skrueckenandCursor
1adaddd6c8
Expose best_effort/fast/wait/reliable via UART, dashboard, and CLI so loss vs latency can be compared under real multi-pod load. Co-authored-by: Cursor <cursoragent@cursor.com>
471 lines
13 KiB
Go
471 lines
13 KiB
Go
package main
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import (
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"encoding/json"
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"errors"
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"fmt"
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"io"
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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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const otaMaxFirmwareSize = 2 * 1024 * 1024
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type deadzoneAPIResponse struct {
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Deadzone uint32 `json:"deadzone"`
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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 deadzoneAPIRequest struct {
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Write bool `json:"write"`
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Deadzone uint32 `json:"deadzone"`
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ClientID uint32 `json:"client_id"`
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AllClients bool `json:"all_clients"`
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// SlavesOnly: with all_clients, push to ESP-NOW slaves only (master BMA456 unchanged).
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SlavesOnly bool `json:"slaves_only"`
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}
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type unicastAPIRequest struct {
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ClientID uint32 `json:"client_id"`
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Seq uint32 `json:"seq"`
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}
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type unicastAPIResponse struct {
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Success bool `json:"success"`
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Seq uint32 `json:"seq"`
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Error string `json:"error,omitempty"`
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}
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type echoPingAPIRequest struct {
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ClientID uint32 `json:"client_id"`
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}
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type echoPingAPIResponse struct {
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Success bool `json:"success"`
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ClientID uint32 `json:"client_id,omitempty"`
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TimestampUs uint64 `json:"timestamp_us,omitempty"`
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RttMs float64 `json:"rtt_ms"`
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EspRttUs uint32 `json:"esp_rtt_us"`
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Error string `json:"error,omitempty"`
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}
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type findMeAPIRequest struct {
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ClientID uint32 `json:"client_id"`
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}
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type findMeAPIResponse struct {
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Success bool `json:"success"`
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ClientID uint32 `json:"client_id,omitempty"`
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Error string `json:"error,omitempty"`
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}
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type resetIdMapAPIResponse struct {
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Success bool `json:"success"`
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Error string `json:"error,omitempty"`
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}
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type restartAPIRequest struct {
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ClientID uint32 `json:"client_id"`
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}
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type restartAPIResponse struct {
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Success bool `json:"success"`
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ClientID uint32 `json:"client_id,omitempty"`
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Error string `json:"error,omitempty"`
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}
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type logLevelAPIResponse struct {
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Success bool `json:"success"`
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Level uint32 `json:"level"`
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Error string `json:"error,omitempty"`
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}
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type logLevelAPIRequest struct {
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Write bool `json:"write"`
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Level uint32 `json:"level"`
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}
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type otaAPIResponse struct {
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Success bool `json:"success"`
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BytesWritten uint32 `json:"bytes_written,omitempty"`
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TargetSlot uint32 `json:"target_slot,omitempty"`
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Error string `json:"error,omitempty"`
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}
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func mountServeAPI(mux *http.ServeMux, link *managedSerial, hub *wsHub, streamCtl *accelStreamCtl, tapCtl *tapNotifyCtl) {
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mountHostAPI(mux, link)
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mountBleTestAPI(mux, link)
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mountLiveStreamAPI(mux, hub)
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mountAccelStreamAPI(mux, link, hub, streamCtl)
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mountInputSendModeAPI(mux, link)
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mountTapAPI(mux, link, hub, tapCtl)
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mountTapConfigAPI(mux, link)
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mountLedRingAPI(mux, link)
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mountBatteryAPI(mux, link)
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mux.HandleFunc("/api/deadzone", 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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serveDeadzoneGet(w, r, link)
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case http.MethodPost:
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serveDeadzonePost(w, r, link)
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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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mux.HandleFunc("/api/unicast-test", func(w http.ResponseWriter, r *http.Request) {
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if r.Method != http.MethodPost {
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http.Error(w, "method not allowed", http.StatusMethodNotAllowed)
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return
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}
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serveUnicastTest(w, r, link)
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})
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mux.HandleFunc("/api/echo-ping", func(w http.ResponseWriter, r *http.Request) {
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if r.Method != http.MethodPost {
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http.Error(w, "method not allowed", http.StatusMethodNotAllowed)
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return
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}
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serveEchoPing(w, r, link)
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})
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mux.HandleFunc("/api/find-me", func(w http.ResponseWriter, r *http.Request) {
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if r.Method != http.MethodPost {
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http.Error(w, "method not allowed", http.StatusMethodNotAllowed)
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return
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}
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serveFindMe(w, r, link)
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})
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mux.HandleFunc("/api/restart", func(w http.ResponseWriter, r *http.Request) {
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if r.Method != http.MethodPost {
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http.Error(w, "method not allowed", http.StatusMethodNotAllowed)
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return
