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groundwork for BMS

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This commit is contained in:
pulipakaa24
2026-02-22 23:00:10 -06:00
parent 0179b767e9
commit 4481a22f6b
17 changed files with 194 additions and 10 deletions
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src/socketIO.cpp Normal file
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#include "socketIO.hpp"
#include "esp_socketio_client.h"
#include "bmHTTP.hpp" // To access webToken
#include "WiFi.hpp"
#include "setup.hpp"
#include "cJSON.h"
#include "calibration.hpp"
#include "servo.hpp"
#include "defines.h"
#include "esp_crt_bundle.h"
static esp_socketio_client_handle_t io_client;
static esp_socketio_packet_handle_t tx_packet = NULL;
static bool stopSocketFlag = false;
std::atomic<bool> socketIOactive{false};
// Event handler for Socket.IO events
static void socketio_event_handler(void *handler_args, esp_event_base_t base,
int32_t event_id, void *event_data) {
esp_socketio_event_data_t *data = (esp_socketio_event_data_t *)event_data;
esp_socketio_packet_handle_t packet = data->socketio_packet;
switch (event_id) {
case SOCKETIO_EVENT_OPENED:
printf("Socket.IO Received OPEN packet\n");
// Connect to default namespace "/"
esp_socketio_client_connect_nsp(data->client, NULL, NULL);
break;
case SOCKETIO_EVENT_NS_CONNECTED: {
printf("Socket.IO Connected to namespace!\n");
// Check if connected to default namespace
char *nsp = esp_socketio_packet_get_nsp(packet);
if (strcmp(nsp, "/") == 0) {
printf("Connected to default namespace - waiting for device_init...\n");
}
// Don't set connected yet - wait for device_init message from server
break;
}
case SOCKETIO_EVENT_DATA: {
printf("Received Socket.IO data\n");
// Parse the received packet
cJSON *json = esp_socketio_packet_get_json(packet);
if (json) {
char *json_str = cJSON_Print(json);
printf("Data: %s\n", json_str);
// Check if this is an array event
if (cJSON_IsArray(json) && cJSON_GetArraySize(json) >= 2) {
cJSON *eventName = cJSON_GetArrayItem(json, 0);
if (cJSON_IsString(eventName)) {
// Handle error event
if (strcmp(eventName->valuestring, "error") == 0) {
printf("Received error message from server\n");
cJSON *data = cJSON_GetArrayItem(json, 1);
if (data) {
cJSON *message = cJSON_GetObjectItem(data, "message");
if (message && cJSON_IsString(message)) {
printf("Server error: %s\n", message->valuestring);
}
}
// Mark connection as failed
if (calibTaskHandle != NULL)
xTaskNotify(calibTaskHandle, false, eSetValueWithOverwrite);
}
// Handle device_init event
else if (strcmp(eventName->valuestring, "device_init") == 0) {
printf("Received device_init message\n");
cJSON *data = cJSON_GetArrayItem(json, 1);
if (data) {
cJSON *type = cJSON_GetObjectItem(data, "type");
if (type && strcmp(type->valuestring, "success") == 0) {
printf("Device authenticated successfully\n");
// Parse device state
cJSON *deviceState = cJSON_GetObjectItem(data, "deviceState");
if (cJSON_IsArray(deviceState)) {
int stateCount = cJSON_GetArraySize(deviceState);
printf("Device has %d peripheral(s):\n", stateCount);
for (int i = 0; i < stateCount; i++) {
cJSON *periph = cJSON_GetArrayItem(deviceState, i);
int port = cJSON_GetObjectItem(periph, "port")->valueint;
int lastPos = cJSON_GetObjectItem(periph, "lastPos")->valueint;
// TODO: UPDATE MOTOR/ENCODER STATES BASED ON THIS, as well as the successive websocket updates.
