💫 Initial plans for device configuration service

app/src/lib/stores/imu.ts

@@ -0,0 +1,30 @@
+import { type IMU } from '$lib/types/models';
+import { writable } from 'svelte/store';
+
+let imu_data = {
+	x: <number[]>[],
+	y: <number[]>[],
+	z: <number[]>[],
+	temp: <number[]>[]
+};
+
+const maxIMUData = 100;
+
+function createIMU() {
+	const { subscribe, update } = writable(imu_data);
+
+	return {
+		subscribe,
+		addData: (content: IMU) => {
+			update((imu_data) => ({
+				...imu_data,
+				x: [...imu_data.x, content.x].slice(-maxIMUData),
+				y: [...imu_data.y, content.y].slice(-maxIMUData),
+				z: [...imu_data.z, content.z].slice(-maxIMUData),
+				temp: [...imu_data.temp, content.temp].slice(-maxIMUData)
+			}));
+		}
+	};
+}
+
+export const imu = createIMU();

app/src/lib/types/models.ts

@@ -135,3 +135,10 @@ export type StaticSystemInformation = {
 };
 
 export type SystemInformation = Analytics & StaticSystemInformation;
+
+export type IMU = {
+	x: number;
+	y: number;
+	z: number;
+	temp: number;
+};

app/src/routes/+layout.svelte

@@ -40,10 +40,6 @@
 		socket.on('close', handleClose);
 		socket.on('error', handleError);
 		socket.on('rssi', handleNetworkStatus);
-		socket.on('infoToast', handleInfoToast);
-		socket.on('successToast', handleSuccessToast);
-		socket.on('warningToast', handleWarningToast);
-		socket.on('errorToast', handleErrorToast);
 		socket.on('mode', (data:ModesEnum) => mode.set(data));
 		socket.on('angles', (angles:number[]) => { if (angles.length) servoAngles.set(angles)});
 		if ($page.data.features.analytics) socket.on('analytics', handleAnalytics);
@@ -56,10 +52,6 @@
 		socket.off('open', handleOpen);
 		socket.off('close', handleClose);
 		socket.off('rssi', handleNetworkStatus);
-		socket.off('infoToast', handleInfoToast);
-		socket.off('successToast', handleSuccessToast);
-		socket.off('warningToast', handleWarningToast);
-		socket.off('errorToast', handleErrorToast);
 		socket.off('battery', handleBattery);
 		socket.off('otastatus', handleOAT);
 	};
@@ -83,12 +75,7 @@
 
 	const handleError = (data: any) => console.error(data);
 
-	const handleInfoToast = (data: string) => notifications.info(data, 5000);
+	const handleAnalytics = (data: Analytics) => analytics.addData(data); 
-	const handleWarningToast = (data: string) => notifications.warning(data, 5000);
-	const handleErrorToast = (data: string) => notifications.error(data, 5000);
-	const handleSuccessToast = (data: string) => notifications.success(data, 5000);
-
-	const handleAnalytics = (data: Analytics) => analytics.addData(data);
 
 	const handleNetworkStatus = (data: number) => telemetry.setRSSI(data);
 

app/src/routes/menu.svelte

@@ -6,6 +6,7 @@
     import MdiController from '~icons/mdi/controller';
     import Devices from '~icons/mdi/devices'
     import Camera from '~icons/mdi/camera-outline';
+    import Rotate3d from '~icons/mdi/rotate-3d';
 	import Health from '~icons/mdi/stethoscope';
 	import Folder from '~icons/mdi/folder-outline';
 	import Update from '~icons/mdi/reload';
@@ -63,6 +64,12 @@
 					icon: Camera,
 					href: '/peripherals/camera',
 					feature: $page.data.features.camera,
+				},
+                {
+					title: 'IMU',
+					icon: Rotate3d,
+					href: '/peripherals/imu',
+					feature: $page.data.features.imu,
 				}
 			]
 		},

app/src/routes/peripherals/imu/+page.svelte

@@ -0,0 +1,7 @@
+<script lang="ts">
+	import IMU from './imu.svelte';
+</script>
+
+<div class="mx-0 my-1 flex flex-col space-y-4 sm:mx-8 sm:my-8">
+	<IMU />
+</div>

app/src/routes/peripherals/imu/+page.ts

@@ -0,0 +1,7 @@
+import type { PageLoad } from './$types';
+
+export const load = (async () => {
+	return {
+		title: 'IMU'
+	};
+}) satisfies PageLoad;

