b03baa4687
- add second pcb board_control, currently copy of previous board - not enough pins -> board_control handle ui send motorcommands via uart board_motorctl handle motors
71 lines
2.1 KiB
C++
71 lines
2.1 KiB
C++
#pragma once
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extern "C"
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{
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#include "esp_http_server.h"
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}
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#include "joystick.hpp"
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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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//===== start mdns service =====
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//==============================
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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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//===== 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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//===== httpJoystick class =====
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//==============================
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//class that receices that from a HTTP post request, generates and scales joystick data and provides the data in a queue
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//struct with configuration parameters
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typedef struct httpJoystick_config_t {
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float toleranceZeroX_Per;//percentage around joystick axis the coordinate snaps to 0
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float toleranceZeroY_Per;
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float toleranceEndPer; //percentage before joystick end the coordinate snaps to 1/-1
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uint32_t timeoutMs; //time no new data was received before the motors get turned off
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} httpJoystick_config_t;
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class httpJoystick{
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public:
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//--- constructor ---
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httpJoystick( httpJoystick_config_t config_f );
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//--- functions ---
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joystickData_t getData(); //wait for and return joystick data from queue, if timeout return CENTER
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esp_err_t receiveHttpData(httpd_req_t *req); //function that is called when data is received with post request at /api/joystick
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private:
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//--- variables ---
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httpJoystick_config_t config;
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QueueHandle_t joystickDataQueue = xQueueCreate( 1, sizeof( struct joystickData_t ) );
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//struct for receiving data from http function, and storing data of last update
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joystickData_t dataRead;
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const joystickData_t dataCenter = {
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.position = joystickPos_t::CENTER,
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.x = 0,
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.y = 0,
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.radius = 0,
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.angle = 0
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};
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};
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