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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 #ifndef Spot_h
#define ESP32SvelteKit_h #define Spot_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.
**/
#include <Arduino.h> #include <Arduino.h>
@@ -60,42 +45,36 @@
#define APPLICATION_CORE -1 #define APPLICATION_CORE -1
#endif #endif
class ESP32SvelteKit { class Spot {
public: 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) _servoController.updateServoState();
BatteryService *getBatteryService() { return &_batteryService; } #if FT_ENABLED(USE_WS2812)
_ledService.loop();
#endif #endif
}
#if FT_ENABLED(USE_MOTION) // communicate
MotionService *getMotionService() { return &_motionService; } void emitTelemetry() {
#endif if (updatedMotion) EXECUTE_EVERY_N_MS(100, { _motionService.syncAngles(); });
// _peripherals.loop();
#if FT_ENABLED(USE_CAMERA) EXECUTE_EVERY_N_MS(1000, { _peripherals.emitIMU(); });
Camera::CameraService *getCameraService() { return &_cameraService; } // _peripherals.emitSonar();
Camera::CameraSettingsService *getCameraSettingsService() { return &_cameraSettingsService; } // _peripherals.emitBattery();
#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();
private: private:
PsychicHttpServer *_server; PsychicHttpServer *_server;
@@ -130,14 +109,16 @@ class ESP32SvelteKit {
LEDService _ledService; LEDService _ledService;
#endif #endif
String _appName = APP_NAME; bool updatedMotion = false;
String _appName = APP_NAME;
const u_int16_t _numberEndpoints = 115; const u_int16_t _numberEndpoints = 115;
const u_int32_t _maxFileUpload = 2300000; // 2.3 MB const u_int32_t _maxFileUpload = 2300000; // 2.3 MB
const uint16_t _port = 80; const uint16_t _port = 80;
protected: 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 setupServer();
void setupMDNS(); void setupMDNS();
void startServices(); void startServices();
esp32/lib/ESP32-sveltekit/MotionService.h
+2 -15
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@@ -2,7 +2,6 @@
#define MotionService_h #define MotionService_h
#include <event_socket.h> #include <event_socket.h>
#include <task_manager.h>
#include <Kinematics.h> #include <Kinematics.h>
#include <ServoController.h> #include <ServoController.h>
#include <timing.h> #include <timing.h>
@@ -37,8 +36,6 @@ class MotionService {
std::bind(&MotionService::syncAngles, this, std::placeholders::_1, std::placeholders::_2)); std::bind(&MotionService::syncAngles, this, std::placeholders::_1, std::placeholders::_2));
body_state.updateFeet(default_feet_positions); body_state.updateFeet(default_feet_positions);
g_taskManager.createTask(this->_loopImpl, "MotionService", 4096, this, 3);
} }
void anglesEvent(JsonObject &root, int originId) { void anglesEvent(JsonObject &root, int originId) {
@@ -133,16 +130,7 @@ class MotionService {
return updated; return updated;
} }
void _loop() { float *getAngles() { return angles; }
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(); }
private: private:
ServoController *_servoController; ServoController *_servoController;
@@ -156,15 +144,14 @@ class MotionService {
MOTION_STATE motionState = MOTION_STATE::DEACTIVATED; MOTION_STATE motionState = MOTION_STATE::DEACTIVATED;
unsigned long _lastUpdate; unsigned long _lastUpdate;
constexpr static int MotionInterval = 15;
body_state_t body_state = {0, 0, 0, 0, 0, 0}; 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 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 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 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 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}; 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.h>
#include <stateful_service_endpoint.h> #include <stateful_service_endpoint.h>
#include <MathUtils.h> #include <MathUtils.h>
#include <timing.h>
#include <settings/servo_settings.h> #include <settings/servo_settings.h>
#define EVENT_SERVO_CONFIGURATION_SETTINGS "servoPWM" #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; StatefulHttpEndpoint<ServoSettings> endpoint;
private: private:
@@ -84,8 +79,6 @@ class ServoController : public StatefulService<ServoSettings> {
FSPersistence<ServoSettings> _persistence; FSPersistence<ServoSettings> _persistence;
bool is_active {true}; 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 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}; 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> #include <PsychicHttpServer.h>
#define SERIAL_BAUD_RATE 115200
DRAM_ATTR PsychicHttpServer server; 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() { 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); } void loop() { vTaskDelete(NULL); }
