♻️ Major clean up of project structure

esp32/include/event_socket.h

@@ -14,9 +14,9 @@ typedef std::function<void(const String &originId, bool sync)> SubscribeCallback
 
 class EventSocket {
   public:
-    EventSocket();
+    EventSocket(PsychicHttpServer &server, const char *route = "/api/ws");
 
-    PsychicWebSocketHandler *getHandler() { return &_socket; }
+    void begin();
 
     bool hasSubscribers(const char *event);
 
@@ -28,6 +28,8 @@ class EventSocket {
 
   private:
     PsychicWebSocketHandler _socket;
+    PsychicHttpServer &_server;
+    const char *_route;
 
     std::map<String, std::list<int>> client_subscriptions;
     std::map<String, std::list<EventCallback>> event_callbacks;
@@ -41,6 +43,4 @@ class EventSocket {
     esp_err_t onFrame(PsychicWebSocketRequest *request, httpd_ws_frame *frame);
 };
 
-extern EventSocket socket;
-
 #endif

esp32/include/filesystem.h

@@ -4,7 +4,7 @@
 
 #include <LittleFS.h>
 
-#define ESPFS LittleFS
+#define ESP_FS LittleFS
 
 #define AP_SETTINGS_FILE "/config/apSettings.json"
 #define CAMERA_SETTINGS_FILE "/config/cameraSettings.json"

esp32/include/firmware_download_service.h

@@ -1,24 +0,0 @@
-#pragma once
-
-#include <Arduino.h>
-
-#include <WiFi.h>
-#include <ArduinoJson.h>
-#include <event_socket.h>
-#include <PsychicHttp.h>
-
-#include <HTTPClient.h>
-#include <HTTPUpdate.h>
-#include <task_manager.h>
-
-#define EVENT_DOWNLOAD_OTA "otastatus"
-#define OTA_TASK_STACK_SIZE 9216
-
-class DownloadFirmwareService {
-  public:
-    DownloadFirmwareService();
-
-    esp_err_t handleDownloadUpdate(PsychicRequest *request, JsonVariant &json);
-
-  private:
-};

esp32/include/firmware_upload_service.h

@@ -1,32 +0,0 @@
-#ifndef FirmwareUploadService_h
-#define FirmwareUploadService_h
-
-#include <Arduino.h>
-
-#include <Update.h>
-#include <WiFi.h>
-
-#include <PsychicHttp.h>
-#include <system_service.h>
-#include <event_socket.h>
-
-enum FileType { ft_none = 0, ft_firmware = 1, ft_md5 = 2 };
-
-class FirmwareUploadService {
-  public:
-    FirmwareUploadService();
-
-    void begin();
-
-    PsychicUploadHandler *getHandler() { return &uploadHandler; }
-
-  private:
-    PsychicUploadHandler uploadHandler;
-    esp_err_t handleUpload(PsychicRequest *request, const String &filename, uint64_t index, uint8_t *data, size_t len,
-                           bool final);
-    esp_err_t uploadComplete(PsychicRequest *request);
-    esp_err_t handleError(PsychicRequest *request, int code);
-    esp_err_t handleEarlyDisconnect();
-};
-
-#endif // end FirmwareUploadService_h

esp32/include/motion.h

@@ -13,33 +13,13 @@
 #include <motion_states/rest_state.h>
 #include <message_types.h>
 
-#define DEFAULT_STATE false
-#define ANGLES_EVENT "angles"
-#define INPUT_EVENT "input"
-#define MODE_EVENT "mode"
-#define WALK_GAIT_EVENT "walk_gait"
-
 enum class MOTION_STATE { DEACTIVATED, IDLE, CALIBRATION, REST, STAND, WALK };
 
 class MotionService {
   public:
-    MotionService(ServoController *servoController, Peripherals *peripherals)
-        : _servoController(servoController), _peripherals(peripherals) {}
+    MotionService() {}
 