app/src/routes/peripherals/imu/imu.svelte

@@ -0,0 +1,143 @@
+<script lang="ts">
+	import SettingsCard from "$lib/components/SettingsCard.svelte";
+    import Rotate3d from '~icons/mdi/rotate-3d';
+	import IMUSetting from './imuSetting.svelte';
+    import { imu } from '$lib/stores/imu';
+    import { Chart, registerables } from 'chart.js';
+	import { cubicOut } from "svelte/easing";
+	import { slide } from "svelte/transition";
+	import { onDestroy, onMount } from "svelte";
+	import { daisyColor } from "$lib/DaisyUiHelper";
+	import { socket } from "$lib/stores";
+	import type { IMU } from "$lib/types/models";
+
+    Chart.register(...registerables);
+
+    let heapChartElement: HTMLCanvasElement;
+	let heapChart: Chart;
+
+    
+    const handleImu = (data: IMU) => imu.addData(data);   
+
+    onMount(() => {
+        socket.on('imu', handleImu);
+        heapChart = new Chart(heapChartElement, {
+			type: 'line',
+			data: {
+				// labels: $imu.x,
+				datasets: [
+					{
+						label: 'x',
+						borderColor: daisyColor('--p'),
+						backgroundColor: daisyColor('--p', 50),
+						borderWidth: 2,
+						data: $imu.x,
+						yAxisID: 'x'
+					},
+					{
+						label: 'y',
+						borderColor: daisyColor('--s'),
+						backgroundColor: daisyColor('--s', 50),
+						borderWidth: 2,
+						data: $imu.y,
+						yAxisID: 'y'
+					},
+                    {
+						label: 'z',
+						borderColor: daisyColor('--a'),
+						backgroundColor: daisyColor('--a', 50),
+						borderWidth: 2,
+						data: $imu.z,
+						yAxisID: 'z'
+					}
+				]
+			},
+			options: {
+				maintainAspectRatio: false,
+				responsive: true,
+				plugins: {
+					legend: {
+						display: true
+					},
+					tooltip: {
+						mode: 'index',
+						intersect: false
+					}
+				},
+				elements: {
+					point: {
+						radius: 1
+					}
+				},
+				scales: {
+					x: {
+						grid: {
+							color: daisyColor('--bc', 10)
+						},
+						ticks: {
+							color: daisyColor('--bc')
+						},
+						display: false
+					},
+					y: {
+						type: 'linear',
+						title: {
+							display: true,
+							text: 'Angle [°]',
+							color: daisyColor('--bc'),
+							font: {
+								size: 16,
+								weight: 'bold'
+							}
+						},
+						position: 'left',
+						min:  0,
+						max: 10,
+						grid: { color: daisyColor('--bc', 10) },
+						ticks: { color: daisyColor('--bc') },
+						border: { color: daisyColor('--bc', 10) }
+					}
+				}
+			}
+		});
+        setInterval(() => {
+			updateData(), 200;
+		});
+    })
+
+    onDestroy(() => {
+        socket.off('imu', handleImu);
+    })
+
+    const updateData = () => {
+        // heapChart.data.labels = $imu.x;
+        heapChart.options.scales!.y!.min = Math.min(Math.min(...$imu.x), Math.min(...$imu.y), Math.min(...$imu.z));
+        heapChart.options.scales!.y!.max = Math.max(Math.max(...$imu.x), Math.max(...$imu.y), Math.max(...$imu.z));
+		heapChart.data.datasets[0].data = $imu.x;
+		heapChart.data.datasets[1].data = $imu.y;
+		heapChart.data.datasets[2].data = $imu.z;
+		heapChart.update('none');
+    }
+
+</script>
+
+<SettingsCard collapsible={false}>
+    <Rotate3d slot="icon" class="lex-shrink-0 mr-2 h-6 w-6 self-end" />
+    <span slot="title">IMU</span>
+    <!-- <div class="flex flex-col">
+        {#if $imu.x.length > 0}
+            {#each Object.entries($imu) as [key, value]}
+                <div>{key}: {value[value.length-1]}</div>
+            {/each}
+        {/if}
+    </div> -->
+    <div class="w-full overflow-x-auto">
+		<div
+			class="flex w-full flex-col space-y-1 h-60"
+			transition:slide|local={{ duration: 300, easing: cubicOut }}
+		>
+			<canvas bind:this={heapChartElement} />
+		</div>
+	</div>
+    <!-- <IMUSetting /> -->
+</SettingsCard>

