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🚚 Rename websocket_message to messages

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This commit is contained in:
Rune Harlyk
2026-01-03 17:00:33 +01:00
committed by nikguin04
parent c4b1ae8335
commit 775ca78a10
33 changed files with 144 additions and 176 deletions
Download Patch File Download Diff File Expand all files Collapse all files
.github/workflows/embedded-build.yml
+2 -4
View File
@@ -19,7 +19,7 @@ jobs:
steps:
- uses: actions/checkout@v3
with:
submodules: 'recursive'
submodules: "recursive"
- uses: actions/cache@v3
with:
path: |
@@ -34,13 +34,11 @@ jobs:
- name: Install PlatformIO Core
run: pip install --upgrade platformio
- name: Install Python dependencies for nanopb
run: pip install protobuf grpcio-tools
- name: Build Protocol Buffers (nanopb)
run: python ./submodules/nanopb/generator/nanopb_generator.py -I "./platform_shared/" -D esp32/src/platform_shared ./platform_shared/websocket_message.proto ./platform_shared/rest_message.proto
run: python ./submodules/nanopb/generator/nanopb_generator.py -I "./platform_shared/" -D esp32/src/platform_shared ./platform_shared/message.proto
- name: Build PlatformIO Project
run: pio run
.github/workflows/proto-build.yml
+2 -3
View File
@@ -6,7 +6,6 @@ on:
pull_request:
branches: [master, protobuf-playground]
jobs:
build:
runs-on: ubuntu-latest
@@ -20,7 +19,7 @@ jobs:
- name: Checkout code
uses: actions/checkout@v4
with:
submodules: 'recursive'
submodules: "recursive"
- name: Setup Python
uses: actions/setup-python@v4
@@ -31,7 +30,7 @@ jobs:
run: pip install protobuf grpcio-tools
- name: Build Protocol Buffers (nanopb)
run: python ./submodules/nanopb/generator/nanopb_generator.py -I "./platform_shared/" -D esp32/src/platform_shared ./platform_shared/websocket_message.proto ./platform_shared/rest_message.proto
run: python ./submodules/nanopb/generator/nanopb_generator.py -I "./platform_shared/" -D esp32/src/platform_shared ./platform_shared/message.proto
- name: Setup Protocol Buffers compiler
uses: arduino/setup-protoc@v3
app/scripts/compile_protos.js
+1 -1
View File
@@ -17,7 +17,7 @@ const pluginPath =
path.join(projectRoot, 'node_modules', '.bin', 'protoc-gen-ts_proto.cmd')
: path.join(projectRoot, 'node_modules', '.bin', 'protoc-gen-ts_proto')
const protoFiles = ['websocket_message.proto', 'rest_message.proto']
const protoFiles = ['message.proto']
const tsProtoOpts = ['useExactTypes=false', 'outputExtensions=true', 'outputSchema=true'].join(',')
app/src/lib/components/Visualization.svelte
+1 -1
View File
@@ -37,7 +37,7 @@
import { radToDeg } from 'three/src/math/MathUtils.js'
import type { URDFRobot } from 'urdf-loader'
import { get } from 'svelte/store'
import { AnglesData, KinematicData, ModesEnum } from '$lib/platform_shared/websocket_message'
import { AnglesData, KinematicData, ModesEnum } from '$lib/platform_shared/message'
interface Props {
defaultColor?: string | null
app/src/lib/components/statusbar/StopButton.svelte
+1 -1
View File
@@ -1,5 +1,5 @@
<script lang="ts">
import { ModeData, ModesEnum } from '$lib/platform_shared/websocket_message'
import { ModeData, ModesEnum } from '$lib/platform_shared/message'
import { mode } from '$lib/stores'
const deactivate = async () => {
app/src/lib/gait.ts
+1 -1
View File
@@ -1,7 +1,7 @@
import { get } from 'svelte/store'
import type { body_state_t } from './kinematic'
import { currentKinematic } from './stores/featureFlags'
import { HumanInputData, WalkGaits } from './platform_shared/websocket_message'
import { HumanInputData, WalkGaits } from './platform_shared/message'
export interface gait_state_t {
step_height: number
