Darkages/SpotMicroESP32-Leika
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⚡ Full migration to esp-idf

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This commit is contained in:
Rune Harlyk
2026-01-31 15:30:36 +01:00
committed by Rune Harlyk
parent 21ed3d51d2
commit aca8ee6de5
42 changed files with 1815 additions and 343 deletions
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esp32/src/main.cpp
+46 -34
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@@ -1,6 +1,9 @@
#include <Arduino.h>
#include <ESPmDNS.h>
#include <WiFi.h>
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
#include <esp_log.h>
#include <nvs_flash.h>
#include <wifi/wifi_idf.h>
#include <mdns.h>
#include <map>
#include <filesystem.h>
@@ -20,7 +23,7 @@
#include <www_mount.hpp>
Websocket socket {server, "/api/ws"};
Websocket wsSocket {server, "/api/ws"};
Peripherals peripherals;
ServoController servoController;
@@ -123,35 +126,35 @@ void setupServer() {
void setupEventSocket() {
FileSystemWS::fsHandler.setSendCallbacks(
[](const socket_message_FSDownloadMetadata &metadata, int clientId) { socket.emit(metadata, clientId); },
[](const socket_message_FSDownloadData &data, int clientId) { socket.emit(data, clientId); },
[](const socket_message_FSDownloadComplete &complete, int clientId) { socket.emit(complete, clientId); },
[](const socket_message_FSUploadComplete &complete, int clientId) { socket.emit(complete, clientId); });
[](const socket_message_FSDownloadMetadata &metadata, int clientId) { wsSocket.emit(metadata, clientId); },
[](const socket_message_FSDownloadData &data, int clientId) { wsSocket.emit(data, clientId); },
[](const socket_message_FSDownloadComplete &complete, int clientId) { wsSocket.emit(complete, clientId); },
[](const socket_message_FSUploadComplete &complete, int clientId) { wsSocket.emit(complete, clientId); });
socket.on<socket_message_ControllerData>(
wsSocket.on<socket_message_ControllerData>(
[&](const socket_message_ControllerData &data, int clientId) { motionService.handleInput(data); });
socket.on<socket_message_ModeData>([&](const socket_message_ModeData &data, int clientId) {
wsSocket.on<socket_message_ModeData>([&](const socket_message_ModeData &data, int clientId) {
servoController.setMode(SERVO_CONTROL_STATE::ANGLE);
motionService.handleMode(data);
motionService.isActive() ? servoController.activate() : servoController.deactivate();
});
socket.on<socket_message_WalkGaitData>(
wsSocket.on<socket_message_WalkGaitData>(
[&](const socket_message_WalkGaitData &data, int clientId) { motionService.handleWalkGait(data); });
socket.on<socket_message_AnglesData>(
wsSocket.on<socket_message_AnglesData>(
[&](const socket_message_AnglesData &data, int clientId) { motionService.handleAngles(data); });
socket.on<socket_message_ServoPWMData>([&](const socket_message_ServoPWMData &data, int clientId) {
wsSocket.on<socket_message_ServoPWMData>([&](const socket_message_ServoPWMData &data, int clientId) {
servoController.setServoPWM(data.servo_id, data.servo_pwm);
});
socket.on<socket_message_ServoStateData>([&](const socket_message_ServoStateData &data, int clientId) {
wsSocket.on<socket_message_ServoStateData>([&](const socket_message_ServoStateData &data, int clientId) {
data.active ? servoController.activate() : servoController.deactivate();
});
socket.on<socket_message_FSUploadData>(
wsSocket.on<socket_message_FSUploadData>(
[&](const socket_message_FSUploadData &data, int clientId) { FileSystemWS::fsHandler.handleUploadData(data); });
using CorrelationHandler =
@@ -225,7 +228,7 @@ void setupEventSocket() {