esp32/features.ini

@@ -8,3 +8,4 @@ build_flags =
   -D FT_UPLOAD_FIRMWARE=0
   -D FT_DOWNLOAD_FIRMWARE=0
   -D FT_ANALYTICS=1
+  -D FT_IMU=1

esp32/lib/ESP32-sveltekit/DeviceConfigurationService.h

@@ -0,0 +1,109 @@
+#pragma once
+
+#include <EventEndpoint.h>
+#include <FSPersistence.h>
+#include <HttpEndpoint.h>
+#include <SecurityManager.h>
+#include <StatefulService.h>
+
+#include <SPI.h>
+#include <Wire.h>
+
+#define DEVICE_CONFIG_FILE "/config/deviceConfig.json"
+#define EVENT_CONFIGURATION_SETTINGS "ConfigurationSettings"
+#define CONFIGURATION_SETTINGS_PATH "/api/configuration"
+
+/*
+ * OLED Settings
+ */
+#define SCREEN_WIDTH 128
+#define SCREEN_HEIGHT 64
+#define SCREEN_RESET -1
+
+/*
+ * I2C software connection 
+ */
+#define SDA 14
+#define SCL 15
+
+/*
+ * Ultra sonic sensors
+ */
+#define USS_LEFT 12
+#define USS_RIGHT 13
+#define USS_MAX_DISTANCE 200
+
+class PinConfig {
+public:
+    int pin;
+    String mode;
+    String type;
+    String role;
+
+    PinConfig(int p, String m, String t, String r) : pin(p), mode(m), type(t), role(r) {}
+};
+
+class DeviceConfiguration {
+   public:
+    int sda = SDA;
+    int scl = SCL;
+    std::vector<PinConfig> pins;
+
+    static void read(DeviceConfiguration &settings, JsonObject &root) {
+        root["sda"] = settings.sda;
+        root["scl"] = settings.scl;
+    }
+
+    static StateUpdateResult update(JsonObject &root, DeviceConfiguration &settings) {
+        settings.sda = root["sda"] | SDA;
+        settings.scl = root["scl"] | SCL;
+        return StateUpdateResult::CHANGED;
+    };
+};
+
+class DeviceConfigurationService : public StatefulService<DeviceConfiguration> {
+   public:
+    DeviceConfigurationService(PsychicHttpServer *server, FS *fs,
+                               SecurityManager *securityManager,
+                               EventSocket *socket)
+        : _server(server),
+          _securityManager(securityManager),
+          _httpEndpoint(DeviceConfiguration::read, DeviceConfiguration::update,
+                        this, server, CONFIGURATION_SETTINGS_PATH,
+                        securityManager, AuthenticationPredicates::IS_ADMIN),
+          _eventEndpoint(DeviceConfiguration::read, DeviceConfiguration::update,
+                         this, socket, EVENT_CONFIGURATION_SETTINGS),
+          _fsPersistence(DeviceConfiguration::read, DeviceConfiguration::update,
+                         this, fs, DEVICE_CONFIG_FILE)
+                         {
+                            addUpdateHandler([&](const String &originId) { updatePins(); },
+                         false);
+                         };
+
+    void begin() {
+        _httpEndpoint.begin();
+        _eventEndpoint.begin();
+        _fsPersistence.readFromFS();
+        updatePins();
+    };
+
+    void updatePins() {
+        if (i2c_active){
+            Wire.end();
+        }
+
+        if (_state.sda != -1 && _state.scl != -1) {
+            Wire.begin(_state.sda, _state.scl);
+            i2c_active = true;
+        }
+    }
+
+   private:
+    PsychicHttpServer *_server;
+    SecurityManager *_securityManager;
+    HttpEndpoint<DeviceConfiguration> _httpEndpoint;
+    EventEndpoint<DeviceConfiguration> _eventEndpoint;
+    FSPersistence<DeviceConfiguration> _fsPersistence;
+
+    bool i2c_active = false;
+};

esp32/lib/ESP32-sveltekit/ESP32SvelteKit.cpp

@@ -64,8 +64,10 @@ ESP32SvelteKit::ESP32SvelteKit(PsychicHttpServer *server,
       _factoryResetService(server, &ESPFS, &_securitySettingsService),
       _systemStatus(server, &_securitySettingsService),
       _fileExplorer(server, &_securitySettingsService),
-      _motionService(_server, &_socket, &_securitySettingsService,
+      _motionService(_server, &_socket, &_securitySettingsService,&_taskManager),
-                     &_taskManager) {
+      _deviceConfiguration(server, &ESPFS, &_securitySettingsService, &_socket),
+      _imuService(&_socket)
+      {
 }
 
 void ESP32SvelteKit::begin() {
@@ -89,7 +91,7 @@ void ESP32SvelteKit::begin() {
 
 void ESP32SvelteKit::setupServer() {
     _server->config.max_uri_handlers = _numberEndpoints;
-    _server->listen(80);
+    _server->listen(100);
 