app/src/lib/stores/analytics.ts
+1 -1
View File
@@ -1,4 +1,4 @@
import { AnalyticsData } from '$lib/platform_shared/websocket_message'
import { AnalyticsData } from '$lib/platform_shared/message'
import { writable } from 'svelte/store'
const analytics_data: AnalyticsData[] = []
app/src/lib/stores/imu.ts
+1 -1
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@@ -1,5 +1,5 @@
import { writable } from 'svelte/store'
import { IMUData } from '$lib/platform_shared/websocket_message'
import { IMUData } from '$lib/platform_shared/message'
const imu_data: IMUData[] = []
const maxIMUData = 100
app/src/lib/stores/model-store.ts
+1 -1
View File
@@ -6,7 +6,7 @@ import {
ModesEnum,
WalkGaitData,
WalkGaits
} from '$lib/platform_shared/websocket_message'
} from '$lib/platform_shared/message'
import { persistentStore } from '$lib/utilities/svelte-utilities'
import { writable, type Writable } from 'svelte/store'
app/src/lib/stores/socket-store.ts
+1 -1
View File
@@ -1,4 +1,4 @@
import { AnglesData } from '$lib/platform_shared/websocket_message'
import { AnglesData } from '$lib/platform_shared/message'
import { writable, type Writable } from 'svelte/store'
export const servoAnglesOut: Writable<AnglesData> = writable(
app/src/lib/stores/socket.ts
+34 -34
View File
@@ -1,12 +1,12 @@
import { writable } from 'svelte/store'
import {
WebsocketMessage,
Message,
CorrelationRequest,
CorrelationResponse,
protoMetadata as websocket_md,
protoMetadata,
type MessageFns
} from '$lib/platform_shared/websocket_message'
import * as WebsocketMessages from '$lib/platform_shared/websocket_message'
} from '$lib/platform_shared/message'
import * as Messages from '$lib/platform_shared/message'
export const MESSAGE_TYPE_TO_KEY = new Map<MessageFns<unknown>, string>()
export const MESSAGE_TYPE_TO_TAG = new Map<MessageFns<unknown>, number>()
@@ -20,14 +20,14 @@ type PendingRequest = {
timeoutId: ReturnType<typeof setTimeout>
}
const websocketMessageType = websocket_md.fileDescriptor.messageType?.find(
(msg: { name: string }) => msg.name === 'WebsocketMessage'
const MessageType = protoMetadata.fileDescriptor.messageType?.find(
(msg: { name: string }) => msg.name === 'Message'
)
if (websocketMessageType?.field) {
for (const field of websocketMessageType.field) {
if (MessageType?.field) {
for (const field of MessageType.field) {
if (field.typeName) {
const messageFns = websocket_md.references[field.typeName]
const messageFns = protoMetadata.references[field.typeName]
if (messageFns && field.jsonName && field.number) {
MESSAGE_TYPE_TO_KEY.set(messageFns, field.jsonName)
MESSAGE_TYPE_TO_TAG.set(messageFns, field.number)
@@ -38,21 +38,21 @@ if (websocketMessageType?.field) {
}
}
function get_name_from_messagetype<T>(event_type: MessageFns<T>): string {
function getNameFromMessageType<T>(event_type: MessageFns<T>): string {
const event = MESSAGE_TYPE_TO_KEY.get(event_type as MessageFns<unknown>)
if (!event) {
throw new Error(
"Event type not found in 'WebsocketMessage'. The MessageFns you passed doesn't correspond to any WebsocketMessage field."
"Event type not found in 'Message'. The MessageFns you passed doesn't correspond to any Message field."
)
}
return event
}
function get_tag_from_messagetype<T>(event_type: MessageFns<T>): number {
function getTagFromMessageType<T>(event_type: MessageFns<T>): number {
const fieldNumber = MESSAGE_TYPE_TO_TAG.get(event_type as MessageFns<unknown>)
if (fieldNumber === undefined) {
throw new Error(
"Tag not found in 'WebsocketMessage'. The MessageFns you passed doesn't correspond to any WebsocketMessage field."
"Tag not found in 'Message'. The MessageFns you passed doesn't correspond to any Message field."
