🌹 Switches to an explicit sense plan act flow

2024-11-14 10:36:44 +01:00
parent e919b2aa41
commit f3d2fec0e9
5 changed files with 62 additions and 111 deletions
@@ -0,0 +1,127 @@
+#ifndef Spot_h
+#define Spot_h
+
+#include <Arduino.h>
+
+#include <analytics_service.h>
+#include <BatteryService.h>
+#include <filesystem.h>
+#include <firmware_download_service.h>
+#include <firmware_upload_service.h>
+#include <Peripherals.h>
+#include <ServoController.h>
+#include <ESPmDNS.h>
+#include <LEDService.h>
+#include <event_socket.h>
+#include <features.h>
+#include <MotionService.h>
+#include <ntp_service.h>
+#include <camera_service.h>
+#include <CameraSettingsService.h>
+#include <PsychicHttp.h>
+#include <task_manager.h>
+#include <WiFi.h>
+#include <wifi_service.h>
+#include <ap_service.h>
+#include <Wire.h>
+
+#ifdef EMBED_WWW
+#include <WWWData.h>
+#endif
+
+#ifndef CORS_ORIGIN
+#define CORS_ORIGIN "*"
+#endif
+
+#ifndef APP_VERSION
+#define APP_VERSION "v1"
+#endif
+
+#ifndef APP_NAME
+#define APP_NAME "SpotMicro"
+#endif
+
+#ifndef APPLICATION_CORE
+#define APPLICATION_CORE -1
+#endif
+
+class Spot {
+  public:
+    Spot(PsychicHttpServer *server);
+
+    void initialize();
+
+    // sense
+    void readSensors() { _peripherals.readIMU(); }
+
+    // plan
+    void planMotion() { updatedMotion = _motionService.updateMotion(); }
+
+    // act
+    void updateActuators() {
+        if (updatedMotion) _servoController.setAngles(_motionService.getAngles());
+
+        _servoController.updateServoState();
+#if FT_ENABLED(USE_WS2812)
+        _ledService.loop();
+#endif
+    }
+
+    // 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;
+    WiFiService _wifiService;
+    APService _apService;
+    EventSocket _socket;
+#if FT_ENABLED(USE_NTP)
+    NTPService _ntpService;
+#endif
+#if FT_ENABLED(USE_UPLOAD_FIRMWARE)
+    FirmwareUploadService _uploadFirmwareService;
+#endif
+#if FT_ENABLED(USE_DOWNLOAD_FIRMWARE)
+    DownloadFirmwareService _downloadFirmwareService;
+#endif
+#if FT_ENABLED(USE_BATTERY)
+    BatteryService _batteryService;
+#endif
+#if FT_ENABLED(USE_ANALYTICS)
+    AnalyticsService _analyticsService;
+#endif
+#if FT_ENABLED(USE_MOTION)
+    MotionService _motionService;
+#endif
+#if FT_ENABLED(USE_CAMERA)
+    Camera::CameraService _cameraService;
+    Camera::CameraSettingsService _cameraSettingsService;
+#endif
+    Peripherals _peripherals;
+    ServoController _servoController;
+#if FT_ENABLED(USE_WS2812)
+    LEDService _ledService;
+#endif
+
+    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:
+    void loop();
+    static void _loopImpl(void *_this) { static_cast<Spot *>(_this)->loop(); }
+    void setupServer();
+    void setupMDNS();
+    void startServices();
+};
+
+#endif