Stream slave accel via ESP-NOW with master snapshot cache.
Slaves push BMA456 samples at 16ms when enabled; the master caches per client and exposes ACCEL_SNAPSHOT and ACCEL_STREAM over UART. goTool adds dashboard stream controls, HTTP accel-stream routes, and an external WebSocket API with per-connection receive/interval and slave stream commands. Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Cursor
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package main
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import (
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"encoding/json"
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"fmt"
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"net/http"
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"strconv"
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"powerpod/gotool/pb"
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)
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type accelStreamAPIRequest struct {
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Write bool `json:"write"`
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Enable bool `json:"enable"`
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ClientID uint32 `json:"client_id"`
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AllClients bool `json:"all_clients"`
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}
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type accelStreamAPIResponse struct {
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Enabled bool `json:"enabled"`
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ClientID uint32 `json:"client_id"`
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Success bool `json:"success"`
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SlavesUpdated uint32 `json:"slaves_updated"`
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Error string `json:"error,omitempty"`
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}
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type clientAccelStreamBody struct {
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Enable bool `json:"enable"`
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}
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func mountAccelStreamAPI(mux *http.ServeMux, link *managedSerial, hub *wsHub, ctl *accelStreamCtl) {
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mux.HandleFunc("GET /api/clients/{clientID}/accel-stream", func(w http.ResponseWriter, r *http.Request) {
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clientID, err := parsePathClientID(r)
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if err != nil {
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writeJSON(w, http.StatusBadRequest, accelStreamAPIResponse{Error: err.Error()})
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return
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}
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serveAccelStreamGet(w, clientID, link, hub, ctl)
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})
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mux.HandleFunc("PUT /api/clients/{clientID}/accel-stream", func(w http.ResponseWriter, r *http.Request) {
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clientID, err := parsePathClientID(r)
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if err != nil {
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writeJSON(w, http.StatusBadRequest, accelStreamAPIResponse{Error: err.Error()})
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return
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}
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serveClientAccelStreamPut(w, r, clientID, link, hub, ctl)
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})
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mux.HandleFunc("/api/accel-stream", func(w http.ResponseWriter, r *http.Request) {
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switch r.Method {
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case http.MethodGet:
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serveAccelStreamGetQuery(w, r, link, hub, ctl)
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case http.MethodPost:
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serveAccelStreamPost(w, r, link, hub, ctl)
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default:
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http.Error(w, "method not allowed", http.StatusMethodNotAllowed)
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}
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})
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}
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func parsePathClientID(r *http.Request) (uint32, error) {
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s := r.PathValue("clientID")
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if s == "" {
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return 0, fmt.Errorf("client_id required")
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}
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v, err := strconv.ParseUint(s, 10, 32)
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if err != nil || v == 0 {
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return 0, fmt.Errorf("invalid client_id")
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}
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return uint32(v), nil
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}
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func applyAccelStreamClient(link *managedSerial, hub *wsHub, ctl *accelStreamCtl, clientID uint32, enable bool) accelStreamAPIResponse {
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resp, err := link.AccelStream(&pb.AccelStreamRequest{
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Write: true,
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Enable: enable,
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ClientId: clientID,
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})
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if err != nil {
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return accelStreamAPIResponse{
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ClientID: clientID,
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Error: err.Error(),
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}
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}
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out := accelStreamAPIResponse{
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Enabled: enable,
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ClientID: resp.GetClientId(),
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Success: resp.GetSuccess(),
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SlavesUpdated: resp.GetSlavesUpdated(),
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}
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if resp.GetSuccess() {
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if ctl != nil {
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ctl.Set(clientID, enable)
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}
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if hub != nil {
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hub.patchClientAccelStream(clientID, enable)
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}
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} else {
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out.Enabled = resp.GetEnabled()
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}
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return out
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}
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func serveAccelStreamGet(w http.ResponseWriter, clientID uint32, link *managedSerial, hub *wsHub, ctl *accelStreamCtl) {
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resp, err := link.AccelStreamPoll(&pb.AccelStreamRequest{
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Write: false,
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ClientId: clientID,
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})
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if err != nil {
