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♻️ Handle incomming messages

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This commit is contained in:
Rune Harlyk
2026-01-03 12:49:48 +01:00
committed by nikguin04
parent c0c13754f4
commit fa332995f9
11 changed files with 603 additions and 632 deletions
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esp32/include/communication/comm_base.hpp
+11 -84
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@@ -6,84 +6,14 @@
#include <type_traits>
#include <communication/proto_helpers.h>
template <typename T>
struct MessageTraits;
template <>
struct MessageTraits<socket_message_IMUData> {
static constexpr pb_size_t tag = socket_message_WebsocketMessage_imu_tag;
static void assign(socket_message_WebsocketMessage& msg, const socket_message_IMUData& data) {
msg.message.imu = data;
}
};
template <>
struct MessageTraits<socket_message_ModeData> {
static constexpr pb_size_t tag = socket_message_WebsocketMessage_mode_tag;
static void assign(socket_message_WebsocketMessage& msg, const socket_message_ModeData& data) {
msg.message.mode = data;
}
};
template <>
struct MessageTraits<socket_message_AnalyticsData> {
static constexpr pb_size_t tag = socket_message_WebsocketMessage_analytics_tag;
static void assign(socket_message_WebsocketMessage& msg, const socket_message_AnalyticsData& data) {
msg.message.analytics = data;
}
};
template <>
struct MessageTraits<socket_message_AnglesData> {
static constexpr pb_size_t tag = socket_message_WebsocketMessage_angles_tag;
static void assign(socket_message_WebsocketMessage& msg, const socket_message_AnglesData& data) {
msg.message.angles = data;
}
};
template <>
struct MessageTraits<socket_message_RSSIData> {
static constexpr pb_size_t tag = socket_message_WebsocketMessage_rssi_tag;
static void assign(socket_message_WebsocketMessage& msg, const socket_message_RSSIData& data) {
msg.message.rssi = data;
}
};
template <>
struct MessageTraits<socket_message_KinematicData> {
static constexpr pb_size_t tag = socket_message_WebsocketMessage_kinematic_data_tag;
static void assign(socket_message_WebsocketMessage& msg, const socket_message_KinematicData& data) {
msg.message.kinematic_data = data;
}
};
template <>
struct MessageTraits<socket_message_IMUCalibrateData> {
static constexpr pb_size_t tag = socket_message_WebsocketMessage_imu_calibrate_tag;
static void assign(socket_message_WebsocketMessage& msg, const socket_message_IMUCalibrateData& data) {
msg.message.imu_calibrate = data;
}
};
template <>
struct MessageTraits<socket_message_I2CScanData> {
static constexpr pb_size_t tag = socket_message_WebsocketMessage_i2c_scan_tag;
static void assign(socket_message_WebsocketMessage& msg, const socket_message_I2CScanData& data) {
msg.message.i2c_scan = data;
}
};
template <>
struct MessageTraits<socket_message_PeripheralSettingsData> {
static constexpr pb_size_t tag = socket_message_WebsocketMessage_peripheral_settings_tag;
static void assign(socket_message_WebsocketMessage& msg, const socket_message_PeripheralSettingsData& data) {
msg.message.peripheral_settings = data;
}
};
class CommAdapterBase {
public:
CommAdapterBase() { mutex_ = xSemaphoreCreateMutex(); }
CommAdapterBase() {
mutex_ = xSemaphoreCreateMutex();
decoder_.onSubscribe([this](int32_t tag, int cid) { subscribe(tag, cid); });
decoder_.onUnsubscribe([this](int32_t tag, int cid) { unsubscribe(tag, cid); });
decoder_.onPing([this](int cid) { sendPong(cid); });
}
~CommAdapterBase() { vSemaphoreDelete(mutex_); }
virtual void begin() {}
@@ -97,6 +27,11 @@ class CommAdapterBase {
ProtoDecoder& decoder() { return decoder_; }
template <typename T>
void on(std::function<void(const T&, int)> handler) {
decoder_.on<T>(handler);
}
template <typename T>
void emit(const T& data, int clientId = -1) {
constexpr pb_size_t tag = MessageTraits<T>::tag;
@@ -159,14 +94,6 @@ class CommAdapterBase {
}
}
void setupDecoderHandlers() {
decoder_.onSubscribe([this](int32_t tag, int cid) { subscribe(tag, cid); });
decoder_.onUnsubscribe([this](int32_t tag, int cid) { unsubscribe(tag, cid); });
decoder_.onPing([this](int cid) { sendPong(cid); });
}
SemaphoreHandle_t mutex_;
std::map<int32_t, std::list<int>> client_subscriptions_;
ProtoDecoder decoder_;