simon
47c75110c9
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>
69 lines
1.9 KiB
C
69 lines
1.9 KiB
C
#include "client_registry.h"
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#include "cmd_accel_snapshot.h"
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#include "uart_cmd.h"
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static const char *TAG = "[ACCEL_SNAP]";
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static void fill_accel_snapshot(alox_AccelSnapshotResponse *out,
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uint32_t filter_client_id) {
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if (out == NULL) {
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return;
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}
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out->samples_count = 0;
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size_t count = client_registry_count();
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for (size_t i = 0; i < count; i++) {
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const client_info_t *client = client_registry_at(i);
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if (client == NULL) {
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continue;
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}
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if (filter_client_id != 0 && client->id != filter_client_id) {
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continue;
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}
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if (!client->accel_stream_enabled) {
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continue;
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}
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if (out->samples_count >=
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sizeof(out->samples) / sizeof(out->samples[0])) {
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break;
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}
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alox_AccelSample *sample = &out->samples[out->samples_count++];
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sample->client_id = client->id;
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sample->valid = client->accel_valid;
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sample->x = client->accel_x;
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sample->y = client->accel_y;
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sample->z = client->accel_z;
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if (client->accel_valid) {
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sample->age_ms = client_registry_ms_since(client->accel_updated_at);
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}
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}
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}
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static void handle_accel_snapshot(const uint8_t *data, size_t len) {
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uint32_t filter_client_id = 0;
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if (len > 0) {
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alox_UartMessage req;
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if (uart_cmd_decode(data, len, &req) == ESP_OK) {
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alox_AccelSnapshotRequest *snap_req = UART_CMD_REQ(
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&req, alox_UartMessage_accel_snapshot_request_tag, accel_snapshot_request);
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if (snap_req != NULL) {
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filter_client_id = snap_req->client_id;
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}
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}
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}
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alox_UartMessage response;
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uart_cmd_init_response(&response, alox_MessageType_ACCEL_SNAPSHOT,
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alox_UartMessage_accel_snapshot_response_tag);
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fill_accel_snapshot(&response.payload.accel_snapshot_response, filter_client_id);
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uart_cmd_send(&response, TAG);
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}
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void cmd_accel_snapshot_register(void) {
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uart_cmd_register(alox_MessageType_ACCEL_SNAPSHOT, handle_accel_snapshot);
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}
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