🎨 Moving project to use event bus
This commit is contained in:
Rune Harlyk
+3
-1
@@ -59,7 +59,9 @@
|
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"three": "^0.162.0",
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"urdf-loader": "^0.12.1",
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"uzip": "^0.20201231.0",
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"xacro-parser": "^0.3.9"
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"xacro-parser": "^0.3.9",
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"@types/msgpack-lite": "^0.1.11",
|
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"msgpack-lite": "^0.1.26"
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},
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"packageManager": "pnpm@9.3.0"
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}
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|
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Generated
+91
-32
@@ -13,10 +13,13 @@ importers:
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'@tailwindcss/vite':
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'@types/msgpack-lite':
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version: 0.1.11
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chart.js:
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@@ -32,6 +35,9 @@ importers:
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nipplejs:
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@@ -65,13 +71,13 @@ importers:
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'@sveltejs/kit':
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specifier: ^2.5.27
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'@types/eslint':
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specifier: ^8.56.0
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version: 8.56.0
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@@ -128,10 +134,10 @@ importers:
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vite:
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specifier: ^6.2.1
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version: 6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)
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vitest:
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specifier: ^1.2.0
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packages:
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@@ -760,6 +766,12 @@ packages:
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@@ -1190,6 +1202,9 @@ packages:
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engines: {node: '>=0.10.0'}
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event-lite@0.1.3:
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engines: {node: '>=10'}
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@@ -1335,6 +1350,9 @@ packages:
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@@ -1356,6 +1374,9 @@ packages:
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engines: {node: '>=8'}
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@@ -1394,6 +1415,9 @@ packages:
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@@ -1592,6 +1616,10 @@ packages:
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engines: {node: ^10 || ^12 || ^13.7 || ^14 || >=15.0.1}
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@@ -2019,6 +2047,9 @@ packages:
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engines: {node: '>= 4.0.0'}
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@@ -2613,18 +2644,18 @@ snapshots:
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'@sinclair/typebox@0.27.8': {}
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||||
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||||
dependencies:
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import-meta-resolve: 4.1.0
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||||
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dependencies:
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||||
|
||||
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||||
'@sveltejs/kit@2.17.3(@sveltejs/vite-plugin-svelte@5.0.3(svelte@5.20.4)(vite@6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)))(svelte@5.20.4)(vite@6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2))':
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dependencies:
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'@types/cookie': 0.6.0
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@@ -2637,27 +2668,27 @@ snapshots:
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|
||||
'@sveltejs/vite-plugin-svelte-inspector': 4.0.1(@sveltejs/vite-plugin-svelte@5.0.3(svelte@5.20.4)(vite@6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)))(svelte@5.20.4)(vite@6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2))
|
||||
debug: 4.4.0
|
||||
deepmerge: 4.3.1
|
||||
kleur: 4.1.5
|
||||
magic-string: 0.30.17
|
||||
svelte: 5.20.4
|
||||
vite: 6.2.1(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)
|
||||
vitefu: 1.0.6(vite@6.2.1(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2))
|
||||
vite: 6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)
|
||||
vitefu: 1.0.6(vite@6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2))
|
||||
transitivePeerDependencies:
|
||||
- supports-color
|
||||
|
||||
@@ -2714,13 +2745,13 @@ snapshots:
|
||||
'@tailwindcss/oxide-win32-arm64-msvc': 4.0.12
|
||||
'@tailwindcss/oxide-win32-x64-msvc': 4.0.12
|
||||
|
||||
'@tailwindcss/vite@4.0.12(vite@6.2.1(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2))':
|
||||
'@tailwindcss/vite@4.0.12(vite@6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2))':
|
||||
dependencies:
|
||||
'@tailwindcss/node': 4.0.12
|
||||
'@tailwindcss/oxide': 4.0.12
|
||||
lightningcss: 1.29.2
|
||||
tailwindcss: 4.0.12
|
||||
vite: 6.2.1(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)
|
||||
vite: 6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)
|
||||
|
||||
'@tweenjs/tween.js@23.1.2': {}
|
||||
|
||||
@@ -2737,6 +2768,14 @@ snapshots:
|
||||
|
||||
'@types/json-schema@7.0.15': {}
|
||||
|
||||
'@types/msgpack-lite@0.1.11':
|
||||
dependencies:
|
||||
'@types/node': 24.0.10
|
||||
|
||||
'@types/node@24.0.10':
|
||||
dependencies:
|
||||
undici-types: 7.8.0
|
||||
|
||||
'@types/semver@7.5.8': {}
|
||||
|
||||
'@types/stats.js@0.17.3': {}
|
||||
@@ -3259,6 +3298,8 @@ snapshots:
|
||||
|
||||
esutils@2.0.3: {}
|
||||
|
||||
event-lite@0.1.3: {}
|
||||
|
||||
execa@5.1.1:
|
||||
dependencies:
|
||||
cross-spawn: 7.0.3
|
||||
@@ -3414,6 +3455,8 @@ snapshots:
|
||||
dependencies:
|
||||
safer-buffer: 2.1.2
|
||||
|