 #ifdef EMBED_WWW
     ESP_LOGV("ESP32SvelteKit",
@@ -204,6 +206,10 @@ void ESP32SvelteKit::startServices() {
 #if FT_ENABLED(FT_CAMERA)
     _cameraService.begin();
     _cameraSettingsService.begin();
+#endif
+    _deviceConfiguration.begin();
+#if FT_ENABLED(FT_IMU)
+        _imuService.begin();
 #endif
 }
 
@@ -216,6 +222,9 @@ void IRAM_ATTR ESP32SvelteKit::_loop() {
 #endif
 #if FT_ENABLED(FT_ANALYTICS)
         _analyticsService.loop();
+#endif
+#if FT_ENABLED(FT_IMU)
+        _imuService.loop();
 #endif
         _motionService.loop();
         vTaskDelay(20 / portTICK_PERIOD_MS);

esp32/lib/ESP32-sveltekit/ESP32SvelteKit.h

@@ -25,11 +25,13 @@
 #include <BatteryService.h>
 #include <FileExplorerService.h>
 #include <DownloadFirmwareService.h>
+#include <DeviceConfigurationService.h>
 #include <ESPFS.h>
 #include <ESPmDNS.h>
 #include <EventSocket.h>
 #include <FactoryResetService.h>
 #include <FeaturesService.h>
+#include <IMUService.h>
 #include <MqttSettingsService.h>
 #include <MqttStatus.h>
 #include <MotionService.h>
@@ -166,17 +168,30 @@ public:
     {
         return &_motionService;
     }
+
 #if FT_ENABLED(FT_CAMERA)
     CameraService *getCameraService()
     {
         return &_cameraService;
     }
+
     CameraSettingsService *getCameraSettingsService()
     {
         return &_cameraSettingsService;
     }
 #endif
 
+    DeviceConfigurationService *getDeviceConfigurationService()
+    {
+        return &_deviceConfiguration;
+    }
+
+#if FT_ENABLED(FT_IMU)
+    IMUService *getIMUService()
+    {
+        return &_imuService;
+    }
+#endif
     void factoryReset()
     {
         _factoryResetService.factoryReset();
@@ -239,6 +254,10 @@ private:
     CameraService _cameraService;
     CameraSettingsService _cameraSettingsService;
 #endif
+    DeviceConfigurationService _deviceConfiguration;
+#if FT_ENABLED(FT_IMU)
+    IMUService _imuService;
+#endif
 
     String _appName = APP_NAME;
 

esp32/lib/ESP32-sveltekit/Features.h

@@ -62,4 +62,9 @@
 #define FT_CAMERA 0
 #endif
 
+// ESP32 IMU on by default
+#ifndef FT_IMU
+#define FT_IMU 1
+#endif
+
 #endif

esp32/lib/ESP32-sveltekit/FeaturesService.cpp

@@ -31,6 +31,7 @@ void FeaturesService::begin() {
         root["battery"] = FT_BATTERY;
         root["analytics"] = FT_ANALYTICS;
         root["camera"] = FT_CAMERA;
+        root["imu"] = FT_IMU;
         root["firmware_version"] = APP_VERSION;
         root["firmware_name"] = APP_NAME;
         root["firmware_built_target"] = BUILD_TARGET;

esp32/lib/ESP32-sveltekit/IMUService.h

@@ -1,55 +1,90 @@
 #pragma once
 
 #include <MPU6050_light.h>
+#include <ArduinoJson.h>
+#include <EventSocket.h>
 
-#define IMU_INTERVAL 2000
+#define IMU_INTERVAL 200
+#define MAX_ESP_IMU_SIZE 250
+#define EVENT_IMU "imu"
 
 class IMUService
 {
 public:
-    IMUService():_imu(Wire){};
+    IMUService(EventSocket *socket) : _socket(socket), _imu(Wire) {};
 
     void begin()
     {
         byte status = _imu.begin();
+        imu_success = status == 0;
         if(status != 0) {
-            ESP_LOGE("IMUService", "MPU initialize failed");
+            ESP_LOGE("IMUService", "MPU initialize failed: %d", status);
-            vTaskDelete(NULL);
-            return;
         }
-        xTaskCreatePinnedToCore(this->_loopImpl, "IMU Service", 4096, this, tskIDLE_PRIORITY, NULL, ESP32SVELTEKIT_RUNNING_CORE);
+        _socket->registerEvent(EVENT_IMU);
+        calibrate();
     };
 
