Rune Harlyk
116 lines
4.0 KiB
C++
116 lines
4.0 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/servoConfig.json"
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#define SERVO_CONFIGURATION_SETTINGS_PATH "/api/servo/configuration"
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struct servo_t
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{
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String name;
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int8_t channel;
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bool inverted;
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int16_t angle;
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int16_t center_angle;
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};
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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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std::vector<servo_t> servos_config;
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bool is_active {false};
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static void read(ServoConfiguration &settings, JsonObject &root) {
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root["is_active"] = settings.is_active;
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root["servo_pwm_frequency"] = settings.servo_pwm_frequency;
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root["servo_oscillator_frequency"] = settings.servo_oscillator_frequency;
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JsonArray servos = root["servos"].to<JsonArray>();
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for (auto &servo : settings.servos_config)
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{
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JsonObject servo_config = servos.add<JsonObject>();
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servo_config["name"] = servo.name;
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servo_config["channel"] = servo.channel;
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servo_config["inverted"] = servo.inverted;
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servo_config["angle"] = servo.angle;
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servo_config["center_angle"] = servo.center_angle;
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}
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}
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static StateUpdateResult update(JsonObject &root, ServoConfiguration &settings) {
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settings.is_active = root["is_active"];
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settings.servo_pwm_frequency = root["servo_pwm_frequency"];
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settings.servo_oscillator_frequency = root["servo_oscillator_frequency"];
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settings.servos_config.clear();
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JsonArray servos = root["servos"];
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if (root["servos"].is<JsonArray>())
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{
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int i = 0;
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for (auto servo : servos)
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{
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JsonObject servo_config = servo.as<JsonObject>();
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servo_t new_servo;
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new_servo.name = servo_config["name"].as<String>();
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new_servo.channel = servo_config["channel"];
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new_servo.inverted = servo_config["inverted"];
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new_servo.angle = servo_config["angle"];
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new_servo.center_angle = servo_config["center_angle"];
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settings.servos_config.push_back(new_servo);
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i++;
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}
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}
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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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_httpEndpoint.begin();
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_fsPersistence.readFromFS();
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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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_state.is_active = false;
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sleep();
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}
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void activate() {
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_state.is_active = true;
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sleep();
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}
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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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