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cloud protocol updated

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This commit is contained in:
0xFEEDC0DE64
2021-09-19 06:32:33 +02:00
parent d6217492c7
commit 692f3b1f38
1 changed files with 66 additions and 35 deletions
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101
main/cloud.h
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@ -1,5 +1,5 @@
#pragma once
#define FEATURE_CLOUD
// esp-idf includes
#include <esp_log.h>
@ -7,9 +7,11 @@
#include <wrappers/websocket_client.h>
#include <espwifistack.h>
#include <esphttpdutils.h>
#include <fmt/core.h>
// local includes
#include "globals.h"
#include "utils.h"
namespace {
#ifdef FEATURE_CLOUD
@ -70,43 +72,72 @@ void handleCloud()
if (!cloudClient.is_connected())
return;
std::string rssi = "null";
static std::string msg;
msg = fmt::format("[{},{},{}",
std::chrono::milliseconds{espchrono::millis_clock::now().time_since_epoch()}.count(),
std::chrono::milliseconds{espchrono::utc_clock::now().time_since_epoch()}.count(),
heap_caps_get_free_size(MALLOC_CAP_INTERNAL|MALLOC_CAP_8BIT));
if (wifi_stack::get_sta_status() == wifi_stack::WiFiStaStatus::CONNECTED)
{
if (const auto &result = wifi_stack::get_sta_ap_info(); result)
rssi = std::to_string(result->rssi);
msg += fmt::format(",{}", result->rssi);
else
msg += ",null";
}
else
msg += ",null";
std::string msg = "{"
"\"type\": \"fullStatus\","
"\"partial\": false, "
"\"status\": {"
"\"millis\":" + std::to_string(std::chrono::milliseconds{espchrono::millis_clock::now().time_since_epoch()}.count()) + ","
"\"rssi\":" + rssi + ","
"\"front.valid\":" + std::to_string(controllers.front.feedbackValid) + ","
"\"back.valid\":" + std::to_string(controllers.back.feedbackValid) + ","
"\"front.left.pwm\":" + std::to_string(controllers.front.command.left.pwm) + ","
"\"front.right.pwm\":" + std::to_string(controllers.front.command.right.pwm) + ","
"\"back.left.pwm\":" + std::to_string(controllers.back.command.left.pwm) + ","
"\"back.right.pwm\":" + std::to_string(controllers.back.command.right.pwm) + ","
"\"front.volt\":" + std::to_string(controllers.front.feedback.batVoltage) + ","
"\"back.volt\":" + std::to_string(controllers.back.feedback.batVoltage) + ","
"\"front.temp\":" + std::to_string(controllers.front.feedback.boardTemp) + ","
"\"back.temp\":" + std::to_string(controllers.back.feedback.boardTemp) + ","
"\"front.bad\":" + std::to_string(controllers.front.feedback.timeoutCntSerial) + ","
"\"back.bad\":" + std::to_string(controllers.back.feedback.timeoutCntSerial) + ","
"\"front.left.speed\":" + std::to_string(controllers.front.feedback.left.speed) + ","
"\"front.right.speed\":" + std::to_string(controllers.front.feedback.right.speed) + ","
"\"back.left.speed\":" + std::to_string(controllers.back.feedback.left.speed) + ","
"\"back.right.speed\":" + std::to_string(controllers.back.feedback.right.speed) + ","
"\"front.left.current\":" + std::to_string(controllers.front.feedback.left.dcLink) + ","
"\"front.right.current\":" + std::to_string(controllers.front.feedback.right.dcLink) + ","
"\"back.left.current\":" + std::to_string(controllers.back.feedback.left.dcLink) + ","
"\"back.right.current\":" + std::to_string(controllers.back.feedback.right.dcLink) + ","
"\"front.left.error\":" + std::to_string(controllers.front.feedback.left.error) + ","
"\"front.right.error\":" + std::to_string(controllers.front.feedback.right.error) + ","
"\"back.left.error\":" + std::to_string(controllers.back.feedback.left.error) + ","
"\"back.right.error\":" + std::to_string(controllers.back.feedback.right.error) +
"}"
"}";
if (raw_gas)
msg += fmt::format(",{}", *raw_gas);
else
msg += ",null";
if (raw_brems)
msg += fmt::format(",{}", *raw_brems);
else
msg += ",null";
if (gas)
msg += fmt::format(",{:.1f}", *gas);
else
msg += ",null";
if (brems)
msg += fmt::format(",{:.1f}", *brems);
else
msg += ",null";
constexpr const auto addController = [](const Controller &controller){
if (!controller.feedbackValid)
{
msg += ",null";
return;
}
msg += fmt::format(",[{:.02f},{:.02f}",
fixBatVoltage(controller.feedback.batVoltage),
fixBoardTemp(controller.feedback.boardTemp));
constexpr const auto addMotor = [](const bobbycar::protocol::serial::MotorState &command,
const bobbycar::protocol::serial::MotorFeedback &feedback,
bool invert){
msg += fmt::format(",[{},{:.2f},{:.2f},{}]",
command.pwm * (invert?-1:1),
convertToKmh(feedback.speed) * (invert?-1:1),
fixCurrent(feedback.dcLink) * (invert?-1:1),
feedback.error);
};
addMotor(controller.command.left, controller.feedback.left, controller.invertLeft);
addMotor(controller.command.right, controller.feedback.right, controller.invertRight);
msg += ']';
};
addController(controllers.front);
addController(controllers.back);
msg += ']';
const auto timeout = std::chrono::ceil<espcpputils::ticks>(espchrono::milliseconds32{settings.cloudSettings.cloudTransmitTimeout}).count();
const auto written = cloudClient.send_text(msg, timeout);