScanDataRequest>([&](const socket_message_I2CScanDataRequest &data, int clientId) {
peripherals.scanI2C();
socket_message_I2CScanData result = socket_message_I2CScanData_init_zero;
peripherals.getI2CResultProto(result);
peripherals.getI2CScanProto(result);
socket.emit(result, clientId);
});
esp32/src/peripherals/peripherals.cpp
+1 -35
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@@ -52,18 +52,7 @@ void Peripherals::updatePins() {
}
}
void Peripherals::getI2CResult(JsonVariant &root) {
char output[150];
root["sda"] = state().sda;
root["scl"] = state().scl;
JsonArray addresses = root["addresses"].to<JsonArray>();
for (auto &address : addressList) {
addresses.add(address);
}
ESP_LOGI("Peripherals", "Emitting I2C scan results: %d", addressList.size());
}
void Peripherals::getI2CResultProto(socket_message_I2CScanData &data) {
void Peripherals::getI2CScanProto(socket_message_I2CScanData &data) {
data.devices_count = 0;
for (auto &address : addressList) {
if (data.devices_count >= 16) break;
@@ -196,29 +185,6 @@ gesture_t Peripherals::takeGesture() {
float Peripherals::leftDistance() { return _left_distance; }
float Peripherals::rightDistance() { return _right_distance; }
void Peripherals::getIMUResult(JsonVariant &root) {
#if FT_ENABLED(USE_MPU6050 || USE_BNO055)
JsonVariant imu = root["imu"].to<JsonVariant>();
_imu.getResults(imu);
#endif
#if FT_ENABLED(USE_HMC5883)
JsonVariant mag = root["mag"].to<JsonVariant>();
_mag.getResults(mag);
#endif
#if FT_ENABLED(USE_BMP180)
JsonVariant bmp = root["bmp"].to<JsonVariant>();
_bmp.getResults(bmp);
#endif
}
void Peripherals::getSonarResult(JsonVariant &root) {
#if FT_ENABLED(USE_USS)
JsonArray array = root.to<JsonArray>();
array[0] = _left_distance;
array[1] = _right_distance;
#endif
}
bool Peripherals::calibrateIMU() {
#if FT_ENABLED(USE_MPU6050 || USE_BNO055)
beginTransaction();