923 lines
26 KiB
C++
923 lines
26 KiB
C++
/**
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* @file web_client.ino
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* @brief DShotRMT Web Control as WiFi Client
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* @author Wastl Kraus
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* @date 2025-09-11
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* @license MIT
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*/
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#include <Arduino.h>
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#include <WiFi.h>
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#include <DShotRMT.h>
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#include <ArduinoJson.h>
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#include <AsyncTCP.h>
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#include <ESPAsyncWebServer.h>
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// WiFi Client Configuration - UPDATE THESE VALUES!
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static constexpr auto *WIFI_SSID = "YOUR_SSID"; // Enter your WiFi SSID
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static constexpr auto *WIFI_PASSWORD = "YOUR_PASSWORD"; // Enter your WiFi password
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// Connection timeout in milliseconds
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static constexpr auto WIFI_CONNECT_TIMEOUT = 20000;
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// USB serial port settings
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static constexpr auto &USB_SERIAL = Serial;
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static constexpr auto USB_SERIAL_BAUD = 115200;
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// Motor configuration - Pin number or GPIO_PIN
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static constexpr auto MOTOR01_PIN = 17;
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// Supported: DSHOT150, DSHOT300, DSHOT600, (DSHOT1200)
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static constexpr dshot_mode_t DSHOT_MODE = DSHOT300;
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// BiDirectional DShot Support (default: false)
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static constexpr auto IS_BIDIRECTIONAL = false;
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// Motor magnet count for RPM calculation
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static constexpr auto MOTOR01_MAGNET_COUNT = 14;
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// Creates the motor instance
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DShotRMT motor01(MOTOR01_PIN, DSHOT_MODE, IS_BIDIRECTIONAL);
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// Web Server Configuration
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AsyncWebServer server(80);
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AsyncWebSocket ws("/ws");
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// Global variables
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static uint16_t throttle = DSHOT_CMD_MOTOR_STOP;
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static bool isArmed = false;
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static bool last_sent_armed = false;
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static bool continuous_throttle = true;
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// WiFi status tracking
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static bool wifi_connected = false;
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// Helpers (forward declaration)
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void printMenu();
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void handleSerialInput(const String &input);
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void handleWebSocketMessage(void *arg, uint8_t *data, size_t len);
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void onWsEvent(AsyncWebSocket *server, AsyncWebSocketClient *client, AwsEventType type, void *arg, uint8_t *data, size_t len);
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bool connectToWiFi();
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void printWiFiStatus();
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// Web Site Content
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const char index_html[] PROGMEM = R"rawliteral(
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<!DOCTYPE html>
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<html lang="de">
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<head>
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<meta charset="UTF-8">
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<meta name="viewport" content="width=device-width, initial-scale=1.0, maximum-scale=1.0, user-scalable=no">
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<title>DShotRMT Web Client</title>
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<style>
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body {
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font-family: -apple-system, BlinkMacSystemFont, "Segoe UI", Roboto, "Helvetica Neue", Arial, sans-serif;
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display: flex;
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flex-direction: column;
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align-items: center;
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background-color: #2c3e50;
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color: #ecf0f1;
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margin: 0;
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height: 100dvh;
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justify-content: center;
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}
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h1 {
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font-size: 1.5em;
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font-weight: bold;
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margin-bottom: 20px;