-    void begin() {
-        socket.onEvent(INPUT_EVENT, [&](JsonVariant &root, int originId) { handleInput(root, originId); });
-
-        socket.onEvent(MODE_EVENT, [&](JsonVariant &root, int originId) { handleMode(root, originId); });
-
-        socket.onEvent(WALK_GAIT_EVENT, [&](JsonVariant &root, int originId) { handleWalkGait(root, originId); });
-
-        socket.onEvent(ANGLES_EVENT, [&](JsonVariant &root, int originId) { anglesEvent(root, originId); });
-
-        socket.onSubscribe(ANGLES_EVENT,
-                           std::bind(&MotionService::syncAngles, this, std::placeholders::_1, std::placeholders::_2));
-
-        body_state.updateFeet(KinConfig::default_feet_positions);
-    }
+    void begin() { body_state.updateFeet(KinConfig::default_feet_positions); }
 
     void anglesEvent(JsonVariant &root, int originId) {
         JsonArray array = root.as<JsonArray>();
@@ -50,12 +30,14 @@ class MotionService {
     }
 
     void setState(MotionState *newState) {
-        _servoController->activate();
         if (state) {
             state->end();
         }
         state = newState;
-        if (state) state->begin();
+        if (state) {
+            _servoController->activate();
+            state->begin();
+        }
     }
 
     void handleInput(JsonVariant &root, int originId) {
@@ -89,7 +71,7 @@ class MotionService {
         JsonDocument doc;
         doc.set(static_cast<int>(mode));
         JsonVariant data = doc.as<JsonVariant>();
-        socket.emit(MODE_EVENT, data, String(originId).c_str());
+        // socket.emit(MODE_EVENT, data, String(originId).c_str());
     }
 
     void emitAngles(const String &originId = "", bool sync = false) {
@@ -97,7 +79,7 @@ class MotionService {
         auto arr = doc.to<JsonArray>();
         for (int i = 0; i < 12; i++) arr.add(angles[i]);
         JsonVariant data = doc.as<JsonVariant>();
-        socket.emit(ANGLES_EVENT, data, originId.c_str());
+        // socket.emit(ANGLES_EVENT, data, originId.c_str());
     }
 
     void syncAngles(const String &originId = "", bool sync = false) {
@@ -105,8 +87,7 @@ class MotionService {
         _servoController->setAngles(angles);
     }
 
-    void handleGestures() {
-        const gesture_t ges = _peripherals->takeGesture();
+    void handleGestures(const gesture_t ges) {
         if (ges != gesture_t::eGestureNone) {
             ESP_LOGI("Motion", "Gesture: %d", ges);
             switch (ges) {
@@ -120,13 +101,13 @@ class MotionService {
         }
     }
 
-    bool updateMotion() {
-        handleGestures();
+    bool update(Peripherals *peripherals) {
+        handleGestures(peripherals->takeGesture());
         if (!state) return false;
         unsigned long now = millis();
         float dt = (now - lastUpdate) / 1000.0f;
         lastUpdate = now;
-        state->updateImuOffsets(_peripherals->angleY(), _peripherals->angleX());
+        state->updateImuOffsets(peripherals->angleY(), peripherals->angleX());
         state->step(body_state, dt);
         kinematics.calculate_inverse_kinematics(body_state, new_angles);
 
@@ -147,9 +128,10 @@ class MotionService {
 
     float *getAngles() { return angles; }
 
+    inline bool isActive() { return state != nullptr; }
+
   private:
     ServoController *_servoController;
-    Peripherals *_peripherals;
     Kinematics kinematics;
 
     CommandMsg command = {0, 0, 0, 0, 0, 0, 0};

esp32/include/peripherals/gesture.h

@@ -161,7 +161,7 @@ class GestureSensor {
 
     gesture_t getGesture() { return msg.gesture; }
 
-    gesture_t takeGesture() {
+    gesture_t const takeGesture() {
         const auto g = msg.gesture;
         msg.gesture = eGestureNone;
         return g;

esp32/include/peripherals/peripherals.h

@@ -49,15 +49,15 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
         _eventEndpoint.begin();
         _persistence.readFromFS();
 
-        socket.onEvent(EVENT_I2C_SCAN, [&](JsonVariant &root, int originId) {
-            scanI2C();
-            emitI2C();
-        });
+        // socket.onEvent(EVENT_I2C_SCAN, [&](JsonVariant &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();
 
