fix some websocket shit

ground-station.py

@@ -160,7 +160,7 @@ async def run(ws, path):
             client = await new_boat(message[0], message[2], ws)
             if client is not None:
                 async for message in ws:
-                    print("boat" + client['id'] + " says " + message)
+                    print("boat" + client['id'] + " says '" + message + "'")
             break
 
 async def main():

rx_esp32/lib/cli

@@ -1 +1 @@
-Subproject commit ae59563e7da09ba3f974be92b8a02bdfdf7d1dab
+Subproject commit 8204cb08658d293e65a27af46c4d4596bdedaf91

rx_esp32/src/config.h

@@ -3,18 +3,10 @@
 
 #include <stdint.h>
 
-// #define WIFI_SSID "UPC46273"
-// #define WIFI_AUTH WIFI_AUTH_WPA_PSK
-// #define WIFI_PASS "SPHZHKRY"
-// #define WIFI_SSID "Wifi Ding"
-// #define WIFI_AUTH WIFI_AUTH_WPA_WPA2_PSK
-// #define WIFI_PASS "Weet ik niet."
 #define WIFI_SSID "MBCBootjes"
 #define WIFI_AUTH WIFI_AUTH_WPA_WPA2_PSK
 #define WIFI_PASS "hetgrootedok"
 
-// #define UDP_PORT 1234
-
 #define BOAT_NAME "Test boat"
 static uint8_t BoatId = 1;
 
@@ -28,7 +20,8 @@ static uint8_t BoatId = 1;
 #define SERVOS_CH5
 #define SERVOS_CH6
 
-#define WS_RX_BUFFER_LEN 512
+#define WS_RX_BUFFER_LEN 1024
+#define WS_TX_BUFFER_LEN 128
 #define WS_URL "ws://10.254.0.1:8080/"
 
 #define LOGGER_BUFFER_SIZE 65536

rx_esp32/src/logger.c

@@ -21,6 +21,12 @@ void logger_printf(const char *fmt, ...)
 
 	puts(&Logger_buff[Logger_buff_wp]);
 	Logger_buff_wp += len + 1;
+
+	if (Logger_buff_wp >= LOGGER_BUFFER_SIZE)
+	{
+		logger_clearBuffer();
+		LOG_W("buffer cleard, becouse it was full");
+	}
 }
 
 void logger_printFullLog(CLI_t* cli)

rx_esp32/src/main.c

@@ -134,12 +134,13 @@ void app_main() {
 
 			case STATE_WS_CONNECTING:
 				ws_client = ws_connect(WS_URL);
-				cli_ws_client = CLI_init((CLI_charOutFn)&ws_putchar, cmdList);
 				MainState = STATE_WS_WAIT_CONNECTION;
 				break;
 			case STATE_WS_WAIT_CONNECTION:
 				if (ws_client->connected)
 				{
+					cli_ws_client = CLI_init((CLI_charOutFn)&charOut_ws, cmdList);
+					cli_ws_client.echo = false;
 					MainState = STATE_IDEL;
 				}
 				break;
@@ -149,14 +150,16 @@ void app_main() {
 			case STATE_DRIVING:
 				if (!ws_client->connected)
 				{
+					CLI_deinit(&cli_ws_client);
 					MainState = STATE_WS_WAIT_CONNECTION;
 				}
 
-				charIn = ws_getchar(ws_client);
+				// charIn = ws_getchar(ws_client);
-				if (charIn != 255)
+				while ((charIn = ws_getchar(ws_client)) != 255)
 				{
 					CLI_charIn(&cli_ws_client, charIn);
 				}
+				ws_sendData(ws_client);
 				break;
 		}
 	}

rx_esp32/src/ws.c

@@ -42,20 +42,22 @@ static void ws_event_handler(void* handler_args, esp_event_base_t base, int32_t
 			break;
 
