Darkages/SpotMicroESP32-Leika
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✨ Refactors event socket

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This commit is contained in:
Rune Harlyk
2024-11-07 16:58:19 +01:00
committed by Rune Harlyk
parent fd652bd967
commit 89611b5e3e
20 changed files with 98 additions and 127 deletions
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esp32/lib/ESP32-sveltekit/MotionService.h
+11 -13
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@@ -1,7 +1,7 @@
#ifndef MotionService_h
#define MotionService_h
#include <EventSocket.h>
#include <event_socket.h>
#include <TaskManager.h>
#include <Kinematics.h>
#include <ServoController.h>
@@ -20,21 +20,20 @@ enum class MOTION_STATE { DEACTIVATED, IDLE, CALIBRATION, REST, STAND, CRAWL, WA
class MotionService {
public:
MotionService(PsychicHttpServer *server, EventSocket *socket, ServoController *servoController,
TaskManager *taskManager)
: _server(server), _socket(socket), _servoController(servoController), _taskManager(taskManager) {}
MotionService(PsychicHttpServer *server, ServoController *servoController, TaskManager *taskManager)
: _server(server), _servoController(servoController), _taskManager(taskManager) {}
void begin() {
_socket->onEvent(INPUT_EVENT, [&](JsonObject &root, int originId) { handleInput(root, originId); });
socket.onEvent(INPUT_EVENT, [&](JsonObject &root, int originId) { handleInput(root, originId); });
_socket->onEvent(MODE_EVENT, [&](JsonObject &root, int originId) { handleMode(root, originId); });
socket.onEvent(MODE_EVENT, [&](JsonObject &root, int originId) { handleMode(root, originId); });
_socket->onEvent(ANGLES_EVENT, [&](JsonObject &root, int originId) { anglesEvent(root, originId); });
socket.onEvent(ANGLES_EVENT, [&](JsonObject &root, int originId) { anglesEvent(root, originId); });
_socket->onEvent(POSITION_EVENT, [&](JsonObject &root, int originId) { positionEvent(root, originId); });
socket.onEvent(POSITION_EVENT, [&](JsonObject &root, int originId) { positionEvent(root, originId); });
_socket->onSubscribe(ANGLES_EVENT,
std::bind(&MotionService::syncAngles, this, std::placeholders::_1, std::placeholders::_2));
socket.onSubscribe(ANGLES_EVENT,
std::bind(&MotionService::syncAngles, this, std::placeholders::_1, std::placeholders::_2));
body_state.updateFeet(default_feet_positions);
@@ -90,7 +89,7 @@ class MotionService {
char output[2];
itoa((int)motionState, output, 10);
motionState == MOTION_STATE::DEACTIVATED ? _servoController->deactivate() : _servoController->activate();
_socket->emit(MODE_EVENT, output, String(originId).c_str());
socket.emit(MODE_EVENT, output, String(originId).c_str());
}
void syncAngles(const String &originId = "", bool sync = false) {
@@ -98,7 +97,7 @@ class MotionService {
snprintf(output, sizeof(output), "[%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f]", angles[0],
angles[1], angles[2], angles[3], angles[4], angles[5], angles[6], angles[7], angles[8], angles[9],
angles[10], angles[11]);
_socket->emit(ANGLES_EVENT, output, originId.c_str());
socket.emit(ANGLES_EVENT, output, originId.c_str());
_servoController->setAngles(angles);
}
@@ -146,7 +145,6 @@ class MotionService {
private:
PsychicHttpServer *_server;
EventSocket *_socket;
TaskManager *_taskManager;
ServoController *_servoController;
Kinematics kinematics;