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writeJSON(w, http.StatusServiceUnavailable, accelStreamAPIResponse{
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ClientID: clientID,
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Error: err.Error(),
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})
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return
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}
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if ctl != nil {
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ctl.Set(clientID, resp.GetEnabled())
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}
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writeJSON(w, http.StatusOK, accelStreamAPIResponse{
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Enabled: resp.GetEnabled(),
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ClientID: resp.GetClientId(),
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Success: resp.GetSuccess(),
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})
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}
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func serveAccelStreamGetQuery(w http.ResponseWriter, r *http.Request, link *managedSerial, hub *wsHub, ctl *accelStreamCtl) {
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clientID, err := parseUintQuery(r, "client_id", 0)
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if err != nil || clientID == 0 {
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writeJSON(w, http.StatusBadRequest, accelStreamAPIResponse{Error: "client_id required"})
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return
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}
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serveAccelStreamGet(w, clientID, link, hub, ctl)
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}
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func serveClientAccelStreamPut(w http.ResponseWriter, r *http.Request, clientID uint32, link *managedSerial, hub *wsHub, ctl *accelStreamCtl) {
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var body clientAccelStreamBody
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if err := json.NewDecoder(r.Body).Decode(&body); err != nil {
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writeJSON(w, http.StatusBadRequest, accelStreamAPIResponse{Error: "invalid JSON"})
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return
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}
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out := applyAccelStreamClient(link, hub, ctl, clientID, body.Enable)
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status := http.StatusOK
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if out.Error != "" {
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status = http.StatusServiceUnavailable
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} else if !out.Success {
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status = http.StatusServiceUnavailable
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}
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writeJSON(w, status, out)
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}
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func serveAccelStreamPost(w http.ResponseWriter, r *http.Request, link *managedSerial, hub *wsHub, ctl *accelStreamCtl) {
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var body accelStreamAPIRequest
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if err := json.NewDecoder(r.Body).Decode(&body); err != nil {
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writeJSON(w, http.StatusBadRequest, accelStreamAPIResponse{Error: "invalid JSON"})
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return
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}
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if body.AllClients {
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updated, err := applyAccelStreamAll(link, body.Enable)
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if err != nil {
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writeJSON(w, http.StatusServiceUnavailable, accelStreamAPIResponse{Error: err.Error()})
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return
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}
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clients, _ := link.listClientsPoll()
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for _, c := range clients {
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if ctl != nil {
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ctl.Set(c.GetId(), body.Enable)
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}
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if hub != nil {
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hub.patchClientAccelStream(c.GetId(), body.Enable)
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}
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}
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writeJSON(w, http.StatusOK, accelStreamAPIResponse{
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Enabled: body.Enable,
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Success: updated > 0,
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SlavesUpdated: updated,
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})
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return
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}
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if body.ClientID == 0 {
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writeJSON(w, http.StatusBadRequest, accelStreamAPIResponse{Error: "client_id required"})
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return
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}
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out := applyAccelStreamClient(link, hub, ctl, body.ClientID, body.Enable)
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status := http.StatusOK
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if out.Error != "" || !out.Success {
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status = http.StatusServiceUnavailable
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}
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writeJSON(w, status, out)
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}
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func applyAccelStreamAll(link *managedSerial, enable bool) (uint32, error) {
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clients, err := link.listClients()
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if err != nil {
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return 0, err
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}
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var updated uint32
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for _, c := range clients {
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resp, err := link.AccelStream(&pb.AccelStreamRequest{
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Write: true,
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Enable: enable,
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ClientId: c.GetId(),
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})
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if err != nil {
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continue
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}
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if resp.GetSuccess() {
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updated++
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}
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}
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if len(clients) == 0 {
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return 0, fmt.Errorf("no slaves registered")
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}
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if updated == 0 {
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return 0, fmt.Errorf("accel stream not applied to any slave")
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}
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return updated, nil
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}
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