Rune Harlyk
48 lines
1.2 KiB
Markdown
48 lines
1.2 KiB
Markdown
# WebSocket API
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The ESP32 exposes a WebSocket endpoint at `/api/ws` for real-time bidirectional communication using Protocol Buffers (protobuf).
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## Connection
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Connect to the WebSocket at:
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```
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ws://<device-ip>/api/ws
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```
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All messages are binary-encoded protobuf `Message` wrappers defined in `platform_shared/message.proto`.
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## Message Flow
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The WebSocket supports three communication patterns:
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1. **Client to Server**: Commands like controller input, mode changes, servo control
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2. **Server to Client**: Periodic data broadcasts like IMU, system metrics, RSSI, servo angles
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3. **Request-Response**: Use `socket.request()` for operations requiring a response
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## Example: Sending Controller Input
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```typescript
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import { Message, ControllerData } from "./proto/message";
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const input: ControllerData = {
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left: { x: 0.5, y: 0.0 },
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right: { x: 0.0, y: 0.0 },
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height: 0.1,
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speed: 1.0,
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s1: 0.0,
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};
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const message = Message.encode({ ControllerData: input }).finish();
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socket.send(message);
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```
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## Example: Request-Response
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```typescript
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const response = await socket.request({ imuCalibrateExecute: {} });
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const result = response.imuCalibrateData;
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```
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See `platform_shared/message.proto` for all available message types and their definitions.
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