)
}
return fieldNumber
@@ -60,10 +60,10 @@ function get_tag_from_messagetype<T>(event_type: MessageFns<T>): number {
type SocketEvent = 'open' | 'close' | 'error' | 'message' | 'unresponsive'
type TaggedSocketMessage = { tag: number; msg: WebsocketMessage }
type TaggedMessage = { tag: number; msg: Message }
export const decodeMessage = (data: ArrayBuffer): TaggedSocketMessage => {
const decoded = WebsocketMessage.decode(new Uint8Array(data))
export const decodeMessage = (data: ArrayBuffer): TaggedMessage => {
const decoded = Message.decode(new Uint8Array(data))
const values = Object.entries(decoded).filter(([, value]) => value !== undefined)
if (values.length != 1) {
throw new Error('Message included either 0 or more than 1 data point')
@@ -76,8 +76,8 @@ export const decodeMessage = (data: ArrayBuffer): TaggedSocketMessage => {
return { tag: tag, msg: decoded }
}
export const encodeMessage = (data: WebsocketMessage): Uint8Array<ArrayBuffer> => {
const encoded = WebsocketMessage.encode(data).finish()
export const encodeMessage = (data: Message): Uint8Array<ArrayBuffer> => {
const encoded = Message.encode(data).finish()
return encoded
}
@@ -158,7 +158,7 @@ function createWebSocket() {
}
function unsubscribe<MT>(event_type: MessageFns<MT>, listener: (data: MT) => void) {
const tag = get_tag_from_messagetype(event_type)
const tag = getTagFromMessageType(event_type)
const message_listeners_totag = message_listeners.get(tag)
if (!message_listeners_totag) return
@@ -182,43 +182,43 @@ function createWebSocket() {
function sendEvent<T>(event: MessageFns<T>, data: T) {
if (!ws || ws.readyState !== WebSocket.OPEN) return
const type = get_name_from_messagetype(event)
const wsm = WebsocketMessage.create() as Record<string, unknown>
const type = getNameFromMessageType(event)
const wsm = Message.create() as Record<string, unknown>
wsm[type] = data
send(wsm as WebsocketMessage)
send(wsm as Message)
}
function unsubscribeToMessageFromServer<T>(event_type: MessageFns<T>) {
if (!ws || ws.readyState !== WebSocket.OPEN) return
const unsub_msg = WebsocketMessages.UnsubscribeNotification.create({
tag: get_tag_from_messagetype(event_type)
const unsub_msg = Messages.UnsubscribeNotification.create({
tag: getTagFromMessageType(event_type)
})
send(WebsocketMessage.create({ unsubNotif: unsub_msg }))
send(Message.create({ unsubNotif: unsub_msg }))
}
function subscribeToEvent<T>(event_type: MessageFns<T>) {
if (!ws || ws.readyState !== WebSocket.OPEN) return
const sub_msg = WebsocketMessages.SubscribeNotification.create({
tag: get_tag_from_messagetype(event_type)
const sub_msg = Messages.SubscribeNotification.create({
tag: getTagFromMessageType(event_type)
})
send(WebsocketMessage.create({ subNotif: sub_msg }))
send(Message.create({ subNotif: sub_msg }))
}
function resubscribeAll() {
for (const tag of message_listeners.keys()) {
const sub_msg = WebsocketMessages.SubscribeNotification.create({ tag })
send(WebsocketMessage.create({ subNotif: sub_msg }))
const sub_msg = Messages.SubscribeNotification.create({ tag })
send(Message.create({ subNotif: sub_msg }))
}
}
function send(data: WebsocketMessage) {
function send(data: Message) {
if (!ws || ws.readyState !== WebSocket.OPEN) return
const encoded = encodeMessage(data)
ws.send(encoded)
}
function ping() {
send(WebsocketMessage.create({ pingmsg: {} }))
send(Message.create({ pingmsg: {} }))
}
function sendRequest(
@@ -235,7 +235,7 @@ function createWebSocket() {
pending_requests.set(correlationId, { resolve, reject, timeoutId })
const request = CorrelationRequest.create({ correlationId, ...data })
send(WebsocketMessage.create({ correlationRequest: request }))
send(Message.create({ correlationRequest: request }))
}
function flushQueuedRequests() {
@@ -250,7 +250,7 @@ function createWebSocket() {
sendEvent,
init,
on: <MT>(event_type: MessageFns<MT>, listener: (data: MT) => void): (() => void) => {
const tag = get_tag_from_messagetype(event_type)
const tag = getTagFromMessageType(event_type)
let message_listeners_totag = message_listeners.get(tag)
if (!message_listeners_totag) {
app/src/lib/stores/telemetry.ts
+1 -1
View File
@@ -1,4 +1,4 @@
import { DownloadOTAData, RSSIData } from '$lib/platform_shared/websocket_message'
import { DownloadOTAData, RSSIData } from '$lib/platform_shared/message'
import { writable } from 'svelte/store'
type telemetry_data_type = {
app/src/routes/+layout.svelte
+2 -2
View File
@@ -32,7 +32,7 @@
RSSIData,
SonarData,
WalkGaitData
} from '$lib/platform_shared/websocket_message'
} from '$lib/platform_shared/message'
import { Throttler } from '$lib/utilities'
interface Props {
@@ -82,7 +82,7 @@
servoAngles.set(data)
}),
socket.on(PingMsg, data => {
console.log("Ping received!")
console.log('Ping received!')
