Rune Harlyk
141 lines
4.8 KiB
C++
141 lines
4.8 KiB
C++
#include <EventEndpoint.h>
|
|
#include <FSPersistence.h>
|
|
#include <HttpEndpoint.h>
|
|
#include <SecurityManager.h>
|
|
#include <StatefulService.h>
|
|
|
|
#include <Adafruit_PWMServoDriver.h>
|
|
|
|
#define SERVO_CONFIG_FILE "/config/servoConfig.json"
|
|
#define SERVO_CONFIGURATION_SETTINGS_PATH "/api/servo/configuration"
|
|
|
|
#ifndef FACTORY_SERVO_NUM
|
|
#define FACTORY_SERVO_NUM 12
|
|
#endif
|
|
|
|
#ifndef FACTORY_SERVO_PWM_FREQUENCY
|
|
#define FACTORY_SERVO_PWM_FREQUENCY 50
|
|
#endif
|
|
|
|
#ifndef FACTORY_SERVO_OSCILLATOR_FREQUENCY
|
|
#define FACTORY_SERVO_OSCILLATOR_FREQUENCY 27000000
|
|
#endif
|
|
|
|
#ifndef FACTORY_SERVO_CENTER_ANGLE
|
|
#define FACTORY_SERVO_CENTER_ANGLE 90
|
|
#endif
|
|
|
|
struct servo_t
|
|
{
|
|
String name;
|
|
int8_t channel;
|
|
bool inverted;
|
|
int16_t angle;
|
|
int16_t center_angle;
|
|
};
|
|
|
|
class ServoConfiguration {
|
|
public:
|
|
int32_t servo_oscillator_frequency {FACTORY_SERVO_OSCILLATOR_FREQUENCY};
|
|
int32_t servo_pwm_frequency {FACTORY_SERVO_PWM_FREQUENCY};
|
|
std::vector<servo_t> servos_config;
|
|
bool is_active {false};
|
|
|
|
static void read(ServoConfiguration &settings, JsonObject &root) {
|
|
root["is_active"] = settings.is_active;
|
|
root["servo_pwm_frequency"] = settings.servo_pwm_frequency;
|
|
root["servo_oscillator_frequency"] = settings.servo_oscillator_frequency;
|
|
|
|
JsonArray servos = root["servos"].to<JsonArray>();
|
|
|
|
for (auto &servo : settings.servos_config)
|
|
{
|
|
JsonObject servo_config = servos.add<JsonObject>();
|
|
|
|
servo_config["name"] = servo.name;
|
|
servo_config["channel"] = servo.channel;
|
|
servo_config["inverted"] = servo.inverted;
|
|
servo_config["angle"] = servo.angle;
|
|
servo_config["center_angle"] = servo.center_angle;
|
|
}
|
|
}
|
|
|
|
static StateUpdateResult update(JsonObject &root, ServoConfiguration &settings) {
|
|
settings.is_active = root["is_active"] | false;
|
|
settings.servo_pwm_frequency = root["servo_pwm_frequency"] | FACTORY_SERVO_PWM_FREQUENCY;
|
|
settings.servo_oscillator_frequency = root["servo_oscillator_frequency"] | FACTORY_SERVO_OSCILLATOR_FREQUENCY;
|
|
settings.servos_config.clear();
|
|
|
|
JsonArray servos = root["servos"];
|
|
if (root["servos"].is<JsonArray>())
|
|
{
|
|
int i = 0;
|
|
for (auto servo : servos)
|
|
{
|
|
JsonObject servo_config = servo.as<JsonObject>();
|
|
servo_t new_servo;
|
|
|
|
new_servo.name = servo_config["name"].as<String>();
|
|
new_servo.channel = servo_config["channel"];
|
|
new_servo.inverted = servo_config["inverted"];
|
|
new_servo.angle = servo_config["angle"];
|
|
new_servo.center_angle = servo_config["center_angle"];
|
|
|
|
settings.servos_config.push_back(new_servo);
|
|
i++;
|
|
}
|
|
} else {
|
|
for (int8_t i = 0; i < FACTORY_SERVO_NUM; i++) {
|
|
ESP_LOGI("WiFiSettings", "Adding servo %d", i);
|
|
settings.servos_config.push_back(servo_t {
|
|
.name = "Servo " + String(i),
|
|
.channel = i,
|
|
.inverted = 1,
|
|
.angle = 0,
|
|
.center_angle = FACTORY_SERVO_CENTER_ANGLE
|
|
});
|
|
}
|
|
}
|
|
return StateUpdateResult::CHANGED;
|
|
};
|
|
};
|
|
|
|
class ServoController : public Adafruit_PWMServoDriver, public StatefulService<ServoConfiguration> {
|
|
public:
|
|
ServoController(PsychicHttpServer *server, FS *fs, SecurityManager *securityManager, EventSocket *socket)
|
|
: Adafruit_PWMServoDriver(), _server(server),
|
|
_securityManager(securityManager),
|
|
_httpEndpoint(ServoConfiguration::read, ServoConfiguration::update,
|
|
this, server, SERVO_CONFIGURATION_SETTINGS_PATH,
|
|
securityManager, AuthenticationPredicates::IS_ADMIN),
|
|
// _eventEndpoint(ServoConfiguration::read, ServoConfiguration::update,
|
|
// this, socket, EVENT_CONFIGURATION_SETTINGS),
|
|
_fsPersistence(ServoConfiguration::read, ServoConfiguration::update, this, fs, SERVO_CONFIG_FILE) {
|
|
}
|
|
|
|
void configure() {
|
|
_httpEndpoint.begin();
|
|
_fsPersistence.readFromFS();
|
|
setOscillatorFrequency(_state.servo_oscillator_frequency);
|
|
setPWMFreq(_state.servo_pwm_frequency);
|
|
ESP_LOGI("ServoController", "Configured with oscillator frequency %d and PWM frequency %d", _state.servo_oscillator_frequency, _state.servo_pwm_frequency);
|
|
}
|
|
|
|
void deactivate() {
|
|
_state.is_active = false;
|
|
sleep();
|
|
}
|
|
|
|
void activate() {
|
|
_state.is_active = true;
|
|
sleep();
|
|
}
|
|
|
|
private:
|
|
PsychicHttpServer *_server;
|
|
SecurityManager *_securityManager;
|
|
HttpEndpoint<ServoConfiguration> _httpEndpoint;
|
|
// EventEndpoint<ServoConfiguration> _eventEndpoint;
|
|
FSPersistence<ServoConfiguration> _fsPersistence;
|
|
};
|