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Converted servocontroller to protobufs + persistance defaults

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This commit is contained in:
Niklas Jensen
2026-01-24 17:25:24 +01:00
committed by nikguin04
parent a4e900fb65
commit dbca9bd0b7
10 changed files with 96 additions and 76 deletions
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esp32/include/peripherals/servo_controller.h
+43 -9
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@@ -2,11 +2,11 @@
#define ServoController_h
#include <peripherals/drivers/pca9685.h>
#include <template/stateful_persistence.h>
#include <template/stateful_persistence_pb.h>
#include <template/stateful_proto_endpoint.h>
#include <template/stateful_service.h>
#include <template/stateful_endpoint.h>
#include <utils/math_utils.h>
#include <settings/servo_settings.h>
#include <platform_shared/api.pb.h>
#ifndef FACTORY_SERVO_PWM_FREQUENCY
#define FACTORY_SERVO_PWM_FREQUENCY 50
@@ -16,13 +16,47 @@
#define FACTORY_SERVO_OSCILLATOR_FREQUENCY 27000000
#endif
#define SERVO_SETTINGS_FILE "/config/servoSettings.pb"
enum class SERVO_CONTROL_STATE { DEACTIVATED, PWM, ANGLE };
using ServoSettings = api_ServoSettings;
inline ServoSettings ServoSettings_defaults() {
ServoSettings settings = {};
settings.servos_count = 12;
const api_Servo defaults[12] = {
{306, -1, 0, 2.2f, "Servo1"}, {306, 1, -45, 2.1055555f, "Servo2"},
{306, 1, 90, 1.96923f, "Servo3"}, {306, -1, 0, 2.2f, "Servo4"},
{306, -1, 45, 2.1055555f, "Servo5"}, {306, -1, -90, 1.96923f, "Servo6"},
{306, 1, 0, 2.2f, "Servo7"}, {306, 1, -45, 2.1055555f, "Servo8"},
{306, 1, 90, 1.96923f, "Servo9"}, {306, 1, 0, 2.2f, "Servo10"},
{306, -1, 45, 2.1055555f, "Servo11"}, {306, -1, -90, 1.96923f, "Servo12"}
};
for (int i = 0; i < 12; i++) {
settings.servos[i] = defaults[i];
}
return settings;
}
inline void ServoSettings_read(const ServoSettings &settings, ServoSettings &proto) {
proto = settings;
}
inline StateUpdateResult ServoSettings_update(const ServoSettings &proto, ServoSettings &settings) {
settings = proto;
return StateUpdateResult::CHANGED;
}
class ServoController : public StatefulService<ServoSettings> {
public:
ServoController()
: endpoint(ServoSettings::read, ServoSettings::update, this),
_persistence(ServoSettings::read, ServoSettings::update, this, SERVO_SETTINGS_FILE) {}
: protoEndpoint(ServoSettings_read, ServoSettings_update, this,
API_REQUEST_EXTRACTOR(servo_settings, ServoSettings),
API_RESPONSE_ASSIGNER(servo_settings, ServoSettings)),
_persistence(ServoSettings_read, ServoSettings_update, this,
SERVO_SETTINGS_FILE, api_ServoSettings_fields, api_ServoSettings_size,
ServoSettings_defaults()) {}
void begin() {
_persistence.readFromFS();
@@ -78,8 +112,8 @@ class ServoController : public StatefulService<ServoSettings> {
for (int i = 0; i < 12; i++) {
angles[i] = lerp(angles[i], target_angles[i], 0.1);
auto &servo = state().servos[i];
float angle = servo.direction * angles[i] + servo.centerAngle;
uint16_t pwm = angle * servo.conversion + servo.centerPwm;
float angle = servo.direction * angles[i] + servo.center_angle;
uint16_t pwm = angle * servo.conversion + servo.center_pwm;
pwms[i] = pwm = std::clamp<uint16_t>(pwm, 125, 600);
}
_pca.setMultiplePWM(pwms, 12);
@@ -89,7 +123,7 @@ class ServoController : public StatefulService<ServoSettings> {
if (control_state == SERVO_CONTROL_STATE::ANGLE) calculatePWM();
}
StatefulHttpEndpoint<ServoSettings> endpoint;
StatefulProtoEndpoint<ServoSettings, ServoSettings> protoEndpoint;
private:
void initializePCA() {
@@ -98,7 +132,7 @@ class ServoController : public StatefulService<ServoSettings> {
_pca.setPWMFreq(FACTORY_SERVO_PWM_FREQUENCY);
_pca.sleep();
}
FSPersistence<ServoSettings> _persistence;
FSPersistencePB<ServoSettings> _persistence;
PCA9685Driver _pca;
esp32/include/settings/ap_settings.h
+13
View File
@@ -63,6 +63,19 @@ inline uint32_t parseIPv4(const char *str) {
using APSettings = api_APSettings;
inline APSettings APSettings_defaults() {
APSettings settings = {};
settings.provision_mode = FACTORY_AP_PROVISION_MODE;
strncpy(settings.ssid, FACTORY_AP_SSID, sizeof(settings.ssid) - 1);
strncpy(settings.password, FACTORY_AP_PASSWORD, sizeof(settings.password) - 1);
settings.channel = FACTORY_AP_CHANNEL;
settings.ssid_hidden = FACTORY_AP_SSID_HIDDEN;
settings.max_clients = FACTORY_AP_MAX_CLIENTS;
