mirror of
https://github.com/BotChain-Robots/firmware.git
synced 2026-07-08 17:47:21 +02:00
Cleanup rpc interfaces
This commit is contained in:
239
components/rpc/wireless/WifiManager.cpp
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239
components/rpc/wireless/WifiManager.cpp
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#include <cstring>
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#include "wireless/WifiManager.h"
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#include "ConfigManager.h"
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#include "constants/wifi.h"
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#define TAG "WifiManager"
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#define SOFTAP_SCAN_FREQUENCY_MS 30000
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#define NUM_CONNECT_ATTEMPTS 5
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WifiManager::~WifiManager() {
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this->handle_disconnect();
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vTaskDelete(this->m_task);
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vSemaphoreDelete(this->m_mutex);
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}
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int WifiManager::connect() {
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this->update_state(wifi_state::connect);
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vTaskResume(this->m_task);
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return 0;
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}
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int WifiManager::disconnect() {
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this->update_state(wifi_state::disconnect);
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vTaskResume(this->m_task);
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return 0;
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}
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[[noreturn]] void WifiManager::manage() {
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while (true) {
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xSemaphoreTake(this->m_mutex, portMAX_DELAY);
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this->m_attempts++;
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const auto state = this->m_state;
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xSemaphoreGive(this->m_mutex);
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// Wifi state machine
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switch (state) {
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case wifi_state::connect:
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ESP_LOGI(TAG, "Attempting to connect to wifi in station mode");
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init_connection();
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update_state(wifi_state::connecting);
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break;
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case wifi_state::connecting:
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ESP_LOGI(TAG, "connecting...");
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handle_connecting();
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break;
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case wifi_state::broadcast:
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ESP_LOGI(TAG, "Attempting to broadcast in softap mode");
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init_softap();
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update_state(wifi_state::broadcasting);
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break;
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case wifi_state::broadcasting:
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ESP_LOGI(TAG, "Broadcasting in softap mode");
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vTaskDelay(SOFTAP_SCAN_FREQUENCY_MS / portTICK_PERIOD_MS); // only scan every 30 seconds, as we may disconnect users
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handle_broadcasting(); // scans for known networks
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break;
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case wifi_state::disconnect:
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ESP_LOGI(TAG, "Shutting down wifi");
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handle_disconnect();
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update_state(wifi_state::disconnected);
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break;
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case wifi_state::disconnected:
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ESP_LOGI(TAG, "Disconnected from wifi, starting back up");
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update_state(wifi_state::connect);
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break;
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default:
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vTaskSuspend(nullptr);
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break;
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}
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vTaskDelay(1000 / portTICK_PERIOD_MS);
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}
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}
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[[noreturn]] void WifiManager::s_manage(WifiManager *that) {
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that->manage();
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}
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int WifiManager::init_connection() {
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if (nullptr != this->m_netif) {
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this->handle_disconnect();
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}
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this->m_netif = esp_netif_create_default_wifi_sta(); // Must be destroyed with esp_netif_destroy_default_wifi()
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wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT();
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esp_wifi_init(&cfg);
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esp_event_handler_register(WIFI_EVENT, ESP_EVENT_ANY_ID, wifi_event_handler, this);
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esp_event_handler_register(IP_EVENT, IP_EVENT_STA_GOT_IP, wifi_event_handler, this);
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wifi_config_t wifi_configuration;
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wifi_configuration = {
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.sta = {
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}
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};
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std::string ssid = m_config_manager.get_wifi_ssid();
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std::string pass = m_config_manager.get_wifi_password();
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std::strncpy(reinterpret_cast<char *>(wifi_configuration.sta.ssid), ssid.c_str(), 32);
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std::strncpy(reinterpret_cast<char *>(wifi_configuration.sta.password), pass.c_str(), 64);
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wifi_configuration.sta.ssid[31] = '\0';
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wifi_configuration.sta.password[63] = '\0';
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esp_wifi_set_mode(WIFI_MODE_STA);
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esp_wifi_set_config(static_cast<wifi_interface_t>(ESP_IF_WIFI_STA), &wifi_configuration);
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esp_wifi_start();
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esp_wifi_connect();
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return 0;
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}
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int WifiManager::handle_connecting() {
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if (this->m_attempts > NUM_CONNECT_ATTEMPTS) {
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handle_disconnect();
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update_state(wifi_state::broadcast);
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}
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return 0;
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}
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int WifiManager::handle_disconnect() {
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if (nullptr != this->m_netif) {
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esp_netif_destroy_default_wifi(this->m_netif);
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this->m_netif = nullptr;
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}
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esp_event_handler_unregister(WIFI_EVENT, ESP_EVENT_ANY_ID, wifi_event_handler);
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esp_event_handler_unregister(IP_EVENT, IP_EVENT_STA_GOT_IP, wifi_event_handler);
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esp_wifi_scan_stop();
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esp_wifi_disconnect();
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esp_wifi_stop();
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esp_wifi_clear_ap_list();
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esp_wifi_deinit();
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return 0;
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}
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int WifiManager::handle_broadcasting() {
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ESP_LOGI(TAG, "In softap mode, scanning for known networks");
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wifi_scan_config_t scan_config {};
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scan_config.ssid = reinterpret_cast<uint8_t *>(m_config_manager.get_wifi_ssid().data());
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scan_config.scan_time = {.passive = 500};
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if (const auto err = esp_wifi_scan_start(&scan_config, false); ESP_OK != err) {
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ESP_LOGE(TAG, "Failed to scan for wifi networks, err: %d", err);
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esp_wifi_clear_ap_list(); // must call to free memory allocated by scan.