printf(" Port %d: pos=%d\n", port, lastPos);
if (port != 1) printf("ERROR: NON-1 PORT RECEIVED\n");
}
}
// Now mark as connected
if (calibTaskHandle != NULL)
xTaskNotify(calibTaskHandle, true, eSetValueWithOverwrite);
} else {
printf("Device authentication failed\n");
Calibration::clearCalibrated();
deleteWiFiAndTokenDetails();
if (calibTaskHandle != NULL)
xTaskNotify(calibTaskHandle, false, eSetValueWithOverwrite);
}
}
}
// Handle device_deleted event
else if (strcmp(eventName->valuestring, "device_deleted") == 0) {
printf("Device has been deleted from account - disconnecting\n");
cJSON *data = cJSON_GetArrayItem(json, 1);
if (data) {
cJSON *message = cJSON_GetObjectItem(data, "message");
if (message && cJSON_IsString(message)) {
printf("Server message: %s\n", message->valuestring);
}
}
Calibration::clearCalibrated();
deleteWiFiAndTokenDetails();
if (calibTaskHandle != NULL)
xTaskNotify(calibTaskHandle, false, eSetValueWithOverwrite);
}
// Handle calib_start event
else if (strcmp(eventName->valuestring, "calib_start") == 0) {
printf("Device calibration begun, setting up...\n");
cJSON *data = cJSON_GetArrayItem(json, 1);
if (data) {
cJSON *port = cJSON_GetObjectItem(data, "port");
if (port && cJSON_IsNumber(port)) {
if (port->valueint != 1) {
printf("Error, non-1 port received for calibration\n");
emitCalibError("Non-1 Port");
}
else {
printf("Running initCalib...\n");
if (!servoInitCalib()) {
printf("initCalib returned False\n");
emitCalibError("Initialization failed");
}
else {
printf("Ready to calibrate\n");
emitCalibStage1Ready();
}
}
}
}
}
// Handle user_stage1_complete event
else if (strcmp(eventName->valuestring, "user_stage1_complete") == 0) {
printf("User completed stage 1 (tilt up), switching direction...\n");
cJSON *data = cJSON_GetArrayItem(json, 1);
if (data) {
cJSON *port = cJSON_GetObjectItem(data, "port");
if (port && cJSON_IsNumber(port)) {
if (port->valueint != 1) {
printf("Error, non-1 port received for calibration\n");
emitCalibError("Non-1 Port");
}
else {
if (!servoBeginDownwardCalib())
emitCalibError("Direction Switch Failed");
else emitCalibStage2Ready();
}
}
}
}
// Handle user_stage2_complete event
else if (strcmp(eventName->valuestring, "user_stage2_complete") == 0) {
printf("User completed stage 2 (tilt down), finalizing calibration...\n");
cJSON *data = cJSON_GetArrayItem(json, 1);
if (data) {
cJSON *port = cJSON_GetObjectItem(data, "port");
if (port && cJSON_IsNumber(port)) {
if (port->valueint != 1) {
printf("Error, non-1 port received for calibration\n");
emitCalibError("Non-1 port");
}
else {
if (!servoCompleteCalib()) emitCalibError("Completion failed");
else {
emitCalibDone();
}
}
}
}
}
// Handle calib_done_ack event
else if (strcmp(eventName->valuestring, "calib_done_ack") == 0) {
printf("Server acknowledged calibration completion - safe to disconnect\n");
stopSocketFlag = true;
}
// Handle cancel_calib event
else if (strcmp(eventName->valuestring, "cancel_calib") == 0) {
printf("Canceling calibration process...\n");
cJSON *data = cJSON_GetArrayItem(json, 1);
if (data) {
cJSON *port = cJSON_GetObjectItem(data, "port");
if (port && cJSON_IsNumber(port)) {
if (port->valueint != 1) {
printf("Error, non-1 port received for calibration\n");
emitCalibError("Non-1 Port");
}
else {
servoCancelCalib();
}
}
}
}
}
}
free(json_str);
}
break;
}
case SOCKETIO_EVENT_ERROR: {
printf("Socket.IO Error!\n");
servoCancelCalib();
esp_websocket_event_data_t *ws_event = data->websocket_event;
if (ws_event) {
// 1. Check for TLS/SSL specific errors (Certificate issues)
if (ws_event->error_handle.error_type == WEBSOCKET_ERROR_TYPE_TCP_TRANSPORT) {
// This prints the "MbedTLS" error code (The low-level crypto library)
// Common codes: -0x2700 (CRT verify failed), -0x7200 (SSL handshake failed)
if (ws_event->error_handle.esp_tls_stack_err != 0) {
printf("TLS/SSL Stack Error: -0x%x\n", -ws_event->error_handle.esp_tls_stack_err);
}
// 2. Check the Certificate Verification Flags
// If this is non-zero, the certificate was rejected.
