🚚 Renames controller data

app/src/lib/gait.ts

@@ -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/message'
+import { ControllerData, WalkGaits } from './platform_shared/message'
 
 export interface gait_state_t {
     step_height: number
@@ -53,7 +53,7 @@ export abstract class GaitState {
     end() {
         console.log('Ending', this.name)
     }
-    step(body_state: body_state_t, command: HumanInputData, dt: number = 0.02) {
+    step(body_state: body_state_t, command: ControllerData, dt: number = 0.02) {
         this.map_command(command)
         this.body_state = body_state
         this.dt = dt / 1000
@@ -70,7 +70,7 @@ export abstract class GaitState {
         return body_state
     }
 
-    map_command(command: HumanInputData) {
+    map_command(command: ControllerData) {
         const kin = this.kinematic
         this.gait_state = {
             step_height: command.s1 * kin.max_step_height,
@@ -85,7 +85,7 @@ export abstract class GaitState {
 
 export class IdleState extends GaitState {
     protected name = 'Idle'
-    step(body_state: body_state_t, command: HumanInputData) {
+    step(body_state: body_state_t, command: ControllerData) {
         super.step(body_state, command)
         return body_state
     }
@@ -94,7 +94,7 @@ export class IdleState extends GaitState {
 export class CalibrationState extends GaitState {
     protected name = 'Calibration'
 
-    step(body_state: body_state_t, _command: HumanInputData) {
+    step(body_state: body_state_t, _command: ControllerData) {
         super.step(body_state, _command)
         body_state.omega = 0
         body_state.phi = 0
@@ -110,7 +110,7 @@ export class CalibrationState extends GaitState {
 export class RestState extends GaitState {
     protected name = 'Rest'
 
-    step(body_state: body_state_t, _command: HumanInputData) {
+    step(body_state: body_state_t, _command: ControllerData) {
         super.step(body_state, _command)
         body_state.omega = 0
         body_state.phi = 0
@@ -126,7 +126,7 @@ export class RestState extends GaitState {
 export class StandState extends GaitState {
     protected name = 'Stand'
 
-    step(body_state: body_state_t, command: HumanInputData) {
+    step(body_state: body_state_t, command: ControllerData) {
         super.step(body_state, command)
         const kin = this.kinematic
         body_state.omega = 0
@@ -189,7 +189,7 @@ export class BezierState extends GaitState {
         super.end()
     }
 
-    step(body_state: body_state_t, command: HumanInputData, dt: number = 0.02) {
+    step(body_state: body_state_t, command: ControllerData, dt: number = 0.02) {
         super.step(body_state, command, dt)
         const kin = this.kinematic
         this.body_state.ym = kin.min_body_height + command.height * kin.body_height_range

app/src/lib/stores/model-store.ts

@@ -1,6 +1,6 @@
 import Kinematic from '$lib/kinematic'
 import {
-    HumanInputData,
+    ControllerData,
     KinematicData,
     ModeData,
     ModesEnum,
@@ -24,8 +24,8 @@ export const walkGait: Writable<WalkGaitData> = writable(
 
 export const kinematicData = writable(KinematicData.create())
 
-export const input: Writable<HumanInputData> = writable(
-    HumanInputData.create({
+export const input: Writable<ControllerData> = writable(
+    ControllerData.create({
         left: { x: 0, y: 0 },
         right: { x: 0, y: 0 },
         height: 0.7,

app/src/routes/+layout.svelte

@@ -23,7 +23,7 @@
     import {
         AnglesData,
         DownloadOTAData,
-        HumanInputData,
+        ControllerData,
         KinematicData,
         ModeData,
         RSSIData,
@@ -48,7 +48,7 @@
         addEventListeners()
 
         input.subscribe(data =>
-            throttler.throttle(() => socket.sendEvent(HumanInputData, data), 100)
+            throttler.throttle(() => socket.sendEvent(ControllerData, data), 100)
         )
         mode.subscribe(data => socket.sendEvent(ModeData, data))
         walkGait.subscribe(data => socket.sendEvent(WalkGaitData, data))

esp32/include/communication/proto_helpers.h

@@ -32,7 +32,7 @@ DEFINE_MESSAGE_TRAITS(KinematicData, kinematic_data)
 DEFINE_MESSAGE_TRAITS(IMUCalibrateData, imu_calibrate)
 DEFINE_MESSAGE_TRAITS(I2CScanData, i2c_scan)
 DEFINE_MESSAGE_TRAITS(PeripheralSettingsData, peripheral_settings)
-DEFINE_MESSAGE_TRAITS(HumanInputData, human_input_data)
+DEFINE_MESSAGE_TRAITS(ControllerData, controller_data)
 DEFINE_MESSAGE_TRAITS(WalkGaitData, walk_gait)
 DEFINE_MESSAGE_TRAITS(IMUCalibrateExecute, imu_calibrate_execute)
 DEFINE_MESSAGE_TRAITS(I2CScanDataRequest, i2c_scan_data_request)

esp32/include/message_types.h

@@ -5,7 +5,7 @@
 struct CommandMsg {
     float lx, ly, rx, ry, h, s, s1;
 
-    void fromProto(const socket_message_HumanInputData& data) {
+    void fromProto(const socket_message_ControllerData& data) {
         lx = data.has_left ? data.left.x : 0;
         ly = data.has_left ? data.left.y : 0;
         rx = data.has_right ? data.right.x : 0;

esp32/include/motion.h

@@ -23,7 +23,7 @@ class MotionService {
 
     void handleAngles(const socket_message_AnglesData& data);
 
-    void handleInput(const socket_message_HumanInputData& data);
+    void handleInput(const socket_message_ControllerData& data);
 
     void handleWalkGait(const socket_message_WalkGaitData& data);
 

esp32/src/main.cpp

@@ -136,8 +136,8 @@ void setupServer() {
 }
 
 void setupEventSocket() {
-    socket.on<socket_message_HumanInputData>(
-        [&](const socket_message_HumanInputData &data, int clientId) { motionService.handleInput(data); });
+    socket.on<socket_message_ControllerData>(
+        [&](const socket_message_ControllerData &data, int clientId) { motionService.handleInput(data); });
 
     socket.on<socket_message_ModeData>([&](const socket_message_ModeData &data, int clientId) {
         servoController.setMode(SERVO_CONTROL_STATE::ANGLE);

esp32/src/motion.cpp

@@ -18,7 +18,7 @@ void MotionService::setState(MotionState* newState) {
     }
 }
 
-void MotionService::handleInput(const socket_message_HumanInputData& data) {
+void MotionService::handleInput(const socket_message_ControllerData& data) {
     command.fromProto(data);
     if (state) state->handleCommand(command);
 }

platform_shared/message.proto

@@ -139,7 +139,7 @@ message DownloadOTAData { string status = 1; int32 progress = 2; string error =
 
 message SonarData { string dummy_field = 1; }
 
-message HumanInputData {
+message ControllerData {
     Vector left = 10; Vector right = 11; float height = 20; float speed = 21; float s1 = 22;
 }
 
@@ -198,7 +198,7 @@ message Message {
         ServoPWMData servo_pwm = 210;
         ServoStateData servo_state = 211;
         WifiSettingsData wifi_settings = 240;
-        HumanInputData human_input_data = 250;
+        ControllerData controller_data = 250;
         RSSIData rssi = 260;
     }
 }