||||
ieee754@1.2.1: {}
|
||||
|
||||
ignore@5.3.1: {}
|
||||
|
||||
import-fresh@3.3.0:
|
||||
@@ -3432,6 +3475,8 @@ snapshots:
|
||||
|
||||
inherits@2.0.4: {}
|
||||
|
||||
int64-buffer@0.1.10: {}
|
||||
|
||||
is-binary-path@2.1.0:
|
||||
dependencies:
|
||||
binary-extensions: 2.3.0
|
||||
@@ -3458,6 +3503,8 @@ snapshots:
|
||||
|
||||
is-stream@3.0.0: {}
|
||||
|
||||
isarray@1.0.0: {}
|
||||
|
||||
isexe@2.0.0: {}
|
||||
|
||||
jiti@2.4.2: {}
|
||||
@@ -3635,6 +3682,13 @@ snapshots:
|
||||
|
||||
ms@2.1.3: {}
|
||||
|
||||
msgpack-lite@0.1.26:
|
||||
dependencies:
|
||||
event-lite: 0.1.3
|
||||
ieee754: 1.2.1
|
||||
int64-buffer: 0.1.10
|
||||
isarray: 1.0.0
|
||||
|
||||
nanoid@3.3.7: {}
|
||||
|
||||
nanoid@3.3.8: {}
|
||||
@@ -4010,6 +4064,8 @@ snapshots:
|
||||
|
||||
ufo@1.5.3: {}
|
||||
|
||||
undici-types@7.8.0: {}
|
||||
|
||||
universalify@0.2.0: {}
|
||||
|
||||
unplugin-icons@0.18.5:
|
||||
@@ -4054,13 +4110,13 @@ snapshots:
|
||||
|
||||
uzip@0.20201231.0: {}
|
||||
|
||||
vite-node@1.2.0(lightningcss@1.29.2):
|
||||
vite-node@1.2.0(@types/node@24.0.10)(lightningcss@1.29.2):
|
||||
dependencies:
|
||||
cac: 6.7.14
|
||||
debug: 4.4.0
|
||||
pathe: 1.1.2
|
||||
picocolors: 1.0.1
|
||||
vite: 5.4.14(lightningcss@1.29.2)
|
||||
vite: 5.4.14(@types/node@24.0.10)(lightningcss@1.29.2)
|
||||
transitivePeerDependencies:
|
||||
- '@types/node'
|
||||
- less
|
||||
@@ -4072,31 +4128,33 @@ snapshots:
|
||||
- supports-color
|
||||
- terser
|
||||
|
||||
vite@5.4.14(lightningcss@1.29.2):
|
||||
vite@5.4.14(@types/node@24.0.10)(lightningcss@1.29.2):
|
||||
dependencies:
|
||||
esbuild: 0.21.5
|
||||
postcss: 8.5.3
|
||||
rollup: 4.34.8
|
||||
optionalDependencies:
|
||||
'@types/node': 24.0.10
|
||||
fsevents: 2.3.3
|
||||
lightningcss: 1.29.2
|
||||
|
||||
vite@6.2.1(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2):
|
||||
vite@6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2):
|
||||
dependencies:
|
||||
esbuild: 0.25.0
|
||||
postcss: 8.5.3
|
||||
rollup: 4.34.8
|
||||
optionalDependencies:
|
||||
'@types/node': 24.0.10
|
||||
fsevents: 2.3.3
|
||||
jiti: 2.4.2
|
||||
lightningcss: 1.29.2
|
||||
yaml: 2.4.2
|
||||
|
||||
vitefu@1.0.6(vite@6.2.1(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)):
|
||||
vitefu@1.0.6(vite@6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)):
|
||||
optionalDependencies:
|
||||
vite: 6.2.1(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)
|
||||
vite: 6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)
|
||||
|
||||
vitest@1.2.0(jsdom@24.0.0)(lightningcss@1.29.2):
|
||||
vitest@1.2.0(@types/node@24.0.10)(jsdom@24.0.0)(lightningcss@1.29.2):
|
||||
dependencies:
|
||||
'@vitest/expect': 1.2.0
|
||||
'@vitest/runner': 1.2.0
|
||||
@@ -4116,10 +4174,11 @@ snapshots:
|
||||
strip-literal: 1.3.0
|
||||
tinybench: 2.8.0
|
||||
tinypool: 0.8.4
|
||||
vite: 5.4.14(lightningcss@1.29.2)
|
||||
vite-node: 1.2.0(lightningcss@1.29.2)
|
||||
vite: 5.4.14(@types/node@24.0.10)(lightningcss@1.29.2)
|
||||
vite-node: 1.2.0(@types/node@24.0.10)(lightningcss@1.29.2)
|
||||
why-is-node-running: 2.2.2
|
||||
optionalDependencies:
|
||||
'@types/node': 24.0.10
|
||||
jsdom: 24.0.0
|
||||
transitivePeerDependencies:
|
||||
- less
|
||||
|
||||
+128
-118
@@ -1,122 +1,132 @@
|
||||
import { writable } from 'svelte/store';
|
||||
import { writable } from 'svelte/store'
|
||||
|
||||
const socketEvents = ['open', 'close', 'error', 'message', 'unresponsive'] as const;
|
||||
type SocketEvent = (typeof socketEvents)[number];
|
||||
const socketEvents = ['open', 'close', 'error', 'message', 'unresponsive'] as const
|
||||
type SocketEvent = (typeof socketEvents)[number]
|
||||
|
||||
function createWebSocket() {
|
||||
let listeners = new Map<string, Set<(data?: unknown) => void>>();
|
||||
const { subscribe, set } = writable(false);
|
||||
const reconnectTimeoutTime = 5000;
|
||||
let unresponsiveTimeoutId: number;
|
||||
let reconnectTimeoutId: number;
|
||||
let ws: WebSocket;
|
||||
let socketUrl: string | URL;
|
||||
|
||||
function init(url: string | URL) {
|
||||
socketUrl = url;
|
||||
connect();
|
||||
}
|
||||
|
||||
function disconnect(reason: SocketEvent, event?: Event) {
|
||||
ws.close();
|
||||
set(false);
|
||||
clearTimeout(unresponsiveTimeoutId);
|
||||
clearTimeout(reconnectTimeoutId);
|
||||
listeners.get(reason)?.forEach((listener) => listener(event));
|
||||
reconnectTimeoutId = setTimeout(connect, reconnectTimeoutTime);
|
||||
}
|
||||
|
||||
function connect() {
|
||||
ws = new WebSocket(socketUrl);
|
||||
ws.onopen = (ev) => {
|
||||
set(true);
|
||||
clearTimeout(reconnectTimeoutId);
|
||||
listeners.get('open')?.forEach((listener) => listener(ev));
|
||||
for (const event of listeners.keys()) {
|
||||
if (socketEvents.includes(event as SocketEvent)) continue;
|
||||
subscribeToEvent(event);
|
||||
}
|
||||
};
|
||||
ws.onmessage = (message) => {
|
||||
resetUnresponsiveCheck();
|
||||
let data = message.data;
|
||||
if (data instanceof ArrayBuffer) {
|
||||
listeners.get('binary')?.forEach((listener) => listener(data));
|
||||
return;
|
||||
}
|
||||
data = data.substring(1);
|
||||
|
||||
if (!data) return;
|
||||
|
||||
let event = data.substring(data.indexOf('/') + 1, data.indexOf('['));
|
||||
let payload = data.substring(data.indexOf('[') + 1, data.lastIndexOf(']'));
|
||||
|
||||
try {
|
||||
payload = JSON.parse(payload);
|
||||
} catch (error) {}
|
||||
if (event) listeners.get(event)?.forEach((listener) => listener(payload));
|
||||
};
|
||||
ws.onerror = (ev) => disconnect('error', ev);
|
||||
ws.onclose = (ev) => disconnect('close', ev);
|
||||
}
|
||||
|
||||
function unsubscribe(event: string, listener?: (data: any) => void) {
|
||||
let eventListeners = listeners.get(event);
|
||||
if (!eventListeners) return;
|
||||
|
||||
if (!eventListeners.size) {
|
||||
unsubscribeToEvent(event);
|
||||
}
|
||||
if (listener) {
|
||||
eventListeners?.delete(listener);
|
||||
} else {
|
||||
listeners.delete(event);
|
||||
}
|
||||
}
|
||||
|
||||
function resetUnresponsiveCheck() {
|
||||
clearTimeout(unresponsiveTimeoutId);
|
||||
unresponsiveTimeoutId = setTimeout(() => disconnect('unresponsive'), reconnectTimeoutTime);
|
||||
}
|
||||
|
||||
function sendEvent(event: string, data: unknown) {
|
||||
if (!ws || ws.readyState !== WebSocket.OPEN) return;
|
||||
ws.send(`2/${event}[${JSON.stringify(data)}]`);
|
||||
}
|
||||
|
||||
function unsubscribeToEvent(event: string) {
|
||||
if (!ws || ws.readyState !== WebSocket.OPEN) return;
|
||||
ws.send('1/' + event);
|
||||
}
|
||||
|
||||
function subscribeToEvent(event: string) {
|
||||
if (!ws || ws.readyState !== WebSocket.OPEN) return;
|
||||