esp32/lib/ESP32-sveltekit/ESP32SvelteKit.cpp → esp32/src/spot.cpp
+15 -36
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@@ -1,21 +1,8 @@
/** #include <spot.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) 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 <ESP32SvelteKit.h> static const char *TAG = "Spot";
ESP32SvelteKit::ESP32SvelteKit(PsychicHttpServer *server) Spot::Spot(PsychicHttpServer *server)
: :
#if FT_ENABLED(USE_BATTERY) #if FT_ENABLED(USE_BATTERY)
_batteryService(&_peripherals), _batteryService(&_peripherals),
@@ -27,9 +14,8 @@ ESP32SvelteKit::ESP32SvelteKit(PsychicHttpServer *server)
_server(server) { _server(server) {
} }
void ESP32SvelteKit::begin() { void Spot::initialize() {
ESP_LOGV("ESP32SvelteKit", "Loading settings from files system"); ESP_LOGI(TAG, "Running Firmware Version: %s", APP_VERSION);
ESP_LOGI("Running Firmware Version: %s", APP_VERSION);
ESPFS.begin(true); ESPFS.begin(true);
g_taskManager.begin(); g_taskManager.begin();
#if FT_ENABLED(USE_WS2812) #if FT_ENABLED(USE_WS2812)
@@ -43,11 +29,11 @@ void ESP32SvelteKit::begin() {
setupMDNS(); setupMDNS();
ESP_LOGV("ESP32SvelteKit", "Starting loop task"); ESP_LOGV(TAG, "Starting misc loop task");
g_taskManager.createTask(this->_loopImpl, "Spot main", 4096, this, 2, NULL, APPLICATION_CORE); 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->config.max_uri_handlers = _numberEndpoints;
_server->maxUploadSize = _maxFileUpload; _server->maxUploadSize = _maxFileUpload;
_server->listen(_port); _server->listen(_port);
@@ -138,7 +124,7 @@ void ESP32SvelteKit::setupServer() {
#endif #endif
#ifdef EMBED_WWW #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) { WWWData::registerRoutes([&](const String &uri, const String &contentType, const uint8_t *content, size_t len) {
PsychicHttpRequestCallback requestHandler = [contentType, content, len](PsychicRequest *request) { PsychicHttpRequestCallback requestHandler = [contentType, content, len](PsychicRequest *request) {
PsychicResponse response(request); PsychicResponse response(request);
@@ -161,7 +147,7 @@ void ESP32SvelteKit::setupServer() {
}); });
#else #else
// Serve static resources from /www/ // 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("/_app/", ESPFS, "/www/_app/");
_server->serveStatic("/favicon.png", ESPFS, "/www/favicon.png"); _server->serveStatic("/favicon.png", ESPFS, "/www/favicon.png");
// Serving all other get requests with "/www/index.htm" // Serving all other get requests with "/www/index.htm"
@@ -179,7 +165,7 @@ void ESP32SvelteKit::setupServer() {
#endif #endif
#if defined(ENABLE_CORS) #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-Origin", CORS_ORIGIN);
DefaultHeaders::Instance().addHeader("Access-Control-Allow-Headers", "Accept, Content-Type, Authorization"); DefaultHeaders::Instance().addHeader("Access-Control-Allow-Headers", "Accept, Content-Type, Authorization");
DefaultHeaders::Instance().addHeader("Access-Control-Allow-Credentials", "true"); DefaultHeaders::Instance().addHeader("Access-Control-Allow-Credentials", "true");
@@ -187,8 +173,8 @@ void ESP32SvelteKit::setupServer() {
DefaultHeaders::Instance().addHeader("Server", _appName); DefaultHeaders::Instance().addHeader("Server", _appName);
} }
void ESP32SvelteKit::setupMDNS() { void Spot::setupMDNS() {
ESP_LOGV("ESP32SvelteKit", "Starting MDNS"); ESP_LOGV(TAG, "Starting MDNS");
MDNS.begin(_wifiService.getHostname()); MDNS.begin(_wifiService.getHostname());
MDNS.setInstanceName(_appName); MDNS.setInstanceName(_appName);
MDNS.addService("http", "tcp", 80); MDNS.addService("http", "tcp", 80);
@@ -196,7 +182,7 @@ void ESP32SvelteKit::setupMDNS() {
MDNS.addServiceTxt("http", "tcp", "Firmware Version", APP_VERSION); MDNS.addServiceTxt("http", "tcp", "Firmware Version", APP_VERSION);
} }
void ESP32SvelteKit::startServices() { void Spot::startServices() {
_apService.begin(); _apService.begin();
#if FT_ENABLED(USE_UPLOAD_FIRMWARE) #if FT_ENABLED(USE_UPLOAD_FIRMWARE)
@@ -219,20 +205,13 @@ void ESP32SvelteKit::startServices() {
#endif #endif
} }
void IRAM_ATTR ESP32SvelteKit::loop() { void IRAM_ATTR Spot::loop() {
while (1) { while (1) {
#if FT_ENABLED(USE_WS2812)
_ledService.loop();
#endif
_wifiService.loop(); _wifiService.loop();
_apService.loop(); _apService.loop();
#if FT_ENABLED(USE_ANALYTICS) #if FT_ENABLED(USE_ANALYTICS)
_analyticsService.loop(); _analyticsService.loop();
#endif #endif
#if FT_ENABLED(USE_BATTERY)
_batteryService.loop();
#endif
_peripherals.loop();
delay(20); delay(20);
} }
} }