 		case WEBSOCKET_EVENT_DATA:
-			LOG_D("ws_event_handler: data recieved (opcode=%02x)", data->op_code);
+			// LOG_D("ws_event_handler: data recieved opcode %d", data->op_code);
-			if (data->op_code == 0x2) 
+			if (data->op_code == 0x02)
 			{
 				LOG_D("ws_event_handler: binary data recieved");
-				// ESP_LOG_BUFFER_HEX("Received binary data", data->data_ptr, data->data_len);
+			}
-			} 
 			else if (data->op_code == 0x08 && data->data_len == 2) 
 			{
 				LOG_W("ws_event_handler: recieved closed message (code: %d)", (((int16_t)(data->data_ptr[0]))<<8) + data->data_ptr[1]);
-				// ESP_LOGW(TAG, "Received closed message with code=%d", 256 * data->data_ptr[0] + data->data_ptr[1]);
+			}
-			} 
+			else if (data->op_code == 0x09 || data->op_code == 0x0A)
-			else 
+			{ // pong or pong packet
+				// do nothing, handled by esp_websocket
+			}
+			else if (data->op_code == 0x01 && data->data_len > 0)
 			{
-				LOG_D("ws_event_handler: data recieved (opcode: %02x, size: %d): '%.*s'", data->op_code, data->data_len, data->data_len, (char*) data->data_ptr);
+				// LOG_D("ws_event_handler: cmd recieved (len: %d): '%.*s'", data->data_len, data->data_len, (char*) data->data_ptr);
 				uint16_t sizeLeft = WS_RX_BUFFER_LEN + client->rxBuffer_rp - client->rxBuffer_wp;
 				if (sizeLeft > WS_RX_BUFFER_LEN)
 				{
@@ -74,12 +76,20 @@ static void ws_event_handler(void* handler_args, esp_event_base_t base, int32_t
 						memcpy(&client->rxBuffer[0], data->data_ptr + sizeLeft, data->data_len - sizeLeft);
 					}
 					client->rxBuffer_wp += data->data_len;
+					if (client->txBuffer_wp >= WS_RX_BUFFER_LEN)
+					{
+						client->txBuffer_wp -= WS_RX_BUFFER_LEN;
+					}
 				}
 				else 
 				{
 					LOG_E("ws_event_handler: no space left in buffer. data ignored (free space: %u)", data->data_len, sizeLeft + client->rxBuffer_rp);
 				}
 			}
+			else
+			{
+				LOG_D("ws_event_handler: data recieved (opcode: 0x%02x, size: %d): '%.*s'", data->op_code, data->data_len, data->data_len, (char*) data->data_ptr);
+			}
 			break;
 		case WEBSOCKET_EVENT_ERROR:
 			if (data->error_handle.esp_ws_handshake_status_code != 0)
@@ -94,6 +104,9 @@ static void ws_event_handler(void* handler_args, esp_event_base_t base, int32_t
 					LOG_E("ws_event_handler: captured as transport's socket errno %d",  data->error_handle.esp_transport_sock_errno);
 			}
 			break;
+		default:
+			LOG_D("ws_event_handler: a unkown event happened: %d", event_id);
+			break;
 	}
 }
 
@@ -102,6 +115,7 @@ ws_client_t ws_connect(char *url)
 	ws_client_t client = malloc(sizeof(ws_client_data_t));
 	client->rxBuffer_rp = 0;
 	client->rxBuffer_wp = 0;
+	client->txBuffer_wp = 0;
 	memset(&(client->rxBuffer[0]), 0, WS_RX_BUFFER_LEN);
 
 	const esp_websocket_client_config_t ws_conf = {
@@ -132,5 +146,27 @@ int ws_getchar(ws_client_t client)
 
 void ws_putchar(ws_client_t client, char c)
 {
-	esp_websocket_client_send_text(client->handle, &c, 1, 1000); //TODO: convert RTOS tick in ms
+	if (client->txBuffer_wp == WS_TX_BUFFER_LEN)
+	{
+		ws_sendData(client);
+
+		if (client->txBuffer_wp == WS_TX_BUFFER_LEN)
+		{
+			LOG_E("ws_sendData: no space left in tx buffer. data ignored");
+         return;
+		}
+	}
+
+	client->txBuffer[client->txBuffer_wp] = c;
+	client->txBuffer_wp++;
+}
+
+void ws_sendData(ws_client_t client)
+{
+	if ((client->txBuffer_wp > 0) && esp_websocket_client_is_connected(client->handle))
+	{
+		LOG_D("ws_sendData: (%d b) '%.*s'", client->txBuffer_wp, client->txBuffer_wp, (char *)&client->txBuffer[0]);
+		esp_websocket_client_send_text(client->handle, (char *)&client->txBuffer[0], client->txBuffer_wp, 1000 * portTICK_PERIOD_MS);
+		client->txBuffer_wp = 0;
+	}
 }

rx_esp32/src/ws.h

@@ -13,11 +13,14 @@ typedef struct {
    unsigned char rxBuffer[WS_RX_BUFFER_LEN];
 	uint16_t rxBuffer_wp;
 	uint16_t rxBuffer_rp;
+   unsigned char txBuffer[WS_TX_BUFFER_LEN];
+	uint16_t txBuffer_wp;
 } ws_client_data_t;
 typedef ws_client_data_t* ws_client_t;
 
 ws_client_t ws_connect(char *url);
 int ws_getchar(ws_client_t client);
 void ws_putchar(ws_client_t client, char c);
+void ws_sendData(ws_client_t client);
 
 #endif