})
]
)
app/src/routes/controller/+page.svelte
+1 -1
View File
@@ -5,7 +5,7 @@
import { onMount } from 'svelte'
import { mpu, socket } from '$lib/stores'
import { imu } from '$lib/stores/imu'
import { IMUData } from '$lib/platform_shared/websocket_message'
import { IMUData } from '$lib/platform_shared/message'
let layout = $derived($views.find(v => v.name === $selectedView)!)
app/src/routes/controller/Controls.svelte
+1 -6
View File
@@ -14,12 +14,7 @@
import { VerticalSlider } from '$lib/components/input'
import { gamepadAxes, gamepadButtonsEdges, hasGamepad } from '$lib/stores/gamepad'
import { notifications } from '$lib/components/toasts/notifications'
import {
ModeData,
ModesEnum,
WalkGaitData,
WalkGaits
} from '$lib/platform_shared/websocket_message'
import { ModeData, ModesEnum, WalkGaitData, WalkGaits } from '$lib/platform_shared/message'
let left: nipplejs.JoystickManager
let right: nipplejs.JoystickManager
app/src/routes/peripherals/i2c/i2c.svelte
+1 -1
View File
@@ -4,7 +4,7 @@
import { socket } from '$lib/stores'
import { Connection } from '$lib/components/icons'
import I2CSetting from './i2cSetting.svelte'
import type { I2CDevice } from '$lib/platform_shared/websocket_message'
import type { I2CDevice } from '$lib/platform_shared/message'
let active_devices: I2CDevice[] = $state([])
let isLoading = $state(false)
app/src/routes/peripherals/i2c/i2cSetting.svelte
+1 -1
View File
@@ -7,7 +7,7 @@
import {
PeripheralSettingsData,
PeripheralSettingsDataRequest
} from '$lib/platform_shared/websocket_message'
} from '$lib/platform_shared/message'
let settings: PeripheralSettingsData | null = $state(null)
let isEditing = $state(false)
app/src/routes/peripherals/imu/imu.svelte
+1 -1
View File
@@ -9,7 +9,7 @@
import { useFeatureFlags } from '$lib/stores/featureFlags'
import { Rotate3d } from '$lib/components/icons'
import { type IMUCalibrateData, IMUData } from '$lib/platform_shared/websocket_message'
import { type IMUCalibrateData, IMUData } from '$lib/platform_shared/message'
Chart.register(...registerables)
app/src/routes/peripherals/servo/servos.svelte
+1 -1
View File
@@ -1,5 +1,5 @@
<script lang="ts">
import { ServoPWMData, ServoStateData } from '$lib/platform_shared/websocket_message'
import { ServoPWMData, ServoStateData } from '$lib/platform_shared/message'
import { socket } from '$lib/stores'
import { Throttler } from '$lib/utilities'
app/src/routes/prototest/+page.svelte
+23 -11
View File
@@ -3,7 +3,13 @@
import { socket } from '$lib/stores'
//import { IMUReport, IMUType } from '$lib/platform_shared/example';
import { AnglesData, WebsocketMessage, IMUData, CorrelationRequest, CorrelationResponse } from '$lib/platform_shared/websocket_message'
import {
AnglesData,
Message,
IMUData,
CorrelationRequest,
CorrelationResponse
} from '$lib/platform_shared/message'
// const imu_report: IMUReport = {type: IMUType.IMU_ACCEL, xVal: 4}
// const writer = IMUReport.encode(imu_report);
@@ -13,20 +19,20 @@
// .map((b) => b.toString(16).padStart(2, '0'))
// .join(' ');
// const wmd: WebsocketMessage = { imu: {temp: 0, x: 0, y: 0, z: 1}, angles: {angles: [2]}}
// const wmd: WebsocketMessage = { imu: {temp: 0, x: 0, y: 0, z: 0} }
// const wmd: WebsocketMessage = { rssi: { rssi: 16 } }
// const wmd: WebsocketMessage = { imu: {temp: 1, x: 2, y: 4, z: 5} }
// const wmd: WebsocketMessage = { angles: {angles: [1,2,3,4]} }
const wmd: WebsocketMessage = { pongmsg: {} }
const writer = WebsocketMessage.encode(wmd)
// const wmd: Message = { imu: {temp: 0, x: 0, y: 0, z: 1}, angles: {angles: [2]}}