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}
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.control-container {
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background-color: #34495e;
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padding: 30px;
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border-radius: 12px;
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box-shadow: 0 4px 8px rgba(0, 0, 0, 0.2);
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text-align: center;
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width: 85%;
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max-width: 500px;
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}
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/* Arming Switch Styles */
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.arming-section {
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margin-bottom: 25px;
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padding: 15px;
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background-color: #2c3e50;
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border-radius: 8px;
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border: 2px solid #e74c3c;
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}
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.arming-switch {
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display: flex;
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align-items: center;
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justify-content: center;
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gap: 15px;
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margin-bottom: 10px;
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}
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.switch {
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position: relative;
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display: inline-block;
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width: 60px;
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height: 34px;
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}
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.switch input {
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opacity: 0;
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width: 0;
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height: 0;
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}
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.slider-switch {
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position: absolute;
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cursor: pointer;
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top: 0;
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left: 0;
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right: 0;
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bottom: 0;
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background-color: #e74c3c;
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-webkit-transition: .4s;
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transition: .4s;
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border-radius: 34px;
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}
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.slider-switch:before {
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position: absolute;
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content: "";
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height: 26px;
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width: 26px;
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left: 4px;
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bottom: 4px;
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background-color: white;
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-webkit-transition: .4s;
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transition: .4s;
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border-radius: 50%;
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}
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input:checked+.slider-switch {
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background-color: #27ae60;
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}
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input:checked+.slider-switch:before {
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-webkit-transform: translateX(26px);
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-ms-transform: translateX(26px);
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transform: translateX(26px);
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}
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.arming-label {
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font-size: 1.2em;
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font-weight: bold;
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}
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.arming-status {
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font-size: 0.9em;
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margin-top: 5px;
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}
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.status-disarmed {
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color: #e74c3c;
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}
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.status-armed {
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color: #27ae60;
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}
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/* Throttle Section */
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.throttle-section {
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opacity: 0.3;
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transition: opacity 0.3s ease;
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}
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.throttle-section.armed {
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opacity: 1;
