Merge remote-tracking branch 'upstream/main' into ultrasonic

.clang-format

@@ -1 +1,11 @@
-{ BasedOnStyle: LLVM, UseTab: Never, IndentWidth: 4, TabWidth: 4, BreakBeforeBraces: Allman, AllowShortIfStatementsOnASingleLine: false, IndentCaseLabels: false, ColumnLimit: 0, AccessModifierOffset: -4, NamespaceIndentation: All, FixNamespaceComments: false }
+BasedOnStyle: LLVM
+UseTab: Never
+IndentWidth: 4
+TabWidth: 4
+BreakBeforeBraces: Allman
+AllowShortIfStatementsOnASingleLine: false
+IndentCaseLabels: false
+ColumnLimit: 0
+AccessModifierOffset: -4
+NamespaceIndentation: All
+FixNamespaceComments: false

.github/workflows/build.yml

@@ -0,0 +1,18 @@
+name: Compile check
+on: [push]
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+    - name: Checkout repo
+      uses: actions/checkout@v4
+    - name: Polyfill AWS certificates
+      run: |
+        cd components/ClientComponent/
+        touch ca.crt client.crt client.key aws.url
+    - name: Build ESP-IDF project
+      uses: espressif/esp-idf-ci-action@v1
+      with:
+        esp_idf_version: v5.3.1
+        target: esp32

.github/workflows/format.yml

@@ -0,0 +1,16 @@
+name: Format check
+on: [push]
+
+jobs:
+  format-check:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v4
+    - name: Run clang-format
+      uses: DoozyX/[email protected]
+      with:
+        source: 'components main'
+        exclude: 'managed_components components/hx711'
+        clangFormatVersion: 18
+        style: file
+

.gitignore

@@ -4,14 +4,18 @@
 .vscode/c_cpp_properties.json
 .vscode/launch.json
 .vscode/ipch
+.vscode/settings.json
 build
 config.hpp
 .env
 flake.nix
 flake.lock
 .cache/
-.DS_Store
-.vscode/settings.json
-components/.DS_Store
-components/ClientComponent/.DS_Store
-dependencies.lock
+**/.DS_Store
+dependencies.lock
+components/ClientComponent/aws.url
+components/ClientComponent/ca.crt
+components/ClientComponent/client.crt
+components/ClientComponent/client.key
+sdkconfig*
+!sdkconfig.defaults

.vscode/settings.json

@@ -0,0 +1,10 @@
+{
+    "idf.flashType": "UART",
+    "idf.port": "/dev/COM4",
+    "idf.portWin": "COM7",
+    "files.associations": {
+        "system_error": "cpp"
+    },
+    "idf.espIdfPath": "/Users/anthonychen/esp/v5.3.1/esp-idf",
+    "idf.toolsPath": "/Users/anthonychen/.espressif"
+}

components/ClientComponent/CMakeLists.txt

@@ -1,5 +1,6 @@
 # target_compile_options(Client.cpp PRIVATE -fpermissive)
 
-idf_component_register(SRCS "Client.cpp"
+idf_component_register(SRCS "Client.cpp" "Serialize.cpp"
                     INCLUDE_DIRS "include"
-                    PRIV_REQUIRES log esp_system esp_partition nvs_flash esp_event esp_netif protocol_examples_common mqtt app_update)
+                    PRIV_REQUIRES log esp_system esp_partition nvs_flash esp_event esp_netif protocol_examples_common mqtt app_update json
+                    EMBED_TXTFILES client.key client.crt ca.crt aws.url)

components/ClientComponent/Client.cpp

@@ -7,31 +7,31 @@
    CONDITIONS OF ANY KIND, either express or implied.
 */
 
-#include <stdio.h>
-#include <stdint.h>
-#include <stddef.h>
-#include <string.h>
-#include "esp_system.h"
-#include "esp_partition.h"
-#include "nvs_flash.h"
 #include "esp_event.h"
 #include "esp_netif.h"
+#include "esp_partition.h"
+#include "esp_system.h"
+#include "nvs_flash.h"
 #include "protocol_examples_common.h"
+#include <stddef.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <string.h>
 
