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🧹 Removes notification event service

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This commit is contained in:
Rune Harlyk
2024-05-02 22:29:11 +02:00
committed by Rune Harlyk
parent 9dee0e1bb1
commit b7a4568f07
9 changed files with 59 additions and 139 deletions
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esp32/lib/ESP32-sveltekit/MotionService.h
+51 -22
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@@ -10,8 +10,6 @@
#define INPUT_EVENT "input"
#define MODE_EVENT "mode"
#define MOTION_INTERVAL 100
enum class MOTION_STATE
{
IDLE,
@@ -40,18 +38,7 @@ class MotionService
_socket->onEvent(ANGLES_EVENT, [&](JsonObject &root, int originId) { anglesEvent(root, originId); });
_socket->onSubscribe(ANGLES_EVENT,
std::bind(&MotionService::syncState, this, std::placeholders::_1, std::placeholders::_2));
}
void syncState(const String &originId, bool sync = false)
{
DynamicJsonDocument jsonDocument{200};
char output[200];
JsonObject root = jsonDocument.to<JsonObject>();
root["angles"] = angles;
serializeJson(root, output);
ESP_LOGV("MotionState", "Syncing state: %s", output);
_socket->emit(ANGLES_EVENT, output, originId.c_str());
std::bind(&MotionService::syncAngles, this, std::placeholders::_1, std::placeholders::_2));
}
void anglesEvent(JsonObject &root, int originId)
@@ -61,19 +48,12 @@ class MotionService
{
angles[i] = array[i];
}
char output[100];
serializeJson(array, output);
sprintf(output, "[%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d]", 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, String(originId).c_str());
syncAngles(String(originId));
}
void handleInput(JsonObject &root, int originId)
{
String jsonString;
JsonArray array = root["data"].as<JsonArray>();
serializeJson(array, jsonString);
ESP_LOGI("MotionService", "%s", jsonString.c_str());
for (int i = 0; i < 7; i++)
{
input[i] = array[i];
@@ -90,14 +70,63 @@ class MotionService
_socket->emit(MODE_EVENT, output, String(originId).c_str());
}
void syncAngles(const String &originId = "", bool sync = false) {
char output[100];
sprintf(output, "[%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d]", 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, String(originId).c_str());
}
int lerp(int start, int end, float t) {
return (1 - t) * start + t * end;
}
bool updateMotion() {
bool updated = false;
switch (motionState) {
case MOTION_STATE::IDLE:
break;
case MOTION_STATE::REST:
for (int i = 0; i < 12; i++) {
int16_t new_angle = lerp(angles[i], rest_angles[i], 0.5);
if (new_angle != angles[i]) {
angles[i] = new_angle;
updated = true;
}
}
break;
case MOTION_STATE::WALK:
angles[1] += dir;
if (angles[1] >= 90) dir = -1;
if (angles[1] <= 0) dir = 1;
updated = true;
break;
}
return updated;
}
void loop() {
if (auto currentMillis = millis(); !_lastUpdate || (currentMillis - _lastUpdate) >= MotionInterval) {
_lastUpdate = currentMillis;
if (updateMotion()) syncAngles();
}
}
private:
PsychicHttpServer *_server;
EventSocket *_socket;
SecurityManager *_securityManager;
TaskManager *_taskManager;
constexpr static int MotionInterval = 100;
int8_t input[7] = {0, 0, 0, 0, 0, 0, 0};
int16_t angles[12] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
int16_t rest_angles[12] = {0, 90, -145, 0, 90, -145, 0, 90, -145, 0, 90, -145};
MOTION_STATE motionState = MOTION_STATE::IDLE;
unsigned long _lastUpdate;
int dir = 2;
};
#endif