Converted servocontroller to protobufs + persistance defaults

esp32/include/peripherals/servo_controller.h

@@ -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),
+        : protoEndpoint(ServoSettings_read, ServoSettings_update, this,
-          _persistence(ServoSettings::read, ServoSettings::update, this, SERVO_SETTINGS_FILE) {}
+                        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;
+            float angle = servo.direction * angles[i] + servo.center_angle;
-            uint16_t pwm = angle * servo.conversion + servo.centerPwm;
+            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

@@ -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

@@ -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

@@ -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() {
+    void applyDefaults() {
-        T defaultState = {};
         _statefulService->updateWithoutPropagation(
-            [this, &defaultState](T &state) { return _stateUpdater(defaultState, state); });
+            [this](T &state) { return _stateUpdater(_defaultState, state); });
     }
 };

esp32/include/template/stateful_proto_endpoint.h

@@ -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);
     }
 };
 

esp32/src/ap_service.cpp

@@ -8,7 +8,8 @@ APService::APService()
                     API_REQUEST_EXTRACTOR(ap_settings, api_APSettings),
                     API_RESPONSE_ASSIGNER(ap_settings, api_APSettings)),
       _persistence(APSettings_read, APSettings_update, this,
-                   AP_SETTINGS_FILE, api_APSettings_fields, api_APSettings_size) {
+                   AP_SETTINGS_FILE, api_APSettings_fields, api_APSettings_size,
+                   APSettings_defaults()) {
     addUpdateHandler([&](const std::string &originId) { reconfigureAP(); }, false);
 }
 
@@ -23,7 +24,7 @@ esp_err_t APService::getStatusProto(httpd_req_t *request) {
     res.status_code = 200;
     res.which_payload = api_Response_ap_status_tag;
     statusProto(res.payload.ap_status);
-    return NativeServer::sendProto(request, 200, res, api_Response_fields);
+    return WebServer::sendProto(request, 200, res, api_Response_fields);
 }
 
 void APService::statusProto(api_APStatus &proto) {

esp32/src/communication/webserver.cpp

@@ -251,7 +251,7 @@ void WebServer::on(const char* uri, httpd_method_t method, HttpPostHandler handl
     }
 }
 
-void NativeServer::onProto(const char* uri, httpd_method_t method, HttpProtoHandler handler) {
+void WebServer::onProto(const char* uri, httpd_method_t method, HttpProtoHandler handler) {
     HttpRoute route;
     route.uri = uri;
     route.method = method;

esp32/src/main.cpp

@@ -59,9 +59,9 @@ void setupServer() {
     });
 #endif
     server.on("/api/servo/config", HTTP_GET,
-              [&](httpd_req_t *request) { return servoController.endpoint.getState(request); });
+              [&](httpd_req_t *request) { return servoController.protoEndpoint.getState(request); });
-    server.on("/api/servo/config", HTTP_POST, [&](httpd_req_t *request, JsonVariant &json) {
+    server.onProto("/api/servo/config", HTTP_POST, [&](httpd_req_t *request, api_Request *protoReq) {
-        return servoController.endpoint.handleStateUpdate(request, json);
+        return servoController.protoEndpoint.handleStateUpdate(request, protoReq);
     });
 
     server.on("/api/wifi/sta/settings", HTTP_GET,

platform_shared/api.options

@@ -3,4 +3,7 @@ api.APSettings.password max_size:64
 
 api.APStatus.mac_address max_size:18
 
+api.Servo.name max_size:16
+api.ServoSettings.servos max_count:12
+
 api.Response.error_message type:FT_POINTER

platform_shared/api.proto

@@ -41,6 +41,24 @@ message APStatus {
 message APSettingsRequest {}
 message APStatusRequest {}
 
+// =============================================================================
+// Servo Settings - shared data types
+// =============================================================================
+
+message Servo {
+    float center_pwm = 1;
+    float direction = 2;
+    float center_angle = 3;
+    float conversion = 4;
+    string name = 5;
+}
+
+message ServoSettings {
+    repeated Servo servos = 1;  // max 12 servos
+}
+
+message ServoSettingsRequest {}
+
 // =============================================================================
 // REST API wrappers - used by HTTP endpoints
 // =============================================================================
@@ -51,8 +69,8 @@ message Request {
         APSettings ap_settings = 10;
         APSettingsRequest ap_settings_request = 11;
         APStatusRequest ap_status_request = 12;
-        // Future types:
+        ServoSettings servo_settings = 20;
-        // MDNSSettings mdns_settings = 20;
+        ServoSettingsRequest servo_settings_request = 21;
     }
 }
 
@@ -64,8 +82,6 @@ message Response {
     oneof payload {
         APSettings ap_settings = 10;
         APStatus ap_status = 11;
-        // Future types:
+        ServoSettings servo_settings = 20;
-        // MDNSSettings mdns_settings = 20;
-        // MDNSStatus mdns_status = 21;
     }
 }