adipu/Blinds_XIAO
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Added basically all servo logic with encoders. Need to test.

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This commit is contained in:
pulipakaa24
2025-12-31 15:44:48 -06:00
parent b43c918c57
commit 90e967c6f8
15 changed files with 3205 additions and 222 deletions
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163
include/socketIO.cpp
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@@ -5,6 +5,7 @@
#include "setup.hpp"
#include "cJSON.h"
#include "calibration.hpp"
#include "servo.hpp"
static esp_socketio_client_handle_t io_client;
static esp_socketio_packet_handle_t tx_packet = NULL;
@@ -85,11 +86,15 @@ static void socketio_event_handler(void *handler_args, esp_event_base_t base,
cJSON *periph = cJSON_GetArrayItem(deviceState, i);
int port = cJSON_GetObjectItem(periph, "port")->valueint;
int lastPos = cJSON_GetObjectItem(periph, "lastPos")->valueint;
bool calibrated = cJSON_IsTrue(cJSON_GetObjectItem(periph, "calibrated"));
// TODO: UPDATE MOTOR/ENCODER STATES BASED ON THIS, as well as the successive websocket updates.
printf(" Port %d: pos=%d, calibrated=%d, awaitCalib=%d\n",
port, lastPos, calibrated);
printf(" Port %d: pos=%d\n", port, lastPos);
if (port != 1) printf("ERROR: NON-1 PORT RECEIVED\n");
// Report back actual calibration status from device
else {
bool deviceCalibrated = calib.getCalibrated();
emitCalibStatus(deviceCalibrated);
printf(" Reported calibrated=%d for port %d\n", deviceCalibrated, port);
}
}
}
@@ -124,11 +129,13 @@ static void socketio_event_handler(void *handler_args, esp_event_base_t base,
if (data) {
cJSON *port = cJSON_GetObjectItem(data, "port");
if (port && cJSON_IsNumber(port)) {
if (port->valueint != 1)
if (port->valueint != 1) {
printf("Error, non-1 port received for calibration\n");
emitCalibError("Non-1 Port");
}
else {
calib.clearCalibrated();
emitCalibStage1Ready();
if (!servoInitCalib()) emitCalibError("Initialization failed");
else emitCalibStage1Ready();
}
}
}
@@ -141,11 +148,14 @@ static void socketio_event_handler(void *handler_args, esp_event_base_t base,
if (data) {
cJSON *port = cJSON_GetObjectItem(data, "port");
if (port && cJSON_IsNumber(port)) {
if (port->valueint != 1)
if (port->valueint != 1) {
printf("Error, non-1 port received for calibration\n");
emitCalibError("Non-1 Port");
}
else {
calib.beginDownwardCalib();
emitCalibStage2Ready();
if (!servoBeginDownwardCalib())
emitCalibError("Direction Switch Failed");
else emitCalibStage2Ready();
}
}
}
@@ -158,12 +168,45 @@ static void socketio_event_handler(void *handler_args, esp_event_base_t base,
if (data) {
cJSON *port = cJSON_GetObjectItem(data, "port");
if (port && cJSON_IsNumber(port)) {
if (port->valueint != 1)
if (port->valueint != 1) {
printf("Error, non-1 port received for calibration\n");
else {
calib.completeCalib();
emitCalibDone();
}
emitCalibError("Non-1 port");
}
else {
if (!servoCompleteCalib()) emitCalibError("Completion failed");
else emitCalibDone();
}
}
}
}
// Handle server position change (manual or scheduled)
else if (strcmp(eventName->valuestring, "posUpdates") == 0) {
printf("Received position update from server\n");
cJSON *updateList = cJSON_GetArrayItem(json, 1);
if (cJSON_IsArray(updateList)) {
int updateCount = cJSON_GetArraySize(updateList);
printf("Processing %d position update(s)\n", updateCount);
for (int i = 0; i < updateCount; i++) {
cJSON *update = cJSON_GetArrayItem(updateList, i);
cJSON *periphNum = cJSON_GetObjectItem(update, "periphNum");
cJSON *pos = cJSON_GetObjectItem(update, "pos");
if (periphNum && cJSON_IsNumber(periphNum) &&
pos && cJSON_IsNumber(pos)) {
int port = periphNum->valueint;
int position = pos->valueint;
if (port != 1)
printf("ERROR: Received position update for non-1 port: %d\n", port);
else {
printf("Position update: position %d\n", position);
runToAppPos(position);
}
}
else printf("Invalid position update format\n");
}
}
}
@@ -233,66 +276,66 @@ void stopSocketIO() {
}
}
// Function to emit 'calib_done' as expected by your server
void emitCalibDone(int port) {
// Set packet header: EIO MESSAGE type, SIO EVENT type, default namespace "/"
// 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) {
// Create JSON array with event name and data
cJSON *array = cJSON_CreateArray();
cJSON_AddItemToArray(array, cJSON_CreateString("calib_done"));
cJSON *data = cJSON_CreateObject();
cJSON_AddNumberToObject(data, "port", port);
cJSON_AddItemToArray(array, cJSON_CreateString(eventName));
cJSON_AddItemToArray(array, data);
// Set the JSON payload
esp_socketio_packet_set_json(tx_packet, array);
// Send the packet
esp_socketio_client_send_data(io_client, tx_packet);
// Reset packet for reuse
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 = 1) {
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) {
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("calib_stage1_ready"));
cJSON *data = cJSON_CreateObject();
cJSON_AddNumberToObject(data, "port", port);
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);
}
void emitCalibStage1Ready(int port = 1) {
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) {
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("calib_stage2_ready"));
cJSON *data = cJSON_CreateObject();
cJSON_AddNumberToObject(data, "port", port);
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);
}
void emitCalibStage2Ready(int port = 1) {
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 = 1) {
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 = 1) {
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 = 1) {
cJSON *data = cJSON_CreateObject();
cJSON_AddNumberToObject(data, "port", port);
cJSON_AddNumberToObject(data, "pos", pos);
emitSocketEvent("pos_hit", data);
}