if (ws_event->error_handle.esp_tls_cert_verify_flags != 0) {
uint32_t flags = ws_event->error_handle.esp_tls_cert_verify_flags;
printf("Certificate Verification FAILED. Flags: 0x%lx\n", flags);
// Simple decoder for common flags:
if (flags & (1 << 0)) printf(" - CRT_NOT_TRUSTED (Root CA not found in bundle)\n");
if (flags & (1 << 1)) printf(" - CRT_BAD_KEY_USAGE\n");
if (flags & (1 << 2)) printf(" - CRT_EXPIRED (Check your ESP32 system time!)\n");
if (flags & (1 << 3)) printf(" - CRT_CN_MISMATCH (Domain name doesn't match cert)\n");
}
}
// 3. Check for HTTP Handshake errors (401/403/404)
// This happens if SSL worked, but the server rejected your path or token
else if (ws_event->error_handle.error_type == WEBSOCKET_ERROR_TYPE_HANDSHAKE) {
int status = ws_event->error_handle.esp_ws_handshake_status_code;
printf("HTTP Handshake Error: %d\n", status);
if (status == 401 || status == 403) {
printf("Authentication failed - invalid token\n");
} else if (status == 404) {
printf("404 Not Found - Check your URI/Path\n");
}
}
}
if (calibTaskHandle != NULL)
xTaskNotify(calibTaskHandle, false, eSetValueWithOverwrite);
break;
}
}
// Handle WebSocket-level disconnections
if (data->websocket_event_id == WEBSOCKET_EVENT_DISCONNECTED) {
printf("WebSocket disconnected\n");
if (calibTaskHandle != NULL)
xTaskNotify(calibTaskHandle, false, eSetValueWithOverwrite);
}
if (stopSocketFlag) {
if (calibTaskHandle != NULL)
xTaskNotify(calibTaskHandle, 2, eSetValueWithOverwrite);
stopSocketFlag = false; // Clear flag after notifying once
}
}
const std::string uriString = std::string("ws") + (secureSrv ? "s" : "") + "://" + srvAddr + "/socket.io/?EIO=4&transport=websocket";
void initSocketIO() {
stopSocketFlag = false; // Reset flag for new connection
// Prepare the Authorization Header (Bearer format)
std::string authHeader = "Authorization: Bearer " + webToken + "\r\n";
esp_socketio_client_config_t config = {};
config.websocket_config.uri = uriString.c_str();
config.websocket_config.headers = authHeader.c_str();
if (secureSrv) {
config.websocket_config.transport = WEBSOCKET_TRANSPORT_OVER_SSL;
config.websocket_config.crt_bundle_attach = esp_crt_bundle_attach;
}
io_client = esp_socketio_client_init(&config);
tx_packet = esp_socketio_client_get_tx_packet(io_client);
esp_socketio_register_events(io_client, SOCKETIO_EVENT_ANY, socketio_event_handler, NULL);
esp_socketio_client_start(io_client);
socketIOactive = true;
}
void stopSocketIO() {
if (io_client != NULL) {
printf("Stopping Socket.IO client...\n");
esp_socketio_client_close(io_client, pdMS_TO_TICKS(1000));
esp_socketio_client_destroy(io_client);
io_client = NULL;
tx_packet = NULL;
}
socketIOactive = false;
}
// Helper function to emit Socket.IO event with data
static void emitSocketEvent(const char* eventName, cJSON* data) {
if (esp_socketio_packet_set_header(tx_packet, EIO_PACKET_TYPE_MESSAGE,
SIO_PACKET_TYPE_EVENT, NULL, -1) == ESP_OK) {
cJSON *array = cJSON_CreateArray();
cJSON_AddItemToArray(array, cJSON_CreateString(eventName));
cJSON_AddItemToArray(array, data);
esp_socketio_packet_set_json(tx_packet, array);
esp_socketio_client_send_data(io_client, tx_packet);
esp_socketio_packet_reset(tx_packet);
cJSON_Delete(array);
} else {
// If packet header setup failed, clean up the data object
cJSON_Delete(data);
}
}
// Function to emit 'calib_done' as expected by your server
void emitCalibDone(int port) {
cJSON *data = cJSON_CreateObject();
cJSON_AddNumberToObject(data, "port", port);
emitSocketEvent("calib_done", data);
}
// Function to emit 'calib_stage1_ready' to notify server device is ready for tilt up
void emitCalibStage1Ready(int port) {
cJSON *data = cJSON_CreateObject();
cJSON_AddNumberToObject(data, "port", port);
emitSocketEvent("calib_stage1_ready", data);
}
// Function to emit 'calib_stage2_ready' to notify server device is ready for tilt down
void emitCalibStage2Ready(int port) {
cJSON *data = cJSON_CreateObject();
cJSON_AddNumberToObject(data, "port", port);
emitSocketEvent("calib_stage2_ready", data);
}
// Function to emit 'report_calib_status' to tell server device's actual calibration state
void emitCalibStatus(bool calibrated, int port) {
cJSON *data = cJSON_CreateObject();
cJSON_AddNumberToObject(data, "port", port);
cJSON_AddBoolToObject(data, "calibrated", calibrated);
emitSocketEvent("report_calib_status", data);
}
// Function to emit 'device_calib_error' to notify server of calibration failure
void emitCalibError(const char* errorMessage, int port) {
cJSON *data = cJSON_CreateObject();
cJSON_AddNumberToObject(data, "port", port);
cJSON_AddStringToObject(data, "message", errorMessage);
emitSocketEvent("device_calib_error", data);
}
// Function to emit 'pos_hit' to notify server of position change
void emitPosHit(int pos, int port) {
cJSON *data = cJSON_CreateObject();
cJSON_AddNumberToObject(data, "port", port);
cJSON_AddNumberToObject(data, "pos", pos);
emitSocketEvent("pos_hit", data);
}