Darkages/SpotMicroESP32-Leika
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✨ Adds callback based event bus

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This commit is contained in:
Rune Harlyk
2026-02-09 22:45:25 +01:00
parent eba00f98cd
commit 5863598fbc
37 changed files with 671 additions and 816 deletions
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esp32/include/peripherals/servo_controller.h
+17 -23
View File
@@ -2,11 +2,10 @@
#define ServoController_h
#include <peripherals/drivers/pca9685.h>
#include <template/stateful_persistence.h>
#include <template/stateful_proto_endpoint.h>
#include <template/stateful_service.h>
#include <eventbus.hpp>
#include <utils/math_utils.h>
#include <platform_shared/api.pb.h>
#include <platform_shared/message.pb.h>
#ifndef FACTORY_SERVO_PWM_FREQUENCY
#define FACTORY_SERVO_PWM_FREQUENCY 50
@@ -34,25 +33,18 @@ inline ServoSettings ServoSettings_defaults() {
return settings;
}
inline void ServoSettings_read(const ServoSettings &settings, ServoSettings &proto) { proto = settings; }
inline StateUpdateResult ServoSettings_update(const ServoSettings &proto, ServoSettings &settings) {
settings = proto;
return StateUpdateResult::CHANGED;
}
class ServoController : public StatefulService<ServoSettings> {
class ServoController {
public:
ServoController()
: protoEndpoint(ServoSettings_read, ServoSettings_update, this,
API_REQUEST_EXTRACTOR(servo_settings, ServoSettings),
API_RESPONSE_ASSIGNER(servo_settings, ServoSettings)),
_persistence(ServoSettings_read, ServoSettings_update, this, SERVO_SETTINGS_FILE, api_ServoSettings_fields,
api_ServoSettings_size, ServoSettings_defaults()) {}
void begin() {
_persistence.readFromFS();
_settings = EventBus::instance().peek<ServoSettings>();
initializePCA();
_settingsHandle =
EventBus::instance().subscribe<ServoSettings>([this](const ServoSettings& s) { _settings = s; });
servoPwmHandle_ = EventBus::instance().subscribe<socket_message_ServoPWMData>(
[this](const socket_message_ServoPWMData& data) { setServoPWM(data.servo_id, data.servo_pwm); });
servoStateHandle_ = EventBus::instance().subscribe<socket_message_ServoStateData>(
[this](const socket_message_ServoStateData& data) { data.active ? activate() : deactivate(); });
}
void pcaWrite(int index, int value) {
@@ -103,7 +95,7 @@ class ServoController : public StatefulService<ServoSettings> {
uint16_t pwms[12];
for (int i = 0; i < 12; i++) {
angles[i] = lerp(angles[i], target_angles[i], 0.1);
auto &servo = state().servos[i];
auto& servo = _settings.servos[i];
float angle = servo.direction * angles[i] + servo.center_angle;
uint16_t pwm = angle * servo.conversion + servo.center_pwm;
pwms[i] = pwm = std::clamp<uint16_t>(pwm, 125, 600);
@@ -115,8 +107,6 @@ class ServoController : public StatefulService<ServoSettings> {
if (control_state == SERVO_CONTROL_STATE::ANGLE) calculatePWM();
}
StatefulProtoEndpoint<ServoSettings, ServoSettings> protoEndpoint;
private:
void initializePCA() {
_pca.begin();
@@ -124,8 +114,8 @@ class ServoController : public StatefulService<ServoSettings> {
_pca.setPWMFreq(FACTORY_SERVO_PWM_FREQUENCY);
_pca.sleep();
}
FSPersistencePB<ServoSettings> _persistence;
ServoSettings _settings {};
PCA9685Driver _pca;
SERVO_CONTROL_STATE control_state = SERVO_CONTROL_STATE::DEACTIVATED;
@@ -133,6 +123,10 @@ class ServoController : public StatefulService<ServoSettings> {
bool is_active {false};
float angles[12] = {0, 90, -145, 0, 90, -145, 0, 90, -145, 0, 90, -145};
float target_angles[12] = {0, 90, -145, 0, 90, -145, 0, 90, -145, 0, 90, -145};
SubscriptionHandle _settingsHandle;
SubscriptionHandle servoPwmHandle_;
SubscriptionHandle servoStateHandle_;
};
#endif