save/load working
parent
eeb5fbbadd
commit
530372de2b
148
HansonServo.ino
148
HansonServo.ino
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@ -8,13 +8,14 @@
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#define HEADER1 0xAA
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#define HEADER2 0x55
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#define MAX_PAYLOAD_SIZE 10240 // 10 KB
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#define MAX_PAYLOAD_SIZE 6000 // 10 KB
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uint8_t payload[MAX_PAYLOAD_SIZE]; // Global or static
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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_SAVE_FILE 0x05
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// ESP32 S2 PINOUT
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@ -23,7 +24,7 @@ uint8_t payload[MAX_PAYLOAD_SIZE]; // Global or static
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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 animation;
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Animation anim;
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Animation sweep;
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Animation stagger;
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@ -55,12 +56,14 @@ void setup() {
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return;
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}
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// ClearFiles();
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// // PrintFileList();
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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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// stagger.clear();
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// stagger.createStaggeredSweep(4);
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// stagger.saveToFile("/stagger.anim");
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// //delay(9999);
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// sweep.printKeyframes();
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@ -113,8 +116,14 @@ void HandleSerialRequests() {
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return;
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}
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while (Serial.available() < length + 1)
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; // wait for payload + checksum
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unsigned long start = millis();
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while (Serial.available() < length + 1) {
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if (millis() - start > 1000) { // 1 second timeout
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Serial.println("Serial timeout");
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return;
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}
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}
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uint8_t checksum = command ^ (length >> 8) ^ (length & 0xFF);
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@ -152,6 +161,10 @@ void handleCommand(uint8_t command, const uint8_t* payload, uint16_t length) {
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handleDeleteFile(payload, length);
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break;
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case CMD_SAVE_FILE:
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handleSaveFile(payload, length);
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break;
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default:
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Serial.print("Unknown command: ");
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Serial.println(command, HEX);
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@ -279,11 +292,97 @@ void handleLoadFile(const uint8_t* payload, uint16_t length) {
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void handleDeleteFile(const uint8_t* payload, uint16_t length) {
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}
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void handleFileChunk(const uint8_t* payload, uint16_t length) {
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void handleSaveFile(const uint8_t* payload, uint16_t length) {
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bool valid = parseAnimationPayload(payload, length, anim);
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if (valid) {
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//Serial.println("Animation parsed successfully!");
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//anim.printKeyframes();
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} else {
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//Serial.println("Failed to parse animation.");
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length = 1; // Override length to 1 for fallback response
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payload = nullptr; // We'll send a single 0x00 instead
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}
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if (length > MAX_PAYLOAD_SIZE) {
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Serial.println("File list too large");
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return;
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}
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// Calculate checksum
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uint8_t checksum = CMD_SAVE_FILE ^ (length >> 8) ^ (length & 0xFF);
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if (valid) {
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for (uint16_t i = 0; i < length; i++) {
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checksum ^= payload[i];
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}
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} else {
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checksum ^= 0x00;
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}
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// Send response
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Serial.write(HEADER1);
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Serial.write(HEADER2);
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Serial.write(CMD_SAVE_FILE);
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Serial.write((length >> 8) & 0xFF);
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Serial.write(length & 0xFF);
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if (valid) {
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for (uint16_t i = 0; i < length; i++) {
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Serial.write(payload[i]);
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}
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} else {
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Serial.write(0x00);
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}
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Serial.write(checksum);
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}
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bool parseAnimationPayload(const uint8_t* payload, uint16_t length, Animation& animation) {
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if (length < 17) {
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Serial.println("Payload too short for header");
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return false;
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}
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// Parse header
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memcpy(animation.header.magic, payload, 4);
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if (strncmp(animation.header.magic, "ANIM", 4) != 0) {
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Serial.println("Invalid magic header");
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return false;
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}
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animation.header.frameCount = (payload[4] << 8) | payload[5];
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animation.header.version = payload[6];
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animation.header.frameRate = payload[7];
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memcpy(animation.header.reserved, payload + 8, 8);
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uint16_t keyframeCount = payload[16] | (payload[17] << 8);
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if (length < 17 + keyframeCount * sizeof(Keyframe)) {
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Serial.println("Payload too short for keyframes");
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return false;
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}
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// Parse keyframes
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animation.clear();
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const uint8_t* ptr = payload + 18;
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for (uint8_t i = 0; i < keyframeCount; i++) {
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uint8_t motorId = ptr[0];
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uint16_t frame = ptr[1] | (ptr[2] << 8);
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uint16_t position = ptr[3] | (ptr[4] << 8);
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animation.addKeyframe(motorId, frame, position);
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ptr += 5;
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}
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animation.saveToFile("/saved.anim");
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return true;
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}
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unsigned long lastSend = 0;
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void loop() {
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@ -334,6 +433,39 @@ void PrintFileList() {
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Serial.println("End of file list.");
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}
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void ClearFiles() {
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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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String filename = "/" + String(file.name()); // Add leading slash
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Serial.print(" Deleting: ");
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Serial.println(filename);
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file.close(); // Close before deleting
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deleteFile(FFat, filename.c_str()); // Use corrected path
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file = root.openNextFile();
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}
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Serial.println("FFat cleanup complete.");
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}
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void deleteFile(fs::FS& fs, const char* path) {
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Serial.printf("Deleting file: %s\r\n", path);
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if (fs.remove(path)) {
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Serial.println("- file deleted");
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} else {
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Serial.println("- delete failed");
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}
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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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@ -57,6 +57,7 @@ void Animation::printKeyframes() {
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void Animation::clear() {
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memset(data, 0, sizeof(data));
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keyframes.clear();
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}
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uint16_t* Animation::getRawData() {
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@ -98,8 +99,11 @@ bool Animation::saveToFile(const char* filename) {
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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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file.write(kf.frame & 0xFF); // low byte
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file.write((kf.frame >> 8) & 0xFF); // high byte
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file.write(kf.position & 0xFF);
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file.write((kf.position >> 8) & 0xFF);
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}
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@ -146,12 +150,20 @@ bool Animation::loadFromFile(const char* filename) {
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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)) {
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if (file.read(&kf.motorId, 1) != 1) {
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file.close();
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return false;
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}
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uint8_t frameLow, frameHigh, posLow, posHigh;
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if (file.read(&frameLow, 1) != 1 || file.read(&frameHigh, 1) != 1 || file.read(&posLow, 1) != 1 || file.read(&posHigh, 1) != 1) {
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file.close();
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return false;
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}
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kf.frame = (frameHigh << 8) | frameLow;
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kf.position = (posHigh << 8) | posLow;
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keyframes.push_back(kf);
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}
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@ -192,7 +204,6 @@ void Animation::createSampleSweep(uint8_t seconds) {
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addKeyframe(ch, sweepFrames - 1, 1023); // Peak
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addKeyframe(ch, totalFrames - 1, 0); // Return to 0
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}
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}
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void Animation::createStaggeredSweep(uint8_t seconds) {
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