powerpods/main/cmd_accel_deadzone.c

#include "bosch456.h"
#include "client_registry.h"
#include "cmd_accel_deadzone.h"
#include "cmd_handler.h"
#include "esp_log.h"
#include "esp_now_comm.h"
#include "pb_decode.h"
#include "uart_messages.pb.h"
#include "uart_proto.h"
#include <string.h>

static const char *TAG = "[ACCEL_DZ]";

static void send_response(uint32_t deadzone, uint32_t client_id, bool success,
                          uint32_t slaves_updated) {
  alox_UartMessage response = alox_UartMessage_init_zero;
  response.type = alox_MessageType_ACCEL_DEADZONE;
  response.which_payload = alox_UartMessage_accel_deadzone_response_tag;
  response.payload.accel_deadzone_response.deadzone = deadzone;
  response.payload.accel_deadzone_response.client_id = client_id;
  response.payload.accel_deadzone_response.success = success;
  response.payload.accel_deadzone_response.slaves_updated = slaves_updated;

  if (uart_send_uart_message(&response) != ESP_OK) {
    ESP_LOGE(TAG, "failed to send response");
  }
}

static esp_err_t push_deadzone_to_slave(const client_info_t *client,
                                        uint32_t deadzone) {
  if (client == NULL) {
    return ESP_ERR_INVALID_ARG;
  }

  esp_err_t err =
      client_registry_set_accel_deadzone(client->id, deadzone);
  if (err != ESP_OK) {
    return err;
  }

  return esp_now_comm_send_accel_deadzone(client->mac, client->id, deadzone);
}

static void handle_accel_deadzone(const uint8_t *data, size_t len) {
  alox_UartMessage uart_msg = alox_UartMessage_init_zero;
  alox_AccelDeadzoneRequest req = alox_AccelDeadzoneRequest_init_zero;
  bool have_request = false;

  if (len > 0) {
    pb_istream_t stream = pb_istream_from_buffer(data, len);
    if (!pb_decode(&stream, alox_UartMessage_fields, &uart_msg)) {
      ESP_LOGW(TAG, "decode failed");
      send_response(BMA456_DEFAULT_ACCEL_DEADZONE, 0, false, 0);
      return;
    }
    if (uart_msg.which_payload ==
        alox_UartMessage_accel_deadzone_request_tag) {
      req = uart_msg.payload.accel_deadzone_request;
      have_request = true;
    }
  }

  if (!have_request) {
    req.write = false;
    req.client_id = 0;
    req.all_clients = false;
  }

  if (req.write) {
    if (req.all_clients) {
      size_t n = client_registry_set_accel_deadzone_all(req.deadzone);
      uint32_t sent = 0;

      for (size_t i = 0; i < client_registry_count(); i++) {
        const client_info_t *client = client_registry_at(i);
        if (client == NULL) {
          continue;
        }
        if (esp_now_comm_send_accel_deadzone(client->mac, client->id,
                                             req.deadzone) == ESP_OK) {
          sent++;
        }
      }

      if (bma456_is_ready()) {
        bma456_set_accel_deadzone(req.deadzone);
      }

      ESP_LOGI(TAG, "set deadzone %lu via unicast to %u/%u slaves",
               (unsigned long)req.deadzone, (unsigned)sent, (unsigned)n);
      send_response(req.deadzone, 0, sent > 0 || bma456_is_ready(), sent);
      return;
    }

    if (req.client_id == 0) {
      bma456_set_accel_deadzone(req.deadzone);
      ESP_LOGI(TAG, "set local deadzone %lu (no ESP-NOW; use -client or -all "
                    "for slaves)",
               (unsigned long)req.deadzone);
      send_response(req.deadzone, 0, true, 0);
      return;
    }

    const client_info_t *client = client_registry_find_by_id(req.client_id);
    if (client == NULL) {
      ESP_LOGW(TAG, "client id %lu not found",
               (unsigned long)req.client_id);
      send_response(req.deadzone, req.client_id, false, 0);
      return;
    }

    esp_err_t err = push_deadzone_to_slave(client, req.deadzone);
    send_response(req.deadzone, req.client_id, err == ESP_OK, err == ESP_OK);
    return;
  }

  /* Read */
  if (req.all_clients || req.client_id == 0) {
    uint32_t dz = bma456_get_accel_deadzone();
    send_response(dz, 0, true, 0);
    return;
  }

  uint32_t dz = 0;
  esp_err_t err = client_registry_get_accel_deadzone(req.client_id, &dz);
  send_response(dz, req.client_id, err == ESP_OK, 0);
}

void cmd_accel_deadzone_register(void) {
  if (msg_register_handler(alox_MessageType_ACCEL_DEADZONE,
                           handle_accel_deadzone) != ESP_OK) {
    ESP_LOGE(TAG, "register failed");
  }
}