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🌹 Switches to an explicit sense plan act flow

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This commit is contained in:
Rune Harlyk
2024-11-14 10:36:44 +01:00
committed by Rune Harlyk
parent e919b2aa41
commit f3d2fec0e9
5 changed files with 62 additions and 111 deletions
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esp32/lib/ESP32-sveltekit/ESP32SvelteKit.h → esp32/include/spot.h
+28 -47
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@@ -1,20 +1,5 @@
#ifndef ESP32SvelteKit_h
#define ESP32SvelteKit_h
/**
* ESP32 SvelteKit
*
* A simple, secure and extensible framework for IoT projects for ESP32 platforms
* with responsive Sveltekit front-end built with TailwindCSS and DaisyUI.
* https://github.com/theelims/ESP32-sveltekit
*
* Copyright (C) 2018 - 2023 rjwats
* Copyright (C) 2023 theelims
* Copyright (C) 2024 runeharlyk
*
* All Rights Reserved. This software may be modified and distributed under
* the terms of the LGPL v3 license. See the LICENSE file for details.
**/
#ifndef Spot_h
#define Spot_h
#include <Arduino.h>
@@ -60,42 +45,36 @@
#define APPLICATION_CORE -1
#endif
class ESP32SvelteKit {
class Spot {
public:
ESP32SvelteKit(PsychicHttpServer *server);
Spot(PsychicHttpServer *server);
void begin();
void initialize();
FS *getFS() { return &ESPFS; }
// sense
void readSensors() { _peripherals.readIMU(); }
PsychicHttpServer *getServer() { return _server; }
// plan
void planMotion() { updatedMotion = _motionService.updateMotion(); }
EventSocket *getSocket() { return &_socket; }
// act
void updateActuators() {
if (updatedMotion) _servoController.setAngles(_motionService.getAngles());
#if FT_ENABLED(USE_BATTERY)
BatteryService *getBatteryService() { return &_batteryService; }
_servoController.updateServoState();
#if FT_ENABLED(USE_WS2812)
_ledService.loop();
#endif
}
#if FT_ENABLED(USE_MOTION)
MotionService *getMotionService() { return &_motionService; }
#endif
#if FT_ENABLED(USE_CAMERA)
Camera::CameraService *getCameraService() { return &_cameraService; }
Camera::CameraSettingsService *getCameraSettingsService() { return &_cameraSettingsService; }
#endif
Peripherals *getPeripherals() { return &_peripherals; }
#if FT_ENABLED(USE_SERVO)
ServoController *getServoController() { return &_servoController; }
#endif
void setMDNSAppName(String name) { _appName = name; }
void recoveryMode() { _apService.recoveryMode(); }
void loop();
// communicate
void emitTelemetry() {
if (updatedMotion) EXECUTE_EVERY_N_MS(100, { _motionService.syncAngles(); });
// _peripherals.loop();
EXECUTE_EVERY_N_MS(1000, { _peripherals.emitIMU(); });
// _peripherals.emitSonar();
// _peripherals.emitBattery();
}
private:
PsychicHttpServer *_server;
@@ -130,14 +109,16 @@ class ESP32SvelteKit {
LEDService _ledService;
#endif
String _appName = APP_NAME;
bool updatedMotion = false;
String _appName = APP_NAME;
const u_int16_t _numberEndpoints = 115;
const u_int32_t _maxFileUpload = 2300000; // 2.3 MB
const uint16_t _port = 80;
protected:
static void _loopImpl(void *_this) { static_cast<ESP32SvelteKit *>(_this)->loop(); }
void loop();
static void _loopImpl(void *_this) { static_cast<Spot *>(_this)->loop(); }
void setupServer();
void setupMDNS();
void startServices();
esp32/lib/ESP32-sveltekit/MotionService.h
+2 -15
View File
@@ -2,7 +2,6 @@
#define MotionService_h
#include <event_socket.h>
#include <task_manager.h>
#include <Kinematics.h>
#include <ServoController.h>
#include <timing.h>
@@ -37,8 +36,6 @@ class MotionService {
std::bind(&MotionService::syncAngles, this, std::placeholders::_1, std::placeholders::_2));
body_state.updateFeet(default_feet_positions);
