🔥 Remove json from sensor implementations

esp32/include/peripherals/barometer.h

@@ -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

@@ -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

@@ -1,9 +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

@@ -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};
-
+    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(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); }
 };
 
 class Magnetometer : public SensorBase<MagnetometerMsg> {

esp32/include/peripherals/peripherals.h

@@ -47,14 +47,8 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
 
     void scanI2C(uint8_t lower = 1, uint8_t higher = 127);
 
-    void getI2CResult(JsonVariant &root);
+    void getI2CScanProto(socket_message_I2CScanData &data);
-    void getI2CResultProto(socket_message_I2CScanData &data);
-
-    void getIMUResult(JsonVariant &root);
     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

@@ -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

@@ -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

@@ -52,18 +52,7 @@ void Peripherals::updatePins() {
     }
 }
 
-void Peripherals::getI2CResult(JsonVariant &root) {
+void Peripherals::getI2CScanProto(socket_message_I2CScanData &data) {
-    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) {
     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();