batch sending files, broken keyframe data
parent
03e1591388
commit
3b810e79c5
341
HansonServo.ino
341
HansonServo.ino
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@ -1,10 +1,28 @@
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#include <base64.h>
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#include "feetech.h"
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#include "animation.h"
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#define DEVICE_NAME "Little Sophia"
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#define FIRMWARE_VERSION "0.0.1"
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#define HEADER1 0xAA
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#define HEADER2 0x55
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#define CMD_ID_REQUEST 0x01
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#define CMD_FILE_LIST 0x02
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#define CMD_LOAD_FILE 0x03
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#define CMD_DELETE_FILE 0x04
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#define CMD_LOAD_FILE_CHUNK 0x05
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// ESP32 S2 PINOUT
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#define RX_PIN 17 // DI
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#define TX_PIN 18 // RO
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#define DE_PIN 33 // Driver Enable
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#define RE_PIN 3 // Receiver Enable
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Animation sweep;
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Animation stagger;
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Feetech servos = Feetech(Serial1, DE_PIN, RE_PIN, TX_PIN, RX_PIN);
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@ -12,22 +30,55 @@ uint16_t flipBytes(uint16_t value) {
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return (value >> 8) | (value << 8);
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}
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uint8_t ids[] = { 1, 10, 11, 15 };
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uint16_t pos1[] = { 0, 0, 0, 0 };
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uint16_t pos2[] = { 1023, 1023, 1023, 4095 };
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uint8_t ids[NUM_CHANNELS] = { 10, 11, 12, 13, 14 };
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uint16_t pos1[] = { 0, 0, 0, 0, 0 };
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uint16_t pos2[] = { 1023, 1023, 1023, 1023, 1023 };
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void setup() {
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Serial.begin(115200);
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for (int i = 0; i < 10; i++) {
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for (int i = 0; i < 5; i++) {
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Serial.println(i);
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delay(500);
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}
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pos2[3] = flipBytes(pos2[3]);
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servos.begin();
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if (!FFat.begin()) {
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Serial.println("FFat mount failed");
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return;
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}
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// sweep.clear();
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// sweep.createSampleSweep(4);
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// sweep.saveToFile("/sweep.anim");
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// sweep.clear();
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// sweep.createStaggeredSweep(4);
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// sweep.saveToFile("/stagger.anim");
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// delay(9999);
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// anim.clear();
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// if (!sweep.loadFromFile("/sweep.anim")) {
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// Serial.println("Failed to load animation");
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// return;
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// } else {
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// Serial.println("Loaded sweep anim");
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// }
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// if (!stagger.loadFromFile("/stagger.anim")) {
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// Serial.println("Failed to load animation");
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// return;
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// } else {
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// Serial.println("Loaded stagger anim");
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// }
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// Serial.println(anim.getFrame(0, 0)); // Should show saved value
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//SetID(11, 14);
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}
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void SetID(uint8_t oldID, uint8_t newID) {
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@ -45,12 +96,290 @@ void SetID(uint8_t oldID, uint8_t newID) {
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delay(1000);
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}
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unsigned long lastSend = 0;
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void loop() {
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// put your main code here, to run repeatedly:
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PingAll();
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HandleSerialRequests();
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// put your main code here, to run repeatedly:
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//PingAll();
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// playAnimation(sweep);
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// playAnimation(stagger);
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// playLayeredAnimation(sweep, stagger);
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// servos.syncWritePos(ids, pos1, 5);
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// delay(1000);
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// servos.syncWritePos(ids, pos2, 5);
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// delay(1000);
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if (millis() - lastSend > 1000) {
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//sendMessageFromESP32(String(millis()));
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//PrintFileList();
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lastSend = millis();
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}
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}
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void HandleSerialRequests() {
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if (Serial.available() >= 4) {
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if (Serial.read() == HEADER1 && Serial.read() == HEADER2) {
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uint8_t command = Serial.read();
