ee5bad53ee
New controller will be run with single controller at first... get single board version from V2.0 and create new folder (two boards version is kept) -> copied firmware from e6e586e5855d81ee726bb9a0fbe8ab12def5eeef
274 lines
8.2 KiB
C++
274 lines
8.2 KiB
C++
extern "C"
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{
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#include <stdio.h>
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#include "mdns.h"
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#include "cJSON.h"
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#include "esp_spiffs.h"
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#include "esp_wifi.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "esp_log.h"
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#include "freertos/queue.h"
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}
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#include "http.hpp"
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#include "config.hpp"
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//tag for logging
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static const char * TAG = "http";
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static httpd_handle_t server = NULL;
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//==============================
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//===== start mdns service =====
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//==============================
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//TODO: test this, not working?
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//function that initializes and starts mdns server for host discovery
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void start_mdns_service()
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{
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//init queue for sending joystickdata from http endpoint to control task
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mdns_init();
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mdns_hostname_set("armchair");
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mdns_instance_name_set("electric armchair");
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}
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//===========================
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//======= default url =======
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//===========================
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//serve requested files from spiffs
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static esp_err_t on_default_url(httpd_req_t *req)
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{
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ESP_LOGI(TAG, "Opening page for URL: %s", req->uri);
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esp_vfs_spiffs_conf_t esp_vfs_spiffs_conf = {
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.base_path = "/spiffs",
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.partition_label = NULL,
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.max_files = 5,
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.format_if_mount_failed = true};
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esp_vfs_spiffs_register(&esp_vfs_spiffs_conf);
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char path[600];
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if (strcmp(req->uri, "/") == 0)
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strcpy(path, "/spiffs/index.html");
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else
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sprintf(path, "/spiffs%s", req->uri);
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char *ext = strrchr(path, '.');
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if (ext == NULL || strncmp(ext, ".local", strlen(".local")) == 0)
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{
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httpd_resp_set_status(req, "301 Moved Permanently");
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httpd_resp_set_hdr(req, "Location", "/");
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httpd_resp_send(req, NULL, 0);
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return ESP_OK;
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}
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if (strcmp(ext, ".css") == 0)
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httpd_resp_set_type(req, "text/css");
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if (strcmp(ext, ".js") == 0)
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httpd_resp_set_type(req, "text/javascript");
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if (strcmp(ext, ".png") == 0)
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httpd_resp_set_type(req, "image/png");
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FILE *file = fopen(path, "r");
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if (file == NULL)
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{
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httpd_resp_send_404(req);
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esp_vfs_spiffs_unregister(NULL);
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return ESP_OK;
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}
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char lineRead[256];
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while (fgets(lineRead, sizeof(lineRead), file))
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{
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httpd_resp_sendstr_chunk(req, lineRead);
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}
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httpd_resp_sendstr_chunk(req, NULL);
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esp_vfs_spiffs_unregister(NULL);
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return ESP_OK;
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}
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//==============================
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//===== httpJoystick class =====
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//==============================
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//-----------------------
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//----- constructor -----
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//-----------------------
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httpJoystick::httpJoystick( httpJoystick_config_t config_f ){
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//copy config struct
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config = config_f;
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}
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//--------------------------
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//---- receiveHttpData -----
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//--------------------------
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//joystick endpoint - function that is called when data is received with post request at /api/joystick
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esp_err_t httpJoystick::receiveHttpData(httpd_req_t *req){
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//--- add header ---
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//to allow cross origin (otherwise browser fails when app is running on another host)
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httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");
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//--- get data from http request ---
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char buffer[100];
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memset(&buffer, 0, sizeof(buffer));
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httpd_req_recv(req, buffer, req->content_len);
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ESP_LOGD(TAG, "/api/joystick: received data: %s", buffer);
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//--- parse received json string to json object ---
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cJSON *payload = cJSON_Parse(buffer);
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ESP_LOGV(TAG, "parsed json: \n %s", cJSON_Print(payload));
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//--- extract relevant items from json object ---
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cJSON *x_json = cJSON_GetObjectItem(payload, "x");
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cJSON *y_json = cJSON_GetObjectItem(payload, "y");
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//--- save items to struct ---
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joystickData_t data = { };
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//note cjson can only interpret values as numbers when there are no quotes around the values in json (are removed from json on client side)
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//convert json to double to float
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data.x = static_cast<float>(x_json->valuedouble);
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data.y = static_cast<float>(y_json->valuedouble);
