Rune Harlyk
116 lines
2.5 KiB
C++
116 lines
2.5 KiB
C++
#ifndef Spot_h
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#define Spot_h
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#include <Arduino.h>
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#include <PsychicHttp.h>
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#include <ESPmDNS.h>
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#include <WiFi.h>
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#include <Wire.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/peripherals.h>
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#include <peripherals/servo_controller.h>
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#include <peripherals/led_service.h>
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#include <peripherals/camera_service.h>
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#include <event_socket.h>
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#include <features.h>
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#include <motion.h>
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#include <task_manager.h>
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#include <wifi_service.h>
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#include <ap_service.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 Spot {
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public:
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Spot(PsychicHttpServer *server);
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void initialize();
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// sense
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void readSensors() {
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_peripherals.readIMU();
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_peripherals.readMag();
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_peripherals.readBMP();
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}
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// plan
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void planMotion() { updatedMotion = _motionService.updateMotion(); }
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// act
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void updateActuators() {
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if (updatedMotion) _servoController.setAngles(_motionService.getAngles());
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_servoController.updateServoState();
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#if FT_ENABLED(USE_WS2812)
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_ledService.loop();
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#endif
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}
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// communicate
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void emitTelemetry() {
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if (updatedMotion) EXECUTE_EVERY_N_MS(100, { _motionService.emitAngles(); });
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EXECUTE_EVERY_N_MS(1000, { _peripherals.emitIMU(); });
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// _peripherals.emitSonar();
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}
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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_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_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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#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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bool updatedMotion = false;
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const char *_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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void loop();
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static void _loopImpl(void *_this) { static_cast<Spot *>(_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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