Darkages/SpotMicroESP32-Leika
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✨ Adds promise based request reponse system

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This commit is contained in:
Rune Harlyk
2026-01-03 15:21:14 +01:00
committed by nikguin04
parent 585adaf28f
commit dc04204e8e
9 changed files with 3208 additions and 887 deletions
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esp32/src/main.cpp
+31 -33
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@@ -3,6 +3,7 @@
#include <ESPmDNS.h>
#include <WiFi.h>
#include <Wire.h>
#include <map>
#include <filesystem.h>
#include <peripherals/peripherals.h>
@@ -150,18 +151,6 @@ void setupEventSocket() {
socket.on<socket_message_AnglesData>(
[&](const socket_message_AnglesData &data, int clientId) { motionService.handleAngles(data); });
socket.on<socket_message_I2CScanDataRequest>([&](const socket_message_I2CScanDataRequest &data, int clientId) {
peripherals.scanI2C();
socket_message_I2CScanData result = socket_message_I2CScanData_init_zero;
peripherals.getI2CScanProto(result);
socket.emit(result, clientId);
});
socket.on<socket_message_IMUCalibrateExecute>([&](const socket_message_IMUCalibrateExecute &data, int clientId) {
socket_message_IMUCalibrateData result = {.success = peripherals.calibrateIMU()};
socket.emit(result, clientId);
});
socket.on<socket_message_ServoPWMData>([&](const socket_message_ServoPWMData &data, int clientId) {
servoController.setServoPWM(data.servo_id, data.servo_pwm);
});
@@ -170,29 +159,38 @@ void setupEventSocket() {
data.active ? servoController.activate() : servoController.deactivate();
});
using CorrelationHandler =
std::function<void(const socket_message_CorrelationRequest &, socket_message_CorrelationResponse &)>;
static std::map<pb_size_t, CorrelationHandler> correlationHandlers = {
{socket_message_CorrelationRequest_features_data_request_tag,
[](const auto &req, auto &res) {
res.which_response = socket_message_CorrelationResponse_features_data_response_tag;
feature_service::features_request(req.request.features_data_request, res.response.features_data_response);
}},
{socket_message_CorrelationRequest_i2c_scan_data_request_tag,
[](const auto &req, auto &res) {
res.which_response = socket_message_CorrelationResponse_i2c_scan_data_tag;
peripherals.scanI2C();
peripherals.getI2CScanProto(res.response.i2c_scan_data);
}},
{socket_message_CorrelationRequest_imu_calibrate_execute_tag,
[](const auto &req, auto &res) {
res.which_response = socket_message_CorrelationResponse_imu_calibrate_data_tag;
res.response.imu_calibrate_data.success = peripherals.calibrateIMU();
}},
};
socket.on<socket_message_CorrelationRequest>([&](const socket_message_CorrelationRequest &data, int clientId) {
printf("Received correlation request: %d\n", data.correlation_id);
// Temporarily hardcoded
switch (data.which_request) {
case socket_message_CorrelationRequest_features_data_request_tag: {
socket_message_CorrelationResponse res = socket_message_CorrelationResponse_init_default;
res.correlation_id = data.correlation_id;
res.stauts_code = 200;
res.which_response = socket_message_CorrelationResponse_features_data_response_tag;
socket_message_CorrelationResponse res = socket_message_CorrelationResponse_init_default;
res.correlation_id = data.correlation_id;
res.status_code = 200;
feature_service::features_request(
data.request.features_data_request,
res.response.features_data_response
);
socket.emit(res, clientId);
break;
}
default: {
printf("WARNING: no tag found for correlation request: %d", data.which_request);
break;
}
auto it = correlationHandlers.find(data.which_request);
if (it != correlationHandlers.end()) {
it->second(data, res);
socket.emit(res, clientId);
} else {
printf("WARNING: no handler for correlation request: %d\n", data.which_request);
}
});
}
esp32/src/platform_shared/websocket_message.pb.c
+1 -42
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@@ -8,111 +8,70 @@
PB_BIND(socket_message_Vector, socket_message_Vector, AUTO)
PB_BIND(socket_message_I2CDevice, socket_message_I2CDevice, AUTO)
PB_BIND(socket_message_PinConfig, socket_message_PinConfig, AUTO)
PB_BIND(socket_message_KnownNetworkItem, socket_message_KnownNetworkItem, AUTO)
PB_BIND(socket_message_IMUData, socket_message_IMUData, AUTO)
PB_BIND(socket_message_FeaturesDataResponse, socket_message_FeaturesDataResponse, 2)
PB_BIND(socket_message_FeaturesDataRequest, socket_message_FeaturesDataRequest, AUTO)
PB_BIND(socket_message_CorrelationRequest, socket_message_CorrelationRequest, AUTO)
PB_BIND(socket_message_CorrelationResponse, socket_message_CorrelationResponse, AUTO)
PB_BIND(socket_message_CorrelationResponse, socket_message_CorrelationResponse, 2)
PB_BIND(socket_message_StaticSystemInformation, socket_message_StaticSystemInformation, AUTO)
PB_BIND(socket_message_IMUCalibrateData, socket_message_IMUCalibrateData, AUTO)
PB_BIND(socket_message_IMUCalibrateExecute, socket_message_IMUCalibrateExecute, AUTO)
PB_BIND(socket_message_ModeData, socket_message_ModeData, AUTO)
PB_BIND(socket_message_ControllerInputData, socket_message_ControllerInputData, AUTO)
PB_BIND(socket_message_AnalyticsData, socket_message_AnalyticsData, AUTO)
PB_BIND(socket_message_ServoPWMData, socket_message_ServoPWMData, AUTO)
PB_BIND(socket_message_ServoStateData, socket_message_ServoStateData, AUTO)
PB_BIND(socket_message_AnglesData, socket_message_AnglesData, AUTO)
PB_BIND(socket_message_I2CScanData, socket_message_I2CScanData, 2)
PB_BIND(socket_message_I2CScanDataRequest, socket_message_I2CScanDataRequest, AUTO)
PB_BIND(socket_message_PeripheralSettingsData, socket_message_PeripheralSettingsData, 2)
PB_BIND(socket_message_PeripheralSettingsDataRequest, socket_message_PeripheralSettingsDataRequest, AUTO)
PB_BIND(socket_message_WifiSettingsData, socket_message_WifiSettingsData, 2)
PB_BIND(socket_message_RSSIData, socket_message_RSSIData, AUTO)
PB_BIND(socket_message_DownloadOTAData, socket_message_DownloadOTAData, AUTO)
PB_BIND(socket_message_SonarData, socket_message_SonarData, AUTO)
PB_BIND(socket_message_HumanInputData, socket_message_HumanInputData, AUTO)
PB_BIND(socket_message_SystemInformation, socket_message_SystemInformation, 2)
PB_BIND(socket_message_WalkGaitData, socket_message_WalkGaitData, AUTO)
PB_BIND(socket_message_KinematicData, socket_message_KinematicData, AUTO)
PB_BIND(socket_message_SubscribeNotification, socket_message_SubscribeNotification, AUTO)
PB_BIND(socket_message_UnsubscribeNotification, socket_message_UnsubscribeNotification, AUTO)
PB_BIND(socket_message_PingMsg, socket_message_PingMsg, AUTO)
PB_BIND(socket_message_PongMsg, socket_message_PongMsg, AUTO)
PB_BIND(socket_message_WebsocketMessage, socket_message_WebsocketMessage, 2)
esp32/src/platform_shared/websocket_message.pb.h
+475 -345
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