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uint8_t length = Serial.read();
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String payload = "";
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for (int i = 0; i < length; i++) {
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while (!Serial.available())
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;
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payload += (char)Serial.read();
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}
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handleCommand(command, payload);
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}
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}
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}
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void handleCommand(uint8_t command, const String& payload) {
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switch (command) {
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case CMD_ID_REQUEST:
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sendIdPacket();
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break;
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case CMD_FILE_LIST:
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sendFileList();
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break;
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case CMD_LOAD_FILE:
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sendFileContent(payload);
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break;
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case CMD_DELETE_FILE:
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deleteFile(payload);
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break;
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//default:
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//Serial.println("{\"error\":\"Unknown command\"}");
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}
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}
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void sendReply(uint8_t command, const String& payload) {
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uint16_t length = payload.length(); // Supports up to 65,535 bytes
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// Calculate checksum using both length bytes
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uint8_t checksum = command ^ (length >> 8) ^ (length & 0xFF);
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for (int i = 0; i < length; i++) {
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checksum ^= payload[i];
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}
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// Send packet with 2-byte length
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Serial.write(HEADER1);
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Serial.write(HEADER2);
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Serial.write(command);
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Serial.write((length >> 8) & 0xFF); // High byte
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Serial.write(length & 0xFF); // Low byte
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Serial.write((const uint8_t*)payload.c_str(), length);
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Serial.write(checksum);
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}
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void sendChunkReply(uint8_t command, const String& filename, const uint8_t* chunkData, size_t chunkSize, size_t offset, size_t totalSize) {
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// Build JSON metadata
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String payload = "{\"file\":\"" + filename + "\",\"offset\":" + offset + ",\"totalSize\":" + totalSize + ",\"chunk\":[";
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for (size_t i = 0; i < chunkSize; i++) {
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payload += String(chunkData[i]);
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if (i < chunkSize - 1) payload += ",";
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}
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payload += "]}";
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// Calculate payload length
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uint16_t length = payload.length();
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// Calculate checksum
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uint8_t checksum = command ^ (length >> 8) ^ (length & 0xFF);
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for (int i = 0; i < length; i++) {
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checksum ^= payload[i];
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}
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// Send packet
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Serial.write(HEADER1);
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Serial.write(HEADER2);
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Serial.write(command);
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Serial.write((length >> 8) & 0xFF); // High byte
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Serial.write(length & 0xFF); // Low byte
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Serial.write((const uint8_t*)payload.c_str(), length);
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Serial.write(checksum);
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}
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void sendIdPacket() {
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String payload = "{\"name\":\"" + String(DEVICE_NAME) + "\",\"version\":\"" + String(FIRMWARE_VERSION) + "\"}";
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sendReply(CMD_ID_REQUEST, payload);
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}
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void PrintFileList() {
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File root = FFat.open("/");
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if (!root || !root.isDirectory()) {
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Serial.println("Failed to open FFat root directory");
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return;
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}
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Serial.println("Files in FFat:");
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File file = root.openNextFile();
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while (file) {
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Serial.print(" ");
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Serial.print(file.name());
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Serial.print(" | Size: ");
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Serial.println(file.size());
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file = root.openNextFile();
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}
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Serial.println("End of file list.");
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}
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void sendFileList() {
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File root = FFat.open("/");
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if (!root || !root.isDirectory()) {
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sendReply(CMD_FILE_LIST, "[]");
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return;
