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Stream slave accel via ESP-NOW with master snapshot cache.

Browse Source 
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:
skruecken
2026-05-29 19:11:36 +02:00
co-authored by Cursor
parent ba20544762
commit 47c75110c9
35 changed files with 2409 additions and 300 deletions
Download Patch File Download Diff File Expand all files Collapse all files
goTool/client_api.go
+138 -7
View File
@@ -40,6 +40,70 @@ func (m *managedSerial) listClientsPoll() ([]*pb.ClientInfo, error) {
return decodeClientsPayload(payload)
}
func (m *managedSerial) readAccelSnapshotPoll(clientID uint32) (*pb.AccelSnapshotResponse, error) {
msg := &pb.UartMessage{
Type: pb.MessageType_ACCEL_SNAPSHOT,
Payload: &pb.UartMessage_AccelSnapshotRequest{
AccelSnapshotRequest: &pb.AccelSnapshotRequest{ClientId: clientID},
},
}
body, err := proto.Marshal(msg)
if err != nil {
return nil, fmt.Errorf("encode: %w", err)
}
payload := append([]byte{byte(pb.MessageType_ACCEL_SNAPSHOT)}, body...)
respPayload, err := m.exchangePayloadPoll(payload, "ACCEL_SNAPSHOT")
if err != nil {
return nil, err
}
return decodeAccelSnapshotPayload(respPayload)
}
func (m *managedSerial) AccelStream(req *pb.AccelStreamRequest) (*pb.AccelStreamResponse, error) {
return m.accelStreamVia(m.withPort, req)
}
func (m *managedSerial) AccelStreamPoll(req *pb.AccelStreamRequest) (*pb.AccelStreamResponse, error) {
return m.accelStreamVia(m.withPortPoll, req)
}
// SetAccelStream enables or disables the ESP-NOW accel stream for one slave (master UART).
func (m *managedSerial) SetAccelStream(clientID uint32, enable bool) (*pb.AccelStreamResponse, error) {
return m.AccelStream(&pb.AccelStreamRequest{
Write: true,
Enable: enable,
ClientId: clientID,
})
}
// GetAccelStream returns whether the accel stream is enabled for a slave on the master.
func (m *managedSerial) GetAccelStream(clientID uint32) (bool, error) {
resp, err := m.AccelStreamPoll(&pb.AccelStreamRequest{
Write: false,
ClientId: clientID,
})
if err != nil {
return false, err
}
if !resp.GetSuccess() {
return false, fmt.Errorf("accel stream read failed for client %d", clientID)
}
return resp.GetEnabled(), nil
}
func (m *managedSerial) accelStreamVia(
portFn func(func(*serialPort) error) error,
req *pb.AccelStreamRequest,
) (*pb.AccelStreamResponse, error) {
var resp *pb.AccelStreamResponse
err := portFn(func(sp *serialPort) error {
var e error
resp, e = sp.AccelStream(req)
return e
})
return resp, err
}
func (m *managedSerial) AccelDeadzone(req *pb.AccelDeadzoneRequest) (*pb.AccelDeadzoneResponse, error) {
return m.accelDeadzoneVia(m.withPort, req)
}
@@ -101,25 +165,43 @@ func decodeClientsPayload(payload []byte) ([]*pb.ClientInfo, error) {
return info.GetClients(), nil
}
func (s *serialPort) readAccel() (*pb.AccelReadResponse, error) {
payload, err := s.exchange(byte(pb.MessageType_ACCEL_READ), "ACCEL_READ")
if err != nil {
return nil, err
func decodeAccelSnapshotPayload(payload []byte) (*pb.AccelSnapshotResponse, error) {
if len(payload) < 1 {
return nil, fmt.Errorf("empty response payload")
}
var msg pb.UartMessage
if err := proto.Unmarshal(payload[1:], &msg); err != nil {
return nil, fmt.Errorf("decode: %w", err)
}
if msg.GetType() != pb.MessageType_ACCEL_READ {
if msg.GetType() != pb.MessageType_ACCEL_SNAPSHOT {
return nil, fmt.Errorf("unexpected type %v", msg.GetType())
}
r := msg.GetAccelReadResponse()
r := msg.GetAccelSnapshotResponse()
if r == nil {
return nil, fmt.Errorf("missing accel_read_response")
return nil, fmt.Errorf("missing accel_snapshot_response")
}
return r, nil
}
func (s *serialPort) readAccelSnapshot(clientID uint32) (*pb.AccelSnapshotResponse, error) {
msg := &pb.UartMessage{
Type: pb.MessageType_ACCEL_SNAPSHOT,
Payload: &pb.UartMessage_AccelSnapshotRequest{
AccelSnapshotRequest: &pb.AccelSnapshotRequest{ClientId: clientID},
},
}
body, err := proto.Marshal(msg)
if err != nil {
return nil, fmt.Errorf("encode: %w", err)
}
payload := append([]byte{byte(pb.MessageType_ACCEL_SNAPSHOT)}, body...)
