From ffb2bc8749d025348f172e8b434e5dcce5144e31 Mon Sep 17 00:00:00 2001
From: Rune Harlyk <rune@harlyk.dk>
Date: Thu, 27 Nov 2025 17:38:51 +0100
Subject: [PATCH 1/2] =?UTF-8?q?=F0=9F=90=9B=20Fix=20socket=20deadlock?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 esp32/include/communication/comm_base.hpp       | 6 +++---
 esp32/include/communication/websocket_adapter.h | 2 +-
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/esp32/include/communication/comm_base.hpp b/esp32/include/communication/comm_base.hpp
index cafd346..b1ed5b0 100644
--- a/esp32/include/communication/comm_base.hpp
+++ b/esp32/include/communication/comm_base.hpp
@@ -38,15 +38,15 @@ class CommAdapterBase {
         array.add(event);
         array.add(payload);
 
-        // TODO: Only send to subscribed
-
 #if USE_MSGPACK
         std::string bin;
         serializeMsgPack(doc, bin);
-        send(reinterpret_cast<const uint8_t *>(bin.data()), bin.size(), -1); // TODO: Make CID dynamic
+        xSemaphoreGive(mutex_);
+        send(reinterpret_cast<const uint8_t *>(bin.data()), bin.size(), -1);
 #else
         String out;
         serializeJson(doc, out);
+        xSemaphoreGive(mutex_);
         send(out.c_str(), -1);
 #endif
     }
diff --git a/esp32/include/communication/websocket_adapter.h b/esp32/include/communication/websocket_adapter.h
index af151e6..da2cb1b 100644
--- a/esp32/include/communication/websocket_adapter.h
+++ b/esp32/include/communication/websocket_adapter.h
@@ -10,7 +10,7 @@
 
 #include <communication/comm_base.hpp>
 
-class Websocket : CommAdapterBase {
+class Websocket : public CommAdapterBase {
   public:
     Websocket(PsychicHttpServer &server, const char *route = "/api/ws");
 

From d43e98d06b3eeb23870d81d07b3aa7ba88d54d40 Mon Sep 17 00:00:00 2001
From: Rune Harlyk <rune@harlyk.dk>
Date: Thu, 27 Nov 2025 18:44:36 +0100
Subject: [PATCH 2/2] =?UTF-8?q?=F0=9F=90=9B=20Imu=20temp=20in=20message?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 app/src/lib/stores/imu.ts   | 2 +-
 app/src/lib/types/models.ts | 2 +-
 esp32/src/main.cpp          | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/app/src/lib/stores/imu.ts b/app/src/lib/stores/imu.ts
index 3bf1491..7ce44ae 100644
--- a/app/src/lib/stores/imu.ts
+++ b/app/src/lib/stores/imu.ts
@@ -16,7 +16,7 @@ export const imu = (() => {
 
     const addData = (content: IMUMsg) => {
         update(data => {
-            if (content.imu && content.imu[3]) {
+            if (content.imu && content.imu[4]) {
                 data.x = [...data.x, content.imu[0]].slice(-maxIMUData)
                 data.y = [...data.y, content.imu[1]].slice(-maxIMUData)
                 data.z = [...data.z, content.imu[2]].slice(-maxIMUData)
diff --git a/app/src/lib/types/models.ts b/app/src/lib/types/models.ts
index 85ab164..754b9fc 100644
--- a/app/src/lib/types/models.ts
+++ b/app/src/lib/types/models.ts
@@ -155,7 +155,7 @@ export type IMU = {
 }
 
 export type IMUMsg = {
-    imu: [number, number, number, boolean]
+    imu: [number, number, number, number, boolean]
     mag: [number, number, number, number, boolean]
     bmp: [number, number, number, boolean]
 }
diff --git a/esp32/src/main.cpp b/esp32/src/main.cpp
index 7dad36a..5c7d1b8 100644
--- a/esp32/src/main.cpp
+++ b/esp32/src/main.cpp
@@ -132,7 +132,7 @@ void IRAM_ATTR SpotControlLoopEntry(void *) {
 #if FT_ENABLED(USE_WS2812)
         ledService.loop();
 #endif
-        EXECUTE_EVERY_N_MS(250, [&]() {
+        EXECUTE_EVERY_N_MS(250, {
             JsonDocument doc;
             JsonVariant results = doc.to<JsonVariant>();
             peripherals.getIMUResult(results);