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}
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File file = root.openNextFile();
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String payload = "[";
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bool first = true;
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while (file) {
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if (!file.isDirectory()) {
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if (!first) payload += ",";
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payload += "\"" + String(file.name()) + "\"";
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first = false;
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}
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file = root.openNextFile();
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}
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payload += "]";
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sendReply(CMD_FILE_LIST, payload);
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}
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void sendFileContent(const String& filename) {
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sendFileInChunks(filename);
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return;
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File file = FFat.open(filename, FILE_READ);
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if (!file) {
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sendReply(CMD_LOAD_FILE, "{\"error\":\"File not found\"}");
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return;
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}
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String raw;
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while (file.available()) {
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raw += (char)file.read();
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}
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file.close();
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String encoded = base64::encode(raw); // This must be base64
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String payload = "{\"file\":\"" + filename + "\",\"content\":\"" + encoded + "\"}";
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sendReply(CMD_LOAD_FILE, payload);
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}
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void sendFileInChunks(const String& filename) {
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File file = FFat.open(filename, FILE_READ);
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if (!file) {
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sendReply(CMD_LOAD_FILE, "{\"error\":\"File not found\"}");
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return;
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}
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const size_t chunkSize = 512;
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size_t totalSize = file.size();
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size_t offset = 0;
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size_t chunksSent = 0;
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unsigned long startTime = millis();
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while (offset < totalSize) {
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size_t remaining = totalSize - offset;
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size_t thisChunk = remaining < chunkSize ? remaining : chunkSize;
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uint8_t buffer[thisChunk];
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file.read(buffer, thisChunk);
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sendChunkReply(CMD_LOAD_FILE_CHUNK, filename, buffer, thisChunk, offset, totalSize);
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offset += thisChunk;
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chunksSent++;
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delay(10); // Optional pacing
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}
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file.close();
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unsigned long duration = millis() - startTime;
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String finalReply = "{\"status\":\"complete\",\"file\":\"" + filename +
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"\",\"chunks\":" + chunksSent +
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",\"bytesSent\":" + totalSize +
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",\"durationMs\":" + duration + "}";
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sendReply(CMD_LOAD_FILE, finalReply);
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}
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void deleteFile(const String& filename) {
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String payload = "{\"deleted\":\"" + filename + "\"}";
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sendReply(CMD_DELETE_FILE, payload);
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}
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void playAnimation(Animation& anim) {
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uint16_t positions[NUM_CHANNELS];
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const uint16_t frameCount = anim.getFrameCount();
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const uint32_t frameDelay = 1000 / FRAMES_PER_SECOND; // 20 ms
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uint32_t nextFrameTime = millis();
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for (uint16_t frame = 0; frame < frameCount; frame++) {
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// Wait until it's time for the next frame
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while (millis() < nextFrameTime) {
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// Optional: yield or do background tasks here
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delay(1);
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}
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// Send frame to servos
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if (anim.getFramePositions(frame, positions)) {
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servos.syncWritePos(ids, positions, NUM_CHANNELS);
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}
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// Schedule next frame
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nextFrameTime += frameDelay;
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}
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}
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void playLayeredAnimation(Animation& base, Animation& overlay) {
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uint16_t basePositions[NUM_CHANNELS];
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uint16_t overlayPositions[NUM_CHANNELS];
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uint16_t finalPositions[NUM_CHANNELS];
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const uint16_t frameCount = base.getFrameCount();
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const uint32_t frameDelay = 1000 / FRAMES_PER_SECOND;
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uint32_t nextFrameTime = millis();
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for (uint16_t frame = 0; frame < frameCount; frame++) {
