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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;