🌹 Switches to an explicit sense plan act flow
This commit is contained in:
Rune Harlyk
@@ -1,238 +0,0 @@
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/**
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* ESP32 SvelteKit
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*
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* A simple, secure and extensible framework for IoT projects for ESP32 platforms
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* with responsive Sveltekit front-end built with TailwindCSS and DaisyUI.
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* https://github.com/theelims/ESP32-sveltekit
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*
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* Copyright (C) 2018 - 2023 rjwats
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* Copyright (C) 2024 theelims
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* Copyright (C) 2024 runeharlyk
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*
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* All Rights Reserved. This software may be modified and distributed under
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* the terms of the LGPL v3 license. See the LICENSE file for details.
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**/
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#include <ESP32SvelteKit.h>
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ESP32SvelteKit::ESP32SvelteKit(PsychicHttpServer *server)
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:
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#if FT_ENABLED(USE_BATTERY)
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_batteryService(&_peripherals),
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#endif
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_servoController(&_peripherals),
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#if FT_ENABLED(USE_MOTION)
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_motionService(&_servoController),
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#endif
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_server(server) {
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}
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void ESP32SvelteKit::begin() {
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ESP_LOGV("ESP32SvelteKit", "Loading settings from files system");
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ESP_LOGI("Running Firmware Version: %s", APP_VERSION);
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ESPFS.begin(true);
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g_taskManager.begin();
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#if FT_ENABLED(USE_WS2812)
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_ledService.loop();
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#endif
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_wifiService.begin();
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setupServer();
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startServices();
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setupMDNS();
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ESP_LOGV("ESP32SvelteKit", "Starting loop task");
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g_taskManager.createTask(this->_loopImpl, "Spot main", 4096, this, 2, NULL, APPLICATION_CORE);
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}
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void ESP32SvelteKit::setupServer() {
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_server->config.max_uri_handlers = _numberEndpoints;
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_server->maxUploadSize = _maxFileUpload;
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_server->listen(_port);
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// wifi
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_server->on("/api/wifi/scan", HTTP_GET, _wifiService.handleScan);
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_server->on("/api/wifi/networks", HTTP_GET,
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[this](PsychicRequest *request) { return _wifiService.getNetworks(request); });
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_server->on("/api/wifi/sta/status", HTTP_GET,
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[this](PsychicRequest *request) { return _wifiService.getNetworkStatus(request); });
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_server->on("/api/wifi/sta/settings", HTTP_GET,
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[this](PsychicRequest *request) { return _wifiService.endpoint.getState(request); });
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_server->on("/api/wifi/sta/settings", HTTP_POST, [this](PsychicRequest *request, JsonVariant &json) {
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return _wifiService.endpoint.handleStateUpdate(request, json);
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});
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// ap
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_server->on("/api/wifi/ap/status", HTTP_GET,
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[this](PsychicRequest *request) { return _apService.getStatus(request); });
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_server->on("/api/wifi/ap/settings", HTTP_GET,
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[this](PsychicRequest *request) { return _apService.endpoint.getState(request); });
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_server->on("/api/wifi/ap/settings", HTTP_POST, [this](PsychicRequest *request, JsonVariant &json) {
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return _apService.endpoint.handleStateUpdate(request, json);
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});
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// NTP
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#if FT_ENABLED(USE_NTP)
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_server->on("/api/ntp/status", HTTP_GET, [this](PsychicRequest *r) { return _ntpService.getStatus(r); });
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_server->on("/api/ntp/time", HTTP_POST,
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[this](PsychicRequest *r, JsonVariant &json) { return _ntpService.handleTime(r, json); });
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_server->on("/api/ntp/settings", HTTP_GET,
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[this](PsychicRequest *request) { return _ntpService.endpoint.getState(request); });
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_server->on("/api/ntp/settings", HTTP_POST, [this](PsychicRequest *request, JsonVariant &json) {
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return _ntpService.endpoint.handleStateUpdate(request, json);
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});
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#endif
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// Camera
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_server->on("/api/camera/still", HTTP_GET,
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[this](PsychicRequest *request) { return _cameraService.cameraStill(request); });
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_server->on("/api/camera/stream", HTTP_GET,
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[this](PsychicRequest *request) { return _cameraService.cameraStream(request); });
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_server->on("/api/camera/settings", HTTP_GET,
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[this](PsychicRequest *request) { return _cameraSettingsService.endpoint.getState(request); });
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_server->on("/api/camera/settings", HTTP_POST, [this](PsychicRequest *request, JsonVariant &json) {
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return _cameraSettingsService.endpoint.handleStateUpdate(request, json);
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});
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// SYSTEM
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_server->on("/api/system/reset", HTTP_POST, system_service::handleReset);
