From e81beeb36b4080282faf820a1ff95f47725f9ab2 Mon Sep 17 00:00:00 2001
From: Rune Harlyk <rune@harlyk.dk>
Date: Thu, 6 Jun 2024 21:53:41 +0200
Subject: [PATCH] =?UTF-8?q?=F0=9F=9B=B8=20Adds=20servo=20config?=
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---
 app/src/lib/models.ts                         | 10 ++--
 app/src/routes/peripherals/servo/servo.svelte | 15 +++--
 .../routes/peripherals/servo/servos.svelte    |  2 +-
 esp32/lib/ESP32-sveltekit/ServoController.h   | 60 +++++++++++++++++--
 4 files changed, 70 insertions(+), 17 deletions(-)

diff --git a/app/src/lib/models.ts b/app/src/lib/models.ts
index 8636a71..8c07c32 100644
--- a/app/src/lib/models.ts
+++ b/app/src/lib/models.ts
@@ -173,11 +173,11 @@ export type CameraSettings = {
 export type servo = {
 	channel: number;
 	name: string;
-	direction: number;
+	inverted: boolean;
 	angle: number;
-	min_pwm: number;
-	max_pwm: number;
-	min_angle: number;
-	max_angle: number;
 	center_angle: number;
+	// min_pwm: number;
+	// max_pwm: number;
+	// min_angle: number;
+	// max_angle: number;
 };
\ No newline at end of file
diff --git a/app/src/routes/peripherals/servo/servo.svelte b/app/src/routes/peripherals/servo/servo.svelte
index 4914de6..122cbb4 100644
--- a/app/src/routes/peripherals/servo/servo.svelte
+++ b/app/src/routes/peripherals/servo/servo.svelte
@@ -8,13 +8,16 @@
     <div class="flex gap-2 items-center">
         Is inverted <input type="checkbox" checked={servo.inverted} class="checkbox"/>
     </div>
+    <div>
+        Middle position <input type="number" bind:value={servo.center_angle} class="input input-bordered input-sm max-w-xs"/>
+    </div>
+
     <div class="relative mb-6">
         <label for="labels-range-input" class="sr-only">Labels range</label>
-        <input id="labels-range-input" type="range" value="1000" min="100" max="1500" class="w-full h-2 bg-gray-200 rounded-lg appearance-none cursor-pointer dark:bg-gray-700">
-        <span class="text-sm text-gray-500 dark:text-gray-400 absolute start-0 -bottom-6">Min ($100)</span>
-        <span class="text-sm text-gray-500 dark:text-gray-400 absolute start-1/3 -translate-x-1/2 rtl:translate-x-1/2 -bottom-6">$500</span>
-        <span class="text-sm text-gray-500 dark:text-gray-400 absolute start-2/3 -translate-x-1/2 rtl:translate-x-1/2 -bottom-6">$1000</span>
-        <span class="text-sm text-gray-500 dark:text-gray-400 absolute end-0 -bottom-6">Max ($1500)</span>
+        <input id="labels-range-input" type="range" bind:value={servo.angle} min="0" max="180" class="w-full h-2 bg-gray-200 rounded-lg appearance-none cursor-pointer dark:bg-gray-700">
+        <span class="text-sm text-gray-500 dark:text-gray-400 absolute start-0 -bottom-6">0</span>
+        <span class="text-sm text-gray-500 dark:text-gray-400 absolute start-1/2 -translate-x-1/2 rtl:translate-x-1/2 -bottom-6">90</span>
+        <span class="text-sm text-gray-500 dark:text-gray-400 absolute end-0 -bottom-6">180</span>
     </div>
-    <button class="btn btn-ghost rounded-btn">Sweep range</button>
+    <button class="btn btn-neutral btn-sm">Sweep range</button>
 </div>
\ No newline at end of file
diff --git a/app/src/routes/peripherals/servo/servos.svelte b/app/src/routes/peripherals/servo/servos.svelte
index 4036221..db5f7e5 100644
--- a/app/src/routes/peripherals/servo/servos.svelte
+++ b/app/src/routes/peripherals/servo/servos.svelte
@@ -16,7 +16,7 @@
         {
             channel: 0,
             name: "Front right hip",
-            direction: direction,
+            inverted: false,
             angle: angle,
             min_pwm: min_pwm,
             max_pwm: max_pwm,
diff --git a/esp32/lib/ESP32-sveltekit/ServoController.h b/esp32/lib/ESP32-sveltekit/ServoController.h
index 8edc2e9..e8e7921 100644
--- a/esp32/lib/ESP32-sveltekit/ServoController.h
+++ b/esp32/lib/ESP32-sveltekit/ServoController.h
@@ -11,14 +11,66 @@
 #define SERVO_CONFIG_FILE "/config/deviceConfig.json"
 #define SERVO_CONFIGURATION_SETTINGS_PATH "/api/servo/configuration"
 
+struct servo_t
+{
+    String name;
+    int8_t channel;
+	bool inverted;
+	int16_t angle;
+	int16_t center_angle;
+};
 
 class ServoConfiguration {
    public:
     int32_t servo_oscillator_frequency {SERVO_OSCILLATOR_FREQUENCY};
     int32_t servo_pwm_frequency {SERVO_FREQ};
-    static void read(ServoConfiguration &settings, JsonObject &root) {}
+    std::vector<servo_t> servos_config;
+    bool is_active {false};
+
+    static void read(ServoConfiguration &settings, JsonObject &root) {
+        root["is_active"] = settings.is_active;
+        root["servo_pwm_frequency"] = settings.servo_oscillator_frequency;
+        root["servo_oscillator_frequency"] = settings.servo_oscillator_frequency;
+
+        JsonArray servos = root["servos"].to<JsonArray>();
+
+        for (auto &servo : settings.servos_config)
+        {
+            JsonObject servo_config = servos.add<JsonObject>();
+
+            servo_config["name"] = servo.name;
+            servo_config["channel"] = servo.channel;
+            servo_config["inverted"] = servo.inverted;
+            servo_config["angle"] = servo.angle;
+            servo_config["center_angle"] = servo.center_angle;
+        }
+    }
 
     static StateUpdateResult update(JsonObject &root, ServoConfiguration &settings) {
+        settings.is_active = root["is_active"];
+        settings.servo_pwm_frequency = root["servo_pwm_frequency"];
+        settings.servo_oscillator_frequency = root["servo_oscillator_frequency"];
+        settings.servos_config.clear();
+
+        JsonArray servos = root["servos"];
+        if (root["servos"].is<JsonArray>())
+        {
+            int i = 0;
+            for (auto servo : servos)
+            {
+                JsonObject servo_config = servo.as<JsonObject>();
+                servo_t new_servo;
+
+                new_servo.name = servo_config["name"].as<String>();
+                new_servo.channel = servo_config["channel"];
+                new_servo.inverted = servo_config["inverted"];
+                new_servo.angle = servo_config["angle"];
+                new_servo.center_angle = servo_config["center_angle"];
+
+                settings.servos_config.push_back(new_servo);
+                i++;
+            }
+        }
         return StateUpdateResult::CHANGED;
     };
 };
@@ -43,17 +95,15 @@ class ServoController : public Adafruit_PWMServoDriver, public StatefulService<S
     }
 
     void deactivate() {
-        isActive = false;
+        _state.is_active = false;
         sleep();
     }
 
     void activate() {
-        isActive = true;
+        _state.is_active = true;
         sleep();
     }
 
-    bool isActive{false};
-
    private:
     PsychicHttpServer *_server;
     SecurityManager *_securityManager;