// const wmd: Message = { imu: {temp: 0, x: 0, y: 0, z: 0} }
// const wmd: Message = { rssi: { rssi: 16 } }
// const wmd: Message = { imu: {temp: 1, x: 2, y: 4, z: 5} }
// const wmd: Message = { angles: {angles: [1,2,3,4]} }
const wmd: Message = { pongmsg: {} }
const writer = Message.encode(wmd)
const bytes = writer.finish()
// Convert bytes to hex
const hex = Array.from(bytes)
.map(b => b.toString(16).padStart(2, '0'))
.join(' ')
// const decodedmsg: WebsocketMessage = WebsocketMessage.decode(bytes);
// const decodedmsg: Message = Message.decode(bytes);
// const objects = Object.entries(decodedmsg)
// console.log(Object.keys(AnglesData.create())[0] )
@@ -48,11 +54,17 @@
// console.log(data)
}
onMount(() => {
socket.on(CorrelationResponse, (data) => {
socket.on(CorrelationResponse, data => {
console.log(data)
})
socket.onEvent('open', () => {
socket.sendEvent(CorrelationRequest, CorrelationRequest.create({correlationId: 69, featuresDataRequest: { sonarTest: true }}))
socket.sendEvent(
CorrelationRequest,
CorrelationRequest.create({
correlationId: 69,
featuresDataRequest: { sonarTest: true }
})
)
})
return socket.on(IMUData, handleData)
app/src/routes/system/status/SystemStatus.svelte
+1 -1
View File
@@ -31,7 +31,7 @@
} from '$lib/components/icons'
import StatusItem from '$lib/components/StatusItem.svelte'
import ActionButton from './ActionButton.svelte'
import { AnalyticsData, type SystemInformation } from '$lib/platform_shared/websocket_message'
import { AnalyticsData, type SystemInformation } from '$lib/platform_shared/message'
const features = useFeatureFlags()
app/src/routes/wifi/sta/Wifi.svelte
+1 -1
View File
@@ -33,7 +33,7 @@
Edit
} from '$lib/components/icons'
import StatusItem from '$lib/components/StatusItem.svelte'
import { KnownNetworkItem } from '$lib/platform_shared/websocket_message'
import { KnownNetworkItem } from '$lib/platform_shared/message'
import { WifiSettings, type WifiStatus } from '$lib/platform_shared/rest_message'
let networkEditable: KnownNetworkItem = $state(KnownNetworkItem.create())
app/tests/unit/socket.spec.ts
+13 -22
View File
@@ -1,20 +1,15 @@
import { describe, it, expect, beforeEach, afterEach } from 'vitest'
import { WebSocketServer } from 'ws'
import { decodeMessage, MESSAGE_KEY_TO_TAG, socket } from '../../src/lib/stores/socket'
import {
IMUData,
PingMsg,
PongMsg,
WebsocketMessage
} from '../../src/lib/platform_shared/websocket_message'
import { IMUData, PingMsg, PongMsg, Message } from '../../src/lib/platform_shared/message'
// Helper function to create encoded WebSocket messages
function createEncodedMessage(messageType: 'imu' | 'rssi' | 'mode', data: unknown): Uint8Array {
// eslint-disable-next-line @typescript-eslint/no-explicit-any
const message: any = {}
message[messageType] = data
const wsMessage = WebsocketMessage.create(message)
return WebsocketMessage.encode(wsMessage).finish()
const wsMessage = Message.create(message)
return Message.encode(wsMessage).finish()
}
describe.sequential('WebSocket Integration Tests', () => {
@@ -130,7 +125,7 @@ describe.sequential('WebSocket Integration Tests', () => {
try {
// Decode the protobuf message
const decoded = WebsocketMessage.decode(new Uint8Array(data))
const decoded = Message.decode(new Uint8Array(data))
// console.log('Server: Decoded message:', JSON.stringify(decoded, null, 2))
// Only resolve if we got actual IMU data
@@ -193,9 +188,9 @@ describe.sequential('WebSocket Integration Tests', () => {
setTimeout(() => {
console.log('Client: Sending invalid message type...')