respPayload, err := s.exchangePayload(payload, "ACCEL_SNAPSHOT")
if err != nil {
return nil, err
}
return decodeAccelSnapshotPayload(respPayload)
}
func (s *serialPort) getVersion() (*pb.VersionResponse, error) {
payload, err := s.exchange(byte(pb.MessageType_VERSION), "VERSION")
if err != nil {
@@ -136,6 +218,33 @@ func (s *serialPort) listClients() ([]*pb.ClientInfo, error) {
return decodeClientsPayload(payload)
}
func (s *serialPort) AccelStream(req *pb.AccelStreamRequest) (*pb.AccelStreamResponse, error) {
msg := &pb.UartMessage{
Type: pb.MessageType_ACCEL_STREAM,
Payload: &pb.UartMessage_AccelStreamRequest{
AccelStreamRequest: req,
},
}
body, err := proto.Marshal(msg)
if err != nil {
return nil, fmt.Errorf("encode: %w", err)
}
payload := append([]byte{byte(pb.MessageType_ACCEL_STREAM)}, body...)
respPayload, err := s.exchangePayload(payload, "ACCEL_STREAM")
if err != nil {
return nil, err
}
var respMsg pb.UartMessage
if err := proto.Unmarshal(respPayload[1:], &respMsg); err != nil {
return nil, fmt.Errorf("decode: %w", err)
}
r := respMsg.GetAccelStreamResponse()
if r == nil {
return nil, fmt.Errorf("missing accel_stream_response")
}
return r, nil
}
func (s *serialPort) accelDeadzone(req *pb.AccelDeadzoneRequest) (*pb.AccelDeadzoneResponse, error) {
msg := &pb.UartMessage{
Type: pb.MessageType_ACCEL_DEADZONE,
@@ -234,6 +343,28 @@ func (s *serialPort) GetVersion() (*pb.VersionResponse, error) { return s.getVer
func (s *serialPort) ListClients() ([]*pb.ClientInfo, error) { return s.listClients() }
func (s *serialPort) SetAccelStream(clientID uint32, enable bool) (*pb.AccelStreamResponse, error) {
return s.AccelStream(&pb.AccelStreamRequest{
Write: true,
Enable: enable,
ClientId: clientID,
})
}
func (s *serialPort) GetAccelStream(clientID uint32) (bool, error) {
resp, err := s.AccelStream(&pb.AccelStreamRequest{
Write: false,
ClientId: clientID,
})
if err != nil {
return false, err
}
if !resp.GetSuccess() {
return false, fmt.Errorf("accel stream read failed for client %d", clientID)
}
return resp.GetEnabled(), nil
}
func (s *serialPort) AccelDeadzone(req *pb.AccelDeadzoneRequest) (*pb.AccelDeadzoneResponse, error) {
return s.accelDeadzone(req)
}