 #include "esp_log.h"
-#include "mqtt_client.h"
-#include "esp_tls.h"
 #include "esp_ota_ops.h"
+#include "esp_tls.h"
+#include "mqtt_client.h"
 #include <sys/param.h>
 
-#include "Credentials.hpp"
 #include "Client.hpp"
+#include "Credentials.hpp"
 
 static const char *TAG = "mqtts_example";
 
-static void publish(esp_mqtt_client_handle_t client, char data[])
+static void publish(esp_mqtt_client_handle_t client, const void *data, size_t len)
 {
-    int msg_id = esp_mqtt_client_publish(client, "zotbins/binid", data, 0, 0, 0);
+    int msg_id = esp_mqtt_client_publish(client, "binData", (char *)data, len, 1, 0);
     ESP_LOGI(TAG, "message published with msg_id=%d", msg_id);
 }
 
@@ -45,17 +45,21 @@ static void publish(esp_mqtt_client_handle_t client, char data[])
  * @param event_id The id for the received event.
  * @param event_data The data for the event, esp_mqtt_event_handle_t.
  */
+esp_mqtt_client_handle_t test_client;
 static void mqtt_event_handler(void *handler_args, esp_event_base_t base, int32_t event_id, void *event_data)
 {
     ESP_LOGD(TAG, "Event dispatched from event loop base=%s, event_id=%" PRIi32, base, event_id);
     esp_mqtt_event_handle_t event = (esp_mqtt_event_handle_t)event_data;
     esp_mqtt_client_handle_t client = event->client;
+    test_client = client;
     int msg_id;
-    switch ((esp_mqtt_event_id_t)event_id) {
+    switch ((esp_mqtt_event_id_t)event_id)
+    {
     case MQTT_EVENT_CONNECTED:
         ESP_LOGI(TAG, "MQTT_EVENT_CONNECTED");
         // msg_id = esp_mqtt_client_subscribe(client, "/topic/qos0", 0);
         // ESP_LOGI(TAG, "sent subscribe successful, msg_id=%d", msg_id);
+        // publish(client, "Test");
 