ws.send('0/' + event);
|
||||
}
|
||||
|
||||
return {
|
||||
subscribe,
|
||||
sendEvent,
|
||||
init,
|
||||
on: <T>(event: string, listener: (data: T) => void): (() => void) => {
|
||||
let eventListeners = listeners.get(event);
|
||||
if (!eventListeners) {
|
||||
if (!socketEvents.includes(event as SocketEvent)) {
|
||||
subscribeToEvent(event);
|
||||
}
|
||||
eventListeners = new Set();
|
||||
listeners.set(event, eventListeners);
|
||||
}
|
||||
eventListeners.add(listener as (data: any) => void);
|
||||
|
||||
return () => {
|
||||
unsubscribe(event, listener);
|
||||
};
|
||||
},
|
||||
off: (event: string, listener?: (data: any) => void) => {
|
||||
unsubscribe(event, listener);
|
||||
}
|
||||
};
|
||||
export enum Topics {
|
||||
imu = 0,
|
||||
mode = 1,
|
||||
command = 2,
|
||||
servo = 3,
|
||||
input = 4,
|
||||
angles = 5,
|
||||
position = 6
|
||||
}
|
||||
|
||||
export const socket = createWebSocket();
|
||||
function createWebSocket() {
|
||||
let listeners = new Map<string | Topics, Set<(data?: unknown) => void>>()
|
||||
const { subscribe, set } = writable(false)
|
||||
const reconnectTimeoutTime = 5000
|
||||
let unresponsiveTimeoutId: number
|
||||
let reconnectTimeoutId: number
|
||||
let ws: WebSocket
|
||||
let socketUrl: string | URL
|
||||
|
||||
function init(url: string | URL) {
|
||||
socketUrl = url
|
||||
connect()
|
||||
}
|
||||
|
||||
function disconnect(reason: SocketEvent, event?: Event) {
|
||||
ws.close()
|
||||
set(false)
|
||||
clearTimeout(unresponsiveTimeoutId)
|
||||
clearTimeout(reconnectTimeoutId)
|
||||
listeners.get(reason)?.forEach(listener => listener(event))
|
||||
reconnectTimeoutId = setTimeout(connect, reconnectTimeoutTime)
|
||||
}
|
||||
|
||||
function connect() {
|
||||
ws = new WebSocket(socketUrl)
|
||||
ws.onopen = ev => {
|
||||
set(true)
|
||||
clearTimeout(reconnectTimeoutId)
|
||||
listeners.get('open')?.forEach(listener => listener(ev))
|
||||
for (const event of listeners.keys()) {
|
||||
if (socketEvents.includes(event as SocketEvent)) continue
|
||||
subscribeToEvent(event as unknown as Topics)
|
||||
}
|
||||
}
|
||||
ws.onmessage = message => {
|
||||
resetUnresponsiveCheck()
|
||||
let data = message.data
|
||||
if (data instanceof ArrayBuffer) {
|
||||
listeners.get('binary')?.forEach(listener => listener(data))
|
||||
return
|
||||
}
|
||||
data = data.substring(1)
|
||||
|
||||
if (!data) return
|
||||
|
||||
let event = data.substring(data.indexOf('/') + 1, data.indexOf('['))
|
||||
let payload = data.substring(data.indexOf('[') + 1, data.lastIndexOf(']'))
|
||||
|
||||
try {
|
||||
payload = JSON.parse(payload)
|
||||
} catch (error) {}
|
||||
if (event) listeners.get(event)?.forEach(listener => listener(payload))
|
||||
}
|
||||
ws.onerror = ev => disconnect('error', ev)
|
||||
ws.onclose = ev => disconnect('close', ev)
|
||||
}
|
||||
|
||||
function unsubscribe(event: Topics, listener?: (data: any) => void) {
|
||||
let eventListeners = listeners.get(event)
|
||||
if (!eventListeners) return
|
||||
|
||||
if (!eventListeners.size) {
|
||||
unsubscribeToEvent(event)
|
||||
}
|
||||
if (listener) {
|
||||
eventListeners?.delete(listener)
|
||||
} else {
|
||||
listeners.delete(event)
|
||||
}
|
||||
}
|
||||
|
||||
function resetUnresponsiveCheck() {
|
||||
clearTimeout(unresponsiveTimeoutId)
|
||||
unresponsiveTimeoutId = setTimeout(() => disconnect('unresponsive'), reconnectTimeoutTime)
|
||||
}
|
||||
|
||||
function sendEvent(event: Topics, data: unknown) {
|
||||
if (!ws || ws.readyState !== WebSocket.OPEN) return
|
||||
ws.send(JSON.stringify([2, event, data]))
|
||||
}
|
||||
|
||||
function unsubscribeToEvent(event: Topics) {
|
||||
if (!ws || ws.readyState !== WebSocket.OPEN) return
|
||||
ws.send(`[1,${event}]`)
|
||||
}
|
||||
|
||||
function subscribeToEvent(event: Topics) {
|
||||
if (!ws || ws.readyState !== WebSocket.OPEN) return
|
||||
ws.send(`[0,${event}]`)
|
||||
}
|
||||
|
||||
return {
|
||||
subscribe,
|
||||
sendEvent,
|
||||
init,
|
||||
on: <T>(event: Topics | SocketEvent, listener: (data: T) => void): (() => void) => {
|
||||
let eventListeners = listeners.get(event)
|
||||
if (!eventListeners) {
|
||||
if (!socketEvents.includes(event)) {
|
||||
subscribeToEvent(event)
|
||||
}
|
||||
eventListeners = new Set()
|
||||
listeners.set(event, eventListeners)
|
||||
}
|
||||
eventListeners.add(listener as (data: any) => void)
|
||||
|
||||
return () => {
|
||||
unsubscribe(event, listener)
|
||||
}
|
||||
},
|
||||
off: (event: Topics, listener?: (data: any) => void) => {
|
||||
unsubscribe(event, listener)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
export const socket = createWebSocket()
|
||||
|
||||
+1
-1
@@ -2,6 +2,6 @@
|
||||
data/
|
||||
www/
|
||||
build/
|
||||
lib/ESP32-sveltekit/WWWData.h
|
||||
include/WWWData.h
|
||||
**/.vscode/c_cpp_properties.json
|
||||
**/.vscode/launch.json
|
||||
@@ -14,21 +14,8 @@ class BluetoothService : public CommBase<> {
|
||||
BLECharacteristic* rxCharacteristic {nullptr};
|
||||
bool connected {false};
|
||||
|
||||
protected:
|
||||
template <typename Msg>
|
||||
using EventBusHandle = typename EventBus<Msg>::Handle;
|
||||
|
||||
template <typename Msg>
|
||||
EventBusHandle<Msg>& getHandle(Topic topic) {
|
||||
return *static_cast<EventBusHandle<Msg>*>(subscriptionHandle[static_cast<size_t>(topic)]);
|
||||
}
|
||||
|
||||
template <typename Msg>
|
||||
void setHandle(Topic topic, EventBusHandle<Msg>&& handle) {
|
||||
subscriptionHandle[static_cast<size_t>(topic)] = new EventBusHandle<Msg>(std::move(handle));
|
||||
}
|
||||
|
||||
std::array<void*, static_cast<size_t>(Topic::COUNT)> subscriptionHandle {};
|
||||
public:
|
||||
void begin(const char* name);
|
||||
|
||||
private:
|
||||
void handleReceive(const std::string& data);
|
||||
@@ -53,8 +40,4 @@ class BluetoothService : public CommBase<> {
|
||||
if (!v.empty()) svc->handleReceive(v);
|
||||
}
|
||||
};
|
||||
|
||||
public:
|
||||
void begin(const char* name);
|
||||
void loop() {}
|
||||
};
|
||||
@@ -1,4 +1,5 @@
|
||||
#pragma once
|
||||
#include "event_bus.hpp"
|
||||
#include <ArduinoJson.h>
|
||||
#include <array>
|
||||
#include <bitset>
|
||||
@@ -17,6 +18,8 @@ class CommBase {
|
||||
std::array<Bits, NTopics> subs_;
|
||||
portMUX_TYPE mux_ portMUX_INITIALIZER_UNLOCKED;
|
||||
|
||||
std::array<void*, static_cast<size_t>(Topic::COUNT)> subscriptionHandle {};
|
||||
|
||||
static constexpr size_t idx(Topic t) { return static_cast<size_t>(t); }
|
||||
|
||||
template <Topic T>
|
||||
@@ -30,6 +33,18 @@ class CommBase {
|
||||
protected:
|
||||
virtual void send(size_t cid, const char* data, size_t len) = 0;
|
||||
|
||||
template <class Msg>