}},
};
socket.on<socket_message_CorrelationRequest>([&](const socket_message_CorrelationRequest &data, int clientId) {
wsSocket.on<socket_message_CorrelationRequest>([&](const socket_message_CorrelationRequest &data, int clientId) {
auto res = new socket_message_CorrelationResponse();
*res = socket_message_CorrelationResponse_init_default;
res->correlation_id = data.correlation_id;
@@ -235,7 +238,7 @@ void setupEventSocket() {
if (it != correlationHandlers.end()) {
it->second(data, *res, clientId);
if (res->status_code != 0) {
socket.emit(*res, clientId);
wsSocket.emit(*res, clientId);
}
} else {
printf("WARNING: no handler for correlation request: %d\n", data.which_request);
@@ -248,15 +251,18 @@ void setupEventSocket() {
void IRAM_ATTR SpotControlLoopEntry(void *) {
ESP_LOGI("main", "Control task starting");
TickType_t xLastWakeTime = xTaskGetTickCount();
const TickType_t xFrequency = 5 / portTICK_PERIOD_MS;
const TickType_t xFrequency = pdMS_TO_TICKS(10);
peripherals.begin();
servoController.begin();
motionService.begin();
#if FT_ENABLED(USE_WS2812)
ledService.begin();
#endif
peripherals.calibrateIMU();
for (;;) {
WARN_IF_SLOW(SpotControlLoopEntry, 5);
WARN_IF_SLOW(SpotControlLoopEntry, 10);
peripherals.update();
motionService.update(&peripherals);
servoController.setAngles(motionService.getAngles());
@@ -272,8 +278,9 @@ void IRAM_ATTR serviceLoopEntry(void *) {
ESP_LOGI("main", "Service task starting");
wifiService.begin();
MDNS.begin(APP_NAME);
MDNS.setInstanceName(APP_NAME);
mdns_init();
mdns_hostname_set(APP_NAME);
mdns_instance_name_set(APP_NAME);
apService.begin();
#if FT_ENABLED(USE_CAMERA)
@@ -282,7 +289,7 @@ void IRAM_ATTR serviceLoopEntry(void *) {
setupServer();
socket.begin();
wsSocket.begin();
setupEventSocket();
ESP_LOGI("main", "Service task started");
@@ -291,23 +298,23 @@ void IRAM_ATTR serviceLoopEntry(void *) {
apService.loop();
EXECUTE_EVERY_N_MS(2000, {
if (socket.hasSubscribers(socket_message_Message_analytics_tag)) {
if (wsSocket.hasSubscribers(socket_message_Message_analytics_tag)) {
socket_message_AnalyticsData analytics = socket_message_AnalyticsData_init_zero;
system_service::getAnalytics(analytics);
socket.emit(analytics);
wsSocket.emit(analytics);
}
});
EXECUTE_EVERY_N_MS(100, {
if (socket.hasSubscribers(socket_message_Message_imu_tag)) {
if (wsSocket.hasSubscribers(socket_message_Message_imu_tag)) {
socket_message_IMUData imu = socket_message_IMUData_init_zero;
peripherals.getIMUProto(imu);
socket.emit(imu);
wsSocket.emit(imu);
}
if (socket.hasSubscribers(socket_message_Message_rssi_tag)) {
if (wsSocket.hasSubscribers(socket_message_Message_rssi_tag)) {
socket_message_RSSIData rssi = {.rssi = WiFi.RSSI()};
socket.emit(rssi);
wsSocket.emit(rssi);
}
});
@@ -317,18 +324,23 @@ void IRAM_ATTR serviceLoopEntry(void *) {
}
}
void setup() {
ESP_FS.begin();
extern "C" void app_main(void) {
esp_err_t ret = nvs_flash_init();
if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) {
ESP_ERROR_CHECK(nvs_flash_erase());
ret = nvs_flash_init();
}
ESP_ERROR_CHECK(ret);
FileSystem::init();
ESP_LOGI("main", "Booting robot");
feature_service::printFeatureConfiguration();
xTaskCreate(serviceLoopEntry, "Service task", 4096, nullptr, 2, nullptr);
xTaskCreate(serviceLoopEntry, "Service task", 8192, nullptr, 2, nullptr);
xTaskCreatePinnedToCore(SpotControlLoopEntry, "Control task", 4096, nullptr, 5, nullptr, 1);
xTaskCreatePinnedToCore(SpotControlLoopEntry, "Control task", 8192, nullptr, 5, nullptr, 1);
ESP_LOGI("main", "Finished booting");
}
void loop() { vTaskDelete(nullptr); }