add ws

platformio.ini

@@ -17,3 +17,4 @@ monitor_speed = 115200
 lib_deps =
   adafruit/Adafruit GFX Library
   adafruit/Adafruit SSD1306
+  links2004/WebSockets

src/main.cpp

@@ -4,17 +4,20 @@
 #include "web_server.h"
 #include "controller.h"
 #include "robot_state.h"
+#include "ws_server.h"
 
 void setup() {
   Serial.begin(115200);
 
   actuatorsInit();
   webServerInit();
+  wsInit();
 
   robot.lastCmdMs = millis();
 }
 
 void loop() {
   webServerLoop();
+  wsLoop();
   controllerUpdate();
 }

src/web_ui.cpp

@@ -52,10 +52,30 @@ const char INDEX_HTML[] PROGMEM = R"HTML(
   </div>
 
 <script>
+let ws = null;
+
+function wsConnect(){
+    ws = new WebSocket(`ws://${location.hostname}:81`);
+
+    ws.onopen = () => {
+        st('WS CONNECTED');
+    };
+
+    ws.onclose = () => {
+        st('WS DISCONNECTED');
+        setTimeout(wsConnect, 1000);
+    };
+
+    ws.onmessage = (e) => {
+        const j = JSON.parse(e.data);
+        st(`MODE=${j.mode} | L=${j.speedL} R=${j.speedR} | UP=${Math.floor(j.uptime/1000)}s`);
+    };
+  }
+
   const st = (t) => document.getElementById('st').textContent = t;
   let holdTimer = null;
 
-  async function cmd(c){
+  async function cmd_old(c){
     try{
       const r = await fetch(`/cmd?c=${c}`);
       st(await r.text());
@@ -64,7 +84,13 @@ const char INDEX_HTML[] PROGMEM = R"HTML(
     }
   }
 
-  async function setSpeed(v){
+  function cmd(c){
+    if (ws && ws.readyState === 1) {
+        ws.send(`MOVE:${c}`);
+    }
+  }
+
+  async function setSpeed_old(v){
     document.getElementById('spv').textContent = v;
     try{
       const r = await fetch(`/speed?l=${v}&r=${v}`);
@@ -74,6 +100,13 @@ const char INDEX_HTML[] PROGMEM = R"HTML(
     }
   }
 
+  function setSpeed(v){
+    document.getElementById('spv').textContent = v;
+    if (ws && ws.readyState === 1) {
+        ws.send(`SPEED:${v}`);
+    }
+  }
+
   async function setMode(m){
     try{
       const r = await fetch(`/mode?m=${m}`);
@@ -140,6 +173,7 @@ const char INDEX_HTML[] PROGMEM = R"HTML(
   slider.addEventListener('input', ()=> setSpeed(slider.value));
 
   st('Ready');
+  wsConnect();
 </script>
 </body>
 </html>

src/ws_server.cpp

@@ -0,0 +1,79 @@
+#include <WebSocketsServer.h>
+#include <Arduino.h>
+
+#include "ws_server.h"
+#include "controller.h"
+#include "robot_state.h"
+
+static WebSocketsServer ws(81); // порт 81
+
+static uint32_t lastWsCmdMs = 0;
+
+void wsEvent(uint8_t num, WStype_t type, uint8_t * payload, size_t length) {
+  switch (type) {
+
+    case WStype_CONNECTED:
+      lastWsCmdMs = millis();
+      break;
+
+    case WStype_DISCONNECTED:
+      controllerStop();
+      break;
+
+    case WStype_TEXT: {
+      String msg = String((char*)payload);
+
+      // простейший протокол
+      // MOVE:FWD / MOVE:STOP / SPEED:150
+
+      if (msg.startsWith("MOVE:")) {
+        String cmd = msg.substring(5);
+        cmd.toUpperCase();
+
+        robot.lastCmdMs = millis();
+        lastWsCmdMs = millis();
+
+        if (cmd == "STOP") {
+          controllerStop();
+        } else {
+          controllerMove(cmd);
+        }
+      }
+
+      else if (msg.startsWith("SPEED:")) {
+        int v = msg.substring(6).toInt();
+        controllerSetSpeed(v, v);
+      }
+      break;
+    }
+
+    default:
+      break;
+  }
+}
+
+void wsInit() {
+  ws.begin();
+  ws.onEvent(wsEvent);
+}
+
+void wsLoop() {
+  ws.loop();
+
+  // если WebSocket умер — стоп
+  if (robot.mode == MODE_MANUAL &&
+      millis() - lastWsCmdMs > 400) {
+    controllerStop();
+  }
+}
+
+void wsBroadcastStatus() {
+  String json = "{";
+  json += "\"mode\":\"" + String(modeToStr(robot.mode)) + "\",";
+  json += "\"speedL\":" + String(robot.speedL) + ",";
+  json += "\"speedR\":" + String(robot.speedR) + ",";
+  json += "\"uptime\":" + String(millis());
+  json += "}";
+
+  ws.broadcastTXT(json);
+}

src/ws_server.h

@@ -0,0 +1,4 @@
+#pragma once
+void wsInit();
+void wsLoop();
+void wsBroadcastStatus();