Darkages/SpotMicroESP32-Leika
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♻️ Updates combase to use protobufs

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This commit is contained in:
Rune Harlyk
2026-01-03 12:37:05 +01:00
committed by nikguin04
parent 28bb35d104
commit c0c13754f4
6 changed files with 347 additions and 169 deletions
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esp32/src/main.cpp
+54 -37
View File
@@ -111,7 +111,6 @@ void setupServer() {
[&](PsychicRequest *request, JsonVariant &json) { return mdnsService.queryServices(request, json); });
#endif
// Filesystem
server.on("/api/config/*", HTTP_GET, [](PsychicRequest *request) { return FileSystem::getConfigFile(request); });
server.on("/api/files", HTTP_GET, [&](PsychicRequest *request) { return FileSystem::getFiles(request); });
@@ -148,44 +147,45 @@ void setupServer() {
void setupEventSocket() {
// Motion events
socket.onEvent(INPUT_EVENT, [&](JsonVariant &root, int originId) { motionService.handleInput(root, originId); });
// socket.onEvent(INPUT_EVENT, [&](JsonVariant &root, int originId) { motionService.handleInput(root, originId); });
socket.onEvent(MODE_EVENT, [&](JsonVariant &root, int originId) {
servoController.setMode(SERVO_CONTROL_STATE::ANGLE);
motionService.handleMode(root, originId);
motionService.isActive() ? servoController.activate() : servoController.deactivate();
});
// socket.onEvent(MODE_EVENT, [&](JsonVariant &root, int originId) {
// servoController.setMode(SERVO_CONTROL_STATE::ANGLE);
// motionService.handleMode(root, originId);
// motionService.isActive() ? servoController.activate() : servoController.deactivate();
// });
socket.onEvent(WALK_GAIT_EVENT,
[&](JsonVariant &root, int originId) { motionService.handleWalkGait(root, originId); });
// socket.onEvent(WALK_GAIT_EVENT,
// [&](JsonVariant &root, int originId) { motionService.handleWalkGait(root, originId); });
socket.onEvent(ANGLES_EVENT, [&](JsonVariant &root, int originId) { motionService.anglesEvent(root, originId); });
// socket.onEvent(ANGLES_EVENT, [&](JsonVariant &root, int originId) { motionService.anglesEvent(root, originId);
// });
// Peripherals events
socket.onEvent(EVENT_I2C_SCAN, [&](JsonVariant &root, int originId) {
peripherals.scanI2C();
JsonDocument doc;
JsonVariant results = doc.to<JsonVariant>();
peripherals.getI2CResult(results);
socket.emit(EVENT_I2C_SCAN, results);
});
// // Peripherals events
// socket.onEvent(EVENT_I2C_SCAN, [&](JsonVariant &root, int originId) {
// peripherals.scanI2C();
// JsonDocument doc;
// JsonVariant results = doc.to<JsonVariant>();
// peripherals.getI2CResult(results);
// socket.emit(EVENT_I2C_SCAN, results);
// });
socket.onEvent(EVENT_IMU_CALIBRATE, [&](JsonVariant &root, int originId) {
JsonDocument doc;
JsonVariant results = doc.to<JsonVariant>();
results["success"] = peripherals.calibrateIMU();
socket.emit(EVENT_IMU_CALIBRATE, results);
});
// socket.onEvent(EVENT_IMU_CALIBRATE, [&](JsonVariant &root, int originId) {
// JsonDocument doc;
// JsonVariant results = doc.to<JsonVariant>();
// results["success"] = peripherals.calibrateIMU();
// socket.emit(EVENT_IMU_CALIBRATE, results);
// });
// Servo controller events
socket.onEvent(EVENT_SERVO_CONFIGURATION_SETTINGS,
[&](JsonVariant &root, int originId) { servoController.servoEvent(root, originId); });
socket.onEvent(EVENT_SERVO_STATE,
[&](JsonVariant &root, int originId) { servoController.stateUpdate(root, originId); });