// Send any invalid message type
const wsm = WebsocketMessage.create()
const wsm = Message.create()
try {
socket.sendEvent(WebsocketMessage as any, wsm)
socket.sendEvent(Message as any, wsm)
clearTimeout(timeout)
reject(new Error('Expected sendEvent to throw, but it did not'))
} catch (e) {
@@ -208,7 +203,7 @@ describe.sequential('WebSocket Integration Tests', () => {
})
})
describe('WebsocketMessage Protobuf Encoding/Decoding', () => {
describe('Message Protobuf Encoding/Decoding', () => {
it('should encode and decode IMU data correctly', () => {
const imuData = IMUData.create({
x: 3.25,
@@ -233,21 +228,17 @@ describe('WebsocketMessage Protobuf Encoding/Decoding', () => {
})
it('should encode and decode two empty types correctly', () => {
const encoded_ping = WebsocketMessage.encode(
WebsocketMessage.create({ pingmsg: PingMsg.create() })
).finish()
const encoded_ping = Message.encode(Message.create({ pingmsg: PingMsg.create() })).finish()
const decoded_ping = decodeMessage(encoded_ping.buffer)
expect(decoded_ping.tag).toBe(MESSAGE_KEY_TO_TAG.get('pingmsg'))
const encoded_pong = WebsocketMessage.encode(
WebsocketMessage.create({ pongmsg: PongMsg.create() })
).finish()
const encoded_pong = Message.encode(Message.create({ pongmsg: PongMsg.create() })).finish()
const decoded_pong = decodeMessage(encoded_pong.buffer)
expect(decoded_pong.tag).toBe(MESSAGE_KEY_TO_TAG.get('pongmsg'))
})
it('should encode and decode complete WebsocketMessage', () => {
const original = WebsocketMessage.create({
it('should encode and decode complete Message', () => {
const original = Message.create({
imu: IMUData.create({
x: 3.25,
y: 2.5,
@@ -259,8 +250,8 @@ describe('WebsocketMessage Protobuf Encoding/Decoding', () => {
})
})
const encoded = WebsocketMessage.encode(original).finish()
const decoded = WebsocketMessage.decode(encoded)
const encoded = Message.encode(original).finish()
const decoded = Message.decode(encoded)
expect(decoded.imu).toBeDefined()
expect(decoded.imu?.x).toBe(3.25)
esp32/include/communication/comm_base.hpp
+4 -4
View File
@@ -42,7 +42,7 @@ class CommAdapterBase {
MessageTraits<T>::assign(msg_, data);
pb_ostream_t stream = pb_ostream_from_buffer(buffer_, sizeof(buffer_));
if (!pb_encode(&stream, socket_message_WebsocketMessage_fields, &msg_)) {
if (!pb_encode(&stream, socket_message_Message_fields, &msg_)) {
return;
}
@@ -86,10 +86,10 @@ class CommAdapterBase {
void sendPong(int cid) {
uint8_t pongBuffer[16];
msg_.which_message = socket_message_WebsocketMessage_pongmsg_tag;
msg_.which_message = socket_message_Message_pongmsg_tag;
msg_.message.pongmsg = socket_message_PongMsg_init_zero;
pb_ostream_t stream = pb_ostream_from_buffer(pongBuffer, sizeof(pongBuffer));
if (pb_encode(&stream, socket_message_WebsocketMessage_fields, &msg_)) {
if (pb_encode(&stream, socket_message_Message_fields, &msg_)) {
send(pongBuffer, stream.bytes_written, cid);
}
}
@@ -97,7 +97,7 @@ class CommAdapterBase {
SemaphoreHandle_t mutex_;
std::map<int32_t, std::list<int>> client_subscriptions_;
ProtoDecoder decoder_;
socket_message_WebsocketMessage msg_ = socket_message_WebsocketMessage_init_zero;
socket_message_Message msg_ = socket_message_Message_init_zero;
uint8_t buffer_[PROTO_BUFFER_SIZE];
private:
esp32/include/communication/proto_helpers.h
+9 -10
View File
@@ -2,7 +2,7 @@
#include <pb_encode.h>
#include <pb_decode.h>