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}
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#throttleValue {
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font-size: 2.5em;
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font-weight: bold;
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color: #3498db;
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margin-bottom: 20px;
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}
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#throttleSlider {
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appearance: none;
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width: 100%;
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height: 25px;
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background: #2c3e50;
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outline: none;
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border-radius: 12px;
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}
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#throttleSlider::-webkit-slider-thumb {
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-webkit-appearance: none;
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appearance: none;
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width: 40px;
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height: 40px;
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background: #3498db;
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cursor: pointer;
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border-radius: 50%;
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}
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#throttleSlider::-moz-range-thumb {
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width: 40px;
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height: 40px;
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background: #3498db;
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cursor: pointer;
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border-radius: 50%;
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border: none;
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}
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.stats {
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margin-top: 20px;
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font-size: 1.2em;
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}
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.stats span {
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font-weight: bold;
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color: #e67e22;
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}
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.warning-text {
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color: #e74c3c;
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font-size: 0.9em;
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margin-top: 10px;
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font-style: italic;
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}
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</style>
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</head>
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<body>
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<h1>DShotRMT Web Client</h1>
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<div class="control-container">
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<!-- Arming Section -->
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<div class="arming-section">
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<div class="arming-switch">
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<span class="arming-label">ARMING SWITCH</span>
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<label class="switch">
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<input type="checkbox" id="armingSwitch">
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<span class="slider-switch"></span>
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</label>
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</div>
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<div class="arming-status">
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<span id="armingStatus" class="status-disarmed">DISARMED</span>
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</div>
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<div class="warning-text">
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⚠️ Disabled when disarmed!
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</div>
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</div>
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<!-- Throttle Section -->
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<div class="throttle-section" id="throttleSection">
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<div id="throttleValue">0</div>
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<input type="range" min="48" max="2047" value="0" id="throttleSlider" disabled>
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</div>
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<div class="stats">
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RPM: <span id="rpmValue">--</span>
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</div>
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</div>
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<script>
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const gateway = `ws://${window.location.hostname}/ws`;
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let websocket;
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let isArmed = false;
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// Init WebSocket
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window.addEventListener('load', () => {
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initWebSocket();
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});
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function initWebSocket() {
