342 lines
13 KiB
C++
342 lines
13 KiB
C++
#include "socketIO.hpp"
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#include "esp_socketio_client.h"
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#include "bmHTTP.hpp" // To access webToken
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#include "WiFi.hpp"
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#include "setup.hpp"
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#include "cJSON.h"
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#include "calibration.hpp"
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#include "servo.hpp"
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static esp_socketio_client_handle_t io_client;
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static esp_socketio_packet_handle_t tx_packet = NULL;
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std::atomic<bool> statusResolved{true};
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std::atomic<bool> connected{false};
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// Event handler for Socket.IO events
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static void socketio_event_handler(void *handler_args, esp_event_base_t base,
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int32_t event_id, void *event_data) {
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esp_socketio_event_data_t *data = (esp_socketio_event_data_t *)event_data;
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esp_socketio_packet_handle_t packet = data->socketio_packet;
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switch (event_id) {
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case SOCKETIO_EVENT_OPENED:
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printf("Socket.IO Received OPEN packet\n");
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// Connect to default namespace "/"
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esp_socketio_client_connect_nsp(data->client, NULL, NULL);
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break;
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case SOCKETIO_EVENT_NS_CONNECTED: {
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printf("Socket.IO Connected to namespace!\n");
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// Check if connected to default namespace
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char *nsp = esp_socketio_packet_get_nsp(packet);
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if (strcmp(nsp, "/") == 0) {
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printf("Connected to default namespace - waiting for device_init...\n");
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}
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// Don't set connected yet - wait for device_init message from server
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break;
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}
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case SOCKETIO_EVENT_DATA: {
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printf("Received Socket.IO data\n");
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// Parse the received packet
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cJSON *json = esp_socketio_packet_get_json(packet);
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if (json) {
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char *json_str = cJSON_Print(json);
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printf("Data: %s\n", json_str);
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// Check if this is an array event
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if (cJSON_IsArray(json) && cJSON_GetArraySize(json) >= 2) {
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cJSON *eventName = cJSON_GetArrayItem(json, 0);
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if (cJSON_IsString(eventName)) {
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// Handle error event
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if (strcmp(eventName->valuestring, "error") == 0) {
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printf("Received error message from server\n");
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cJSON *data = cJSON_GetArrayItem(json, 1);
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if (data) {
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cJSON *message = cJSON_GetObjectItem(data, "message");
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if (message && cJSON_IsString(message)) {
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printf("Server error: %s\n", message->valuestring);
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}
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}
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// Mark connection as failed
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connected = false;
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statusResolved = true;
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}
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// Handle device_init event
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else if (strcmp(eventName->valuestring, "device_init") == 0) {
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printf("Received device_init message\n");
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cJSON *data = cJSON_GetArrayItem(json, 1);
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if (data) {
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cJSON *type = cJSON_GetObjectItem(data, "type");
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if (type && strcmp(type->valuestring, "success") == 0) {
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printf("Device authenticated successfully\n");
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// Parse device state
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cJSON *deviceState = cJSON_GetObjectItem(data, "deviceState");
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if (cJSON_IsArray(deviceState)) {
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int stateCount = cJSON_GetArraySize(deviceState);
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printf("Device has %d peripheral(s):\n", stateCount);
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for (int i = 0; i < stateCount; i++) {
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cJSON *periph = cJSON_GetArrayItem(deviceState, i);
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int port = cJSON_GetObjectItem(periph, "port")->valueint;
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int lastPos = cJSON_GetObjectItem(periph, "lastPos")->valueint;
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// TODO: UPDATE MOTOR/ENCODER STATES BASED ON THIS, as well as the successive websocket updates.