#include <platform_shared/websocket_message.pb.h>
#include <platform_shared/message.pb.h>
#include <functional>
#include <map>
@@ -14,11 +14,11 @@ struct MessageTraits;
#define DEFINE_MESSAGE_TRAITS(DataType, field) \
template <> \
struct MessageTraits<socket_message_##DataType> { \
static constexpr pb_size_t tag = socket_message_WebsocketMessage_##field##_tag; \
static void assign(socket_message_WebsocketMessage& msg, const socket_message_##DataType& data) { \
static constexpr pb_size_t tag = socket_message_Message_##field##_tag; \
static void assign(socket_message_Message& msg, const socket_message_##DataType& data) { \
msg.message.field = data; \
} \
static const socket_message_##DataType& access(const socket_message_WebsocketMessage& msg) { \
static const socket_message_##DataType& access(const socket_message_Message& msg) { \
return msg.message.field; \
} \
};
@@ -42,7 +42,6 @@ DEFINE_MESSAGE_TRAITS(ServoStateData, servo_state)
DEFINE_MESSAGE_TRAITS(CorrelationRequest, correlation_request)
DEFINE_MESSAGE_TRAITS(CorrelationResponse, correlation_response)
#undef DEFINE_MESSAGE_TRAITS
class ProtoDecoder {
@@ -65,20 +64,20 @@ class ProtoDecoder {
bool decode(const uint8_t* data, size_t len, int clientId) {
pb_istream_t stream = pb_istream_from_buffer(data, len);
if (!pb_decode(&stream, socket_message_WebsocketMessage_fields, &msg_)) {
if (!pb_decode(&stream, socket_message_Message_fields, &msg_)) {
return false;
}
switch (msg_.which_message) {
case socket_message_WebsocketMessage_sub_notif_tag:
case socket_message_Message_sub_notif_tag:
if (subscribeHandler_) subscribeHandler_(msg_.message.sub_notif.tag, clientId);
return true;
case socket_message_WebsocketMessage_unsub_notif_tag:
case socket_message_Message_unsub_notif_tag:
if (unsubscribeHandler_) unsubscribeHandler_(msg_.message.unsub_notif.tag, clientId);
return true;
case socket_message_WebsocketMessage_pingmsg_tag:
case socket_message_Message_pingmsg_tag:
if (pingHandler_) pingHandler_(clientId);
return true;
@@ -94,7 +93,7 @@ class ProtoDecoder {
}
private:
socket_message_WebsocketMessage msg_ = socket_message_WebsocketMessage_init_zero;
socket_message_Message msg_ = socket_message_Message_init_zero;
SubscribeHandler subscribeHandler_;
UnsubscribeHandler unsubscribeHandler_;
PingHandler pingHandler_;
esp32/include/features.h
+1 -1
View File
@@ -3,7 +3,7 @@
#include <WiFi.h>
#include <ArduinoJson.h>
#include <PsychicHttp.h>
#include "platform_shared/websocket_message.pb.h"
#include "platform_shared/message.pb.h"
#define FT_ENABLED(feature) feature
esp32/include/message_types.h
+1 -1
View File
@@ -1,6 +1,6 @@
#pragma once
#include <platform_shared/websocket_message.pb.h>
#include <platform_shared/message.pb.h>
struct CommandMsg {
float lx, ly, rx, ry, h, s, s1;
esp32/include/peripherals/peripherals.h
+1 -1
View File
@@ -8,7 +8,7 @@
#include <features.h>
#include <settings/peripherals_settings.h>
#include <template/stateful_endpoint.h>
#include <platform_shared/websocket_message.pb.h>
#include <platform_shared/message.pb.h>
#include <list>
#include <SPI.h>
esp32/scripts/compile_protos.py
+1 -4
View File
@@ -16,10 +16,7 @@ def compile_nanopb():
output_dir.mkdir(parents=True, exist_ok=True)
proto_files = [
proto_dir / "websocket_message.proto",
proto_dir / "rest_message.proto"
]
proto_files = [proto_dir / "message.proto"]
print(f"Compiling protobuf files with nanopb...")