settings.local_ip = parseIPv4(FACTORY_AP_LOCAL_IP);
settings.gateway_ip = parseIPv4(FACTORY_AP_GATEWAY_IP);
settings.subnet_mask = parseIPv4(FACTORY_AP_SUBNET_MASK);
return settings;
}
inline void APSettings_read(const APSettings &settings, APSettings &proto) {
proto = settings;
esp32/include/settings/servo_settings.h
-49
View File
@@ -1,49 +0,0 @@
#pragma once
#include <ArduinoJson.h>
#include <template/state_result.h>
typedef struct {
float centerPwm;
float direction;
float centerAngle;
float conversion;
const char *name;
// bool enable;
} servo_settings_t;
class ServoSettings {
public:
servo_settings_t servos[12] = {
{306, -1, 0, 2.2, "Servo1"}, {306, 1, -45, 2.1055555, "Servo2"}, {306, 1, 90, 1.96923, "Servo3"},
{306, -1, 0, 2.2, "Servo4"}, {306, -1, 45, 2.1055555, "Servo5"}, {306, -1, -90, 1.96923, "Servo6"},
{306, 1, 0, 2.2, "Servo7"}, {306, 1, -45, 2.1055555, "Servo8"}, {306, 1, 90, 1.96923, "Servo9"},
{306, 1, 0, 2.2, "Servo10"}, {306, -1, 45, 2.1055555, "Servo11"}, {306, -1, -90, 1.96923, "Servo12"}};
static void read(ServoSettings &settings, JsonVariant &root) {
JsonArray servos = root["servos"].to<JsonArray>();
for (auto &servo : settings.servos) {
JsonVariant newServo = servos.add<JsonVariant>();
newServo["center_pwm"] = servo.centerPwm;
newServo["direction"] = servo.direction;
newServo["center_angle"] = servo.centerAngle;
newServo["conversion"] = servo.conversion;
}
}
static StateUpdateResult update(JsonVariant &root, ServoSettings &settings) {
if (root["servos"].is<JsonArray>()) {
JsonArray servosJson = root["servos"];
int i = 0;
for (auto servo : servosJson) {
JsonVariant servoObject = servo.as<JsonVariant>();
uint8_t servoId = i; // servoObject["id"].as<uint8_t>();
settings.servos[servoId].centerPwm = servoObject["center_pwm"].as<float>();
settings.servos[servoId].centerAngle = servoObject["center_angle"].as<float>();
settings.servos[servoId].direction = servoObject["direction"].as<float>();
settings.servos[servoId].conversion = servoObject["conversion"].as<float>();
i++;
}
}
ESP_LOGI("ServoController", "Updating servo data");
return StateUpdateResult::CHANGED;
};
};
esp32/include/template/stateful_persistence_pb.h
+6 -4
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@@ -22,13 +22,15 @@ class FSPersistencePB {
FSPersistencePB(ProtoStateReader stateReader, ProtoStateUpdater stateUpdater,
StatefulService<T> *statefulService, const char *filePath,
const pb_msgdesc_t *msgDescriptor, size_t maxSize)
const pb_msgdesc_t *msgDescriptor, size_t maxSize,
const T &defaultState)
: _stateReader(stateReader),
_stateUpdater(stateUpdater),
_statefulService(statefulService),
_filePath(filePath),
_msgDescriptor(msgDescriptor),
_maxSize(maxSize),
_defaultState(defaultState),
_updateHandlerId(0) {
enableUpdateHandler();
}
@@ -115,6 +117,7 @@ class FSPersistencePB {
const char *_filePath;
const pb_msgdesc_t *_msgDescriptor;
size_t _maxSize;
T _defaultState;
HandlerId _updateHandlerId;
void mkdirs() {
@@ -127,9 +130,8 @@ class FSPersistencePB {
}
protected:
virtual void applyDefaults() {
T defaultState = {};
void applyDefaults() {
_statefulService->updateWithoutPropagation(
[this, &defaultState](T &state) { return _stateUpdater(defaultState, state); });
[this](T &state) { return _stateUpdater(_defaultState, state); });
}
};
esp32/include/template/stateful_proto_endpoint.h
+3 -3
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@@ -2,7 +2,7 @@
#include <esp_http_server.h>
#include <template/stateful_service.h>
#include <communication/native_server.h>
#include <communication/webserver.h>
#include <platform_shared/api.pb.h>
#include <pb_encode.h>
#include <pb_decode.h>
@@ -95,7 +95,7 @@ class StatefulProtoEndpoint {
_statefulService->read([this, &protoState](const T& settings) { _stateReader(settings, protoState); });
_responseAssigner(res, protoState);
return NativeServer::sendProto(request, 200, res, api_Response_fields);
return WebServer::sendProto(request, 200, res, api_Response_fields);
}
/** Sends error wrapped in Response */
@@ -103,7 +103,7 @@ class StatefulProtoEndpoint {
api_Response res = api_Response_init_zero;
res.status_code = statusCode;
res.error_message = (char*)message;
return NativeServer::sendProto(request, statusCode == 200 ? 200 : 400, res, api_Response_fields);
return WebServer::sendProto(request, statusCode == 200 ? 200 : 400, res, api_Response_fields);
}
};