|
||||
auto& getHandle(Topic topic) {
|
||||
using H = typename EventBus<Msg>::Handle;
|
||||
return *static_cast<H*>(subscriptionHandle[static_cast<size_t>(topic)]);
|
||||
}
|
||||
|
||||
template <class Msg>
|
||||
void setHandle(Topic topic, typename EventBus<Msg>::Handle&& h) {
|
||||
using H = typename EventBus<Msg>::Handle;
|
||||
subscriptionHandle[static_cast<size_t>(topic)] = new H(std::move(h));
|
||||
}
|
||||
|
||||
public:
|
||||
void subscribe(Topic t, size_t cid) {
|
||||
portENTER_CRITICAL(&mux_);
|
||||
|
||||
@@ -0,0 +1,42 @@
|
||||
#ifndef Socket_h
|
||||
#define Socket_h
|
||||
|
||||
#include <PsychicHttp.h>
|
||||
#include <ArduinoJson.h>
|
||||
#include <map>
|
||||
#include <list>
|
||||
#include <functional>
|
||||
|
||||
#include "event_bus.hpp"
|
||||
#include "adapters/comm_base.hpp"
|
||||
#include "topic.hpp"
|
||||
// #include "msgs/motion_input_msg.hpp"
|
||||
// #include "msgs/motion_angles_msg.hpp"
|
||||
// #include "msgs/motion_position_msg.hpp"
|
||||
// #include "msgs/motion_mode_msg.hpp"
|
||||
|
||||
// typedef std::function<void(JsonObject &root, int originId)> EventCallback;
|
||||
|
||||
class EventSocket : public CommBase<> {
|
||||
PsychicWebSocketHandler _socket;
|
||||
|
||||
public:
|
||||
EventSocket();
|
||||
PsychicWebSocketHandler *getHandler() { return &_socket; }
|
||||
|
||||
private:
|
||||
void send(size_t clientId, const char *data, size_t len) override;
|
||||
|
||||
void handleReceive(const std::string &data);
|
||||
// void handleTypedMessage(const std::string &data);
|
||||
// void handleLegacyMessage(const std::string &data, int originId);
|
||||
// void handleEventCallbacks(String event, JsonObject &jsonObject, int originId);
|
||||
|
||||
void onWSOpen(PsychicWebSocketClient *client);
|
||||
void onWSClose(PsychicWebSocketClient *client);
|
||||
esp_err_t onFrame(PsychicWebSocketRequest *request, httpd_ws_frame *frame);
|
||||
};
|
||||
|
||||
extern EventSocket socket;
|
||||
|
||||
#endif
|
||||
@@ -3,6 +3,7 @@
|
||||
#include <bitset>
|
||||
#include <functional>
|
||||
#include <optional>
|
||||
#include <atomic>
|
||||
|
||||
#include <freertos/FreeRTOS.h>
|
||||
#include <freertos/task.h>
|
||||
@@ -102,11 +103,12 @@ class EventBus {
|
||||
|
||||
public:
|
||||
class Handle {
|
||||
size_t index;
|
||||
size_t index {MaxSubs};
|
||||
friend class EventBus;
|
||||
explicit Handle(size_t i) : index(i) {}
|
||||
|
||||
public:
|
||||
Handle() = default;
|
||||
Handle(const Handle&) = delete;
|
||||
Handle& operator=(const Handle&) = delete;
|
||||
Handle(Handle&& h) noexcept : index(h.index) { h.index = MaxSubs; }
|
||||
|
||||
+1
-1
@@ -4,7 +4,7 @@
|
||||
|
||||
#include <WiFi.h>
|
||||
#include <ArduinoJson.h>
|
||||
#include <event_socket.h>
|
||||
#include <event_bus.hpp>
|
||||
#include <PsychicHttp.h>
|
||||
|
||||
#include <HTTPClient.h>
|
||||
+1
-1
@@ -8,7 +8,7 @@
|
||||
|
||||
#include <PsychicHttp.h>
|
||||
#include <system_service.h>
|
||||
#include <event_socket.h>
|
||||
#include <event_bus.hpp>
|
||||
|
||||
enum FileType { ft_none = 0, ft_firmware = 1, ft_md5 = 2 };
|
||||
|
||||
@@ -1,7 +1,8 @@
|
||||
#ifndef MotionService_h
|
||||
#define MotionService_h
|
||||
|
||||
#include <event_socket.h>
|
||||
#include <event_bus.hpp>
|
||||
#include <topic.hpp>
|
||||
#include <kinematics.h>
|
||||
#include <peripherals/servo_controller.h>
|
||||
#include <utils/timing.h>
|
||||
@@ -21,51 +22,37 @@ enum class MOTION_STATE { DEACTIVATED, IDLE, CALIBRATION, REST, STAND, CRAWL, WA
|
||||
|
||||
class MotionService {
|
||||
public:
|
||||
MotionService(ServoController *servoController) : _servoController(servoController) {}
|
||||
MotionService(ServoController* servoController) : _servoController(servoController) {}
|
||||
|
||||
void begin() {
|
||||
socket.onEvent(INPUT_EVENT, [&](JsonObject &root, int originId) { handleInput(root, originId); });
|
||||
|
||||
socket.onEvent(MODE_EVENT, [&](JsonObject &root, int originId) { handleMode(root, originId); });
|
||||
|
||||
socket.onEvent(ANGLES_EVENT, [&](JsonObject &root, int originId) { anglesEvent(root, originId); });
|
||||
|
||||
socket.onEvent(POSITION_EVENT, [&](JsonObject &root, int originId) { positionEvent(root, originId); });
|
||||
|
||||
socket.onSubscribe(ANGLES_EVENT,
|
||||
std::bind(&MotionService::syncAngles, this, std::placeholders::_1, std::placeholders::_2));
|
||||
|
||||
setupEventBusSubscriptions();
|
||||
body_state.updateFeet(kinematics.default_feet_positions);
|
||||
}
|
||||
|
||||
void anglesEvent(JsonObject &root, int originId) {
|
||||
JsonArray array = root["data"].as<JsonArray>();
|
||||
void anglesEvent(const MotionAnglesMsg& msg) {
|
||||
for (int i = 0; i < 12; i++) {
|
||||
angles[i] = array[i];
|
||||
angles[i] = msg.angles[i];
|
||||
}
|
||||
syncAngles(String(originId));
|
||||
syncAngles();
|
||||
}
|
||||
|
||||
void positionEvent(JsonObject &root, int originId) {
|
||||
JsonArray array = root["data"].as<JsonArray>();
|
||||
body_state.omega = array[0];
|
||||
body_state.phi = array[1];
|
||||
body_state.psi = array[2];
|
||||
body_state.xm = array[3];
|
||||
body_state.ym = array[4];
|
||||
body_state.zm = array[5];
|
||||
void positionEvent(const MotionPositionMsg& msg) {
|
||||
body_state.omega = msg.omega;
|
||||
body_state.phi = msg.phi;
|
||||
body_state.psi = msg.psi;
|
||||
body_state.xm = msg.xm;
|
||||
body_state.ym = msg.ym;
|
||||
body_state.zm = msg.zm;
|
||||
}
|
||||
|
||||
void handleInput(JsonObject &root, int originId) {
|
||||
JsonArray array = root["data"].as<JsonArray>();
|
||||
command.lx = array[1];
|
||||
command.lx = array[1];
|
||||
command.ly = array[2];
|
||||
command.rx = array[3];
|
||||
command.ry = array[4];
|
||||
command.h = array[5];
|
||||
command.s = array[6];
|
||||
command.s1 = array[7];
|
||||
void handleInput(const MotionInputMsg& msg) {
|
||||
command.lx = msg.lx;
|
||||
command.ly = msg.ly;
|
||||
command.rx = msg.rx;
|
||||
command.ry = msg.ry;
|
||||
command.h = msg.h;
|
||||
command.s = msg.s;
|
||||
command.s1 = msg.s1;
|
||||
|
||||
body_state.ym = (command.h + 127.f) * 0.35f / 100;
|
||||
|
||||
@@ -81,25 +68,27 @@ class MotionService {
|
||||
}
|
||||
}
|
||||
|
||||
void handleMode(JsonObject &root, int originId) {
|
||||
motionState = (MOTION_STATE)root["data"].as<int>();
|
||||
void handleMode(const MotionModeMsg& msg) {
|
||||
motionState = (MOTION_STATE)msg.mode;
|
||||
ESP_LOGV("MotionService", "Mode %d", motionState);
|
||||
char output[2];
|
||||
itoa((int)motionState, output, 10);
|
||||
|
||||
motionState == MOTION_STATE::DEACTIVATED ? _servoController->deactivate() : _servoController->activate();
|
||||