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console.log('Trying to open a WebSocket connection...');
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websocket = new WebSocket(gateway);
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websocket.onopen = onOpen;
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websocket.onclose = onClose;
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websocket.onmessage = onMessage;
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}
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function onOpen(event) {
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console.log('Connection opened');
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}
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function onClose(event) {
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console.log('Connection closed');
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setTimeout(initWebSocket, 2000);
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}
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// Getting data from sketch
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function onMessage(event) {
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try {
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const data = JSON.parse(event.data);
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if (data.rpm !== undefined) {
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document.getElementById('rpmValue').innerText = data.rpm;
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}
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// Sync web and serial throttle inputs
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if (data.throttle !== undefined) {
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if (isArmed) {
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document.getElementById('throttleSlider').value = data.throttle;
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document.getElementById('throttleValue').innerText = data.throttle;
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}
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}
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// Sync arming status if received from ESP32
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if (data.armed !== undefined) {
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isArmed = data.armed;
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updateArmingUI();
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}
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} catch (e) {
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console.error("Error parsing JSON: ", e);
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}
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}
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// Elements
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const slider = document.getElementById('throttleSlider');
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const sliderValue = document.getElementById('throttleValue');
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const armingSwitch = document.getElementById('armingSwitch');
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const armingStatus = document.getElementById('armingStatus');
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const throttleSection = document.getElementById('throttleSection');
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// Arming switch event
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armingSwitch.addEventListener('change', () => {
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isArmed = armingSwitch.checked;
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updateArmingUI();
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// Send arming status to ESP32
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const message = JSON.stringify({
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"armed": isArmed,
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"throttle": isArmed ? parseInt(slider.value) : 0
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});
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console.log("Sending arming status: ", message);
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websocket.send(message);
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// If disarmed, set throttle to 0
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if (!isArmed) {
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slider.value = 0;
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sliderValue.innerText = 0;
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}
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});
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// Update UI based on arming status
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function updateArmingUI() {
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// Synch checkbox, as well
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armingSwitch.checked = isArmed;
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if (isArmed) {
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armingStatus.innerText = 'ARMED';
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armingStatus.className = 'status-armed';
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throttleSection.classList.add('armed');
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slider.disabled = false;
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} else {
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armingStatus.innerText = 'DISARMED';
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armingStatus.className = 'status-disarmed';
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throttleSection.classList.remove('armed');
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slider.disabled = true;
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slider.value = 0;
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sliderValue.innerText = 0;
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}
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}
