Rune Harlyk
64 lines
2.2 KiB
C++
64 lines
2.2 KiB
C++
#include <EventEndpoint.h>
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#include <FSPersistence.h>
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#include <HttpEndpoint.h>
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#include <SecurityManager.h>
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#include <StatefulService.h>
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#include <Adafruit_PWMServoDriver.h>
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#define SERVO_OSCILLATOR_FREQUENCY 27000000
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#define SERVO_FREQ 50
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#define SERVO_CONFIG_FILE "/config/deviceConfig.json"
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#define SERVO_CONFIGURATION_SETTINGS_PATH "/api/servo/configuration"
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class ServoConfiguration {
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public:
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int32_t servo_oscillator_frequency {SERVO_OSCILLATOR_FREQUENCY};
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int32_t servo_pwm_frequency {SERVO_FREQ};
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static void read(ServoConfiguration &settings, JsonObject &root) {}
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static StateUpdateResult update(JsonObject &root, ServoConfiguration &settings) {
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return StateUpdateResult::CHANGED;
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};
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};
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class ServoController : public Adafruit_PWMServoDriver, public StatefulService<ServoConfiguration> {
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public:
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ServoController(PsychicHttpServer *server, FS *fs, SecurityManager *securityManager, EventSocket *socket)
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: Adafruit_PWMServoDriver(), _server(server),
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_securityManager(securityManager),
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_httpEndpoint(ServoConfiguration::read, ServoConfiguration::update,
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this, server, SERVO_CONFIGURATION_SETTINGS_PATH,
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securityManager, AuthenticationPredicates::IS_ADMIN),
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// _eventEndpoint(ServoConfiguration::read, ServoConfiguration::update,
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// this, socket, EVENT_CONFIGURATION_SETTINGS),
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_fsPersistence(ServoConfiguration::read, ServoConfiguration::update, this, fs, SERVO_CONFIG_FILE) {
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}
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void configure() {
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setOscillatorFrequency(_state.servo_oscillator_frequency);
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setPWMFreq(_state.servo_pwm_frequency);
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ESP_LOGI("ServoController", "Configured with oscillator frequency %d and PWM frequency %d", _state.servo_oscillator_frequency, _state.servo_pwm_frequency);
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}
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void deactivate() {
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isActive = false;
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sleep();
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}
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void activate() {
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isActive = true;
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sleep();
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}
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bool isActive{false};
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private:
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PsychicHttpServer *_server;
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SecurityManager *_securityManager;
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HttpEndpoint<ServoConfiguration> _httpEndpoint;
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// EventEndpoint<ServoConfiguration> _eventEndpoint;
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FSPersistence<ServoConfiguration> _fsPersistence;
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};
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