@@ -79,6 +79,13 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
 #endif
     };
 
+    void update() {
+        readIMU();
+        readMag();
+        // _peripherals.readBMP();
+        EXECUTE_EVERY_N_MS(100, { readGesture(); });
+    }
+
     void loop() {
         EXECUTE_EVERY_N_MS(_updateInterval, {
             beginTransaction();
@@ -112,7 +119,7 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
         }
         ESP_LOGI("Peripherals", "Emitting I2C scan results, %s %d", originId.c_str(), sync);
         JsonVariant data = doc.as<JsonVariant>();
-        socket.emit(EVENT_I2C_SCAN, data, originId.c_str(), sync);
+        // socket.emit(EVENT_I2C_SCAN, data, originId.c_str(), sync);
     }
 
     void scanI2C(uint8_t lower = 1, uint8_t higher = 127) {
@@ -197,7 +204,7 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
 
     // float angleZ() { return _imu.getAngleZ(); }
 
-    gesture_t takeGesture() {
+    gesture_t const takeGesture() {
         return
 #if FT_ENABLED(USE_PAJ7620U2)
             _gesture.takeGesture();
@@ -225,7 +232,7 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
 #endif
 #if FT_ENABLED(USE_MPU6050 || USE_BNO055) || FT_ENABLED(USE_HMC5883)
         JsonVariant data = doc.as<JsonVariant>();
-        socket.emit(EVENT_IMU, data);
+        // socket.emit(EVENT_IMU, data);
 #endif
     }
 
@@ -235,7 +242,7 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
         JsonArray root = doc.to<JsonArray>();
         root[0] = _left_distance, root[1] = _right_distance;
         JsonVariant data = doc.as<JsonVariant>();
-        socket.emit("sonar", data);
+        // socket.emit("sonar", data);
 #endif
     }
 

esp32/include/peripherals/servo_controller.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,
-                       [&](JsonVariant &root, int originId) { servoEvent(root, originId); });
-        socket.onEvent(EVENT_SERVO_STATE, [&](JsonVariant &root, int originId) { stateUpdate(root, originId); });
+        // socket.onEvent(EVENT_SERVO_CONFIGURATION_SETTINGS,
+        //                [&](JsonVariant &root, int originId) { servoEvent(root, originId); });
+        // socket.onEvent(EVENT_SERVO_STATE, [&](JsonVariant &root, int originId) { stateUpdate(root, originId); });
         _persistence.readFromFS();
 
         initializePCA();
-        socket.onEvent(EVENT_SERVO_STATE, [&](JsonVariant &root, int originId) {
-            is_active = root["active"] | false;
-            is_active ? activate() : deactivate();
-        });
+        // socket.onEvent(EVENT_SERVO_STATE, [&](JsonVariant &root, int originId) {
+        //     is_active = root["active"] | false;
+        //     is_active ? activate() : deactivate();
+        // });
     }
 
     void pcaWrite(int index, int value) {
@@ -110,7 +110,7 @@ class ServoController : public StatefulService<ServoSettings> {
         _pca.setMultiplePWM(pwms, 12);
     }
 
-    void updateServoState() {
+    void update() {
         if (control_state == SERVO_CONTROL_STATE::ANGLE) calculatePWM();
     }
 

