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
+193
-6
@@ -32,6 +32,12 @@ type ClientView struct {
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Used bool `json:"used"`
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LastPing uint32 `json:"last_ping"`
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LastSuccessPing uint32 `json:"last_success_ping"`
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AccelValid bool `json:"accel_valid"`
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AccelX int32 `json:"accel_x"`
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AccelY int32 `json:"accel_y"`
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AccelZ int32 `json:"accel_z"`
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AccelAgeMs uint32 `json:"accel_age_ms"`
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AccelStream bool `json:"accel_stream"`
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}
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type DashboardState struct {
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@@ -56,6 +62,8 @@ func newWSHub() *wsHub {
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func (h *wsHub) setState(st DashboardState) {
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h.mu.Lock()
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prev := h.state.Clients
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st.Clients = preserveClientAccel(st.Clients, prev)
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h.state = st
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conns := make([]*websocket.Conn, 0, len(h.clients))
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for c := range h.clients {
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@@ -89,6 +97,136 @@ func (h *wsHub) unregister(c *websocket.Conn) {
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h.mu.Unlock()
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}
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func applyAccelSamples(clients []ClientView, samples []*pb.AccelSample) []ClientView {
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if len(samples) == 0 {
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return clients
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}
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byID := make(map[uint32]*pb.AccelSample, len(samples))
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for _, s := range samples {
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byID[s.GetClientId()] = s
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}
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out := make([]ClientView, len(clients))
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for i, c := range clients {
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out[i] = c
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if !c.AccelStream {
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out[i].AccelValid = false
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continue
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}
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s, ok := byID[c.ID]
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if !ok {
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continue
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}
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out[i].AccelValid = s.GetValid()
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if s.GetValid() {
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out[i].AccelX = s.GetX()
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out[i].AccelY = s.GetY()
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out[i].AccelZ = s.GetZ()
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out[i].AccelAgeMs = s.GetAgeMs()
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}
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}
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return out
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}
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func preserveClientAccel(newClients, oldClients []ClientView) []ClientView {
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if len(oldClients) == 0 {
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return newClients
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}
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oldByID := make(map[uint32]ClientView, len(oldClients))
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for _, c := range oldClients {
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oldByID[c.ID] = c
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}
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out := make([]ClientView, len(newClients))
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for i, c := range newClients {
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out[i] = c
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if !c.AccelStream {
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continue
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}
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prev, ok := oldByID[c.ID]
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if !ok || !prev.AccelValid {
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continue
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}
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if !c.AccelValid {
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out[i].AccelValid = prev.AccelValid
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out[i].AccelX = prev.AccelX
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out[i].AccelY = prev.AccelY
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out[i].AccelZ = prev.AccelZ
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out[i].AccelAgeMs = prev.AccelAgeMs
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}
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}
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return out
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}
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func anyClientAccelStream(clients []ClientView) bool {
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for _, c := range clients {
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if c.AccelStream {
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return true
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}
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}
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return false
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}
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// patchClientAccelStream updates stream flag immediately (e.g. after REST) and pushes WS.
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func (h *wsHub) patchClientAccelStream(clientID uint32, enabled bool) {
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h.mu.Lock()
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for i := range h.state.Clients {
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if h.state.Clients[i].ID != clientID {
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continue
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}
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h.state.Clients[i].AccelStream = enabled
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if !enabled {
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h.state.Clients[i].AccelValid = false
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h.state.Clients[i].AccelX = 0
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h.state.Clients[i].AccelY = 0
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h.state.Clients[i].AccelZ = 0
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h.state.Clients[i].AccelAgeMs = 0
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}
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break
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}
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st := h.state
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st.UpdatedAt = time.Now().Format(time.RFC3339)
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conns := make([]*websocket.Conn, 0, len(h.clients))
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for c := range h.clients {
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conns = append(conns, c)
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}
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h.mu.Unlock()
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data, err := json.Marshal(st)
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if err != nil {
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return
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}
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for _, c := range conns {
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_ = c.WriteMessage(websocket.TextMessage, data)
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}
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}
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func (h *wsHub) anyAccelStreamEnabled() bool {
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h.mu.RLock()
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defer h.mu.RUnlock()
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return anyClientAccelStream(h.state.Clients)
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}
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// mergeAccel updates cached accel on clients and pushes state to dashboard WebSockets.
