♻️ Major clean up of project structure

esp32/src/main.cpp

@@ -1,26 +1,154 @@
-#include <spot.h>
+#include <Arduino.h>
+#include <PsychicHttp.h>
+#include <ESPmDNS.h>
+#include <WiFi.h>
+#include <Wire.h>
 
-DRAM_ATTR Spot spot;
+#include <filesystem.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>
+#include <system_service.h>
 
-void IRAM_ATTR SpotControlLoopEntry(void*) {
+#include <www_mount.hpp>
+
+// Communication
+PsychicHttpServer server;
+EventSocket socket {server, "/api/ws"};
+
+// Core
+Peripherals peripherals;
+ServoController servoController;
+MotionService motionService;
+#if FT_ENABLED(USE_WS2812)
+LEDService ledService;
+#endif
+#if FT_ENABLED(USE_CAMERA)
+Camera::CameraService cameraService;
+#endif
+
+// Service
+WiFiService wifiService;
+APService apService;
+
+void setupServer() {
+    server.config.max_uri_handlers = 5 + WWW_ASSETS_COUNT;
+    server.maxUploadSize = 1000000; // 1 MB;
+    server.listen(80);
+    server.serveStatic("/api/config/", ESP_FS, "/config/");
+    server.on("/api/features", feature_service::getFeatures);
+#if USE_CAMERA
+    server.on("/api/camera/still", HTTP_GET,
+              [&](PsychicRequest *request) { return cameraService.cameraStill(request); });
+    server.on("/api/camera/stream", HTTP_GET,
+              [&](PsychicRequest *request) { return cameraService.cameraStream(request); });
+    server.on("/api/camera/settings", HTTP_GET,
+              [&](PsychicRequest *request) { return cameraService.endpoint.getState(request); });
+    server.on("/api/camera/settings", HTTP_POST, [&](PsychicRequest *request, JsonVariant &json) {
+        return cameraService.endpoint.handleStateUpdate(request, json);
+    });
+#endif
+#if EMBED_WEBAPP
+    mountStaticAssets(server);
+#endif
+    server.on("/*", HTTP_OPTIONS, [](PsychicRequest *request) { // CORS handling
+        PsychicResponse response(request);
+        response.setCode(200);
+        return response.send();
+    });
+    DefaultHeaders::Instance().addHeader("Server", APP_NAME);
+    DefaultHeaders::Instance().addHeader("Access-Control-Allow-Origin", "*");
+    DefaultHeaders::Instance().addHeader("Access-Control-Allow-Headers", "Accept, Content-Type, Authorization");
+    DefaultHeaders::Instance().addHeader("Access-Control-Allow-Methods", "GET, POST, OPTIONS");
+    DefaultHeaders::Instance().addHeader("Access-Control-Max-Age", "86400");
+}
+
+#define ANGLES_EVENT "angles"
+#define INPUT_EVENT "input"
+#define MODE_EVENT "mode"
+#define WALK_GAIT_EVENT "walk_gait"
+
+void setupEventSocket() {
+    socket.onEvent(INPUT_EVENT, [&](JsonVariant &root, int originId) { motionService.handleInput(root, originId); });
+
+    socket.onEvent(MODE_EVENT, [&](JsonVariant &root, int originId) { motionService.handleMode(root, originId); });
+
+    socket.onEvent(WALK_GAIT_EVENT,
+                   [&](JsonVariant &root, int originId) { motionService.handleWalkGait(root, originId); });
+
+    socket.onEvent(ANGLES_EVENT, [&](JsonVariant &root, int originId) { motionService.anglesEvent(root, originId); });
+
+    socket.onSubscribe(ANGLES_EVENT, std::bind(&MotionService::syncAngles, motionService, std::placeholders::_1,
+                                               std::placeholders::_2));
+}
+
+void IRAM_ATTR SpotControlLoopEntry(void *) {
     ESP_LOGI("main", "Setup complete now runing tsk");
     TickType_t xLastWakeTime = xTaskGetTickCount();
     const TickType_t xFrequency = 5 / portTICK_PERIOD_MS;
+
+    peripherals.begin();
+    servoController.begin();
+    motionService.begin();
+
     for (;;) {
-        spot.readSensors();
-        spot.planMotion();
-        spot.updateActuators();
-        spot.emitTelemetry();
+        CALLS_PER_SECOND(SpotControlLoopEntry);
+        peripherals.update();
+        motionService.update(&peripherals);
+        servoController.setAngles(motionService.getAngles());
+        motionService.isActive() ? servoController.activate() : servoController.deactivate();
+        servoController.update();
+#if FT_ENABLED(USE_WS2812)
+        ledService.loop();
+#endif
         vTaskDelayUntil(&xLastWakeTime, xFrequency);
     }
 }
 
+void IRAM_ATTR serviceLoopEntry(void *) {
+    ESP_LOGI("main", "Service control task starting");
+    wifiService.begin();
+    MDNS.begin(APP_NAME);
+    MDNS.setInstanceName(APP_NAME);
+    apService.begin();
+
+    setupServer();
+
+    socket.begin();
+    setupEventSocket();
+
+    ESP_LOGI("main", "Service control task started");
+    for (;;) {
+        wifiService.loop();
+        apService.loop();
+        EXECUTE_EVERY_N_MS(2000, system_service::emitMetrics());
+
+        vTaskDelay(100 / portTICK_PERIOD_MS);
+    }
+}
+
 void setup() {
     Serial.begin(115200);
 
-    spot.initialize();
+    ESP_FS.begin();
 
-    g_taskManager.createTask(SpotControlLoopEntry, "Spot control task", 4096, nullptr, 5);
+    ESP_LOGI("main", "Booting robot");
+
+    feature_service::printFeatureConfiguration();
+
+    xTaskCreate(serviceLoopEntry, "Service task", 4096, nullptr, 2, nullptr);
+
+    xTaskCreatePinnedToCore(SpotControlLoopEntry, "Control task", 4096, nullptr, 5, nullptr, 1);
+
+    ESP_LOGI("main", "Finished booting");
 }
 
-void loop() { vTaskDelete(NULL); }
+void loop() { vTaskDelete(nullptr); }