113 lines
3.3 KiB
C++
113 lines
3.3 KiB
C++
#pragma once
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#include <Arduino.h>
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#include <vector>
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// Forward declarations
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class BehaviorManager;
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class VisemeBehavior;
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class FocusBehavior;
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// ============================================================================
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// Config Key-Value System
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// ============================================================================
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enum ConfigKey : uint16_t {
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// Basic settings
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KEY_DEVICE_NAME = 0x0001,
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KEY_FIRMWARE_MAJOR = 0x0002,
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KEY_FIRMWARE_MINOR = 0x0003,
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// Motor array (single entry containing all motors)
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KEY_MOTOR_ARRAY = 0x0100,
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// Behavior states (array of behaviorID + enabled pairs)
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KEY_BEHAVIOR_STATES = 0x0200,
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// Viseme array (single entry containing all visemes)
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KEY_VISEME_ARRAY = 0x0300,
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// Focus behavior settings
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KEY_FOCUS_SETTINGS = 0x0500,
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// Future extensible settings
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KEY_SERIAL_BAUD = 0x0400,
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KEY_MOTOR_UPDATE_INTERVAL = 0x0401,
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// ... add more as needed
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};
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enum ConfigType : uint8_t {
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TYPE_UINT8 = 0x01,
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TYPE_UINT16 = 0x02,
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TYPE_UINT32 = 0x03,
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TYPE_BOOL = 0x04,
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TYPE_INT8 = 0x05,
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TYPE_INT16 = 0x06,
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TYPE_INT32 = 0x07,
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TYPE_FLOAT = 0x08,
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TYPE_STRING = 0x09,
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TYPE_MOTOR_ARRAY = 0x0A, // Special type for motor array
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TYPE_BEHAVIOR_STATES = 0x0B, // Special type for behavior state array
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TYPE_VISEME_ARRAY = 0x0C, // Special type for viseme array
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TYPE_FOCUS_SETTINGS = 0x0D, // Focus behavior settings blob
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};
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struct FirmwareVersion {
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uint8_t major;
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uint8_t minor;
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};
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struct ServoModel {
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uint8_t major;
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uint8_t minor;
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};
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struct Motor {
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String name;
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uint8_t motorID;
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ServoModel servoModel;
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uint16_t position;
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uint16_t current = 0;
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bool isEnabled = true;
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};
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struct RobotConfig {
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String deviceName;
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FirmwareVersion firmwareVersion;
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std::vector<Motor> motors;
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uint16_t getMotorPosition(uint8_t motorID) const;
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uint16_t getMotorCurrent(uint8_t motorID) const;
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uint8_t getMotorModel(uint8_t motorID);
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bool setMotorPosition(uint8_t motorID, uint16_t newPosition);
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bool setMotorCurrent(uint8_t motorID, uint16_t newCurrent);
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bool setMotorEnabled(uint8_t motorID, bool enable);
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bool isMotorEnabled(uint8_t motorID);
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void enableAllMotors();
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String serializeJSON() const;
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std::vector<uint8_t> serializeToBytes() const;
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// Legacy format (v1)
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bool saveToFFat(const char* path = "/robot_config.bin") const;
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bool loadFromFFat(const char* path = "/robot_config.bin");
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// New key-value format (v2)
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bool saveToFFatV2(const char* path = "/robot_config.bin",
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BehaviorManager* behaviorManager = nullptr,
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VisemeBehavior* visemeBehavior = nullptr,
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FocusBehavior* focusBehavior = nullptr) const;
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bool loadFromFFatV2(const char* path = "/robot_config.bin",
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BehaviorManager* behaviorManager = nullptr,
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VisemeBehavior* visemeBehavior = nullptr,
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FocusBehavior* focusBehavior = nullptr);
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// New version with behavior/viseme support
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bool loadOrCreateDefault(const char* path = "/robot_config.bin",
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BehaviorManager* behaviorManager = nullptr,
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VisemeBehavior* visemeBehavior = nullptr,
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FocusBehavior* focusBehavior = nullptr);
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// Legacy version (for backward compatibility)
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bool loadOrCreateDefault(const char* path);
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};
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