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//log received and parsed values
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ESP_LOGI(TAG, "received values: x=%.3f y=%.3f",
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data.x, data.y);
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// scaleCoordinate(input, min, max, center, tolerance_zero_per, tolerance_end_per)
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data.x = scaleCoordinate(data.x+1, 0, 2, 1, config.toleranceZeroX_Per, config.toleranceEndPer);
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data.y = scaleCoordinate(data.y+1, 0, 2, 1, config.toleranceZeroY_Per, config.toleranceEndPer);
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//--- calculate radius with new/scaled coordinates ---
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data.radius = sqrt(pow(data.x,2) + pow(data.y,2));
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//TODO: radius tolerance? (as in original joystick func)
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//limit radius to 1
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if (data.radius > 1) {
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data.radius = 1;
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}
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//--- calculate angle ---
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data.angle = (atan(data.y/data.x) * 180) / 3.141;
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//--- evaluate position ---
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data.position = joystick_evaluatePosition(data.x, data.y);
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//log processed values
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ESP_LOGI(TAG, "processed values: x=%.3f y=%.3f radius=%.3f angle=%.3f pos=%s",
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data.x, data.y, data.radius, data.angle, joystickPosStr[(int)data.position]);
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//--- free memory ---
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cJSON_Delete(payload);
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//--- send data to control task via queue ---
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//xQueueSend( joystickDataQueue, ( void * )&data, ( TickType_t ) 0 );
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//changed to length = 1 -> overwrite - older values are no longer relevant
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xQueueOverwrite( joystickDataQueue, ( void * )&data );
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//--- return http response ---
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httpd_resp_set_status(req, "204 NO CONTENT");
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httpd_resp_send(req, NULL, 0);
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return ESP_OK;
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}
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//-------------------
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//----- getData -----
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//-------------------
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//wait for and return joystick data from queue, if timeout return NULL
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joystickData_t httpJoystick::getData(){
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//--- get joystick data from queue ---
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if( xQueueReceive( joystickDataQueue, &dataRead, pdMS_TO_TICKS(config.timeoutMs) ) ) {
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ESP_LOGD(TAG, "getData: received data (from queue): x=%.3f y=%.3f radius=%.3f angle=%.3f",
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dataRead.x, dataRead.y, dataRead.radius, dataRead.angle);
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}
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//--- timeout ---
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//no new data received within configured timeout
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else {
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//send error message when last received data did NOT result in CENTER position
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if (dataRead.position != joystickPos_t::CENTER) {
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//change data to "joystick center" data to stop the motors
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dataRead = dataCenter;
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ESP_LOGE(TAG, "TIMEOUT - no data received for 3s -> set to center");
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}
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}
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return dataRead;
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}
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//--------------------------------------------
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//--- receiveHttpData for httpJoystickMain ---
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//--------------------------------------------
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//function that wraps pointer to member function of httpJoystickMain instance in a "normal" function which the webserver can run on joystick URL
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//declare pointer to receiveHttpData method of httpJoystick class
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esp_err_t (httpJoystick::*pointerToReceiveFunc)(httpd_req_t *req) = &httpJoystick::receiveHttpData;
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esp_err_t on_joystick_url(httpd_req_t *req){
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//run pointer to receiveHttpData function of httpJoystickMain instance
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return (httpJoystickMain.*pointerToReceiveFunc)(req);
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}
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//============================
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//===== init http server =====
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//============================
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//function that initializes http server and configures available urls
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void http_init_server()
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{
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//---- configure webserver ----
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httpd_config_t config = HTTPD_DEFAULT_CONFIG();
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config.uri_match_fn = httpd_uri_match_wildcard;
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//---- start webserver ----
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ESP_ERROR_CHECK(httpd_start(&server, &config));
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//----- define URLs -----
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//note: ignore warning here, cant define elements separately, causes crash
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httpd_uri_t joystick_url = {
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.uri = "/api/joystick",
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.method = HTTP_POST,
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.handler = on_joystick_url,
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};
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httpd_register_uri_handler(server, &joystick_url);
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httpd_uri_t default_url = {
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.uri = "/*",
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.method = HTTP_GET,
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.handler = on_default_url};
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httpd_register_uri_handler(server, &default_url);
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//previous approach with sockets:
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// httpd_uri_t socket_joystick_url = {
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// .uri = "/ws-api/joystick",
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// .method = HTTP_GET,
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// .handler = on_socket_joystick_url,
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// .is_websocket = true};
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// httpd_register_uri_handler(server, &socket_joystick_url);
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}
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//============================
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//===== stop http server =====
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//============================
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//function that destroys the http server
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void http_stop_server()
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{
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printf("stopping http\n");
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httpd_stop(server);
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}
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