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printf(" Port %d: pos=%d\n", port, lastPos);
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if (port != 1) printf("ERROR: NON-1 PORT RECEIVED\n");
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// Report back actual calibration status from device
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else {
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bool deviceCalibrated = calib.getCalibrated();
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emitCalibStatus(deviceCalibrated);
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printf(" Reported calibrated=%d for port %d\n", deviceCalibrated, port);
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runToAppPos(lastPos);
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}
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}
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}
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// Now mark as connected
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connected = true;
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statusResolved = true;
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} else {
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printf("Device authentication failed\n");
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connected = false;
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statusResolved = true;
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}
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}
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}
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// Handle device_deleted event
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else if (strcmp(eventName->valuestring, "device_deleted") == 0) {
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printf("Device has been deleted from account - disconnecting\n");
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cJSON *data = cJSON_GetArrayItem(json, 1);
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if (data) {
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cJSON *message = cJSON_GetObjectItem(data, "message");
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if (message && cJSON_IsString(message)) {
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printf("Server message: %s\n", message->valuestring);
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}
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}
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connected = false;
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statusResolved = true;
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}
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// Handle calib_start event
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else if (strcmp(eventName->valuestring, "calib_start") == 0) {
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printf("Device calibration begun, setting up...\n");
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cJSON *data = cJSON_GetArrayItem(json, 1);
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if (data) {
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cJSON *port = cJSON_GetObjectItem(data, "port");
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if (port && cJSON_IsNumber(port)) {
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if (port->valueint != 1) {
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printf("Error, non-1 port received for calibration\n");
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emitCalibError("Non-1 Port");
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}
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else {
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if (!servoInitCalib()) emitCalibError("Initialization failed");
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else emitCalibStage1Ready();
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}
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}
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}
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}
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// Handle user_stage1_complete event
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else if (strcmp(eventName->valuestring, "user_stage1_complete") == 0) {
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printf("User completed stage 1 (tilt up), switching direction...\n");
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cJSON *data = cJSON_GetArrayItem(json, 1);
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if (data) {
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cJSON *port = cJSON_GetObjectItem(data, "port");
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if (port && cJSON_IsNumber(port)) {
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if (port->valueint != 1) {
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printf("Error, non-1 port received for calibration\n");
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emitCalibError("Non-1 Port");
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}
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else {
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if (!servoBeginDownwardCalib())
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emitCalibError("Direction Switch Failed");
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else emitCalibStage2Ready();
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}
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}
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}
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}
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// Handle user_stage2_complete event
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else if (strcmp(eventName->valuestring, "user_stage2_complete") == 0) {
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printf("User completed stage 2 (tilt down), finalizing calibration...\n");
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cJSON *data = cJSON_GetArrayItem(json, 1);
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if (data) {
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cJSON *port = cJSON_GetObjectItem(data, "port");
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if (port && cJSON_IsNumber(port)) {
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if (port->valueint != 1) {
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printf("Error, non-1 port received for calibration\n");
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emitCalibError("Non-1 port");
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}
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else {
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if (!servoCompleteCalib()) emitCalibError("Completion failed");
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else emitCalibDone();
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}
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}
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}
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}
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// Handle server position change (manual or scheduled)
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else if (strcmp(eventName->valuestring, "posUpdates") == 0) {
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printf("Received position update from server\n");
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cJSON *updateList = cJSON_GetArrayItem(json, 1);
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if (cJSON_IsArray(updateList)) {
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int updateCount = cJSON_GetArraySize(updateList);
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printf("Processing %d position update(s)\n", updateCount);
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for (int i = 0; i < updateCount; i++) {
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cJSON *update = cJSON_GetArrayItem(updateList, i);
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cJSON *periphNum = cJSON_GetObjectItem(update, "periphNum");
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cJSON *pos = cJSON_GetObjectItem(update, "pos");
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if (periphNum && cJSON_IsNumber(periphNum) &&
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pos && cJSON_IsNumber(pos)) {
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int port = periphNum->valueint;
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int position = pos->valueint;
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if (port != 1)
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printf("ERROR: Received position update for non-1 port: %d\n", port);
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else {
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printf("Position update: position %d\n", position);
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runToAppPos(position);
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}
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}
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else printf("Invalid position update format\n");
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}
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}
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}
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}
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}