+    bool isIMUSuccess() {
+        return imu_success;
+    }
+
     float getTemp() {
-        return _imu.getTemp();
+        return imu_success ? _imu.getTemp() : -1;
     }
 
     float getAngleX() {
-        return _imu.getAngleX();
+        return imu_success ? _imu.getAngleX() : -1;
     }
 
     float getAngleY() {
-        return _imu.getAngleX();
+        return imu_success ? _imu.getAngleX() : -1;
     }
 
     float getAngleZ() {
-        return _imu.getAngleZ();
+        return imu_success ? _imu.getAngleZ() : -1;
     }
 
-protected:
+    void calibrate() {
-    static void _loopImpl(void *_this) { static_cast<IMUService *>(_this)->_loop(); }
+        if (imu_success) {
-    void _loop()
+            _imu.calcOffsets(true, true);
+        }
+    }
+
+    double round2(double value) {
+        return (int)(value * 100 + 0.5) / 100.0;
+    }
+
+    void loop()
     {
-        vTaskDelay(100);
+        unsigned long currentMillis = millis();
-        _imu.calcOffsets(true,true);
+
-        TickType_t xLastWakeTime = xTaskGetTickCount();
+        if (currentMillis - _lastUpdate >= _updateInterval)
-        while (1)
         {
-            _imu.update();
+            _lastUpdate = currentMillis;
-            vTaskDelayUntil(&xLastWakeTime, IMU_INTERVAL / portTICK_PERIOD_MS);
+            updateImu();
         }
     };
+    
+protected:
+    JsonDocument doc;
+
+    void updateImu() {
+        _imu.update();
+        doc.clear();
+        doc["x"] = round2(getAngleX());
+        doc["y"] = round2(getAngleY());
+        doc["z"] = round2(getAngleZ());
+        doc["temp"] = round2(getTemp());
+
+        serializeJson(doc, message);
+        _socket->emit(EVENT_IMU, message);
+    }
 
 private:
     MPU6050 _imu;
+    EventSocket *_socket;
+    unsigned long _lastUpdate {0};
+    unsigned long _updateInterval {IMU_INTERVAL};
+    bool imu_success {false};
+    char message[MAX_ESP_IMU_SIZE];
 };

esp32/lib/ESP32-sveltekit/ServoController.h

@@ -0,0 +1,30 @@
+#include <Adafruit_PWMServoDriver.h>
+#include <DeviceConfigurationService.h>
+
+class ServoController : public Adafruit_PWMServoDriver {
+   public:
+    ServoController(DeviceConfigurationService deviceConfigurationService)
+        : Adafruit_PWMServoDriver(), _config(deviceConfigurationService) {
+        begin();
+    }
+
+    void configure() {
+        setOscillatorFrequency(_config.servo_oscillator_frequency());
+        setPWMFreq(_config.servo_pwm_frequency());
+    }
+
+    void deactivate() {
+        isActive = false;
+        sleep();
+    }
+
+    void activate() {
+        isActive = true;
+        sleep();
+    }
+
+    bool isActive{false};
+
+   private:
+    DeviceConfigurationService _config;
+};

esp32/platformio.ini

@@ -39,15 +39,15 @@ lib_deps =
 	ArduinoJson@>=7.0.0
 	https://github.com/theelims/PsychicMqttClient.git#0.1.1
 	teckel12/NewPing@^1.9.7
+	rfetick/MPU6050_light@^1.1.0
 	adafruit/Adafruit SSD1306@^2.5.7
 	adafruit/Adafruit GFX Library@^1.11.5
 	adafruit/Adafruit BusIO@^1.9.3
-	rfetick/MPU6050_light@^1.1.0
+	adafruit/Adafruit PWM Servo Driver Library@^2.4.1
+	;adafruit/Adafruit HMC5883 Unified@^1.2.1
     SPI
 	; thomasfredericks/Bounce2@ ^2.7.0
-	; adafruit/Adafruit PWM Servo Driver Library@^2.4.1
 	; adafruit/Adafruit ADS1X15@^2.4.0
-	; adafruit/Adafruit HMC5883 Unified@^1.2.1
 	; adafruit/Adafruit Unified Sensor@^1.1.11
 	; plageoj/UrlEncode@ ^1.0.1
 ; board_build.partitions = config/no_oat.csv