socket.emit(MODE_EVENT, output, String(originId).c_str());
|
||||
|
||||
MotionModeMsg response;
|
||||
response.mode = msg.mode;
|
||||
EventBus<MotionModeMsg>::publishAsync(response, _modeHandle);
|
||||
}
|
||||
|
||||
void emitAngles(const String &originId = "", bool sync = false) {
|
||||
char output[100];
|
||||
snprintf(output, sizeof(output), "[%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f]", angles[0],
|
||||
angles[1], angles[2], angles[3], angles[4], angles[5], angles[6], angles[7], angles[8], angles[9],
|
||||
angles[10], angles[11]);
|
||||
socket.emit(ANGLES_EVENT, output, originId.c_str());
|
||||
void emitAngles() {
|
||||
MotionAnglesMsg anglesMsg;
|
||||
for (int i = 0; i < 12; i++) {
|
||||
anglesMsg.angles[i] = angles[i];
|
||||
}
|
||||
EventBus<MotionAnglesMsg>::publishAsync(anglesMsg, _anglesHandle);
|
||||
}
|
||||
|
||||
void syncAngles(const String &originId = "", bool sync = false) {
|
||||
emitAngles(originId, sync);
|
||||
void syncAngles() {
|
||||
emitAngles();
|
||||
_servoController->setAngles(angles);
|
||||
}
|
||||
|
||||
@@ -134,10 +123,33 @@ class MotionService {
|
||||
return updated;
|
||||
}
|
||||
|
||||
float *getAngles() { return angles; }
|
||||
float* getAngles() { return angles; }
|
||||
|
||||
private:
|
||||
ServoController *_servoController;
|
||||
void setupEventBusSubscriptions() {
|
||||
_inputHandle = EventBus<MotionInputMsg>::subscribe([this](const MotionInputMsg* msg, size_t n) {
|
||||
if (n > 0) handleInput(msg[0]);
|
||||
});
|
||||
|
||||
_modeHandle = EventBus<MotionModeMsg>::subscribe([this](const MotionModeMsg* msg, size_t n) {
|
||||
if (n > 0) handleMode(msg[0]);
|
||||
});
|
||||
|
||||
_anglesHandle = EventBus<MotionAnglesMsg>::subscribe([this](const MotionAnglesMsg* msg, size_t n) {
|
||||
if (n > 0) anglesEvent(msg[0]);
|
||||
});
|
||||
|
||||
_positionHandle = EventBus<MotionPositionMsg>::subscribe([this](const MotionPositionMsg* msg, size_t n) {
|
||||
if (n > 0) positionEvent(msg[0]);
|
||||
});
|
||||
}
|
||||
|
||||
EventBus<MotionInputMsg>::Handle _inputHandle;
|
||||
EventBus<MotionModeMsg>::Handle _modeHandle;
|
||||
EventBus<MotionAnglesMsg>::Handle _anglesHandle;
|
||||
EventBus<MotionPositionMsg>::Handle _positionHandle;
|
||||
|
||||
ServoController* _servoController;
|
||||
Kinematics kinematics;
|
||||
ControllerCommand command = {0, 0, 0, 0, 0, 0, 0, 0};
|
||||
|
||||
+11
-11
@@ -55,15 +55,15 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
|
||||
_eventEndpoint.begin();
|
||||
_persistence.readFromFS();
|
||||
|
||||
socket.onEvent(EVENT_I2C_SCAN, [&](JsonObject &root, int originId) {
|
||||
scanI2C();
|
||||
emitI2C();
|
||||
});
|
||||
// socket.onEvent(EVENT_I2C_SCAN, [&](JsonObject &root, int originId) {
|
||||
// scanI2C();
|
||||
// emitI2C();
|
||||
// });
|
||||
|
||||
socket.onSubscribe(EVENT_I2C_SCAN, [&](const String &originId, bool sync) {
|
||||
scanI2C();
|
||||
emitI2C(originId, sync);
|
||||
});
|
||||
// socket.onSubscribe(EVENT_I2C_SCAN, [&](const String &originId, bool sync) {
|
||||
// scanI2C();
|
||||
// emitI2C(originId, sync);
|
||||
// });
|
||||
|
||||
updatePins();
|
||||
|
||||
@@ -115,7 +115,7 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
|
||||
}
|
||||
serializeJson(root, output);
|
||||
ESP_LOGI("Peripherals", "Emitting I2C scan results, %s %d", originId.c_str(), sync);
|
||||
socket.emit(EVENT_I2C_SCAN, output, originId.c_str(), sync);
|
||||
// socket.emit(EVENT_I2C_SCAN, output, originId.c_str(), sync);
|
||||
}
|
||||
|
||||
void scanI2C(uint8_t lower = 1, uint8_t higher = 127) {
|
||||
@@ -191,14 +191,14 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
|
||||
_bmp.readBarometer(root);
|
||||
#endif
|
||||
serializeJson(doc, message);
|
||||
socket.emit(EVENT_IMU, message);
|
||||
// socket.emit(EVENT_IMU, message);
|
||||
}
|
||||
|
||||
void emitSonar() {
|
||||
#if FT_ENABLED(USE_USS)
|
||||
char output[16];
|
||||
snprintf(output, sizeof(output), "[%.1f,%.1f]", _left_distance, _right_distance);
|
||||
socket.emit("sonar", output);
|
||||
// socket.emit("sonar", output);
|
||||
#endif
|
||||
}
|
||||
|
||||
+9
-9
@@ -2,7 +2,7 @@
|
||||
#define ServoController_h
|
||||
|
||||
#include <Adafruit_PWMServoDriver.h>
|
||||
#include <event_socket.h>
|
||||
#include <event_bus.hpp>
|
||||
#include <template/stateful_persistence.h>
|
||||
#include <template/stateful_service.h>
|
||||
#include <template/stateful_endpoint.h>
|
||||
@@ -32,16 +32,16 @@ class ServoController : public StatefulService<ServoSettings> {
|
||||
_persistence(ServoSettings::read, ServoSettings::update, this, SERVO_SETTINGS_FILE) {}
|
||||
|
||||
void begin() {
|
||||
socket.onEvent(EVENT_SERVO_CONFIGURATION_SETTINGS,
|
||||
[&](JsonObject &root, int originId) { servoEvent(root, originId); });
|
||||
socket.onEvent(EVENT_SERVO_STATE, [&](JsonObject &root, int originId) { stateUpdate(root, originId); });
|
||||
// socket.onEvent(EVENT_SERVO_CONFIGURATION_SETTINGS,
|
||||
// [&](JsonObject &root, int originId) { servoEvent(root, originId); });
|
||||
// socket.onEvent(EVENT_SERVO_STATE, [&](JsonObject &root, int originId) { stateUpdate(root, originId); });
|
||||
_persistence.readFromFS();
|
||||
|
||||
initializePCA();
|
||||
socket.onEvent(EVENT_SERVO_STATE, [&](JsonObject &root, int originId) {
|
||||
is_active = root["active"] | false;
|
||||
is_active ? activate() : deactivate();
|
||||
});
|
||||
// socket.onEvent(EVENT_SERVO_STATE, [&](JsonObject &root, int originId) {
|
||||
// is_active = root["active"] | false;
|
||||
// is_active ? activate() : deactivate();
|
||||
// });
|
||||
}
|
||||
|
||||
void pcaWrite(int index, int value) {
|
||||
@@ -91,7 +91,7 @@ class ServoController : public StatefulService<ServoSettings> {
|
||||
snprintf(output, sizeof(output), "[%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f]", angles[0],
|
||||
angles[1], angles[2], angles[3], angles[4], angles[5], angles[6], angles[7], angles[8], angles[9],
|
||||
angles[10], angles[11]);
|
||||
socket.emit("angles", output, String(originId).c_str());
|
||||
// socket.emit("angles", output, String(originId).c_str());
|
||||
}
|
||||
|
||||
void updateActiveState() { is_active ? activate() : deactivate(); }
|
||||
@@ -14,7 +14,8 @@
|
||||
#include <peripherals/servo_controller.h>
|
||||
#include <peripherals/led_service.h>
|
||||
#include <peripherals/camera_service.h>
|
||||
#include <event_socket.h>
|
||||
#include <event_bus.hpp>
|
||||
#include <adapters/websocket.hpp>
|
||||
#include <features.h>
|
||||
#include <motion.h>
|
||||
#include <task_manager.h>
|
||||
@@ -80,7 +81,6 @@ class Spot {
|
||||
PsychicHttpServer _server;
|
||||
WiFiService _wifiService;
|
||||
APService _apService;
