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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/src/main.cpp
+28 -39
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@@ -136,52 +136,41 @@ void setupServer() {
DefaultHeaders::Instance().addHeader("Access-Control-Max-Age", "86400");
}
#define ANGLES_EVENT "angles"
#define INPUT_EVENT "input"
#define MODE_EVENT "mode"
#define WALK_GAIT_EVENT "walk_gait"
#define EVENT_I2C_SCAN "i2cScan"
#define EVENT_SERVO_CONFIGURATION_SETTINGS "servoPWM"
#define EVENT_SERVO_STATE "servoState"
#define EVENT_IMU_CALIBRATE "imuCalibrate"
void setupEventSocket() {
// Motion events
// socket.onEvent(INPUT_EVENT, [&](JsonVariant &root, int originId) { motionService.handleInput(root, originId); });
socket.on<socket_message_HumanInputData>(
[&](const socket_message_HumanInputData &data, int clientId) { motionService.handleInput(data); });
// socket.onEvent(MODE_EVENT, [&](JsonVariant &root, int originId) {
// servoController.setMode(SERVO_CONTROL_STATE::ANGLE);
// motionService.handleMode(root, originId);
// motionService.isActive() ? servoController.activate() : servoController.deactivate();
// });
socket.on<socket_message_ModeData>([&](const socket_message_ModeData &data, int clientId) {
servoController.setMode(SERVO_CONTROL_STATE::ANGLE);
motionService.handleMode(data);
motionService.isActive() ? servoController.activate() : servoController.deactivate();
});
// socket.onEvent(WALK_GAIT_EVENT,
// [&](JsonVariant &root, int originId) { motionService.handleWalkGait(root, originId); });
socket.on<socket_message_WalkGaitData>(
[&](const socket_message_WalkGaitData &data, int clientId) { motionService.handleWalkGait(data); });
// socket.onEvent(ANGLES_EVENT, [&](JsonVariant &root, int originId) { motionService.anglesEvent(root, originId);
// });
socket.on<socket_message_AnglesData>(
[&](const socket_message_AnglesData &data, int clientId) { motionService.handleAngles(data); });
// // Peripherals events
// socket.onEvent(EVENT_I2C_SCAN, [&](JsonVariant &root, int originId) {
// peripherals.scanI2C();
// JsonDocument doc;
// JsonVariant results = doc.to<JsonVariant>();
// peripherals.getI2CResult(results);
// socket.emit(EVENT_I2C_SCAN, results);
// });
socket.on<socket_message_I2CScanDataRequest>([&](const socket_message_I2CScanDataRequest &data, int clientId) {
peripherals.scanI2C();
socket_message_I2CScanData result = socket_message_I2CScanData_init_zero;
peripherals.getI2CResultProto(result);
socket.emit(result, clientId);
});
// socket.onEvent(EVENT_IMU_CALIBRATE, [&](JsonVariant &root, int originId) {
// JsonDocument doc;
// JsonVariant results = doc.to<JsonVariant>();
// results["success"] = peripherals.calibrateIMU();
// socket.emit(EVENT_IMU_CALIBRATE, results);
// });
socket.on<socket_message_IMUCalibrateExecute>([&](const socket_message_IMUCalibrateExecute &data, int clientId) {
socket_message_IMUCalibrateData result = {.success = peripherals.calibrateIMU()};
socket.emit(result, clientId);
});
// // Servo controller events
// socket.onEvent(EVENT_SERVO_CONFIGURATION_SETTINGS,
// [&](JsonVariant &root, int originId) { servoController.servoEvent(root, originId); });
// socket.onEvent(EVENT_SERVO_STATE,
// [&](JsonVariant &root, int originId) { servoController.stateUpdate(root, originId); });
socket.on<socket_message_ServoPWMData>([&](const socket_message_ServoPWMData &data, int clientId) {
servoController.setServoPWM(data.servo_id, data.servo_pwm);
});
socket.on<socket_message_ServoStateData>([&](const socket_message_ServoStateData &data, int clientId) {
data.active ? servoController.activate() : servoController.deactivate();
});
}
void IRAM_ATTR SpotControlLoopEntry(void *) {