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// Throttle slider event
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slider.addEventListener('input', () => {
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if (!isArmed) {
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slider.disabled = true;
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slider.value = 0;
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sliderValue.innerText = 0;
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return;
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}
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const throttle = slider.value;
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sliderValue.innerText = throttle;
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const message = JSON.stringify({
|
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"throttle": parseInt(throttle),
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"armed": isArmed
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});
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console.log("Sending throttle: ", message);
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websocket.send(message);
|
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});
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// Initialize UI
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updateArmingUI();
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</script>
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</body>
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||
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</html>
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)rawliteral";
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//
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void setup()
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{
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USB_SERIAL.begin(USB_SERIAL_BAUD);
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USB_SERIAL.println();
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USB_SERIAL.println("DShotRMT Web Client Demo Starting...");
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motor01.begin();
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motor01.printCpuInfo();
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// Connect to WiFi network
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USB_SERIAL.println("\nConnecting to WiFi network...");
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wifi_connected = connectToWiFi();
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if (wifi_connected)
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{
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// Init WebSockets and Webserver
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USB_SERIAL.println("\nStarting Webserver...");
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ws.onEvent(onWsEvent);
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server.addHandler(&ws);
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server.on("/", HTTP_GET, [](AsyncWebServerRequest *request)
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{ request->send_P(200, "text/html", index_html); });
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server.begin();
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USB_SERIAL.println("HTTP server started.");
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printWiFiStatus();
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}
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else
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{
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USB_SERIAL.println("\n*** WARNING: WiFi connection failed! ***");
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USB_SERIAL.println("*** Web interface not available ***");
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USB_SERIAL.println("*** Only serial control available ***");
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}
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||
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// Initialize with disarmed state
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setArmingStatus(false);
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printMenu();
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}
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//
|
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void loop()
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{
|
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static uint64_t last_serial_update = 0;
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static uint16_t last_sent_throttle = DSHOT_CMD_MOTOR_STOP;
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static String last_sent_rpm = "N/A";
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static uint64_t last_wifi_check = 0;
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||
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// Check WiFi connection every 30 seconds
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if (esp_timer_get_time() - last_wifi_check >= 30000000)
|
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{
|
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if (WiFi.status() != WL_CONNECTED && wifi_connected)
|
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{
|
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USB_SERIAL.println("\n*** WiFi connection lost! ***");
|
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wifi_connected = false;
|
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}
|
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else if (WiFi.status() == WL_CONNECTED && !wifi_connected)
|
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{
|
||
USB_SERIAL.println("\n*** WiFi connection restored! ***");
|
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wifi_connected = true;
|
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printWiFiStatus();
|
||
}
|
||
|
||
last_wifi_check = esp_timer_get_time();
|
||
}
|
||
|
||
