Rune Harlyk
116 lines
2.5 KiB
C++
116 lines
2.5 KiB
C++
#ifndef Spot_h
|
|
#define Spot_h
|
|
|
|
#include <Arduino.h>
|
|
#include <PsychicHttp.h>
|
|
#include <ESPmDNS.h>
|
|
#include <WiFi.h>
|
|
#include <Wire.h>
|
|
|
|
#include <filesystem.h>
|
|
#include <firmware_download_service.h>
|
|
#include <firmware_upload_service.h>
|
|
#include <peripherals/peripherals.h>
|
|
#include <peripherals/servo_controller.h>
|
|
#include <peripherals/led_service.h>
|
|
#include <peripherals/camera_service.h>
|
|
#include <event_socket.h>
|
|
#include <features.h>
|
|
#include <motion.h>
|
|
#include <task_manager.h>
|
|
#include <wifi_service.h>
|
|
#include <ap_service.h>
|
|
|
|
#ifdef EMBED_WWW
|
|
#include <WWWData.h>
|
|
#endif
|
|
|
|
#ifndef CORS_ORIGIN
|
|
#define CORS_ORIGIN "*"
|
|
#endif
|
|
|
|
#ifndef APP_VERSION
|
|
#define APP_VERSION "v1"
|
|
#endif
|
|
|
|
#ifndef APP_NAME
|
|
#define APP_NAME "SpotMicro"
|
|
#endif
|
|
|
|
#ifndef APPLICATION_CORE
|
|
#define APPLICATION_CORE -1
|
|
#endif
|
|
|
|
class Spot {
|
|
public:
|
|
Spot();
|
|
|
|
void initialize();
|
|
|
|
// sense
|
|
void readSensors() {
|
|
_peripherals.readIMU();
|
|
_peripherals.readMag();
|
|
_peripherals.readBMP();
|
|
}
|
|
|
|
// plan
|
|
void planMotion() { updatedMotion = _motionService.updateMotion(); }
|
|
|
|
// act
|
|
void updateActuators() {
|
|
if (updatedMotion) _servoController.setAngles(_motionService.getAngles());
|
|
|
|
_servoController.updateServoState();
|
|
#if FT_ENABLED(USE_WS2812)
|
|
_ledService.loop();
|
|
#endif
|
|
}
|
|
|
|
// communicate
|
|
void emitTelemetry() {
|
|
if (updatedMotion) EXECUTE_EVERY_N_MS(100, { _motionService.emitAngles(); });
|
|
EXECUTE_EVERY_N_MS(1000, { _peripherals.emitIMU(); });
|
|
// _peripherals.emitSonar();
|
|
}
|
|
|
|
private:
|
|
PsychicHttpServer _server;
|
|
WiFiService _wifiService;
|
|
APService _apService;
|
|
EventSocket _socket;
|
|
#if FT_ENABLED(USE_UPLOAD_FIRMWARE)
|
|
FirmwareUploadService _uploadFirmwareService;
|
|
#endif
|
|
#if FT_ENABLED(USE_DOWNLOAD_FIRMWARE)
|
|
DownloadFirmwareService _downloadFirmwareService;
|
|
#endif
|
|
#if FT_ENABLED(USE_MOTION)
|
|
MotionService _motionService;
|
|
#endif
|
|
#if FT_ENABLED(USE_CAMERA)
|
|
Camera::CameraService _cameraService;
|
|
#endif
|
|
Peripherals _peripherals;
|
|
ServoController _servoController;
|
|
#if FT_ENABLED(USE_WS2812)
|
|
LEDService _ledService;
|
|
#endif
|
|
|
|
bool updatedMotion = false;
|
|
|
|
const char *_appName = APP_NAME;
|
|
const u_int16_t _numberEndpoints = 115;
|
|
const u_int32_t _maxFileUpload = 2300000; // 2.3 MB
|
|
const uint16_t _port = 80;
|
|
|
|
protected:
|
|
void loop();
|
|
static void _loopImpl(void *_this) { static_cast<Spot *>(_this)->loop(); }
|
|
void setupServer();
|
|
void setupMDNS();
|
|
void startServices();
|
|
};
|
|
|
|
#endif
|