g_taskManager.createTask(this->_loopImpl, "MotionService", 4096, this, 3);
}
void anglesEvent(JsonObject &root, int originId) {
@@ -133,16 +130,7 @@ class MotionService {
return updated;
}
void _loop() {
TickType_t xLastWakeTime = xTaskGetTickCount();
for (;;) {
if (updateMotion()) syncAngles();
_servoController->loop();
vTaskDelayUntil(&xLastWakeTime, MotionInterval / portTICK_PERIOD_MS);
}
}
static void _loopImpl(void *_this) { static_cast<MotionService *>(_this)->_loop(); }
float *getAngles() { return angles; }
private:
ServoController *_servoController;
@@ -156,15 +144,14 @@ class MotionService {
MOTION_STATE motionState = MOTION_STATE::DEACTIVATED;
unsigned long _lastUpdate;
constexpr static int MotionInterval = 15;
body_state_t body_state = {0, 0, 0, 0, 0, 0};
float new_angles[12] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
float angles[12] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
float dir[12] = {1, -1, -1, -1, -1, -1, 1, -1, -1, -1, -1, -1};
float default_feet_positions[4][4] = {{1, -1, 0.7, 1}, {1, -1, -0.7, 1}, {-1, -1, 0.7, 1}, {-1, -1, -0.7, 1}};
float angles[12] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
float rest_angles[12] = {0, 90, -145, 0, 90, -145, 0, 90, -145, 0, 90, -145};
float calibration_angles[12] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
};
esp32/lib/ESP32-sveltekit/ServoController.h
-7
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@@ -7,7 +7,6 @@
#include <stateful_service.h>
#include <stateful_service_endpoint.h>
#include <MathUtils.h>
#include <timing.h>
#include <settings/servo_settings.h>
#define EVENT_SERVO_CONFIGURATION_SETTINGS "servoPWM"
@@ -73,10 +72,6 @@ class ServoController : public StatefulService<ServoSettings> {
}
}
void loop() {
EXECUTE_EVERY_N_MS(ServoInterval, { updateServoState(); });
}
StatefulHttpEndpoint<ServoSettings> endpoint;
private:
@@ -84,8 +79,6 @@ class ServoController : public StatefulService<ServoSettings> {
FSPersistence<ServoSettings> _persistence;
bool is_active {true};
constexpr static int ServoInterval = 2;
float angles[12] = {0, 90, -145, 0, 90, -145, 0, 90, -145, 0, 90, -145};
float target_angles[12] = {0, 90, -145, 0, 90, -145, 0, 90, -145, 0, 90, -145};
};
esp32/src/main.cpp
+17 -6
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@@ -1,16 +1,27 @@
#include <ESP32SvelteKit.h>
#include <spot.h>
#include <PsychicHttpServer.h>
#define SERIAL_BAUD_RATE 115200
DRAM_ATTR PsychicHttpServer server;
DRAM_ATTR ESP32SvelteKit spot(&server);
DRAM_ATTR Spot spot(&server);
void IRAM_ATTR SpotControlLoopEntry(void*) {
TickType_t xLastWakeTime = xTaskGetTickCount();
for (;;) {
spot.readSensors();
spot.planMotion();
spot.updateActuators();
spot.emitTelemetry();
vTaskDelayUntil(&xLastWakeTime, 10 / portTICK_PERIOD_MS);
}
}
void setup() {
Serial.begin(SERIAL_BAUD_RATE);
Serial.begin(115200);
spot.begin();
spot.initialize();
g_taskManager.createTask(SpotControlLoopEntry, "Spot control task", 4096, nullptr, 3);
}
void loop() { vTaskDelete(NULL); }
esp32/lib/ESP32-sveltekit/ESP32SvelteKit.cpp → esp32/src/spot.cpp
+15 -36
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@@ -1,21 +1,8 @@
/**
* ESP32 SvelteKit
*
* A simple, secure and extensible framework for IoT projects for ESP32 platforms
* with responsive Sveltekit front-end built with TailwindCSS and DaisyUI.
* https://github.com/theelims/ESP32-sveltekit
*
* Copyright (C) 2018 - 2023 rjwats
* Copyright (C) 2024 theelims
* Copyright (C) 2024 runeharlyk
*
* All Rights Reserved. This software may be modified and distributed under
* the terms of the LGPL v3 license. See the LICENSE file for details.