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while (millis() < nextFrameTime) delay(1);
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base.getFramePositions(frame, basePositions);
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overlay.getFramePositions(frame, overlayPositions);
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for (uint8_t ch = 0; ch < NUM_CHANNELS; ch++) {
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finalPositions[ch] = (basePositions[ch] + overlayPositions[ch]) / 2;
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}
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servos.syncWritePos(ids, finalPositions, NUM_CHANNELS);
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nextFrameTime += frameDelay;
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}
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}
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void PingAll() {
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std::vector<uint8_t> successfulAddresses;
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servos.pingAll(successfulAddresses);
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@ -0,0 +1,201 @@
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#include "animation.h"
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Animation::Animation() {
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clear();
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memcpy(header.magic, "ANIM", 4);
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header.version = 1;
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header.frameRate = FRAMES_PER_SECOND;
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header.frameCount = MAX_FRAMES;
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memset(header.reserved, 0, sizeof(header.reserved));
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}
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void Animation::setFrame(uint16_t frameIndex, uint16_t channel, uint16_t value) {
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if (frameIndex < MAX_FRAMES && channel < NUM_CHANNELS) {
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data[frameIndex][channel] = value;
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}
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}
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uint16_t Animation::getFrame(uint16_t frameIndex, uint16_t channel) const {
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if (frameIndex < MAX_FRAMES && channel < NUM_CHANNELS) {
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return data[frameIndex][channel];
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}
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return 0;
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}
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bool Animation::getFramePositions(uint16_t frameIndex, uint16_t* outPositions) {
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if (frameIndex >= header.frameCount) return false;
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for (uint8_t ch = 0; ch < NUM_CHANNELS; ch++) {
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outPositions[ch] = getFrame(frameIndex, ch);
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}
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return true;
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}
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void Animation::addKeyframe(uint8_t motorId, uint16_t frame, uint16_t position) {
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keyframes.push_back({ motorId, frame, position });
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}
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const std::vector<Keyframe>& Animation::getKeyframes() const {
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return keyframes;
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}
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void Animation::clear() {
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memset(data, 0, sizeof(data));
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}
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uint16_t* Animation::getRawData() {
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return &data[0][0];
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}
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size_t Animation::getSize() const {
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return sizeof(data);
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}
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uint16_t Animation::getFrameCount() const {
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return header.frameCount;
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}
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bool Animation::saveToFile(const char* filename) {
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// Auto-detect actual frame count
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uint16_t lastFrame = 0;
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for (uint16_t frame = 0; frame < MAX_FRAMES; frame++) {
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for (uint8_t ch = 0; ch < NUM_CHANNELS; ch++) {
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if (data[frame][ch] != 0) {
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lastFrame = frame;
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break;
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}
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}
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}
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header.frameCount = lastFrame + 1; // +1 because frame index starts at 0
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File file = FFat.open(filename, FILE_WRITE);
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if (!file) return false;
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// Write header and motion data
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file.write((uint8_t*)&header, sizeof(header));
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file.write((uint8_t*)data, sizeof(data));
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// Write keyframe count
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uint16_t keyframeCount = keyframes.size();
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file.write((uint8_t*)&keyframeCount, sizeof(keyframeCount));
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// Write keyframes
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for (const Keyframe& kf : keyframes) {
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file.write(kf.motorId);
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file.write((uint8_t*)&kf.frame, sizeof(kf.frame));
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file.write((uint8_t*)&kf.position, sizeof(kf.position));
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}
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file.close();
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return true;
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}
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bool Animation::loadFromFile(const char* filename) {
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File file = FFat.open(filename, FILE_READ);
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if (!file) return false;
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// Read and validate header
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AnimationHeader tempHeader;