// Handle serial input
|
||
if (USB_SERIAL.available() > 0)
|
||
{
|
||
String input = USB_SERIAL.readStringUntil('\n');
|
||
input.trim();
|
||
if (input.length() > 0)
|
||
{
|
||
handleSerialInput(input);
|
||
}
|
||
}
|
||
|
||
// Send throttle value only if armed and continuous mode is enabled
|
||
if (isArmed && continuous_throttle && throttle > 0)
|
||
{
|
||
motor01.sendThrottle(throttle);
|
||
}
|
||
else if (!isArmed && continuous_throttle)
|
||
{
|
||
// Ensure motor is stopped when disarmed
|
||
motor01.sendCommand(DSHOT_CMD_MOTOR_STOP);
|
||
}
|
||
|
||
// Print motor stats every 3 seconds in continuous mode
|
||
if ((esp_timer_get_time() - last_serial_update >= 3000000))
|
||
{
|
||
motor01.printDShotInfo();
|
||
|
||
USB_SERIAL.println(" ");
|
||
|
||
// Get Motor RPM if bidirectional and armed
|
||
if (IS_BIDIRECTIONAL && isArmed)
|
||
{
|
||
dshot_result_t telem_result = motor01.getTelemetry(MOTOR01_MAGNET_COUNT);
|
||
printDShotResult(telem_result);
|
||
}
|
||
|
||
USB_SERIAL.println("Type 'help' to show Menu");
|
||
|
||
// Time Stamp
|
||
last_serial_update = esp_timer_get_time();
|
||
}
|
||
|
||
// Update JSON on data change (only if WiFi connected)
|
||
if (wifi_connected)
|
||
{
|
||
String current_rpm = "N/A";
|
||
|
||
if (IS_BIDIRECTIONAL && isArmed)
|
||
{
|
||
dshot_result_t telem_result = motor01.getTelemetry(MOTOR01_MAGNET_COUNT);
|
||
if (telem_result.success && telem_result.motor_rpm > 0)
|
||
{
|
||
current_rpm = String(telem_result.motor_rpm);
|
||
}
|
||
}
|
||
|
||
if (throttle != last_sent_throttle || isArmed != last_sent_armed || current_rpm != last_sent_rpm)
|
||
{
|
||
// Generate JSON for Webserver
|
||
JsonDocument doc;
|
||
doc["throttle"] = isArmed ? throttle : 0;
|
||
doc["armed"] = isArmed;
|
||
doc["rpm"] = current_rpm;
|
||
|
||
String json_output;
|
||
json_output.reserve(256);
|
||
serializeJson(doc, json_output);
|
||
|
||
if (ws.count() > 0)
|
||
{
|
||
ws.textAll(json_output);
|
||
}
|
||
|
||
// Update last run
|
||
last_sent_throttle = throttle;
|
||
last_sent_armed = isArmed;
|
||
last_sent_rpm = current_rpm;
|
||
}
|
||
|
||
ws.cleanupClients();
|
||
}
|
||
}
|
||
|
||
// Connect to WiFi network
|
||
bool connectToWiFi()
|
||
{
|
||
WiFi.mode(WIFI_STA);
|
||
WiFi.begin(WIFI_SSID, WIFI_PASSWORD);
|
||
|
||
USB_SERIAL.printf("Connecting to '%s'", WIFI_SSID);
|
||
|
||
uint32_t start_time = millis();
|
||
|
||
while (WiFi.status() != WL_CONNECTED && (millis() - start_time) < WIFI_CONNECT_TIMEOUT)
|
||
{
|
||
delay(500);
|
||
USB_SERIAL.print(".");
|
||
}
|
||
|
||
if (WiFi.status() == WL_CONNECTED)
|
||
{
|
||
USB_SERIAL.println(" Connected!");
|
||
return true;
|
||
}
|
||
else
|
||
{
|
||
USB_SERIAL.println(" Failed!");
|
||
USB_SERIAL.printf("WiFi Status: %d\n", WiFi.status());
|
||
return false;
|
||
}
|
||
}
|
||
|
||
// Print current WiFi status
|
||
void printWiFiStatus()
|
||
{
|
||
if (WiFi.status() == WL_CONNECTED)
|
||
{
|
||
USB_SERIAL.println();
|
||
USB_SERIAL.println("***********************************************");
|
||
USB_SERIAL.println(" --- WIFI INFO --- ");
|
||
USB_SERIAL.println("***********************************************");
|
||
USB_SERIAL.printf("SSID: %s\n", WiFi.SSID().c_str());
|
||
USB_SERIAL.printf("IP Address: %s\n", WiFi.localIP().toString().c_str());
|
||
USB_SERIAL.printf("Gateway: %s\n", WiFi.gatewayIP().toString().c_str());
|
||
USB_SERIAL.printf("Subnet: %s\n", WiFi.subnetMask().toString().c_str());
|
||
USB_SERIAL.printf("DNS: %s\n", WiFi.dnsIP().toString().c_str());
|
||
USB_SERIAL.printf("Signal Strength: %d dBm\n", WiFi.RSSI());
|
||
USB_SERIAL.printf("MAC Address: %s\n", WiFi.macAddress().c_str());
|
||
USB_SERIAL.println("***********************************************");
|
||
USB_SERIAL.printf("Web Interface: http://%s\n", WiFi.localIP().toString().c_str());
|
||
USB_SERIAL.println("***********************************************");
|
||
}
|
||
else
|
||
{
|
||
USB_SERIAL.println("WiFi not connected!");
|
||
}
|
||
}
|
||
|
||
//
|
||
void setArmingStatus(bool armed)
|
||
{
|
||
isArmed = armed;
|
||
|
||
if (armed)
|
||
{
|
||
continuous_throttle = true;
|
||
// dirty - force JSON update for WebSocket clients
|
||
last_sent_armed = !armed; // Trigger JSON send in next loop
|
||
return;
|
||
}
|
||
|
||
// Safety: Stop motor and reset throttle when disarming
|
||
throttle = 0;
|
||
continuous_throttle = false;
|
||
motor01.sendCommand(DSHOT_CMD_MOTOR_STOP);
|
||
USB_SERIAL.println(" ");
|
||
USB_SERIAL.println("=== MOTOR DISARMED - SAFETY STOP EXECUTED ===");
|
||
|
||
// Force JSON update for WebSocket clients
|
||
last_sent_armed = !armed; // Trigger JSON send in next loop
|
||
}
|
||
|
||
//
|
||
void printMenu()
|
||
{
|
||
USB_SERIAL.println(" ");
|
||
USB_SERIAL.println("***********************************************");
|
||
USB_SERIAL.println(" --- DShotRMT Web Client Demo --- ");
|
||
USB_SERIAL.println("***********************************************");
|
||
|
||
if (wifi_connected)
|
||
{
|
||
USB_SERIAL.printf(" Web Interface: http://%s \n", WiFi.localIP().toString().c_str());
|
||
}
|
||
else
|
||
{
|
||
USB_SERIAL.println(" Web Interface: NOT AVAILABLE ");
|
||
}
|
||
|
||
USB_SERIAL.println("***********************************************");
|
||
USB_SERIAL.println(" arm - Arm motor");
|
||
USB_SERIAL.println(" disarm - Disarm motor (safety)");
|
||
USB_SERIAL.println(" <value> - Set throttle (48 – 2047)");
|
||
USB_SERIAL.println(" 0 - Stop motor");
|
||
USB_SERIAL.println("***********************************************");
|
||
USB_SERIAL.println(" cmd <number> - Send DShot command (0 - 47)");
|
||
USB_SERIAL.println(" info - Show motor info");
|
||
USB_SERIAL.println(" wifi - Show WiFi status");
|
||
USB_SERIAL.println(" reconnect - Reconnect to WiFi");
|
||
if (IS_BIDIRECTIONAL)
|
||
{
|
||
USB_SERIAL.println(" rpm - Get telemetry data");
|
||
}
|
||
USB_SERIAL.println("***********************************************");
|
||
USB_SERIAL.println(" h / help - Show this Menu");
|
||
USB_SERIAL.println("***********************************************");
|
||
USB_SERIAL.printf(" Current Status: %s\n", isArmed ? "ARMED" : "DISARMED");
|
||