// // Servo controller events
// socket.onEvent(EVENT_SERVO_CONFIGURATION_SETTINGS,
// [&](JsonVariant &root, int originId) { servoController.servoEvent(root, originId); });
// socket.onEvent(EVENT_SERVO_STATE,
// [&](JsonVariant &root, int originId) { servoController.stateUpdate(root, originId); });
}
void IRAM_ATTR SpotControlLoopEntry(void *) {
ESP_LOGI("main", "Setup complete now runing tsk");
ESP_LOGI("main", "Control task starting");
TickType_t xLastWakeTime = xTaskGetTickCount();
const TickType_t xFrequency = 5 / portTICK_PERIOD_MS;
@@ -208,7 +208,7 @@ void IRAM_ATTR SpotControlLoopEntry(void *) {
}
void IRAM_ATTR serviceLoopEntry(void *) {
ESP_LOGI("main", "Service control task starting");
ESP_LOGI("main", "Service task starting");
wifiService.begin();
MDNS.begin(APP_NAME);
@@ -224,16 +224,33 @@ void IRAM_ATTR serviceLoopEntry(void *) {
socket.begin();
setupEventSocket();
ESP_LOGI("main", "Service control task started");
ESP_LOGI("main", "Service task started");
for (;;) {
wifiService.loop();
apService.loop();
EXECUTE_EVERY_N_MS(2000, system_service::emitMetrics(socket));
EXECUTE_EVERY_N_MS(2000, {
socket_message_AnalyticsData analytics = socket_message_AnalyticsData_init_zero;
analytics.max_alloc_heap = ESP.getMaxAllocHeap();
analytics.psram_size = ESP.getPsramSize();
analytics.free_psram = ESP.getFreePsram();
analytics.free_heap = ESP.getFreeHeap();
analytics.total_heap = ESP.getHeapSize();
analytics.min_free_heap = ESP.getMinFreeHeap();
analytics.core_temp = temperatureRead();
analytics.fs_total = ESP_FS.totalBytes();
analytics.fs_used = ESP_FS.usedBytes();
analytics.uptime = esp_timer_get_time() / 1000;
socket.emit(analytics);
});
EXECUTE_EVERY_N_MS(500, {
JsonDocument doc;
JsonVariant results = doc.to<JsonVariant>();
peripherals.getIMUResult(results);
socket.emit(EVENT_IMU, results);
socket_message_IMUData imu = socket_message_IMUData_init_zero;
peripherals.getIMUProto(imu);
socket.emit(imu);
socket_message_RSSIData rssi = {.rssi = WiFi.RSSI()};
socket.emit(rssi);
});
vTaskDelay(100 / portTICK_PERIOD_MS);
esp32/src/peripherals/peripherals.cpp
+32
View File
@@ -63,6 +63,15 @@ void Peripherals::getI2CResult(JsonVariant &root) {
ESP_LOGI("Peripherals", "Emitting I2C scan results: %d", addressList.size());
}
void Peripherals::getI2CResultProto(socket_message_I2CScanData &data) {
data.devices_count = 0;
for (auto &address : addressList) {
if (data.devices_count >= 16) break;
data.devices[data.devices_count].address = address;
data.devices_count++;
}
}
void Peripherals::scanI2C(uint8_t lower, uint8_t higher) {
addressList.clear();
for (uint8_t address = lower; address < higher; address++) {
@@ -76,6 +85,29 @@ void Peripherals::scanI2C(uint8_t lower, uint8_t higher) {
ESP_LOGI("Peripherals", "Scan complete - Found %d device(s)", nDevices);
}
void Peripherals::getIMUProto(socket_message_IMUData &data) {
#if FT_ENABLED(USE_MPU6050 || USE_BNO055)
data.x = _imu.getAngleX();
data.y = _imu.getAngleY();
data.z = _imu.getAngleZ();
#endif
#if FT_ENABLED(USE_HMC5883)
data.heading = _mag.getHeading();
#endif
#if FT_ENABLED(USE_BMP180)
data.altitude = _bmp.getAltitude();
data.bmp_temp = _bmp.getTemperature();
data.pressure = _bmp.getPressure();
#endif
}
void Peripherals::getSettingsProto(socket_message_PeripheralSettingsData &data) {
data.sda = state().sda;
data.scl = state().scl;
data.frequency = state().frequency;
data.pins_count = 0;
}
/* IMU FUNCTIONS */
bool Peripherals::readImu() {
bool updated = false;