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if (file.read((uint8_t*)&tempHeader, sizeof(tempHeader)) != sizeof(tempHeader)) {
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file.close();
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return false;
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}
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if (strncmp(tempHeader.magic, "ANIM", 4) != 0 || tempHeader.version != 1) {
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file.close();
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return false;
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}
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header = tempHeader;
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// Read motion data
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size_t expectedSize = sizeof(data);
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if (file.read((uint8_t*)data, expectedSize) != expectedSize) {
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file.close();
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return false;
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}
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// Read keyframe count
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uint16_t keyframeCount;
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if (file.read((uint8_t*)&keyframeCount, sizeof(keyframeCount)) != sizeof(keyframeCount)) {
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file.close();
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return false;
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}
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// Read keyframes
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keyframes.clear();
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for (uint16_t i = 0; i < keyframeCount; i++) {
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Keyframe kf;
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if (file.read(&kf.motorId, 1) != 1 ||
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file.read((uint8_t*)&kf.frame, sizeof(kf.frame)) != sizeof(kf.frame) ||
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file.read((uint8_t*)&kf.position, sizeof(kf.position)) != sizeof(kf.position)) {
|
||||
file.close();
|
||||
return false;
|
||||
}
|
||||
keyframes.push_back(kf);
|
||||
}
|
||||
|
||||
file.close();
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
void Animation::createSampleSweep(uint8_t seconds) {
|
||||
clear();
|
||||
|
||||
const uint16_t sweepFrames = FRAMES_PER_SECOND * seconds;
|
||||
const uint16_t totalFrames = sweepFrames * 2; // Up and down
|
||||
|
||||
for (uint16_t frame = 0; frame < totalFrames; frame++) {
|
||||
float progress;
|
||||
if (frame < sweepFrames) {
|
||||
// Sweep up: 0 → 1023
|
||||
progress = (float)frame / (sweepFrames - 1);
|
||||
} else {
|
||||
// Sweep down: 1023 → 0
|
||||
progress = 1.0f - ((float)(frame - sweepFrames) / (sweepFrames - 1));
|
||||
}
|
||||
|
||||
uint16_t value = (uint16_t)(progress * 1023);
|
||||
|
||||
for (uint8_t ch = 0; ch < NUM_CHANNELS; ch++) {
|
||||
setFrame(frame, ch, value);
|
||||
}
|
||||
}
|
||||
|
||||
header.frameCount = totalFrames;
|
||||
|
||||
// 🧩 Add keyframes to match the sweep motion
|
||||
for (uint8_t ch = 0; ch < NUM_CHANNELS; ch++) {
|
||||
addKeyframe(ch, 0, 0); // Start at 0
|
||||
addKeyframe(ch, sweepFrames - 1, 1023); // Peak
|
||||
addKeyframe(ch, totalFrames - 1, 0); // Return to 0
|
||||
}
|
||||
}
|
||||
|
||||
void Animation::createStaggeredSweep(uint8_t seconds) {
|
||||
clear();
|
||||
|
||||
const uint16_t sweepFrames = FRAMES_PER_SECOND * seconds;
|
||||
const uint16_t totalFrames = sweepFrames * 2; // Up and down
|
||||
|
||||
for (uint16_t frame = 0; frame < totalFrames; frame++) {
|
||||
float progress;
|
||||
if (frame < sweepFrames) {
|
||||
progress = (float)frame / (sweepFrames - 1); // 0 → 1
|
||||
} else {
|
||||
progress = 1.0f - ((float)(frame - sweepFrames) / (sweepFrames - 1)); // 1 → 0
|
||||
}
|
||||
|
||||
for (uint8_t ch = 0; ch < NUM_CHANNELS; ch++) {
|
||||
float channelProgress = (ch % 2 == 0) ? progress : (1.0f - progress);
|
||||
uint16_t value = (uint16_t)(channelProgress * 1023);
|
||||
setFrame(frame, ch, value);
|
||||
}
|
||||
}
|
||||
|
||||
header.frameCount = totalFrames;
|
||||
}
|
||||
|
|
@ -0,0 +1,56 @@
|
|||
#ifndef ANIMATION_FILE_H
|
||||
#define ANIMATION_FILE_H
|
||||
|
||||
#include <Arduino.h>
|
||||
#include "FS.h"
|
||||
#include "FFat.h"
|
||||
#include <vector>
|
||||
|
||||
#define NUM_CHANNELS 5
|
||||
#define FRAMES_PER_SECOND 50
|
||||
#define MAX_DURATION_SECONDS 10
|
||||
#define MAX_FRAMES (FRAMES_PER_SECOND * MAX_DURATION_SECONDS)
|
||||
|
||||
struct AnimationHeader {
|
||||
char magic[4]; // 0–3 ANIM tag
|
||||
uint16_t frameCount; // 4–5 Number of total frames
|
||||
uint8_t version; // 6
|
||||
uint8_t frameRate; // 7 Frames per second
|
||||
uint8_t reserved[8]; // 8–15
|
||||
};
|
||||
|
||||
|
||||
struct Keyframe {
|
||||
uint8_t motorId;
|
||||
uint16_t frame;
|
||||
uint16_t position;
|
||||
};
|
||||
|
||||
|
||||
class Animation {
|
||||
public:
|
||||
Animation();
|
||||
|
||||
void setFrame(uint16_t frameIndex, uint16_t channel, uint16_t value);
|
||||
uint16_t getFrame(uint16_t frameIndex, uint16_t channel) const;
|
||||
bool getFramePositions(uint16_t frameIndex, uint16_t* outPositions);
|
||||
|
||||
void addKeyframe(uint8_t motorId, uint16_t frame, uint16_t position);
|
||||
const std::vector<Keyframe>& getKeyframes() const;
|
||||
|
||||
void clear();
|
||||
uint16_t* getRawData(); // Optional: for bulk access
|
||||
size_t getSize() const;
|
||||
bool saveToFile(const char* filename);
|
||||
bool loadFromFile(const char* filename);
|
||||
uint16_t getFrameCount() const;
|
||||
void createSampleSweep(uint8_t seconds);
|
||||
void createStaggeredSweep(uint8_t seconds);
|
||||
|
||||
private:
|
||||
AnimationHeader header;
|
||||
uint16_t data[MAX_FRAMES][NUM_CHANNELS];
|
||||
std::vector<Keyframe> keyframes;
|
||||
};
|
||||
|
||||
#endif
|
||||
|
|
@ -344,7 +344,7 @@ void Feetech::write2Bytes(uint8_t id, byte instruction, uint16_t data) {
|
|||
void Feetech::pingAll(std::vector<uint8_t>& successfulAddresses) {
|
||||
Serial.println("PINGING ALL 0-255");
|
||||
successfulAddresses.clear(); // Clear any previous results
|
||||
for (int i = 0; i < 254; i++) {
|
||||
for (int i = 0; i < 20; i++) {
|
||||
//Serial.println(i);
|
||||
sendPing(i);
|
||||
uint8_t val = waitOnData1Byte(50);
|
||||
|
|
|
|||
|
|
@ -0,0 +1,34 @@
|
|||
const char* webpage = R"rawliteral(
|
||||
<!DOCTYPE html>
|
||||
<html>
|
||||
<head>
|
||||
<title>ESP32 HTTP Console</title>
|
||||
<script>
|
||||
function sendMessage() {
|
||||
var msg = document.getElementById('message').value;
|
||||
fetch('/send', {
|
||||
method: 'POST',
|
||||
headers: {
|
||||
'Content-Type': 'application/x-www-form-urlencoded',
|
||||
},
|
||||
body: 'message=' + encodeURIComponent(msg)
|
||||
})
|
||||
.then(response => response.text())
|
||||
.then(data => {
|
||||
console.log(data);
|
||||
document.getElementById('console').innerHTML += '<br>' + data;
|
||||
})
|
||||
.catch((error) => {
|
||||
console.error('Error:', error);
|
||||
});
|
||||
}
|
||||
</script>
|
||||
</head>
|
||||
<body>
|
||||
<h1>ESP32 HTTP Console</h1>
|
||||
<input id='message' type='text' placeholder='Type a message...'>
|
||||
<button onclick='sendMessage()'>Send</button>
|
||||
<div id='console' style='border:1px solid #000; height:200px; overflow:auto;'></div>
|
||||
</body>
|
||||
</html>
|
||||
)rawliteral";
|
||||
Loading…
Reference in New Issue