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return -1;
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}
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vTaskDelay(1000 / portTICK_PERIOD_MS);
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uint16_t found_aps = 0;
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if (const auto err = esp_wifi_scan_get_ap_num(&found_aps); ESP_OK != err) {
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ESP_LOGE(TAG, "Failed to get count of scanned aps");
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esp_wifi_clear_ap_list();
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return -1;
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}
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if (found_aps > 1) {
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ESP_LOGI(TAG, "Found a known network, switching to station mode");
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update_state(wifi_state::disconnect);
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}
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esp_wifi_clear_ap_list(); // must call to free memory allocated by scan.
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return 0;
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}
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int WifiManager::init_softap() {
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if (nullptr != this->m_netif) {
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this->handle_disconnect();
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}
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this->m_netif = esp_netif_create_default_wifi_ap();
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wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT();
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esp_wifi_init(&cfg);
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esp_event_handler_register(WIFI_EVENT, ESP_EVENT_ANY_ID, wifi_event_handler, this);
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wifi_config_t wifi_configuration = {
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.ap = {
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.ssid = WIFI_SSID,
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.password = "",
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.channel = SOFTAP_CHANNEL,
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.authmode = WIFI_AUTH_OPEN,
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.ssid_hidden = 0,
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.max_connection = SOFTAP_MAX_CONNECTIONS,
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.beacon_interval = 100,
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.csa_count = 3,
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.dtim_period = 1,
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},
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};
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esp_wifi_set_mode(WIFI_MODE_APSTA); // enable both ap and station mode for scanning
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esp_wifi_set_config(static_cast<wifi_interface_t>(ESP_IF_WIFI_AP), &wifi_configuration);
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esp_wifi_start();
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return 0;
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}
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void WifiManager::update_state(const wifi_state state) {
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xSemaphoreTake(this->m_mutex, portMAX_DELAY);
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this->m_attempts = 0;
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this->m_state = state;
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xSemaphoreGive(this->m_mutex);
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}
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void WifiManager::wifi_event_handler(void *event_handler_arg, esp_event_base_t event_base, const int32_t event_id, void *event_data) {
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// Passed in as a parameter since c (freertos) cannot call the member function directly.
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const auto that = static_cast<WifiManager *>(event_handler_arg);
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if (WIFI_EVENT_STA_START == event_id) {
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ESP_LOGI(TAG, "Station mode started\n");
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} else if (WIFI_EVENT_STA_CONNECTED == event_id) {
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ESP_LOGI(TAG, "Connected to wifi in station mode\n");
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that->update_state(wifi_state::connected);
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} else if (WIFI_EVENT_STA_DISCONNECTED == event_id) {
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ESP_LOGI(TAG, "Station mode shutdown\n");
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xSemaphoreTake(that->m_mutex, portMAX_DELAY);
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if (that->m_state == wifi_state::connected) {
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xSemaphoreGive(that->m_mutex);
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that->handle_disconnect();
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} else {
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xSemaphoreGive(that->m_mutex);
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}
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} else if (IP_EVENT_STA_GOT_IP == event_id) {
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ESP_LOGI(TAG, "Got IP as station\n");
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} else if (WIFI_EVENT_AP_STACONNECTED == event_id) {
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ESP_LOGI(TAG, "User connected to AP\n");
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} else if (WIFI_EVENT_AP_STADISCONNECTED == event_id) {
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ESP_LOGI(TAG, "User disconnected from AP\n");
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} else if (WIFI_EVENT_AP_START == event_id) {
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ESP_LOGI(TAG, "AP started\n");
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}
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}
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