**/
#include <spot.h>
#include <ESP32SvelteKit.h>
static const char *TAG = "Spot";
ESP32SvelteKit::ESP32SvelteKit(PsychicHttpServer *server)
Spot::Spot(PsychicHttpServer *server)
:
#if FT_ENABLED(USE_BATTERY)
_batteryService(&_peripherals),
@@ -27,9 +14,8 @@ ESP32SvelteKit::ESP32SvelteKit(PsychicHttpServer *server)
_server(server) {
}
void ESP32SvelteKit::begin() {
ESP_LOGV("ESP32SvelteKit", "Loading settings from files system");
ESP_LOGI("Running Firmware Version: %s", APP_VERSION);
void Spot::initialize() {
ESP_LOGI(TAG, "Running Firmware Version: %s", APP_VERSION);
ESPFS.begin(true);
g_taskManager.begin();
#if FT_ENABLED(USE_WS2812)
@@ -43,11 +29,11 @@ void ESP32SvelteKit::begin() {
setupMDNS();
ESP_LOGV("ESP32SvelteKit", "Starting loop task");
g_taskManager.createTask(this->_loopImpl, "Spot main", 4096, this, 2, NULL, APPLICATION_CORE);
ESP_LOGV(TAG, "Starting misc loop task");
g_taskManager.createTask(this->_loopImpl, "Spot misc", 4096, this, 2, NULL, APPLICATION_CORE);
}
void ESP32SvelteKit::setupServer() {
void Spot::setupServer() {
_server->config.max_uri_handlers = _numberEndpoints;
_server->maxUploadSize = _maxFileUpload;
_server->listen(_port);
@@ -138,7 +124,7 @@ void ESP32SvelteKit::setupServer() {
#endif
#ifdef EMBED_WWW
ESP_LOGV("ESP32SvelteKit", "Registering routes from PROGMEM static resources");
ESP_LOGV(TAG, "Registering routes from PROGMEM static resources");
WWWData::registerRoutes([&](const String &uri, const String &contentType, const uint8_t *content, size_t len) {
PsychicHttpRequestCallback requestHandler = [contentType, content, len](PsychicRequest *request) {
PsychicResponse response(request);
@@ -161,7 +147,7 @@ void ESP32SvelteKit::setupServer() {
});
#else
// Serve static resources from /www/
ESP_LOGV("ESP32SvelteKit", "Registering routes from FS /www/ static resources");
ESP_LOGV(TAG, "Registering routes from FS /www/ static resources");
_server->serveStatic("/_app/", ESPFS, "/www/_app/");
_server->serveStatic("/favicon.png", ESPFS, "/www/favicon.png");
// Serving all other get requests with "/www/index.htm"
@@ -179,7 +165,7 @@ void ESP32SvelteKit::setupServer() {
#endif
#if defined(ENABLE_CORS)
ESP_LOGV("ESP32SvelteKit", "Enabling CORS headers");
ESP_LOGV(TAG, "Enabling CORS headers");
DefaultHeaders::Instance().addHeader("Access-Control-Allow-Origin", CORS_ORIGIN);
DefaultHeaders::Instance().addHeader("Access-Control-Allow-Headers", "Accept, Content-Type, Authorization");
DefaultHeaders::Instance().addHeader("Access-Control-Allow-Credentials", "true");
@@ -187,8 +173,8 @@ void ESP32SvelteKit::setupServer() {
DefaultHeaders::Instance().addHeader("Server", _appName);
}
void ESP32SvelteKit::setupMDNS() {
ESP_LOGV("ESP32SvelteKit", "Starting MDNS");
void Spot::setupMDNS() {
ESP_LOGV(TAG, "Starting MDNS");
MDNS.begin(_wifiService.getHostname());
MDNS.setInstanceName(_appName);
MDNS.addService("http", "tcp", 80);
@@ -196,7 +182,7 @@ void ESP32SvelteKit::setupMDNS() {
MDNS.addServiceTxt("http", "tcp", "Firmware Version", APP_VERSION);
}
void ESP32SvelteKit::startServices() {
void Spot::startServices() {
_apService.begin();
#if FT_ENABLED(USE_UPLOAD_FIRMWARE)
@@ -219,20 +205,13 @@ void ESP32SvelteKit::startServices() {
#endif
}
void IRAM_ATTR ESP32SvelteKit::loop() {
void IRAM_ATTR Spot::loop() {
while (1) {
#if FT_ENABLED(USE_WS2812)
_ledService.loop();
#endif
_wifiService.loop();
_apService.loop();
#if FT_ENABLED(USE_ANALYTICS)
_analyticsService.loop();
#endif
#if FT_ENABLED(USE_BATTERY)
_batteryService.loop();
#endif
_peripherals.loop();
delay(20);
}
}