🐸 Sending and receiving a correlated request (WIP)

app/src/routes/+layout.svelte

@@ -28,6 +28,7 @@
         HumanInputData,
         KinematicData,
         ModeData,
+        PingMsg,
         RSSIData,
         SonarData,
         WalkGaitData
@@ -74,10 +75,14 @@
                 socket.on(RSSIData, data => telemetry.setRSSI(data)),
                 socket.on(ModeData, data => mode.set(data)),
                 socket.on(AnalyticsData, data => {
+                    // console.log(data);
                     analytics.addData(data)
                 }),
                 socket.on(AnglesData, data => {
                     servoAngles.set(data)
+                }),
+                socket.on(PingMsg, data => {
+                    console.log("Ping received!")
                 })
             ]
         )

app/src/routes/prototest/+page.svelte

@@ -3,7 +3,7 @@
     import { socket } from '$lib/stores'
 
     //import { IMUReport, IMUType } from '$lib/platform_shared/example';
-    import { AnglesData, WebsocketMessage, IMUData } from '$lib/platform_shared/websocket_message'
+    import { AnglesData, WebsocketMessage, IMUData, CorrelationRequest, CorrelationResponse } from '$lib/platform_shared/websocket_message'
 
     // const imu_report: IMUReport = {type: IMUType.IMU_ACCEL, xVal: 4}
     // const writer = IMUReport.encode(imu_report);
@@ -15,9 +15,10 @@
 
     // const wmd: WebsocketMessage = { imu: {temp: 0, x: 0, y: 0, z: 1}, angles: {angles: [2]}}
     // const wmd: WebsocketMessage = { imu: {temp: 0, x: 0, y: 0, z: 0} }
-    const wmd: WebsocketMessage = { rssi: { rssi: 16 } }
+    // const wmd: WebsocketMessage = { rssi: { rssi: 16 } }
     // const wmd: WebsocketMessage = { imu: {temp: 1, x: 2, y: 4, z: 5} }
     // const wmd: WebsocketMessage = { angles: {angles: [1,2,3,4]} }
+    const wmd: WebsocketMessage = { pongmsg: {} }
     const writer = WebsocketMessage.encode(wmd)
     const bytes = writer.finish()
     // Convert bytes to hex
@@ -44,9 +45,16 @@
     // }
 
     const handleData = (data: IMUData) => {
-        console.log(data)
+        // console.log(data)
     }
     onMount(() => {
+        socket.on(CorrelationResponse, (data) => {
+            console.log(data)
+        })
+        socket.onEvent('open', () => {
+            socket.sendEvent(CorrelationRequest, CorrelationRequest.create({correlationId: 69, featuresDataRequest: { sonarTest: true }}))
+        })
+
         return socket.on(IMUData, handleData)
     })
 </script>

esp32/src/main.cpp

@@ -169,6 +169,32 @@ void setupEventSocket() {
     socket.on<socket_message_ServoStateData>([&](const socket_message_ServoStateData &data, int clientId) {
         data.active ? servoController.activate() : servoController.deactivate();
     });
+
+    socket.on<socket_message_CorrelationRequest>([&](const socket_message_CorrelationRequest &data, int clientId) {
+        printf("Received correlation request: %d\n", data.correlation_id);
+        // Temporarily hardcoded
+        switch (data.which_request) {
+            case socket_message_CorrelationRequest_features_data_request_tag: {
+                socket_message_CorrelationResponse res = socket_message_CorrelationResponse_init_default;
+                res.correlation_id = data.correlation_id;
+                res.stauts_code = 200;
+                res.which_response = socket_message_CorrelationResponse_features_data_response_tag;
+
+                feature_service::features_request(
+                    data.request.features_data_request,
+                    res.response.features_data_response
+                );
+
+                socket.emit(res, clientId);
+
+                break;
+            }
+            default: {
+                printf("WARNING: no tag found for correlation request: %d", data.which_request);
+                break;
+            }
+        }
+    });
 }
 
 void IRAM_ATTR SpotControlLoopEntry(void *) {