USB_SERIAL.printf(" WiFi Status: %s\n", wifi_connected ? "CONNECTED" : "DISCONNECTED");
|
||
USB_SERIAL.println("***********************************************");
|
||
}
|
||
|
||
// Handle serial inputs and updates global variables
|
||
void handleSerialInput(const String &input)
|
||
{
|
||
if (input == "arm")
|
||
{
|
||
setArmingStatus(true);
|
||
return;
|
||
}
|
||
|
||
if (input == "0" || input == "disarm")
|
||
{
|
||
setArmingStatus(false);
|
||
return;
|
||
}
|
||
|
||
if (input == "info")
|
||
{
|
||
motor01.printDShotInfo();
|
||
USB_SERIAL.println(" ");
|
||
USB_SERIAL.printf("Arming Status: %s\n", isArmed ? "ARMED" : "DISARMED");
|
||
return;
|
||
}
|
||
|
||
if (input == "wifi")
|
||
{
|
||
printWiFiStatus();
|
||
return;
|
||
}
|
||
|
||
if (input == "reconnect")
|
||
{
|
||
USB_SERIAL.println("Reconnecting to WiFi...");
|
||
WiFi.disconnect();
|
||
delay(1000);
|
||
wifi_connected = connectToWiFi();
|
||
if (wifi_connected)
|
||
{
|
||
printWiFiStatus();
|
||
}
|
||
return;
|
||
}
|
||
|
||
if (input == "rpm" && IS_BIDIRECTIONAL)
|
||
{
|
||
if (isArmed)
|
||
{
|
||
dshot_result_t result = motor01.getTelemetry(MOTOR01_MAGNET_COUNT);
|
||
printDShotResult(result);
|
||
}
|
||
else
|
||
{
|
||
USB_SERIAL.println(" ");
|
||
USB_SERIAL.println("Cannot read RPM - Motor is DISARMED");
|
||
}
|
||
return;
|
||
}
|
||
|
||
if (input.startsWith("cmd "))
|
||
{
|
||
if (!isArmed)
|
||
{
|
||
USB_SERIAL.println(" ");
|
||
USB_SERIAL.println("Cannot send command - Motor is DISARMED. Use 'arm' command first.");
|
||
return;
|
||
}
|
||
|
||
continuous_throttle = false;
|
||
int cmd_num = input.substring(4).toInt();
|
||
|
||
if (cmd_num >= DSHOT_CMD_MOTOR_STOP && cmd_num <= DSHOT_CMD_MAX)
|
||
{
|
||
dshot_result_t result = motor01.sendCommand(cmd_num);
|
||
printDShotResult(result);
|
||
}
|
||
else
|
||
{
|
||
USB_SERIAL.println(" ");
|
||
USB_SERIAL.printf("Invalid command: %d (valid range: 0 - %d)\n", cmd_num, DSHOT_CMD_MAX);
|
||
}
|
||
return;
|
||
}
|
||
|
||
if (input == "h" || input == "help")
|
||
{
|
||
printMenu();
|
||
return;
|
||
}
|
||
|
||
if (input == "status")
|
||
{
|
||
USB_SERIAL.println(" ");
|
||
USB_SERIAL.printf("Arming Status: %s\n", isArmed ? "ARMED" : "DISARMED");
|
||
USB_SERIAL.printf("Current Throttle: %u\n", throttle);
|
||
USB_SERIAL.printf("Continuous Mode: %s\n", continuous_throttle ? "ACTIVE" : "INACTIVE");
|
||
USB_SERIAL.printf("WiFi Status: %s\n", wifi_connected ? "CONNECTED" : "DISCONNECTED");
|
||
if (wifi_connected)
|
||
{
|
||
USB_SERIAL.printf("IP Address: %s\n", WiFi.localIP().toString().c_str());
|
||
}
|
||
return;
|
||
}
|
||
|
||
// Handle throttle input
|
||
int throttle_value = input.toInt();
|
||
|
||
if (throttle_value >= DSHOT_THROTTLE_MIN && throttle_value <= DSHOT_THROTTLE_MAX)
|
||
{
|
||
if (!isArmed)
|
||
{
|
||
USB_SERIAL.println(" ");
|
||
USB_SERIAL.println("Cannot set throttle - Motor is DISARMED. Use 'arm' command first.");
|
||
return;
|
||
}
|
||
|
||
throttle = throttle_value;
|
||
continuous_throttle = true;
|
||
|
||
dshot_result_t result = motor01.sendThrottle(throttle);
|
||
|
||
if (result.success)
|
||
{
|
||
USB_SERIAL.println(" ");
|
||
USB_SERIAL.printf("Throttle set to %u (continuous mode active)\n", throttle);
|
||
}
|
||
return;
|
||
}
|
||
|
||
if (throttle_value == 0)
|
||
{
|
||
throttle = 0;
|
||
continuous_throttle = false;
|
||
dshot_result_t result = motor01.sendCommand(DSHOT_CMD_MOTOR_STOP);
|
||
printDShotResult(result);
|
||
return;
|
||
}
|
||
|
||
// Invalid input
|
||
USB_SERIAL.println(" ");
|
||
USB_SERIAL.printf("Invalid input: '%s'\n", input.c_str());
|
||
USB_SERIAL.printf("Valid throttle range: %d - %d\n", DSHOT_THROTTLE_MIN, DSHOT_THROTTLE_MAX);
|
||
USB_SERIAL.println("Use 'arm' to enable motor control");
|
||
}
|
||
|
||
// Websocket request processing
|
||
void handleWebSocketMessage(void *arg, uint8_t *data, size_t len)
|
||
{
|
||
JsonDocument doc;
|
||
DeserializationError error = deserializeJson(doc, data, len);
|
||
|
||
if (error)
|
||
{
|
||
USB_SERIAL.print(F("deserializeJson() failed: "));
|
||
USB_SERIAL.println(error.c_str());
|
||
return;
|
||
}
|
||
|
||
bool armedFromWeb = false;
|
||
|
||
// Handle arming status
|
||
if (doc.containsKey("armed"))
|
||
{
|
||
bool armed = doc["armed"];
|
||
setArmingStatus(armed);
|
||
armedFromWeb = true;
|
||
}
|
||
|
||
// Handle throttle value (only if armed)
|
||
if (doc.containsKey("throttle"))
|
||
{
|
||
if (!isArmed)
|
||
{
|
||
throttle = 0;
|
||
continuous_throttle = false;
|
||
// Ignore throttle commands when disarmed
|
||
USB_SERIAL.println(" ");
|
||
USB_SERIAL.println("Web throttle command ignored - Motor is DISARMED");
|
||
return;
|
||
}
|
||
|
||
uint16_t web_throttle = doc["throttle"];
|
||
|
||
if (web_throttle == 0)
|
||
{
|
||
throttle = 0;
|
||
continuous_throttle = false;
|
||
motor01.sendCommand(DSHOT_CMD_MOTOR_STOP);
|
||
}
|
||
else if (web_throttle >= DSHOT_THROTTLE_MIN && web_throttle <= DSHOT_THROTTLE_MAX)
|
||
{
|
||
throttle = web_throttle;
|
||
continuous_throttle = true;
|
||
}
|
||
}
|
||
|
||
// Webserver arms with DSHOT_THROTTLE_MIN
|
||
if (armedFromWeb && isArmed)
|
||
{
|
||
continuous_throttle = true;
|
||
motor01.sendThrottle(throttle);
|
||
USB_SERIAL.println(" ");
|
||
USB_SERIAL.printf("Motor armed via Web - throttle set to %i\n", throttle);
|
||
}
|
||
}
|
||
|
||
// Websocket request handler
|
||
void onWsEvent(AsyncWebSocket *server, AsyncWebSocketClient *client, AwsEventType type, void *arg, uint8_t *data, size_t len)
|
||
{
|
||
switch (type)
|
||
{
|
||
case WS_EVT_CONNECT:
|
||
USB_SERIAL.printf("Web Client #%u connected from %s\n", client->id(), client->remoteIP().toString().c_str());
|
||
|
||
// Send current arming status to new client
|
||
{
|
||
JsonDocument doc;
|
||
doc["armed"] = isArmed;
|
||
doc["throttle"] = isArmed ? throttle : 0;
|
||
String json_output;
|
||
serializeJson(doc, json_output);
|
||
client->text(json_output);
|
||
}
|
||
break;
|
||
|
||
case WS_EVT_DISCONNECT:
|
||
USB_SERIAL.printf("Web Client #%u disconnected\n", client->id());
|
||
break;
|
||
|
||
case WS_EVT_DATA:
|
||
handleWebSocketMessage(arg, data, len);
|
||
break;
|
||
|
||
case WS_EVT_PONG:
|
||
case WS_EVT_ERROR:
|
||
break;
|
||
}
|
||
}
|