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free(json_str);
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}
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break;
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}
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case SOCKETIO_EVENT_ERROR: {
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printf("Socket.IO Error!\n");
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// Check WebSocket error details
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esp_websocket_event_data_t *ws_event = data->websocket_event;
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if (ws_event && ws_event->error_handle.esp_ws_handshake_status_code != 0) {
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printf("HTTP Status: %d\n", ws_event->error_handle.esp_ws_handshake_status_code);
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if (ws_event->error_handle.esp_ws_handshake_status_code == 401 ||
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ws_event->error_handle.esp_ws_handshake_status_code == 403) {
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printf("Authentication failed - invalid token\n");
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}
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}
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// Set flags to indicate connection failure
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connected = false;
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statusResolved = true;
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break;
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}
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}
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// Handle WebSocket-level disconnections
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if (data->websocket_event_id == WEBSOCKET_EVENT_DISCONNECTED) {
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printf("WebSocket disconnected\n");
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connected = false;
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statusResolved = true;
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}
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}
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void initSocketIO() {
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// Prepare the Authorization Header (Bearer format)
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std::string authHeader = "Authorization: Bearer " + webToken + "\r\n";
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statusResolved = false;
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connected = false;
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esp_socketio_client_config_t config = {};
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config.websocket_config.uri = "ws://192.168.1.190:3000/socket.io/?EIO=4&transport=websocket";
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config.websocket_config.headers = authHeader.c_str();
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io_client = esp_socketio_client_init(&config);
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tx_packet = esp_socketio_client_get_tx_packet(io_client);
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esp_socketio_register_events(io_client, SOCKETIO_EVENT_ANY, socketio_event_handler, NULL);
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esp_socketio_client_start(io_client);
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}
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void stopSocketIO() {
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if (io_client != NULL) {
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printf("Stopping Socket.IO client...\n");
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esp_socketio_client_close(io_client, pdMS_TO_TICKS(1000));
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esp_socketio_client_destroy(io_client);
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io_client = NULL;
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tx_packet = NULL;
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connected = false;
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statusResolved = false;
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}
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}
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// Helper function to emit Socket.IO event with data
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static void emitSocketEvent(const char* eventName, cJSON* data) {
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if (esp_socketio_packet_set_header(tx_packet, EIO_PACKET_TYPE_MESSAGE,
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SIO_PACKET_TYPE_EVENT, NULL, -1) == ESP_OK) {
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cJSON *array = cJSON_CreateArray();
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cJSON_AddItemToArray(array, cJSON_CreateString(eventName));
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cJSON_AddItemToArray(array, data);
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esp_socketio_packet_set_json(tx_packet, array);
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esp_socketio_client_send_data(io_client, tx_packet);
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esp_socketio_packet_reset(tx_packet);
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cJSON_Delete(array);
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} else {
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// If packet header setup failed, clean up the data object
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cJSON_Delete(data);
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}
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}
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// Function to emit 'calib_done' as expected by your server
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void emitCalibDone(int port) {
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cJSON *data = cJSON_CreateObject();
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cJSON_AddNumberToObject(data, "port", port);
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emitSocketEvent("calib_done", data);
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}
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// Function to emit 'calib_stage1_ready' to notify server device is ready for tilt up
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void emitCalibStage1Ready(int port) {
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cJSON *data = cJSON_CreateObject();
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cJSON_AddNumberToObject(data, "port", port);
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emitSocketEvent("calib_stage1_ready", data);
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}
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// Function to emit 'calib_stage2_ready' to notify server device is ready for tilt down
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void emitCalibStage2Ready(int port) {
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cJSON *data = cJSON_CreateObject();
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cJSON_AddNumberToObject(data, "port", port);
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emitSocketEvent("calib_stage2_ready", data);
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}
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// Function to emit 'report_calib_status' to tell server device's actual calibration state
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void emitCalibStatus(bool calibrated, int port) {
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cJSON *data = cJSON_CreateObject();
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cJSON_AddNumberToObject(data, "port", port);
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cJSON_AddBoolToObject(data, "calibrated", calibrated);
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emitSocketEvent("report_calib_status", data);
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}
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// Function to emit 'device_calib_error' to notify server of calibration failure
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void emitCalibError(const char* errorMessage, int port) {
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cJSON *data = cJSON_CreateObject();
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cJSON_AddNumberToObject(data, "port", port);
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cJSON_AddStringToObject(data, "message", errorMessage);
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emitSocketEvent("device_calib_error", data);
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}
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// Function to emit 'pos_hit' to notify server of position change
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void emitPosHit(int pos, int port) {
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cJSON *data = cJSON_CreateObject();
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cJSON_AddNumberToObject(data, "port", port);
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cJSON_AddNumberToObject(data, "pos", pos);
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emitSocketEvent("pos_hit", data);
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} |