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func (h *wsHub) mergeAccel(samples []*pb.AccelSample) {
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h.mu.Lock()
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st := h.state
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st.Clients = applyAccelSamples(st.Clients, samples)
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st.UpdatedAt = time.Now().Format(time.RFC3339)
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h.state = st
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conns := make([]*websocket.Conn, 0, len(h.clients))
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for c := range h.clients {
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conns = append(conns, c)
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}
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h.mu.Unlock()
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data, err := json.Marshal(st)
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if err != nil {
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return
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}
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for _, c := range conns {
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_ = c.WriteMessage(websocket.TextMessage, data)
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}
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}
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func (h *wsHub) broadcastRaw(v any) {
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h.mu.RLock()
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conns := make([]*websocket.Conn, 0, len(h.clients))
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@@ -106,7 +244,7 @@ func (h *wsHub) broadcastRaw(v any) {
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}
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}
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func pollDashboard(link *managedSerial, portName string, last *DashboardState) DashboardState {
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func pollDashboard(link *managedSerial, portName string, last *DashboardState, streamCtl *accelStreamCtl) DashboardState {
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st := DashboardState{
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UpdatedAt: time.Now().Format(time.RFC3339),
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SerialPort: portName,
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@@ -152,15 +290,63 @@ func pollDashboard(link *managedSerial, portName string, last *DashboardState) D
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Used: c.GetUsed(),
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LastPing: c.GetLastPing(),
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LastSuccessPing: c.GetLastSuccessPing(),
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}
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if dz, err := readDeadzonePoll(link, c.GetId()); err == nil {
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cv.Deadzone = dz
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AccelStream: c.GetAccelStreamEnabled(),
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}
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st.Clients = append(st.Clients, cv)
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}
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if anyClientAccelStream(st.Clients) {
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for i := range st.Clients {
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if !st.Clients[i].AccelStream {
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continue
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}
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if dz, err := readDeadzonePoll(link, st.Clients[i].ID); err == nil {
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st.Clients[i].Deadzone = dz
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}
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}
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if snap, err := link.readAccelSnapshotPoll(0); err == nil {
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st.Clients = applyAccelSamples(st.Clients, snap.GetSamples())
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}
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} else {
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for i, c := range clients {
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if dz, err := readDeadzonePoll(link, c.GetId()); err == nil {
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st.Clients[i].Deadzone = dz
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}
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}
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}
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if streamCtl != nil {
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streamCtl.SyncFromClients(st.Clients)
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}
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return st
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}
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func runAccelDashboardPoller(link *managedSerial, hub *wsHub, interval time.Duration, stop <-chan struct{}) {
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ticker := time.NewTicker(interval)
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defer ticker.Stop()
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for {
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select {
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case <-stop:
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return
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case <-ticker.C:
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if hub.clientCount() == 0 || !hub.anyAccelStreamEnabled() {
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continue
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}
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snap, err := link.readAccelSnapshotPoll(0)
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if err != nil {
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continue
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}
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hub.mergeAccel(snap.GetSamples())
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}
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}
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}
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func (h *wsHub) clientCount() int {
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h.mu.RLock()
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n := len(h.clients)
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h.mu.RUnlock()
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return n
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}
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func pausedPollState(portName string, last *DashboardState) DashboardState {
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if last != nil && last.UARTConnected {
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st := *last
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@@ -208,14 +394,15 @@ func formatMAC(mac []byte) string {
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return hex.EncodeToString(mac)
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}
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func runPoller(link *managedSerial, portName string, hub *wsHub, interval time.Duration, stop <-chan struct{}) {
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func runPoller(link *managedSerial, portName string, hub *wsHub, streamCtl *accelStreamCtl, interval time.Duration, stop <-chan struct{}) {
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// streamCtl kept for external API; dashboard uses hub.state AccelStream flags.
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ticker := time.NewTicker(interval)
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defer ticker.Stop()
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uartUp := false
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var lastGood DashboardState
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publish := func() {
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st := pollDashboard(link, portName, &lastGood)
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st := pollDashboard(link, portName, &lastGood, streamCtl)
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if st.UARTConnected && st.SerialOK {
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lastGood = st
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}
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