HansonServo/HansonServo.ino

/**
 * HansonServo Firmware
 * 
 * Unified robot controller with:
 * - Feetech servo control (SCS/STS)
 * - Animation playback via node graphs
 * - BNO055 IMU
 * - RD-03D mmWave radar
 * - CRC16 tagged packet protocol
 * 
 * Protocol: 0xA5 0x5A [TAG 4B][LEN 2B][SEQ 2B][PAYLOAD][CRC16 2B]
 */

#include <FFat.h>
#include "protocol.h"
#include "commands.h"
#include "motorcontrol.h"
#include "animation.h"
#include "nodegraph.h"
#include "RobotConfig.h"
#include "sensors.h"

// ============================================================================
// Global State
// ============================================================================

RobotConfig config;

// Timing constants
constexpr uint16_t FRAME_RATE = 48;
constexpr uint16_t FRAME_INTERVAL_MS = 1000 / FRAME_RATE;
constexpr uint16_t MOTOR_UPDATE_INTERVAL_MS = 50;
constexpr uint32_t HEARTBEAT_INTERVAL_MS = 1000;

// ============================================================================
// Utility Functions
// ============================================================================

uint16_t getSineWaveValue(unsigned long centiseconds) {
  constexpr uint16_t WAVE_PERIOD_CS = 400;  // 4 seconds
  constexpr uint16_t WAVE_MAX = 4095;
  
  float theta = (2.0 * PI * centiseconds) / WAVE_PERIOD_CS;
  float sine = sin(theta);
  float scaled = (sine + 1.0) * (WAVE_MAX / 2.0);
  return (uint16_t)round(scaled);
}

// ============================================================================
// Protocol Handler
// ============================================================================

void handleProtocol() {
  if (receivePacket()) {
    dispatchCommand();
  }
}

// ============================================================================
// Animation Playback
// ============================================================================

void runNodeAnimation() {
  static uint32_t lastTickTime = 0;
  static uint32_t currentTick = 0;
  static bool wasActive = false;

  if (!animState.current || !animState.current->isActive()) {
    wasActive = false;
    return;
  }

  // Reset tick when animation starts
  if (!wasActive) {
    currentTick = 0;
    lastTickTime = millis();
    wasActive = true;
  }

  config.enableAllMotors();

  uint32_t now = millis();
  if (now - lastTickTime < FRAME_INTERVAL_MS) return;
  lastTickTime = now;

  // Tick the node graph
  animState.current->nodeGraph.tick(currentTick, *animState.current);
  auto outputs = animState.current->nodeGraph.getServoOutputs();

  // Collect motor commands
  std::vector<uint8_t> motorIDs;
  std::vector<uint16_t> positions;
  std::vector<uint16_t> speeds;

  for (const auto& [motorID, value] : outputs) {
    if (value != 65535) {
      motorIDs.push_back(motorID);
      positions.push_back(value);
      speeds.push_back(0);
      config.setMotorPosition(motorID, value);
      config.setMotorEnabled(motorID, true);
    } else {
      // Only disable torque for motors that should be limp
      if (config.setMotorEnabled(motorID, false)) {
        servoManager[0]->disableTorque(motorID);
      }
    }
  }

  // Send all positions in one sync write - motors move together!
  if (!motorIDs.empty()) {
    servoManager.syncWritePositions(
      motorIDs.data(),
      positions.data(),
      speeds.data(),
      motorIDs.size(),
      config,
      0
    );
  }

  currentTick++;

  // Handle animation end (0 = run indefinitely for variable-only animations)
  if (animState.current->getFrameCount() > 0 && 
      currentTick > animState.current->getFrameCount()) {
    switch (animState.playMode) {
      case PLAY_ONCE:
        animState.stop();
        break;
      case PLAY_LOOP:
        // Continue looping
        break;
      case PLAY_REPEAT:
        if (--animState.repeatsRemaining == 0) {
          animState.stop();
        }
        break;
      default:
        break;
    }
    currentTick = 0;
  }
}

// ============================================================================
// Motor Position Updates
// ============================================================================

void updateMotorPositions() {
  static unsigned long lastUpdate = 0;

  if (millis() - lastUpdate < MOTOR_UPDATE_INTERVAL_MS) return;
  lastUpdate = millis();

  for (const Motor& motor : config.motors) {
    servoManager[0]->setFeetechMode(motor.servoModel.major);
    uint16_t position = servoManager[0]->getPosition(motor.motorID);
    config.setMotorPosition(motor.motorID, position);
  }
}

void handleMotorStreaming() {
  if (motorStream.shouldStream()) {
    sendMotorPositions();
  }
}

// ============================================================================
// Heartbeat
// ============================================================================

void sendHeartbeat() {
  static unsigned long lastHeartbeat = 0;
  
  if (millis() - lastHeartbeat < HEARTBEAT_INTERVAL_MS) return;
  lastHeartbeat = millis();

  // Pack state: uptime(4) + flags(2)
  uint8_t payload[6];
  uint32_t uptime = millis() / 1000;
  uint16_t flags = 0;
  
  // Build flags
  if (imu.isReady()) flags |= 0x01;
  if (animState.current && animState.current->isActive()) flags |= 0x02;
  if (motorStream.active) flags |= 0x04;
  if (sensors.isIMUStreamEnabled()) flags |= 0x08;
  if (sensors.isRadarStreamEnabled()) flags |= 0x10;

  payload[0] = uptime & 0xFF;
  payload[1] = (uptime >> 8) & 0xFF;
  payload[2] = (uptime >> 16) & 0xFF;
  payload[3] = (uptime >> 24) & 0xFF;
  payload[4] = flags & 0xFF;
  payload[5] = (flags >> 8) & 0xFF;

  sendPacket(Tag::STATE, payload, 6);
}

// ============================================================================
// Setup
// ============================================================================

void setup() {
  // Serial setup (buffer size must be set before begin)
  Serial.setRxBufferSize(8192);
  Serial.begin(1000000);
  
  // Startup delay
  delay(500);
  Serial.println("\n[HansonServo] Starting...");

  // Initialize servo manager
  servoManager.init();
  Serial.println("[HansonServo] Servos initialized");

  // Initialize sensors
  sensors.init();

  // Initialize filesystem
  if (!FFat.begin(true)) {
    Serial.println("[HansonServo] FFat mount failed!");
    return;
  }
  Serial.println("[HansonServo] Filesystem ready");

  // Load or create robot config
  if (config.loadOrCreateDefault()) {
    Serial.println("[HansonServo] Config loaded: " + config.deviceName);
  } else {
    Serial.println("[HansonServo] Config init failed");
  }

  Serial.println("[HansonServo] Ready");
  Serial.println("[HansonServo] Protocol: 0xA5 0x5A tagged packets with CRC16");
}

// ============================================================================
// Main Loop
// ============================================================================

void loop() {
  // Protocol handling
  handleProtocol();
  
  // Animation playback
  runNodeAnimation();
  
  // Motor position updates
  updateMotorPositions();
  handleMotorStreaming();
  
  // Sensor updates and streaming
  sensors.update();
  
  // Heartbeat
  sendHeartbeat();
}