主流程

components/web_ctrl/CMakeLists.txt

@@ -1,3 +1,3 @@
 idf_component_register(SRCS "web_ctrl.c"
                        INCLUDE_DIRS "."
-                       REQUIRES emm_v5 magnet servo esp_http_server esp_wifi nvs_flash protocol actuator)
+                       REQUIRES emm_v5 magnet servo rgb esp_http_server esp_wifi nvs_flash protocol actuator)

components/web_ctrl/web_ctrl.c

@@ -9,6 +9,7 @@
 #include "servo.h"
 #include "protocol.h"
 #include "actuator.h"
+#include "rgb.h"
 
 #include <string.h>
 #include <stdlib.h>
@@ -22,6 +23,8 @@
 #include "esp_netif.h"
 #include "nvs_flash.h"
 
+#ifdef EDC_DEBUG_WEB
+
 static const char *TAG = "WEB_CTRL";
 
 /* ---- WiFi 配置 ---- */
@@ -791,37 +794,9 @@ static esp_err_t favicon_handler(httpd_req_t *req)
 }
 
 /* ============================================================
- * 协议状态 API
+ * 协议状态 API (从 actuator 读取最近 Cycle 快照)
  * ============================================================ */
 
-/* 最近收到的 Cycle 快照 (由 edc_proto_on_cycle 更新, web 读取) */
-static edc_cycle_t      s_web_cycle;
-static volatile bool    s_web_cycle_valid;
-static portMUX_TYPE     s_web_lock = portMUX_INITIALIZER_UNLOCKED;
-
-void edc_proto_on_cycle(const edc_cycle_t *cycle, edc_channel_t ch)
-{
-    static uint16_t s_last_done_id = 0xFFFF;
-
-    portENTER_CRITICAL(&s_web_lock);
-    memcpy(&s_web_cycle, cycle, sizeof(edc_cycle_t));
-    s_web_cycle_valid = true;
-    portEXIT_CRITICAL(&s_web_lock);
-
-    ESP_LOGI(TAG, "Cycle #%u via %s, %u frags",
-             cycle->cycle_id, ch == EDC_CH_I2C ? "I2C" : "UART",
-             cycle->frag_count);
-
-    /* I2C / UART 冗余下发, 同一 cycle_id 只回一次 DONE */
-    if (cycle->cycle_id == s_last_done_id) {
-        return;
-    }
-    s_last_done_id = cycle->cycle_id;
-
-    /* 回复 MPU: Cycle 已收到 (后续实际执行电机后应移到执行完毕处) */
-    edc_proto_send_done(cycle->cycle_id);
-}
-
 static esp_err_t api_proto_status_handler(httpd_req_t *req)
 {
     edc_proto_stat_t stat;
@@ -837,18 +812,13 @@ static esp_err_t api_proto_status_handler(httpd_req_t *req)
         (stat.last_channel == EDC_CH_UART) ? "UART" : "none",
         stat.done_sent, stat.request_sent);
 
-    portENTER_CRITICAL(&s_web_lock);
-    bool valid = s_web_cycle_valid;
-    edc_cycle_t cycle;
-    if (valid) memcpy(&cycle, &s_web_cycle, sizeof(edc_cycle_t));
-    portEXIT_CRITICAL(&s_web_lock);
-
-    if (valid) {
+    const edc_cycle_t *cycle = actuator_get_last_cycle();
+    if (cycle) {
         off += snprintf(json + off, sizeof(json) - off,
             ",\"cycle\":{\"id\":%u,\"frags\":%u,\"data\":[",
-            cycle.cycle_id, cycle.frag_count);
-        for (int i = 0; i < cycle.frag_count; i++) {
-            edc_fragment_t *f = &cycle.fragments[i];
+            cycle->cycle_id, cycle->frag_count);
+        for (int i = 0; i < cycle->frag_count; i++) {
+            const edc_fragment_t *f = &cycle->fragments[i];
             off += snprintf(json + off, sizeof(json) - off,
                 "%s{\"sx\":%u,\"sy\":%u,\"sa\":%.1f,\"tx\":%u,\"ty\":%u,\"ta\":%.1f}",
                 (i > 0) ? "," : "",
@@ -874,7 +844,6 @@ static esp_err_t api_proto_request_handler(httpd_req_t *req)
 
 static esp_err_t api_proto_done_handler(httpd_req_t *req)
 {
-    edc_cycle_t cycle;
     edc_proto_stat_t stat;
     edc_proto_get_stats(&stat);
     /* 对最近收到的 cycle 发送 DONE */
@@ -1084,3 +1053,5 @@ void web_ctrl_init(void)
     wifi_init_sta();
     http_server_init();
 }
+
+#endif /* EDC_DEBUG_WEB */

components/web_ctrl/web_ctrl.h

@@ -13,12 +13,20 @@
 extern "C" {
 #endif
 
+#ifdef EDC_DEBUG_WEB
+
 /**
  * @brief  初始化 WiFi (STA 模式) 并启动 HTTP 服务器
  * @note   阻塞直到 WiFi 连接成功, 然后启动 HTTP 服务器
  */
 void web_ctrl_init(void);
 
+#else  /* !EDC_DEBUG_WEB */
+
+#define web_ctrl_init()  ((void)0)
+
+#endif /* EDC_DEBUG_WEB */
+
 #ifdef __cplusplus
 }
 #endif