|
||||
EventSocket _socket;
|
||||
MDNSService _mdnsService;
|
||||
#if FT_ENABLED(USE_UPLOAD_FIRMWARE)
|
||||
FirmwareUploadService _uploadFirmwareService;
|
||||
@@ -103,7 +103,7 @@ class Spot {
|
||||
bool updatedMotion = false;
|
||||
|
||||
const char *_appName = APP_NAME;
|
||||
const u_int16_t _numberEndpoints = 120;
|
||||
const u_int16_t _numberEndpoints = 130;
|
||||
const u_int32_t _maxFileUpload = 2300000; // 2.3 MB
|
||||
const uint16_t _port = 80;
|
||||
|
||||
|
||||
@@ -5,7 +5,7 @@
|
||||
#include <PsychicHttp.h>
|
||||
#include <WiFi.h>
|
||||
#include <task_manager.h>
|
||||
#include <event_socket.h>
|
||||
#include <event_bus.hpp>
|
||||
#include <filesystem.h>
|
||||
#include <global.h>
|
||||
|
||||
+6
-6
@@ -2,7 +2,7 @@
|
||||
|
||||
#include <PsychicHttp.h>
|
||||
|
||||
#include <event_socket.h>
|
||||
#include <event_bus.hpp>
|
||||
#include <template/stateful_service.h>
|
||||
|
||||
template <class T>
|
||||
@@ -15,10 +15,10 @@ class EventEndpoint {
|
||||
}
|
||||
|
||||
void begin() {
|
||||
socket.onEvent(_event,
|
||||
std::bind(&EventEndpoint::updateState, this, std::placeholders::_1, std::placeholders::_2));
|
||||
socket.onSubscribe(_event,
|
||||
std::bind(&EventEndpoint::syncState, this, std::placeholders::_1, std::placeholders::_2));
|
||||
// socket.onEvent(_event,
|
||||
// std::bind(&EventEndpoint::updateState, this, std::placeholders::_1, std::placeholders::_2));
|
||||
// socket.onSubscribe(_event,
|
||||
// std::bind(&EventEndpoint::syncState, this, std::placeholders::_1, std::placeholders::_2));
|
||||
}
|
||||
|
||||
private:
|
||||
@@ -38,6 +38,6 @@ class EventEndpoint {
|
||||
_statefulService->read(root, _stateReader);
|
||||
serializeJson(root, output);
|
||||
ESP_LOGV("EventEndpoint", "Syncing state: %s", output.c_str());
|
||||
socket.emit(_event, output.c_str(), originId.c_str(), sync);
|
||||
// socket.emit(_event, output.c_str(), originId.c_str(), sync);
|
||||
}
|
||||
};
|
||||
@@ -1,178 +0,0 @@
|
||||
#include <event_socket.h>
|
||||
|
||||
SemaphoreHandle_t clientSubscriptionsMutex = xSemaphoreCreateMutex();
|
||||
|
||||
message_type_t char_to_message_type(char c) {
|
||||
switch (c) {
|
||||
case '0': return CONNECT;
|
||||
case '1': return DISCONNECT;
|
||||
case '2': return EVENT;
|
||||
case '3': return PING;
|
||||
case '4': return PONG;
|
||||
case '5': return BINARY_EVENT;
|
||||
default: throw std::invalid_argument("Invalid message type");
|
||||
}
|
||||
}
|
||||
|
||||
const char *getEventName(const char *msg) {
|
||||
const char *start = strchr(msg, '/');
|
||||
if (!start) return nullptr;
|
||||
start++;
|
||||
const char *end = strchr(start, '[');
|
||||
if (!end) return start;
|
||||
|
||||
static char eventName[32];
|
||||
int len = end - start;
|
||||
strncpy(eventName, start, len);
|
||||
eventName[len] = '\0';
|
||||
return eventName;
|
||||
}
|
||||
|
||||
const char *getEventPayload(const char *msg) {
|
||||
const char *start = strchr(msg + 2, '[');
|
||||
const char *end = msg + strlen(msg) - 1;
|
||||
if (*start == '[') {
|
||||
start++;
|
||||
}
|
||||
int len = end - start;
|
||||
if (len < 0) return nullptr;
|
||||
char *payload = new char[len + 1];
|
||||
strncpy(payload, start, len);
|
||||
payload[len] = '\0';
|
||||
return payload;
|
||||
}
|
||||
|
||||
EventSocket::EventSocket() {
|
||||
_socket.onOpen((std::bind(&EventSocket::onWSOpen, this, std::placeholders::_1)));
|
||||
_socket.onClose(std::bind(&EventSocket::onWSClose, this, std::placeholders::_1));
|
||||
_socket.onFrame(std::bind(&EventSocket::onFrame, this, std::placeholders::_1, std::placeholders::_2));
|
||||
}
|
||||
|
||||
void EventSocket::onWSOpen(PsychicWebSocketClient *client) {
|
||||
ESP_LOGI("EventSocket", "ws[%s][%u] connect", client->remoteIP().toString().c_str(), client->socket());
|
||||
}
|
||||
|
||||
void EventSocket::onWSClose(PsychicWebSocketClient *client) {
|
||||
xSemaphoreTake(clientSubscriptionsMutex, portMAX_DELAY);
|
||||
for (auto &event_subscriptions : client_subscriptions) {
|
||||
event_subscriptions.second.remove(client->socket());
|
||||
}
|
||||
xSemaphoreGive(clientSubscriptionsMutex);
|
||||
ESP_LOGI("EventSocket", "ws[%s][%u] disconnect", client->remoteIP().toString().c_str(), client->socket());
|
||||
}
|
||||
|
||||
esp_err_t EventSocket::onFrame(PsychicWebSocketRequest *request, httpd_ws_frame *frame) {
|
||||
ESP_LOGV("EventSocket", "ws[%s][%u] opcode[%d]", request->client()->remoteIP().toString().c_str(),
|
||||
request->client()->socket(), frame->type);
|
||||
|
||||
if (frame->type != HTTPD_WS_TYPE_TEXT) {
|
||||
ESP_LOGE("EventSocket", "Unsupported frame type");
|
||||
return ESP_OK;
|
||||
}
|
||||
|
||||
ESP_LOGV("EventSocket", "Received message: %s", (char *)frame->payload);
|
||||
char *msg = (char *)frame->payload;
|
||||
|
||||
message_type_t message_type = char_to_message_type(msg[0]);
|
||||
|
||||
if (message_type == PING) {
|
||||
ESP_LOGV("EventSocket", "Ping");
|
||||
request->client()->sendMessage("3");
|
||||
return ESP_OK;
|
||||
} else if (message_type == PONG) {
|
||||
ESP_LOGV("EventSocket", "Pong");
|
||||
return ESP_OK;
|
||||
}
|
||||
|
||||
const char *event = getEventName(msg);
|
||||
|
||||
if (!event) {
|
||||
ESP_LOGE("EventSocket", "Invalid event name");
|
||||
return ESP_OK;
|
||||
}
|
||||
|
||||
if (message_type == CONNECT) {
|
||||
ESP_LOGV("EventSocket", "Connect: %s", event);
|
||||
client_subscriptions[event].push_back(request->client()->socket());
|
||||
handleSubscribeCallbacks(event, String(request->client()->socket()));
|
||||
} else if (message_type == DISCONNECT) {
|
||||
ESP_LOGV("EventSocket", "Disconnect: %s", event);
|
||||
client_subscriptions[event].remove(request->client()->socket());
|
||||
} else if (message_type == EVENT) {
|
||||
const char *payload = getEventPayload(msg);
|
||||
if (!payload) {
|
||||
ESP_LOGE("EventSocket", "Invalid event payload");
|
||||
return ESP_OK;
|
||||
}
|
||||
JsonDocument doc;
|
||||
DeserializationError error = deserializeJson(doc, payload);
|
||||
if (error) {
|
||||
ESP_LOGE("EventSocket", "Failed to parse JSON payload");
|
||||
return ESP_OK;
|
||||
}
|
||||
JsonObject jsonObject = doc.as<JsonObject>();
|
||||
handleEventCallbacks(event, jsonObject, request->client()->socket());
|
||||
return ESP_OK;
|
||||
}
|
||||
return ESP_OK;
|
||||
}
|
||||
|
||||
bool EventSocket::hasSubscribers(const char *event) { return !client_subscriptions[event].empty(); }
|
||||
|
||||
void EventSocket::emit(const char *event, const char *payload, const char *originId, bool onlyToSameOrigin) {
|
||||
int originSubscriptionId = originId[0] ? atoi(originId) : -1;
|
||||
xSemaphoreTake(clientSubscriptionsMutex, portMAX_DELAY);
