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♻️ Replaces JsonObject with JsonVariant

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This commit is contained in:
Rune Harlyk
2025-07-10 17:34:52 +02:00
committed by Rune Harlyk
parent 144b99c180
commit e3cfe89e19
19 changed files with 75 additions and 79 deletions
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esp32/lib/ESP32-sveltekit/motion.h
+12 -12
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@@ -24,13 +24,13 @@ class MotionService {
MotionService(ServoController *servoController) : _servoController(servoController) {}
void begin() {
socket.onEvent(INPUT_EVENT, [&](JsonObject &root, int originId) { handleInput(root, originId); });
socket.onEvent(INPUT_EVENT, [&](JsonVariant &root, int originId) { handleInput(root, originId); });
socket.onEvent(MODE_EVENT, [&](JsonObject &root, int originId) { handleMode(root, originId); });
socket.onEvent(MODE_EVENT, [&](JsonVariant &root, int originId) { handleMode(root, originId); });
socket.onEvent(ANGLES_EVENT, [&](JsonObject &root, int originId) { anglesEvent(root, originId); });
socket.onEvent(ANGLES_EVENT, [&](JsonVariant &root, int originId) { anglesEvent(root, originId); });
socket.onEvent(POSITION_EVENT, [&](JsonObject &root, int originId) { positionEvent(root, originId); });
socket.onEvent(POSITION_EVENT, [&](JsonVariant &root, int originId) { positionEvent(root, originId); });
socket.onSubscribe(ANGLES_EVENT,
std::bind(&MotionService::syncAngles, this, std::placeholders::_1, std::placeholders::_2));
@@ -38,16 +38,16 @@ class MotionService {
body_state.updateFeet(kinematics.default_feet_positions);
}
void anglesEvent(JsonObject &root, int originId) {
JsonArray array = root["data"].as<JsonArray>();
void anglesEvent(JsonVariant &root, int originId) {
JsonArray array = root.as<JsonArray>();
for (int i = 0; i < 12; i++) {
angles[i] = array[i];
}
syncAngles(String(originId));
}
void positionEvent(JsonObject &root, int originId) {
JsonArray array = root["data"].as<JsonArray>();
void positionEvent(JsonVariant &root, int originId) {
JsonArray array = root.as<JsonArray>();
body_state.omega = array[0];
body_state.phi = array[1];
body_state.psi = array[2];
@@ -56,8 +56,8 @@ class MotionService {
body_state.zm = array[5];
}
void handleInput(JsonObject &root, int originId) {
JsonArray array = root["data"].as<JsonArray>();
void handleInput(JsonVariant &root, int originId) {
JsonArray array = root.as<JsonArray>();
command.lx = array[1];
command.lx = array[1];
command.ly = array[2];
@@ -81,8 +81,8 @@ class MotionService {
}
}
void handleMode(JsonObject &root, int originId) {
motionState = static_cast<MOTION_STATE>(root["data"].as<int>());
void handleMode(JsonVariant &root, int originId) {
motionState = static_cast<MOTION_STATE>(root.as<int>());
ESP_LOGV("MotionService", "Mode %d", motionState);
motionState == MOTION_STATE::DEACTIVATED ? _servoController->deactivate() : _servoController->activate();
JsonDocument doc;