print(f" Proto dir: {proto_dir}")
platform_shared/websocket_message.options → platform_shared/message.options
View File
platform_shared/websocket_message.proto → platform_shared/message.proto
+24 -8
View File
@@ -1,9 +1,8 @@
syntax = "proto3";
package socket_message;
// Partial data types
message Vector { float x = 1; float y = 2; }
message I2CDevice { int32 address = 1; string part_number = 2; string name = 3; }
message PinConfig { int32 pin = 1; string mode = 2; string type = 3; string role = 4; }
@@ -39,8 +38,6 @@ message FeaturesDataResponse {
message FeaturesDataRequest { }
message CorrelationRequest {
uint32 correlation_id = 1;
oneof request {
@@ -49,6 +46,7 @@ message CorrelationRequest {
IMUCalibrateExecute imu_calibrate_execute = 30;
}
}
message CorrelationResponse {
uint32 correlation_id = 1;
uint32 status_code = 2;
@@ -67,6 +65,7 @@ enum ModesEnum {
STAND = 4;
WALK = 5;
}
message StaticSystemInformation {
string esp_platform = 1;
string firmware_version = 2;
@@ -83,10 +82,12 @@ message StaticSystemInformation {
string cpu_reset_reason = 13;
}
message IMUCalibrateData { bool success = 1; }
message IMUCalibrateExecute {}
message ModeData { ModesEnum mode = 1; }
message ControllerInputData {
Vector left = 1;
Vector right = 2;
@@ -94,6 +95,7 @@ message ControllerInputData {
float speed = 4;
float s1 = 5;
}
message AnalyticsData {
int32 max_alloc_heap = 1;
int32 psram_size = 2;
@@ -114,32 +116,46 @@ message ServoPWMData {
int32 servo_id = 1;
uint32 servo_pwm = 2;
}
message ServoStateData {
bool active = 1;
}
message AnglesData { repeated int32 angles = 1; }
message I2CScanData { repeated I2CDevice devices = 1; }
message I2CScanDataRequest {}
message PeripheralSettingsData { int32 sda = 1; int32 scl = 2; int32 frequency = 3; repeated PinConfig pins = 4; }
message PeripheralSettingsDataRequest {}
message WifiSettingsData { string hostname = 1; bool priority_rssi = 2; repeated KnownNetworkItem wifi_networks = 3; }
message RSSIData { int32 rssi = 1; }
message DownloadOTAData { string status = 1; int32 progress = 2; string error = 3; }
message SonarData { string dummy_field = 1; }
message HumanInputData {
Vector left = 10; Vector right = 11; float height = 20; float speed = 21; float s1 = 22;
}
message SystemInformation {
AnalyticsData analytics_data = 1; StaticSystemInformation static_system_information = 2;
}
enum WalkGaits {
TROT = 0;
CRAWL = 1;
}
message WalkGaitData {
WalkGaits gait = 1;
}
message KinematicData {
float omega = 1;
float phi = 2;
@@ -150,15 +166,15 @@ message KinematicData {
}
message SubscribeNotification { int32 tag = 1; }
message UnsubscribeNotification {int32 tag = 1; }
message PingMsg {}
message PongMsg {}
// WebSocket message wrapper
// Only ONE field will be set at a time (oneof ensures this)
message WebsocketMessage {
message Message {
oneof message {
CorrelationRequest correlation_request = 10;
CorrelationResponse correlation_response = 11;
platform_shared/rest_message.options
-12
View File
@@ -1,12 +0,0 @@
rest_message.WifiStatus.local_ip max_size:16
rest_message.WifiStatus.mac_address max_size:18
rest_message.WifiStatus.ssid max_size:33
rest_message.WifiStatus.bssid max_size:18
rest_message.WifiStatus.subnet_mask max_size:16
rest_message.WifiStatus.gateway_ip max_size:16
rest_message.WifiStatus.dns_ip_1 max_size:16
rest_message.WifiStatus.dns_ip_2 max_size:16
rest_message.WifiSettings.hostname max_size:32
rest_message.WifiSettings.wifi_networks max_count:8
platform_shared/rest_message.proto
-27
View File
@@ -1,27 +0,0 @@
syntax = "proto3";
import "websocket_message.proto";
// Note: This is most likely a "temporary" proto that will be redone, as these endpoints are static for the esp32, which means we are forced to use WiFi for communication
package rest_message;
message WifiStatus {
int32 status = 1;
string local_ip = 2;
string mac_address = 3;
float rssi = 4;
string ssid = 5;
string bssid = 6;
uint32 channel = 7;
string subnet_mask = 8;
string gateway_ip = 9;
string dns_ip_1 = 10;
optional string dns_ip_2 = 11;
}
message WifiSettings {
string hostname = 1;
bool priority_rssi = 2;
repeated socket_message.KnownNetworkItem wifi_networks = 3;
}