|
||||
auto &subscriptions = client_subscriptions[event];
|
||||
if (subscriptions.empty()) {
|
||||
xSemaphoreGive(clientSubscriptionsMutex);
|
||||
return;
|
||||
}
|
||||
char msg[strlen(event) + strlen(payload) + 10];
|
||||
snprintf(msg, sizeof(msg), "2/%s[%s]", event, payload);
|
||||
|
||||
// if onlyToSameOrigin == true, send the message back to the origin
|
||||
if (onlyToSameOrigin && originSubscriptionId > 0) {
|
||||
auto *client = _socket.getClient(originSubscriptionId);
|
||||
if (client) {
|
||||
ESP_LOGV("EventSocket", "Emitting event: %s to %s, Message: %s", event,
|
||||
client->remoteIP().toString().c_str(), msg);
|
||||
client->sendMessage(msg);
|
||||
}
|
||||
} else { // else send the message to all other clients
|
||||
|
||||
for (int subscription : client_subscriptions[event]) {
|
||||
if (subscription == originSubscriptionId) continue;
|
||||
auto *client = _socket.getClient(subscription);
|
||||
if (!client) {
|
||||
subscriptions.remove(subscription);
|
||||
continue;
|
||||
}
|
||||
ESP_LOGV("EventSocket", "Emitting event: %s to %s, Message: %s", event,
|
||||
client->remoteIP().toString().c_str(), msg);
|
||||
client->sendMessage(msg);
|
||||
}
|
||||
}
|
||||
xSemaphoreGive(clientSubscriptionsMutex);
|
||||
}
|
||||
|
||||
void EventSocket::handleEventCallbacks(String event, JsonObject &jsonObject, int originId) {
|
||||
for (auto &callback : event_callbacks[event]) {
|
||||
callback(jsonObject, originId);
|
||||
}
|
||||
}
|
||||
|
||||
void EventSocket::handleSubscribeCallbacks(String event, const String &originId) {
|
||||
for (auto &callback : subscribe_callbacks[event]) {
|
||||
callback(originId, true);
|
||||
}
|
||||
}
|
||||
|
||||
void EventSocket::onEvent(String event, EventCallback callback) {
|
||||
event_callbacks[event].push_back(std::move(callback));
|
||||
}
|
||||
|
||||
void EventSocket::onSubscribe(String event, SubscribeCallback callback) {
|
||||
subscribe_callbacks[event].push_back(std::move(callback));
|
||||
}
|
||||
|
||||
EventSocket socket;
|
||||
@@ -1,47 +0,0 @@
|
||||
#ifndef Socket_h
|
||||
#define Socket_h
|
||||
|
||||
#include <PsychicHttp.h>
|
||||
#include <template/stateful_service.h>
|
||||
#include <list>
|
||||
#include <map>
|
||||
#include <vector>
|
||||
|
||||
enum message_type_t { CONNECT = 0, DISCONNECT = 1, EVENT = 2, PING = 3, PONG = 4, BINARY_EVENT = 5 };
|
||||
|
||||
typedef std::function<void(JsonObject &root, int originId)> EventCallback;
|
||||
typedef std::function<void(const String &originId, bool sync)> SubscribeCallback;
|
||||
|
||||
class EventSocket {
|
||||
public:
|
||||
EventSocket();
|
||||
|
||||
PsychicWebSocketHandler *getHandler() { return &_socket; }
|
||||
|
||||
bool hasSubscribers(const char *event);
|
||||
|
||||
void onEvent(String event, EventCallback callback);
|
||||
|
||||
void onSubscribe(String event, SubscribeCallback callback);
|
||||
|
||||
void emit(const char *event, const char *payload, const char *originId = "", bool onlyToSameOrigin = false);
|
||||
// if onlyToSameOrigin == true, the message will be sent to the originId only, otherwise it will be broadcasted to
|
||||
// all clients except the originId
|
||||
|
||||
private:
|
||||
PsychicWebSocketHandler _socket;
|
||||
|
||||
std::map<String, std::list<int>> client_subscriptions;
|
||||
std::map<String, std::list<EventCallback>> event_callbacks;
|
||||
std::map<String, std::list<SubscribeCallback>> subscribe_callbacks;
|
||||
void handleEventCallbacks(String event, JsonObject &jsonObject, int originId);
|
||||
void handleSubscribeCallbacks(String event, const String &originId);
|
||||
|
||||
void onWSOpen(PsychicWebSocketClient *client);
|
||||
void onWSClose(PsychicWebSocketClient *client);
|
||||
esp_err_t onFrame(PsychicWebSocketRequest *request, httpd_ws_frame *frame);
|
||||
};
|
||||
|
||||
extern EventSocket socket;
|
||||
|
||||
#endif
|
||||
@@ -27,7 +27,7 @@ project_dir = env["PROJECT_DIR"]
|
||||
buildFlags = env.ParseFlags(env["BUILD_FLAGS"])
|
||||
|
||||
interface_dir = project_dir + "/app"
|
||||
output_file = project_dir + "/esp32/lib/ESP32-sveltekit/WWWData.h"
|
||||
output_file = project_dir + "/esp32/include/WWWData.h"
|
||||
source_www_dir = interface_dir + "/src"
|
||||
build_dir = interface_dir + "/build"
|
||||
filesystem_dir = project_dir + "/data/www"
|
||||
|
||||
@@ -9,7 +9,7 @@ static constexpr auto RX_UUID = "6e400002-b5a3-f393-e0a9-e50e24dcca9e";
|
||||
void BluetoothService::begin(const char* name) {
|
||||
#define X(e, t) \
|
||||
setHandle<t>(Topic::e, EventBus<t>::subscribe([this](const t* d, size_t n) { \
|
||||
if (connected && n) emit<Topic::e>(d[0]); \
|
||||
if (connected && n) this->emit<Topic::e>(d[0]); \
|
||||
}));
|
||||
TOPIC_LIST
|
||||
#undef X
|
||||
@@ -49,10 +49,10 @@ void BluetoothService::handleReceive(const std::string& data) {
|
||||
for (size_t i = 1; i < payload.size(); ++i) {
|
||||
Topic t = static_cast<Topic>(payload[i].as<uint8_t>());
|
||||
unsubscribe(t, 0);
|
||||
#define X(e, m) \
|
||||
if (t == Topic::e) { \
|
||||
auto* h = &getHandle<m>(Topic::e); \
|
||||
if (h->valid()) h->unsubscribe(); \
|
||||
#define X(e, m) \
|
||||
if (t == Topic::e) { \
|
||||
auto& h = getHandle<m>(Topic::e); \
|
||||
if (h.valid()) h.unsubscribe(); \
|
||||
}
|
||||
TOPIC_LIST
|
||||
#undef X
|
||||
|
||||
@@ -0,0 +1,101 @@
|
||||
#include <adapters/websocket.hpp>
|
||||
|
||||
EventSocket::EventSocket() {
|
||||
_socket.onOpen((std::bind(&EventSocket::onWSOpen, this, std::placeholders::_1)));
|
||||
_socket.onClose(std::bind(&EventSocket::onWSClose, this, std::placeholders::_1));
|
||||
_socket.onFrame(std::bind(&EventSocket::onFrame, this, std::placeholders::_1, std::placeholders::_2));
|
||||
}
|
||||
|
||||
void EventSocket::onWSOpen(PsychicWebSocketClient* client) {
|
||||
ESP_LOGI("EventSocket", "ws[%s][%u] connect", client->remoteIP().toString().c_str(), client->socket());
|
||||
}
|
||||
|
||||
void EventSocket::onWSClose(PsychicWebSocketClient* client) {
|
||||
for (size_t i = 0; i < static_cast<size_t>(Topic::COUNT); ++i) {
|
||||
unsubscribe(static_cast<Topic>(i), client->socket());
|
||||
}
|
||||
|
||||
ESP_LOGI("EventSocket", "ws[%s][%u] disconnect", client->remoteIP().toString().c_str(), client->socket());
|
||||
}
|
||||
|
||||
esp_err_t EventSocket::onFrame(PsychicWebSocketRequest* request, httpd_ws_frame* frame) {
|
||||
ESP_LOGV("EventSocket", "ws[%s][%u] opcode[%d]", request->client()->remoteIP().toString().c_str(),
|
||||
request->client()->socket(), frame->type);
|
||||
|
||||
JsonDocument doc;
|
||||
|
||||
#if USE_MSGPACK
|
||||
if (frame->type != HTTPD_WS_TYPE_BINARY) {
|
||||