esp32/include/spot.h

@@ -1,114 +0,0 @@
-#ifndef Spot_h
-#define Spot_h
-
-#include <Arduino.h>
-#include <PsychicHttp.h>
-#include <ESPmDNS.h>
-#include <WiFi.h>
-#include <Wire.h>
-
-#include <filesystem.h>
-#include <firmware_download_service.h>
-#include <firmware_upload_service.h>
-#include <peripherals/peripherals.h>
-#include <peripherals/servo_controller.h>
-#include <peripherals/led_service.h>
-#include <peripherals/camera_service.h>
-#include <event_socket.h>
-#include <features.h>
-#include <motion.h>
-#include <task_manager.h>
-#include <wifi_service.h>
-#include <ap_service.h>
-#include <mdns_service.h>
-
-#ifdef EMBED_WWW
-#include <WWWData.h>
-#endif
-
-#ifndef APP_VERSION
-#define APP_VERSION "v1"
-#endif
-
-#ifndef APP_NAME
-#define APP_NAME "SpotMicro"
-#endif
-
-#ifndef APPLICATION_CORE
-#define APPLICATION_CORE -1
-#endif
-
-class Spot {
-  public:
-    Spot();
-
-    void initialize();
-
-    // sense
-    void readSensors() {
-        _peripherals.readIMU();
-        _peripherals.readMag();
-        _peripherals.readBMP();
-        EXECUTE_EVERY_N_MS(100, { _peripherals.readGesture(); });
-    }
-
-    // plan
-    void planMotion() { updatedMotion = _motionService.updateMotion(); }
-
-    // act
-    void updateActuators() {
-        if (updatedMotion) _servoController.setAngles(_motionService.getAngles());
-        updatedMotion = false;
-
-        _servoController.updateServoState();
-#if FT_ENABLED(USE_WS2812)
-        _ledService.loop();
-#endif
-    }
-
-    // communicate
-    void emitTelemetry() {
-        if (updatedMotion) EXECUTE_EVERY_N_MS(100, { _motionService.emitAngles(); });
-        EXECUTE_EVERY_N_MS(250, { _peripherals.emitIMU(); });
-        // _peripherals.emitSonar();
-    }
-
-  private:
-    PsychicHttpServer _server;
-    WiFiService _wifiService;
-    APService _apService;
-    EventSocket _socket;
-    MDNSService _mdnsService;
-#if FT_ENABLED(USE_UPLOAD_FIRMWARE)
-    FirmwareUploadService _uploadFirmwareService;
-#endif
-#if FT_ENABLED(USE_DOWNLOAD_FIRMWARE)
-    DownloadFirmwareService _downloadFirmwareService;
-#endif
-#if FT_ENABLED(USE_MOTION)
-    MotionService _motionService;
-#endif
-#if FT_ENABLED(USE_CAMERA)
-    Camera::CameraService _cameraService;
-#endif
-    Peripherals _peripherals;
-    ServoController _servoController;
-#if FT_ENABLED(USE_WS2812)
-    LEDService _ledService;
-#endif
-
-    bool updatedMotion = false;
-
-    const char *_appName = APP_NAME;
-    const u_int16_t _numberEndpoints = 137 + 36;
-    const u_int32_t _maxFileUpload = 2300000; // 2.3 MB
-    const uint16_t _port = 80;
-
-  protected:
-    void loop();
-    static void _loopImpl(void *_this) { static_cast<Spot *>(_this)->loop(); }
-    void setupServer();
-    void startServices();
-};
-
-#endif

esp32/include/system_service.h

@@ -5,7 +5,7 @@
 #include <PsychicHttp.h>
 #include <WiFi.h>
 #include <task_manager.h>
-#include <event_socket.h>
+// #include <event_socket.h>
 #include <filesystem.h>
 #include <global.h>
 

esp32/include/template/stateful_persistence.h

@@ -90,7 +90,7 @@ class FSPersistence {
     JsonStateReader<T> _stateReader;
     JsonStateUpdater<T> _stateUpdater;
     StatefulService<T> *_statefulService;
-    FS *_fs {&ESPFS};
+    FS *_fs {&ESP_FS};
     const char *_filePath;
     size_t _bufferSize;
     HandlerId _updateHandlerId;

esp32/include/template/stateful_socket.h

@@ -2,7 +2,7 @@
 
 #include <PsychicHttp.h>
 
-#include <event_socket.h>
+// #include <event_socket.h>
 #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:
@@ -35,6 +35,6 @@ class EventEndpoint {
         JsonDocument jsonDocument;
         JsonVariant root = jsonDocument.to<JsonVariant>();
         _statefulService->read(root, _stateReader);
-        socket.emit(_event, root, originId.c_str(), sync);
+        // socket.emit(_event, root, originId.c_str(), sync);
     }
 };

esp32/include/www_mount.hpp

@@ -0,0 +1,5 @@
+#pragma once
+#include <PsychicHttp.h>
+#include "WWWData.h"
+
+void mountStaticAssets(PsychicHttpServer& s);