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}
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serveRestart(w, r, link)
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})
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mux.HandleFunc("POST /api/clients/reset-id-map", func(w http.ResponseWriter, r *http.Request) {
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serveResetClientIdMap(w, r, link)
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})
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mux.HandleFunc("/api/log-level", 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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serveLogLevelGet(w, r, link)
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case http.MethodPost:
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serveLogLevelPost(w, r, link)
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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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mux.HandleFunc("/api/ota", func(w http.ResponseWriter, r *http.Request) {
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if r.Method != http.MethodPost {
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http.Error(w, "method not allowed", http.StatusMethodNotAllowed)
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return
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}
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serveOTAUpload(w, r, link, hub)
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})
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}
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func serveOTAUpload(w http.ResponseWriter, r *http.Request, link *managedSerial, hub *wsHub) {
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if !link.IsConnected() {
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writeJSON(w, http.StatusBadRequest, otaAPIResponse{Error: "host not connected"})
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return
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}
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if err := r.ParseMultipartForm(otaMaxFirmwareSize); err != nil {
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writeJSON(w, http.StatusBadRequest, otaAPIResponse{Error: "invalid form"})
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return
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}
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file, _, err := r.FormFile("firmware")
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if err != nil {
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writeJSON(w, http.StatusBadRequest, otaAPIResponse{Error: "firmware file required"})
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return
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}
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defer file.Close()
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data, err := io.ReadAll(io.LimitReader(file, otaMaxFirmwareSize))
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if err != nil {
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writeJSON(w, http.StatusBadRequest, otaAPIResponse{Error: err.Error()})
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return
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}
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if len(data) == 0 {
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writeJSON(w, http.StatusBadRequest, otaAPIResponse{Error: "empty firmware"})
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return
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}
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var last OTAProgress
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err = runOTAUpload(link, data, func(p OTAProgress) {
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last = p
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if hub != nil {
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hub.broadcastRaw(p)
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}
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})
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if err != nil {
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if hub != nil {
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hub.broadcastRaw(OTAProgress{Type: "ota_progress", Phase: "error", Message: err.Error()})
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}
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status := http.StatusServiceUnavailable
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if errors.Is(err, errOTAInProgress) {
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status = http.StatusConflict
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}
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writeJSON(w, status, otaAPIResponse{Error: err.Error()})
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return
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}
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writeJSON(w, http.StatusOK, otaAPIResponse{
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Success: true,
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BytesWritten: last.Bytes,
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TargetSlot: last.Slot,
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})
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}
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func serveDeadzoneGet(w http.ResponseWriter, r *http.Request, link *managedSerial) {
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clientID, err := parseUintQuery(r, "client_id", 0)
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if err != nil {
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writeJSON(w, http.StatusBadRequest, deadzoneAPIResponse{Error: err.Error()})
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return
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}
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resp, err := link.AccelDeadzone(&pb.AccelDeadzoneRequest{
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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, deadzoneAPIResponse{
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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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writeJSON(w, http.StatusOK, deadzoneAPIResponse{
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Deadzone: resp.GetDeadzone(),
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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 serveDeadzonePost(w http.ResponseWriter, r *http.Request, link *managedSerial) {
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var body deadzoneAPIRequest
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if err := json.NewDecoder(r.Body).Decode(&body); err != nil {
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writeJSON(w, http.StatusBadRequest, deadzoneAPIResponse{Error: "invalid JSON"})
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return
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}
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if body.AllClients && body.SlavesOnly {
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updated, err := applyDeadzoneToSlaves(link, body.Deadzone)
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if err != nil {
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writeJSON(w, http.StatusServiceUnavailable, deadzoneAPIResponse{
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Error: err.Error(),
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})
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return
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}
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writeJSON(w, http.StatusOK, deadzoneAPIResponse{
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Deadzone: body.Deadzone,
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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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req := &pb.AccelDeadzoneRequest{
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Write: true,
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Deadzone: body.Deadzone,
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ClientId: body.ClientID,
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AllClients: body.AllClients,
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}
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// client_id 0 without all_clients: master BMA456 only (same as CLI -client 0).
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resp, err := link.AccelDeadzone(req)
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if err != nil {
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writeJSON(w, http.StatusServiceUnavailable, deadzoneAPIResponse{
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ClientID: body.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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writeJSON(w, http.StatusOK, deadzoneAPIResponse{
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Deadzone: resp.GetDeadzone(),
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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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}
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// applyDeadzoneToSlaves sets deadzone on each registered slave via per-client UART/ESP-NOW.
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// Does not change the master's local BMA456 (use client_id 0 for that).