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_server->on("/api/system/restart", HTTP_POST, system_service::handleRestart);
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_server->on("/api/system/sleep", HTTP_POST, system_service::handleSleep);
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_server->on("/api/system/status", HTTP_GET, system_service::getStatus);
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_server->on("/api/system/metrics", HTTP_GET, system_service::getMetrics);
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// FILESYSTEM
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_server->on("/api/files", HTTP_GET, FileSystem::getFiles);
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_server->on("/api/files/delete", HTTP_POST, FileSystem::handleDelete);
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_server->on("/api/files/upload/*", HTTP_POST, FileSystem::uploadHandler);
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_server->on("/api/files/edit", HTTP_POST, FileSystem::handleEdit);
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// SERVO
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_server->on("/api/servo/config", HTTP_GET,
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[this](PsychicRequest *request) { return _servoController.endpoint.getState(request); });
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_server->on("/api/servo/config", HTTP_POST, [this](PsychicRequest *request, JsonVariant &json) {
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return _servoController.endpoint.handleStateUpdate(request, json);
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});
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// PERIPHERALS
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_server->on("/api/peripheral/settings", HTTP_GET,
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[this](PsychicRequest *request) { return _peripherals.endpoint.getState(request); });
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_server->on("/api/peripheral/settings", HTTP_POST, [this](PsychicRequest *request, JsonVariant &json) {
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return _peripherals.endpoint.handleStateUpdate(request, json);
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});
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// MISC
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_server->on("/api/ws/events", socket.getHandler());
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_server->on("/api/features", feature_service::getFeatures);
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#if FT_ENABLED(USE_UPLOAD_FIRMWARE)
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_server->on("/api/firmware", HTTP_POST, _uploadFirmwareService.getHandler());
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#endif
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#if FT_ENABLED(USE_DOWNLOAD_FIRMWARE)
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_server->on("/api/firmware/download", HTTP_POST, [this](PsychicRequest *r, JsonVariant &json) {
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return _downloadFirmwareService.handleDownloadUpdate(r, json);
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});
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#endif
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#ifdef EMBED_WWW
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ESP_LOGV("ESP32SvelteKit", "Registering routes from PROGMEM static resources");
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WWWData::registerRoutes([&](const String &uri, const String &contentType, const uint8_t *content, size_t len) {
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PsychicHttpRequestCallback requestHandler = [contentType, content, len](PsychicRequest *request) {
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PsychicResponse response(request);
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response.setCode(200);
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response.setContentType(contentType.c_str());
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response.addHeader("Content-Encoding", "gzip");
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response.addHeader("Cache-Control", "public, immutable, max-age=31536000");
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response.setContent(content, len);
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return response.send();
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};
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PsychicWebHandler *handler = new PsychicWebHandler();
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handler->onRequest(requestHandler);
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_server->on(uri.c_str(), HTTP_GET, handler);
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// Set default end-point for all non matching requests
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// this is easier than using webServer.onNotFound()
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if (uri.equals("/index.html")) {
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_server->defaultEndpoint->setHandler(handler);
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}
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});
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#else
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// Serve static resources from /www/
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ESP_LOGV("ESP32SvelteKit", "Registering routes from FS /www/ static resources");
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_server->serveStatic("/_app/", ESPFS, "/www/_app/");
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_server->serveStatic("/favicon.png", ESPFS, "/www/favicon.png");
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// Serving all other get requests with "/www/index.htm"
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_server->onNotFound([](PsychicRequest *request) {
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if (request->method() == HTTP_GET) {
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PsychicFileResponse response(request, ESPFS, "/www/index.html", "text/html");
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return response.send();
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// String url = "http://" + request->host() + "/index.html";
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// request->redirect(url.c_str());
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}
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});
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#endif
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#ifdef SERVE_CONFIG_FILES
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_server->serveStatic("/api/config/", ESPFS, "/config/");
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#endif
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#if defined(ENABLE_CORS)
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ESP_LOGV("ESP32SvelteKit", "Enabling CORS headers");
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DefaultHeaders::Instance().addHeader("Access-Control-Allow-Origin", CORS_ORIGIN);
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DefaultHeaders::Instance().addHeader("Access-Control-Allow-Headers", "Accept, Content-Type, Authorization");
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DefaultHeaders::Instance().addHeader("Access-Control-Allow-Credentials", "true");
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#endif
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DefaultHeaders::Instance().addHeader("Server", _appName);
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}
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void ESP32SvelteKit::setupMDNS() {
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ESP_LOGV("ESP32SvelteKit", "Starting MDNS");
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MDNS.begin(_wifiService.getHostname());
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MDNS.setInstanceName(_appName);
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MDNS.addService("http", "tcp", 80);