ESP_LOGE("EventSocket", "Unsupported frame type: %d", frame->type);
|
||||
return ESP_OK;
|
||||
}
|
||||
if (deserializeMsgPack(doc, frame->payload, frame->len)) {
|
||||
ESP_LOGE("EventSocket", "Could not deserialize msgpack");
|
||||
return ESP_OK;
|
||||
};
|
||||
#else
|
||||
if (frame->type != HTTPD_WS_TYPE_TEXT) {
|
||||
ESP_LOGE("EventSocket", "Unsupported frame type: %d", frame->type);
|
||||
return ESP_OK;
|
||||
}
|
||||
if (deserializeJson(doc, frame->payload, frame->len)) {
|
||||
ESP_LOGE("EventSocket", "Could not deserialize json");
|
||||
return ESP_OK;
|
||||
};
|
||||
#endif
|
||||
|
||||
serializeJson(doc, Serial);
|
||||
Serial.println();
|
||||
|
||||
auto payload = doc.as<JsonArrayConst>();
|
||||
|
||||
MsgKind msgKind = static_cast<MsgKind>(payload[0].as<uint8_t>());
|
||||
switch (msgKind) {
|
||||
case MsgKind::Connect:
|
||||
for (size_t i = 1; i < payload.size(); ++i) {
|
||||
subscribe(static_cast<Topic>(payload[i].as<uint8_t>()), request->client()->socket());
|
||||
}
|
||||
break;
|
||||
|
||||
case MsgKind::Disconnect:
|
||||
for (size_t i = 1; i < payload.size(); ++i) {
|
||||
Topic t = static_cast<Topic>(payload[i].as<uint8_t>());
|
||||
unsubscribe(t, request->client()->socket());
|
||||
}
|
||||
break;
|
||||
|
||||
case MsgKind::Event:
|
||||
if (payload.size() < 3) break;
|
||||
switch (static_cast<Topic>(payload[1].as<uint8_t>())) {
|
||||
#define X(e, m) \
|
||||
case Topic::e: EventBus<m>::publishAsync(parse<m>(payload[2]), getHandle<m>(Topic::e)); break;
|
||||
TOPIC_LIST
|
||||
#undef X
|
||||
default: break;
|
||||
}
|
||||
break;
|
||||
|
||||
case MsgKind::Ping: ESP_LOGV("EventSocket", "Ping"); break;
|
||||
|
||||
case MsgKind::Pong: ESP_LOGV("EventSocket", "Pong"); break;
|
||||
|
||||
default: break;
|
||||
}
|
||||
return ESP_OK;
|
||||
}
|
||||
|
||||
void EventSocket::send(size_t clientId, const char* data, size_t len) {
|
||||
auto* client = _socket.getClient(clientId);
|
||||
if (!client) return;
|
||||
|
||||
#if USE_MSGPACK
|
||||
client->sendMessage(HTTPD_WS_TYPE_BINARY, data, len);
|
||||
#else
|
||||
client->sendMessage(HTTPD_WS_TYPE_TEXT, data, len);
|
||||
#endif
|
||||
|
||||
// ESP_LOGV("EventSocket", "Sending to client %zu: %.*s", clientId, len, data);
|
||||
// client->sendMessage(data);
|
||||
}
|
||||
|
||||
EventSocket socket;
|
||||
+6
-6
@@ -22,7 +22,7 @@ void update_started() {
|
||||
String output;
|
||||
doc["status"] = "preparing";
|
||||
serializeJson(doc, output);
|
||||
socket.emit(EVENT_DOWNLOAD_OTA, output.c_str());
|
||||
// socket.emit(EVENT_DOWNLOAD_OTA, output.c_str());
|
||||
}
|
||||
|
||||
void update_progress(int currentBytes, int totalBytes) {
|
||||
@@ -31,7 +31,7 @@ void update_progress(int currentBytes, int totalBytes) {
|
||||
int progress = ((currentBytes * 100) / totalBytes);
|
||||
if (progress > previousProgress) {
|
||||
doc["progress"] = progress;
|
||||
socket.emit(EVENT_DOWNLOAD_OTA, output.c_str());
|
||||
// socket.emit(EVENT_DOWNLOAD_OTA, output.c_str());
|
||||
ESP_LOGV("Download OTA", "HTTP update process at %d of %d bytes... (%d %%)", currentBytes, totalBytes,
|
||||
progress);
|
||||
}
|
||||
@@ -42,7 +42,7 @@ void update_finished() {
|
||||
String output;
|
||||
doc["status"] = "finished";
|
||||
serializeJson(doc, output);
|
||||
socket.emit(EVENT_DOWNLOAD_OTA, output.c_str());
|
||||
// socket.emit(EVENT_DOWNLOAD_OTA, output.c_str());
|
||||
|
||||
// delay to allow the event to be sent out
|
||||
vTaskDelay(100 / portTICK_PERIOD_MS);
|
||||
@@ -70,7 +70,7 @@ void updateTask(void *param) {
|
||||
doc["status"] = "error";
|
||||
doc["error"] = httpUpdate.getLastErrorString().c_str();
|
||||
serializeJson(doc, output);
|
||||
socket.emit(EVENT_DOWNLOAD_OTA, output.c_str());
|
||||
// socket.emit(EVENT_DOWNLOAD_OTA, output.c_str());
|
||||
|
||||
ESP_LOGE("Download OTA", "HTTP Update failed with error (%d): %s", httpUpdate.getLastError(),
|
||||
httpUpdate.getLastErrorString().c_str());
|
||||
@@ -80,7 +80,7 @@ void updateTask(void *param) {
|
||||
doc["status"] = "error";
|
||||
doc["error"] = "Update failed, has same firmware version";
|
||||
serializeJson(doc, output);
|
||||
socket.emit(EVENT_DOWNLOAD_OTA, output.c_str());
|
||||
// socket.emit(EVENT_DOWNLOAD_OTA, output.c_str());
|
||||
|
||||
ESP_LOGE("Download OTA", "HTTP Update failed, has same firmware version");
|
||||
break;
|
||||
@@ -106,7 +106,7 @@ esp_err_t DownloadFirmwareService::handleDownloadUpdate(PsychicRequest *request,
|
||||
String output;
|
||||
serializeJson(doc, output);
|
||||
|
||||
socket.emit(EVENT_DOWNLOAD_OTA, output.c_str());
|
||||
// socket.emit(EVENT_DOWNLOAD_OTA, output.c_str());
|
||||
|
||||
const BaseType_t taskResult = g_taskManager.createTask(&updateTask, "Firmware download", OTA_TASK_STACK_SIZE,
|
||||
&downloadURL, (configMAX_PRIORITIES - 1), NULL, 1);
|
||||
+3
-3
@@ -88,14 +88,14 @@ esp_err_t FirmwareUploadService::handleUpload(PsychicRequest *request, const Str
|
||||
char buffer[64];
|
||||
snprintf(buffer, sizeof(buffer), "{\"status\":\"progress\",\"progress\":%.1f}",
|
||||
(float)Update.progress() / (float)fsize * 100.f);
|
||||
socket.emit("otastatus", buffer);
|
||||
// socket.emit("otastatus", buffer);
|
||||
delay(20);
|
||||
}
|
||||
if (final) {
|
||||
if (!Update.end(true)) {
|
||||
handleError(request, 500);
|
||||
} else {
|
||||
socket.emit("otastatus", "{\"status\":\"finished\",\"progress\":100}");
|
||||
// socket.emit("otastatus", "{\"status\":\"finished\",\"progress\":100}");
|
||||
ESP_LOGI(TAG, "Finish writing update");
|
||||
}
|
||||
}
|
||||
@@ -136,7 +136,7 @@ esp_err_t FirmwareUploadService::uploadComplete(PsychicRequest *request) {
|
||||
esp_err_t FirmwareUploadService::handleError(PsychicRequest *request, int code) {
|
||||
char buffer[64];
|
||||
snprintf(buffer, sizeof(buffer), "{\"status\":\"error\",\"error\":\"%d\"}", Update.getError());
|
||||
socket.emit("otastatus", buffer);
|
||||
// socket.emit("otastatus", buffer);
|
||||
// if we have had an error already, do nothing
|
||||
if (request->_tempObject) {
|
||||
return ESP_OK;
|
||||
@@ -136,12 +136,12 @@ void metrics(JsonObject &root) {
|
||||
}
|
||||
|
||||
void emitMetrics() {
|
||||
if (!socket.hasSubscribers(EVENT_ANALYTICS)) return;
|
||||
// if (!socket.hasSubscribers(EVENT_ANALYTICS)) return;
|
||||
analyticsDoc.clear();
|
||||
JsonObject root = analyticsDoc.to<JsonObject>();
|
||||
system_service::metrics(root);
|
||||
serializeJson(analyticsDoc, analyticsMessage);
|
||||
socket.emit(EVENT_ANALYTICS, analyticsMessage);
|
||||
// socket.emit(EVENT_ANALYTICS, analyticsMessage);
|
||||
}
|
||||
|
||||
const char *resetReason(esp_reset_reason_t reason) {
|
||||
Reference in New Issue
Block a user