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func applyDeadzoneToSlaves(link *managedSerial, deadzone uint32) (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.AccelDeadzone(&pb.AccelDeadzoneRequest{
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Write: true,
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Deadzone: deadzone,
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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("deadzone not applied to any slave")
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}
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return updated, nil
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}
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func serveLogLevelGet(w http.ResponseWriter, r *http.Request, link *managedSerial) {
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resp, err := link.SetLogLevel(false, 0)
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if err != nil {
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writeJSON(w, http.StatusServiceUnavailable, logLevelAPIResponse{Error: err.Error()})
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return
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}
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writeJSON(w, http.StatusOK, logLevelAPIResponse{
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Success: resp.GetSuccess(),
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Level: resp.GetLevel(),
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})
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}
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func serveLogLevelPost(w http.ResponseWriter, r *http.Request, link *managedSerial) {
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var body logLevelAPIRequest
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if err := json.NewDecoder(r.Body).Decode(&body); err != nil {
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writeJSON(w, http.StatusBadRequest, logLevelAPIResponse{Error: "invalid JSON"})
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return
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}
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if !body.Write {
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writeJSON(w, http.StatusBadRequest, logLevelAPIResponse{Error: "write must be true"})
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return
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}
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if body.Level > 5 {
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writeJSON(w, http.StatusBadRequest, logLevelAPIResponse{Error: "level must be 0–5"})
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return
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}
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resp, err := link.SetLogLevel(true, body.Level)
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if err != nil {
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writeJSON(w, http.StatusServiceUnavailable, logLevelAPIResponse{Error: err.Error()})
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return
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}
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writeJSON(w, http.StatusOK, logLevelAPIResponse{
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Success: resp.GetSuccess(),
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Level: resp.GetLevel(),
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})
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}
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func serveRestart(w http.ResponseWriter, r *http.Request, link *managedSerial) {
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var body restartAPIRequest
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if err := json.NewDecoder(r.Body).Decode(&body); err != nil {
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writeJSON(w, http.StatusBadRequest, restartAPIResponse{Error: "invalid JSON"})
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return
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}
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if err := link.Restart(body.ClientID); err != nil {
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writeJSON(w, http.StatusServiceUnavailable, restartAPIResponse{
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ClientID: body.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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writeJSON(w, http.StatusOK, restartAPIResponse{Success: true, ClientID: body.ClientID})
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}
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func serveResetClientIdMap(w http.ResponseWriter, r *http.Request, link *managedSerial) {
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if !link.IsConnected() {
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writeJSON(w, http.StatusServiceUnavailable, resetIdMapAPIResponse{Error: "host not connected"})
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return
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}
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resp, err := link.resetClientIdMap()
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if err != nil {
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writeJSON(w, http.StatusServiceUnavailable, resetIdMapAPIResponse{Error: err.Error()})
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return
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}
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if !resp.GetSuccess() {
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writeJSON(w, http.StatusOK, resetIdMapAPIResponse{Success: false, Error: "rejected by device"})
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return
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}
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writeJSON(w, http.StatusOK, resetIdMapAPIResponse{Success: true})
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}
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func serveFindMe(w http.ResponseWriter, r *http.Request, link *managedSerial) {
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var body findMeAPIRequest
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if err := json.NewDecoder(r.Body).Decode(&body); err != nil {
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writeJSON(w, http.StatusBadRequest, findMeAPIResponse{Error: "invalid JSON"})
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return
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}
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if err := link.FindMe(body.ClientID); err != nil {
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writeJSON(w, http.StatusServiceUnavailable, findMeAPIResponse{
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ClientID: body.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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writeJSON(w, http.StatusOK, findMeAPIResponse{Success: true, ClientID: body.ClientID})
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}
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func serveUnicastTest(w http.ResponseWriter, r *http.Request, link *managedSerial) {
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var body unicastAPIRequest
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if err := json.NewDecoder(r.Body).Decode(&body); err != nil {
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writeJSON(w, http.StatusBadRequest, unicastAPIResponse{Error: "invalid JSON"})
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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, unicastAPIResponse{Error: "client_id required"})
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return
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}
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if body.Seq == 0 {
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body.Seq = 1
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}
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resp, err := link.EspnowUnicastTest(body.ClientID, body.Seq)
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if err != nil {
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writeJSON(w, http.StatusServiceUnavailable, unicastAPIResponse{Error: err.Error()})
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return
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}
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writeJSON(w, http.StatusOK, unicastAPIResponse{
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Success: resp.GetSuccess(),
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Seq: resp.GetSeq(),
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})
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}
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func serveEchoPing(w http.ResponseWriter, r *http.Request, link *managedSerial) {
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var body echoPingAPIRequest
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if err := json.NewDecoder(r.Body).Decode(&body); err != nil {
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writeJSON(w, http.StatusBadRequest, echoPingAPIResponse{Error: "invalid JSON"})
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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, echoPingAPIResponse{Error: "client_id required"})
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return
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}
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result, err := link.EchoPing(body.ClientID)
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if err != nil {
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writeJSON(w, http.StatusServiceUnavailable, echoPingAPIResponse{Error: err.Error()})
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return
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}
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writeJSON(w, http.StatusOK, echoPingAPIResponse{
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Success: result.Success,
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ClientID: result.ClientID,
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TimestampUs: result.TimestampUs,
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RttMs: result.RttMs,
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EspRttUs: result.EspRttUs,
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})
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}
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func parseUintQuery(r *http.Request, key string, def uint32) (uint32, error) {
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s := r.URL.Query().Get(key)
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if s == "" {
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return def, nil
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}
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v, err := strconv.ParseUint(s, 10, 32)
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if err != nil {
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return 0, err
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}
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return uint32(v), nil
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}
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func writeJSON(w http.ResponseWriter, status int, v any) {
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w.Header().Set("Content-Type", "application/json")
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w.WriteHeader(status)
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_ = json.NewEncoder(w).Encode(v)
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}
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