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MDNS.addService("ws", "tcp", 80);
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MDNS.addServiceTxt("http", "tcp", "Firmware Version", APP_VERSION);
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}
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void ESP32SvelteKit::startServices() {
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_apService.begin();
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#if FT_ENABLED(USE_UPLOAD_FIRMWARE)
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_uploadFirmwareService.begin();
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#endif
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#if FT_ENABLED(USE_NTP)
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_ntpService.begin();
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#endif
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#if FT_ENABLED(USE_BATTERY)
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_batteryService.begin();
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#endif
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_peripherals.begin();
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_servoController.begin();
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#if FT_ENABLED(USE_MOTION)
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_motionService.begin();
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#endif
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#if FT_ENABLED(USE_CAMERA)
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_cameraService.begin();
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_cameraSettingsService.begin();
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#endif
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}
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void IRAM_ATTR ESP32SvelteKit::loop() {
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while (1) {
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#if FT_ENABLED(USE_WS2812)
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_ledService.loop();
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#endif
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_wifiService.loop();
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_apService.loop();
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#if FT_ENABLED(USE_ANALYTICS)
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_analyticsService.loop();
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#endif
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#if FT_ENABLED(USE_BATTERY)
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_batteryService.loop();
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#endif
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_peripherals.loop();
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delay(20);
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}
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}
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@@ -1,146 +0,0 @@
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#ifndef ESP32SvelteKit_h
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#define ESP32SvelteKit_h
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/**
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* ESP32 SvelteKit
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*
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* A simple, secure and extensible framework for IoT projects for ESP32 platforms
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* with responsive Sveltekit front-end built with TailwindCSS and DaisyUI.
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* https://github.com/theelims/ESP32-sveltekit
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*
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* Copyright (C) 2018 - 2023 rjwats
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* Copyright (C) 2023 theelims
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* Copyright (C) 2024 runeharlyk
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*
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* All Rights Reserved. This software may be modified and distributed under
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* the terms of the LGPL v3 license. See the LICENSE file for details.
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**/
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#include <Arduino.h>
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#include <analytics_service.h>
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#include <BatteryService.h>
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#include <filesystem.h>
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#include <firmware_download_service.h>
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#include <firmware_upload_service.h>
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#include <Peripherals.h>
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#include <ServoController.h>
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#include <ESPmDNS.h>
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#include <LEDService.h>
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#include <event_socket.h>
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#include <features.h>
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#include <MotionService.h>
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#include <ntp_service.h>
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#include <camera_service.h>
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#include <CameraSettingsService.h>
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#include <PsychicHttp.h>
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#include <task_manager.h>
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#include <WiFi.h>
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#include <wifi_service.h>
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#include <ap_service.h>
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#include <Wire.h>
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#ifdef EMBED_WWW
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#include <WWWData.h>
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#endif
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#ifndef CORS_ORIGIN
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#define CORS_ORIGIN "*"
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#endif
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#ifndef APP_VERSION
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#define APP_VERSION "v1"
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#endif
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#ifndef APP_NAME
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#define APP_NAME "SpotMicro"
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#endif
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#ifndef APPLICATION_CORE
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#define APPLICATION_CORE -1
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#endif
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class ESP32SvelteKit {
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public:
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ESP32SvelteKit(PsychicHttpServer *server);
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void begin();
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FS *getFS() { return &ESPFS; }
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PsychicHttpServer *getServer() { return _server; }
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EventSocket *getSocket() { return &_socket; }
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#if FT_ENABLED(USE_BATTERY)
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BatteryService *getBatteryService() { return &_batteryService; }
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#endif
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#if FT_ENABLED(USE_MOTION)
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MotionService *getMotionService() { return &_motionService; }
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#endif
