Darkages/SpotMicroESP32-Leika
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⚡ Adds event bus

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This commit is contained in:
Rune Harlyk
2026-01-31 22:44:06 +01:00
parent ff1444b2bc
commit 780d178e87
26 changed files with 1127 additions and 243 deletions
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esp32/include/peripherals/servo_controller.h
+26 -32
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@@ -2,11 +2,10 @@
#define ServoController_h
#include <peripherals/drivers/pca9685.h>
#include <template/stateful_persistence_pb.h>
#include <template/stateful_proto_endpoint.h>
#include <template/stateful_service.h>
#include <event_bus/event_bus.h>
#include <utils/math_utils.h>
#include <platform_shared/api.pb.h>
#include <esp_http_server.h>
#ifndef FACTORY_SERVO_PWM_FREQUENCY
#define FACTORY_SERVO_PWM_FREQUENCY 50
@@ -24,43 +23,34 @@ inline ServoSettings ServoSettings_defaults() {
ServoSettings settings = {};
settings.servos_count = 12;
const api_Servo defaults[12] = {
{306, -1, 0, 2.0f, "Servo1"}, {306, 1, -45, 2.0f, "Servo2"},
{306, 1, 90, 2.0f, "Servo3"}, {306, -1, 0, 2.0f, "Servo4"},
{306, -1, 45, 2.0f, "Servo5"}, {306, -1, -90, 2.0f, "Servo6"},
{306, 1, 0, 2.0f, "Servo7"}, {306, 1, -45, 2.0f, "Servo8"},
{306, 1, 90, 2.0f, "Servo9"}, {306, 1, 0, 2.0f, "Servo10"},
{306, -1, 45, 2.0f, "Servo11"}, {306, -1, -90, 2.0f, "Servo12"}
};
{306, -1, 0, 2.0f, "Servo1"}, {306, 1, -45, 2.0f, "Servo2"}, {306, 1, 90, 2.0f, "Servo3"},
{306, -1, 0, 2.0f, "Servo4"}, {306, -1, 45, 2.0f, "Servo5"}, {306, -1, -90, 2.0f, "Servo6"},
{306, 1, 0, 2.0f, "Servo7"}, {306, 1, -45, 2.0f, "Servo8"}, {306, 1, 90, 2.0f, "Servo9"},
{306, 1, 0, 2.0f, "Servo10"}, {306, -1, 45, 2.0f, "Servo11"}, {306, -1, -90, 2.0f, "Servo12"}};
for (int i = 0; i < 12; i++) {
settings.servos[i] = defaults[i];
}
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()) {}
ServoController() {}
void begin() {
_persistence.readFromFS();
_settingsHandle = EventBus::subscribe<api_ServoSettings>(
[this](const api_ServoSettings &settings) { onSettingsChanged(settings); });
api_ServoSettings initialSettings;
if (EventBus::peek(initialSettings)) {
onSettingsChanged(initialSettings);
}
initializePCA();
}
esp_err_t getSettings(httpd_req_t *request);
esp_err_t updateSettings(httpd_req_t *request, api_Request *protoReq);
void pcaWrite(int index, int value) {
if (value < 0 || value > 4096) {
ESP_LOGE("Peripherals", "Invalid PWM value %d for %d :: Valid range 0-4096", value, index);
@@ -109,7 +99,7 @@ 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);
@@ -121,16 +111,20 @@ class ServoController : public StatefulService<ServoSettings> {
if (control_state == SERVO_CONTROL_STATE::ANGLE) calculatePWM();
}
StatefulProtoEndpoint<ServoSettings, ServoSettings> protoEndpoint;
private:
static constexpr const char *TAG = "ServoController";
void onSettingsChanged(const api_ServoSettings &newSettings) { _settings = newSettings; }
void initializePCA() {
_pca.begin();
_pca.setOscillatorFrequency(FACTORY_SERVO_OSCILLATOR_FREQUENCY);
_pca.setPWMFreq(FACTORY_SERVO_PWM_FREQUENCY);
_pca.sleep();
}
FSPersistencePB<ServoSettings> _persistence;
api_ServoSettings _settings = ServoSettings_defaults();
EventBus::Handle<api_ServoSettings> _settingsHandle;
PCA9685Driver _pca;