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Added basic calibration framework: pending servo integration and tying of encoders.

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This commit is contained in:
pulipakaa24
2025-12-28 20:52:11 -06:00
parent 2a79df3050
commit b43c918c57
7 changed files with 398 additions and 178 deletions
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426
include/socketIO.cpp
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@@ -4,6 +4,7 @@
#include "WiFi.hpp"
#include "setup.hpp"
#include "cJSON.h"
#include "calibration.hpp"
static esp_socketio_client_handle_t io_client;
static esp_socketio_packet_handle_t tx_packet = NULL;
@@ -14,195 +15,284 @@ std::atomic<bool> connected{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;
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");
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
connected = false;
statusResolved = true;
}
// 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);
// 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);
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
connected = false;
statusResolved = true;
}
// 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;
bool awaitCalib = cJSON_IsTrue(cJSON_GetObjectItem(periph, "awaitCalib"));
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, awaitCalib);
}
}
// Now mark as connected
connected = true;
statusResolved = true;
} else {
printf("Device authentication failed\n");
connected = false;
statusResolved = true;
}
}
}
// 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);
}
}
connected = false;
statusResolved = true;
}
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;
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);
}
}
// Now mark as connected
connected = true;
statusResolved = true;
} else {
printf("Device authentication failed\n");
connected = false;
statusResolved = true;
}
free(json_str);
}
}
break;
}
case SOCKETIO_EVENT_ERROR: {
printf("Socket.IO Error!\n");
// Check WebSocket error details
esp_websocket_event_data_t *ws_event = data->websocket_event;
if (ws_event && ws_event->error_handle.esp_ws_handshake_status_code != 0) {
printf("HTTP Status: %d\n", ws_event->error_handle.esp_ws_handshake_status_code);
if (ws_event->error_handle.esp_ws_handshake_status_code == 401 ||
ws_event->error_handle.esp_ws_handshake_status_code == 403) {
printf("Authentication failed - invalid token\n");
// 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);
}
}
connected = false;
statusResolved = true;
}
// 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");
else {
calib.clearCalibrated();
emitCalibStage1Ready();
}
}
}
}
// Set flags to indicate connection failure
connected = false;
statusResolved = true;
break;
// 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");
else {
calib.beginDownwardCalib();
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");
else {
calib.completeCalib();
emitCalibDone();
}
}
}
}
}
}
free(json_str);
}
break;
}
// Handle WebSocket-level disconnections
if (data->websocket_event_id == WEBSOCKET_EVENT_DISCONNECTED) {
printf("WebSocket disconnected\n");
connected = false;
statusResolved = true;
case SOCKETIO_EVENT_ERROR: {
printf("Socket.IO Error!\n");
// Check WebSocket error details
esp_websocket_event_data_t *ws_event = data->websocket_event;
if (ws_event && ws_event->error_handle.esp_ws_handshake_status_code != 0) {
printf("HTTP Status: %d\n", ws_event->error_handle.esp_ws_handshake_status_code);
if (ws_event->error_handle.esp_ws_handshake_status_code == 401 ||
ws_event->error_handle.esp_ws_handshake_status_code == 403) {
printf("Authentication failed - invalid token\n");
}
}
// Set flags to indicate connection failure
connected = false;
statusResolved = true;
break;
}
}
// Handle WebSocket-level disconnections
if (data->websocket_event_id == WEBSOCKET_EVENT_DISCONNECTED) {
printf("WebSocket disconnected\n");
connected = false;
statusResolved = true;
}
}
void initSocketIO() {
// Prepare the Authorization Header (Bearer format)
std::string authHeader = "Authorization: Bearer " + webToken + "\r\n";
// Prepare the Authorization Header (Bearer format)
std::string authHeader = "Authorization: Bearer " + webToken + "\r\n";
statusResolved = false;
connected = false;
esp_socketio_client_config_t config = {};
config.websocket_config.uri = "ws://192.168.1.190:3000/socket.io/?EIO=4&transport=websocket";
config.websocket_config.headers = authHeader.c_str();
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);
statusResolved = false;
connected = false;
esp_socketio_client_config_t config = {};
config.websocket_config.uri = "ws://192.168.1.190:3000/socket.io/?EIO=4&transport=websocket";
config.websocket_config.headers = authHeader.c_str();
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);
}
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;
connected = false;
statusResolved = false;
}
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;
connected = false;
statusResolved = false;
}
}
// 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 "/"
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, 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);
}
// Set packet header: EIO MESSAGE type, SIO EVENT type, default namespace "/"
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, 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);
}
}
// 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);
}
}
// 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);
}
}