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#if FT_ENABLED(USE_CAMERA)
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Camera::CameraService *getCameraService() { return &_cameraService; }
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Camera::CameraSettingsService *getCameraSettingsService() { return &_cameraSettingsService; }
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#endif
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Peripherals *getPeripherals() { return &_peripherals; }
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#if FT_ENABLED(USE_SERVO)
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ServoController *getServoController() { return &_servoController; }
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#endif
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void setMDNSAppName(String name) { _appName = name; }
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void recoveryMode() { _apService.recoveryMode(); }
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void loop();
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private:
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PsychicHttpServer *_server;
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WiFiService _wifiService;
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APService _apService;
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EventSocket _socket;
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#if FT_ENABLED(USE_NTP)
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NTPService _ntpService;
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#endif
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#if FT_ENABLED(USE_UPLOAD_FIRMWARE)
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FirmwareUploadService _uploadFirmwareService;
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#endif
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#if FT_ENABLED(USE_DOWNLOAD_FIRMWARE)
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DownloadFirmwareService _downloadFirmwareService;
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#endif
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#if FT_ENABLED(USE_BATTERY)
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BatteryService _batteryService;
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#endif
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#if FT_ENABLED(USE_ANALYTICS)
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AnalyticsService _analyticsService;
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#endif
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#if FT_ENABLED(USE_MOTION)
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MotionService _motionService;
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#endif
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#if FT_ENABLED(USE_CAMERA)
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Camera::CameraService _cameraService;
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Camera::CameraSettingsService _cameraSettingsService;
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#endif
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Peripherals _peripherals;
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ServoController _servoController;
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#if FT_ENABLED(USE_WS2812)
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LEDService _ledService;
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#endif
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String _appName = APP_NAME;
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const u_int16_t _numberEndpoints = 115;
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const u_int32_t _maxFileUpload = 2300000; // 2.3 MB
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const uint16_t _port = 80;
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protected:
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static void _loopImpl(void *_this) { static_cast<ESP32SvelteKit *>(_this)->loop(); }
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void setupServer();
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void setupMDNS();
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void startServices();
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};
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#endif
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@@ -2,7 +2,6 @@
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#define MotionService_h
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#include <event_socket.h>
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#include <task_manager.h>
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#include <Kinematics.h>
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#include <ServoController.h>
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#include <timing.h>
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@@ -37,8 +36,6 @@ class MotionService {
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std::bind(&MotionService::syncAngles, this, std::placeholders::_1, std::placeholders::_2));
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body_state.updateFeet(default_feet_positions);
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g_taskManager.createTask(this->_loopImpl, "MotionService", 4096, this, 3);
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}
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void anglesEvent(JsonObject &root, int originId) {
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@@ -133,16 +130,7 @@ class MotionService {
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return updated;
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}
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void _loop() {
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TickType_t xLastWakeTime = xTaskGetTickCount();
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for (;;) {
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if (updateMotion()) syncAngles();
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_servoController->loop();
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vTaskDelayUntil(&xLastWakeTime, MotionInterval / portTICK_PERIOD_MS);
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}
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}
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static void _loopImpl(void *_this) { static_cast<MotionService *>(_this)->_loop(); }
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float *getAngles() { return angles; }
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private:
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ServoController *_servoController;
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@@ -156,15 +144,14 @@ class MotionService {
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MOTION_STATE motionState = MOTION_STATE::DEACTIVATED;
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unsigned long _lastUpdate;
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constexpr static int MotionInterval = 15;
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body_state_t body_state = {0, 0, 0, 0, 0, 0};
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float new_angles[12] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
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float angles[12] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
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float dir[12] = {1, -1, -1, -1, -1, -1, 1, -1, -1, -1, -1, -1};
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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}};
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float angles[12] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
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float rest_angles[12] = {0, 90, -145, 0, 90, -145, 0, 90, -145, 0, 90, -145};
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float calibration_angles[12] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
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};
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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};
|
||||
};
|
||||
|
||||
Reference in New Issue
Block a user