slopping up a platformio library for people to make rover peripherals

esp32/rover-gpio-peripheral/src/main.cpp

@@ -1,10 +1,4 @@
-#include <Arduino.h>
-#include <ConfigurableFirmata.h>
-#include <FirmataExt.h>
-#include <RoverPeripheralFirmata.h>
-
-FirmataExt firmataExtension;
-RoverPeripheralFirmata peripheral("Rover GPIO");
+#include <RoverPeripheral.h>
 
 namespace {
 // Every example pin is present on both the classic ESP32 DevKitC and the
@@ -12,18 +6,33 @@ namespace {
 // S3 boards use them for USB D- and D+.
 constexpr uint8_t kSpecialActionPin = 21;
 
-void runSpecialAction() {
-  // This intentionally represents arbitrary device behavior rather than a raw
-  // pin mapping. Replace it with a motor sequence, LED animation, actuator
-  // routine, or any other application-specific function the accessory needs.
-  digitalWrite(kSpecialActionPin, HIGH);
-  delay(80);
-  digitalWrite(kSpecialActionPin, LOW);
+int repeatCount = 1;
+String displayMessage;
+
+void runSpecialAction(bool pressed) {
+  // Receiving both button edges lets application hardware remain active only
+  // while the driver holds the momentary control.
+  digitalWrite(kSpecialActionPin, pressed ? HIGH : LOW);
 }
 
-void registerBuiltInRoverControls() {
-  // These three roles replace physical GPIO backends while preserving the
-  // existing camera, headlight, and laser commands and HUD controls.
+void setRepeatCount(int value) {
+  // A real device can use this value when it starts its next animation or
+  // actuator sequence. Storing it keeps this reference callback non-blocking.
+  repeatCount = value;
+}
+
+void setDisplayMessage(const String& value) {
+  // Display hardware can render the stored value from updateRoverPeripheral().
+  // Avoiding Serial output is important because Serial belongs to Firmata.
+  displayMessage = value;
+}
+}  // namespace
+
+void configureRoverPeripheral(RoverPeripheral& io) {
+  io.name("Rover GPIO");
+
+  // Standard roles retain the rover's existing HUD controls while moving the
+  // electrical outputs to this ESP32 on either a Pi or laptop rover host.
   RoverCameraServoConfig cameraServo;
   cameraServo.pin = 14;
   cameraServo.minimumAngleDegrees = -15;
@@ -34,89 +43,55 @@ void registerBuiltInRoverControls() {
   cameraServo.maximumPulseMicroseconds = 2100;
   cameraServo.allowRawPulse = false;
   cameraServo.inverted = false;
-  peripheral.addRoverCameraServo(cameraServo);
+  io.addCameraServo(cameraServo);
 
   RoverDigitalOutputConfig headlight;
   headlight.pin = 18;
   headlight.polarity = OutputPolarity::ActiveHigh;
   headlight.initiallyOn = false;
-  peripheral.addRoverHeadlight(headlight);
+  io.addHeadlight(headlight);
 
   RoverDigitalOutputConfig laser;
   laser.pin = 16;
   laser.polarity = OutputPolarity::ActiveHigh;
   laser.initiallyOn = false;
-  peripheral.addRoverLaser(laser);
-}
+  io.addLaser(laser);
 
-void registerGenericControls() {
-  // Registration order is UI order. This servo slider is handled entirely by
-  // standard Firmata SET_PIN_MODE and EXTENDED_ANALOG messages from roverd.
+  pinMode(kSpecialActionPin, OUTPUT);
+  digitalWrite(kSpecialActionPin, LOW);
+
+  // Accessory controls render in precisely this registration order.
   SliderControlConfig servoPosition;
-  servoPosition.id = "servoPosition";
   servoPosition.name = "Servo position";
   servoPosition.minimum = 0;
   servoPosition.maximum = 180;
 
-  FirmataServoOutput servoOutput;
+  ServoOutput servoOutput;
   servoOutput.pin = 13;
-  peripheral.addServoSlider(servoPosition, servoOutput);
+  io.addSlider(servoPosition, servoOutput);
 
-  // PWM brightness is another standard Firmata output. No sketch callback is
-  // involved when the driver moves this slider.
   SliderControlConfig lightBrightness;
-  lightBrightness.id = "lightBrightness";
   lightBrightness.name = "Light brightness";
   lightBrightness.minimum = 0;
   lightBrightness.maximum = 255;
 
-  FirmataPwmOutput lightOutput;
+  PwmOutput lightOutput;
   lightOutput.pin = 17;
-  peripheral.addPwmSlider(lightBrightness, lightOutput);
+  io.addSlider(lightBrightness, lightOutput);
 
-  // A custom momentary control receives both press and release. This example
-  // runs a one-shot action only on press, but a motor could use both values to
-  // start while held and stop on release.
   ButtonControlConfig specialAction;
-  specialAction.id = "specialAction";
-  specialAction.name = "Run special action";
+  specialAction.name = "Special action";
   specialAction.mode = ButtonMode::Momentary;
-  peripheral.addButton(specialAction, [](bool pressed) {
-    if (pressed) {
-      runSpecialAction();
-    }
-  });
-}
-}  // namespace
-
-void setup() {
-  pinMode(kSpecialActionPin, OUTPUT);
-  digitalWrite(kSpecialActionPin, LOW);
-
-  registerBuiltInRoverControls();
-  registerGenericControls();
-
-  // Supplying Serial as a Stream keeps all protocol code identical between a
-  // CH340/CP210x UART bridge and native ESP32-S3 USB CDC. Only PlatformIO's S3
-  // build flags differ.
-  Serial.begin(115200);
-  Firmata.begin(Serial);
-  peripheral.begin(firmataExtension);
-
-  // A Firmata system reset establishes declared initial output states and also
-  // proves that all callbacks were installed before normal traffic begins.
-  Firmata.parse(SYSTEM_RESET);
-}
-
-void loop() {
-  // Processing one complete parser unit at a time prevents a long serial burst
-  // from starving application work while still draining ordinary USB traffic
-  // quickly on both supported transports.
-  while (Firmata.available()) {
-    Firmata.processInput();
-    if (!Firmata.isParsingMessage()) {
-      break;
-    }
-  }
-  peripheral.update();
+  io.addButton(specialAction, runSpecialAction);
+
+  NumberControlConfig repeats;
+  repeats.name = "Repeat count";
+  repeats.minimum = 1;
+  repeats.maximum = 20;
+  io.addNumber(repeats, setRepeatCount);
+
+  TextControlConfig message;
+  message.name = "Display message";
+  message.maximumLength = 64;
+  io.addText(message, setDisplayMessage);
 }