         // msg_id = esp_mqtt_client_subscribe(client, "/topic/qos1", 1);
         // ESP_LOGI(TAG, "sent subscribe successful, msg_id=%d", msg_id);
@@ -69,7 +73,8 @@ static void mqtt_event_handler(void *handler_args, esp_event_base_t base, int32_
     case MQTT_EVENT_SUBSCRIBED:
         ESP_LOGI(TAG, "MQTT_EVENT_SUBSCRIBED, msg_id=%d", event->msg_id);
         // msg_id = esp_mqtt_client_publish(client, "/topic/qos0", "data", 0, 0, 0);
-        // ESP_LOGI(TAG, "sent publish successful, msg_id=%d", msg_id);
+        // publish(client, "Hello world!");
+        ESP_LOGI(TAG, "sent publish successful");
         break;
     case MQTT_EVENT_UNSUBSCRIBED:
         ESP_LOGI(TAG, "MQTT_EVENT_UNSUBSCRIBED, msg_id=%d", event->msg_id);
@@ -88,14 +93,19 @@ static void mqtt_event_handler(void *handler_args, esp_event_base_t base, int32_
         break;
     case MQTT_EVENT_ERROR:
         ESP_LOGI(TAG, "MQTT_EVENT_ERROR");
-        if (event->error_handle->error_type == MQTT_ERROR_TYPE_TCP_TRANSPORT) {
+        if (event->error_handle->error_type == MQTT_ERROR_TYPE_TCP_TRANSPORT)
+        {
             ESP_LOGI(TAG, "Last error code reported from esp-tls: 0x%x", event->error_handle->esp_tls_last_esp_err);
             ESP_LOGI(TAG, "Last tls stack error number: 0x%x", event->error_handle->esp_tls_stack_err);
-            ESP_LOGI(TAG, "Last captured errno : %d (%s)",  event->error_handle->esp_transport_sock_errno,
+            ESP_LOGI(TAG, "Last captured errno : %d (%s)", event->error_handle->esp_transport_sock_errno,
                      strerror(event->error_handle->esp_transport_sock_errno));
-        } else if (event->error_handle->error_type == MQTT_ERROR_TYPE_CONNECTION_REFUSED) {
+        }
+        else if (event->error_handle->error_type == MQTT_ERROR_TYPE_CONNECTION_REFUSED)
+        {
             ESP_LOGI(TAG, "Connection refused error: 0x%x", event->error_handle->connect_return_code);
-        } else {
+        }
+        else
+        {
             ESP_LOGW(TAG, "Unknown error type: 0x%x", event->error_handle->error_type);
         }
         break;
@@ -110,19 +120,19 @@ static void mqtt_app_start(void)
     const esp_mqtt_client_config_t mqtt_cfg = {
         .broker = {
             .address = {
-                .uri = "", // input manually
+                .uri = (const char *)AWS_URL,
             },
             .verification = {
-                .certificate = (const char *)AWS_CERT_CA,
+
+                .certificate = (const char *)AWS_CA_CRT,
             },
         },
-        .credentials = {
-            .authentication = {
-                .certificate = (const char *)AWS_CERT_CRT,
-                .key = (const char *)AWS_CERT_PRIVATE,
-            }
-        }
-    };
+        .credentials = {.client_id = "SensorBin", .authentication = {
+                                                      .certificate = (const char *)AWS_CLIENT_CRT,
+                                                      .key = (const char *)AWS_CLIENT_KEY,
+                                                  }}};
+
+    ESP_LOGI(TAG, "Connecting to AWS server %s", AWS_URL);
 
     ESP_LOGI(TAG, "[APP] Free memory: %" PRIu32 " bytes", esp_get_free_heap_size());
     esp_mqtt_client_handle_t client = esp_mqtt_client_init(&mqtt_cfg);
@@ -131,6 +141,16 @@ static void mqtt_app_start(void)
     esp_mqtt_client_start(client);
 }
 
+void Client::clientPublish(const void *message, size_t len)
+{
+    publish(test_client, message, len);
+}
+
+void Client::clientPublishStr(const char *message)
+{
+    Client::clientPublish(message, strlen(message));
+}
+
 void Client::clientStart(void)
 {
     ESP_LOGI(TAG, "[APP] Startup..");

components/ClientComponent/Serialize.cpp

@@ -0,0 +1,31 @@
+#include "Serialize.hpp"
+#include <esp_mac.h>
+
+cJSON *Client::serialize(float fullness, uint32_t usage, bool overflow, int32_t weight)
+{
+    // Use the ESP32's MAC address as a UUID (since it is a UUID)
+    uint8_t mac_addr_arr[6];
+    uint64_t mac_addr;
+    if (esp_base_mac_addr_get(mac_addr_arr) != ESP_OK)
+    {
+        // TODO: Handle mac address being unset properly
+        mac_addr = 0x112233445566;
+    }
+    else
+    {
+        mac_addr =
+            ((uint64_t)mac_addr_arr[5] << 0) |
+            ((uint64_t)mac_addr_arr[4] << 8) |
+            ((uint64_t)mac_addr_arr[3] << 16) |
+            ((uint64_t)mac_addr_arr[2] << 24) |
+            ((uint64_t)mac_addr_arr[1] << 32) |
+            ((uint64_t)mac_addr_arr[0] << 40);
+    }
+    cJSON *root = cJSON_CreateObject();
+    cJSON_AddNumberToObject(root, "bin_id", mac_addr);
+    cJSON_AddNumberToObject(root, "fullness", fullness);
+    cJSON_AddNumberToObject(root, "usage", usage);
+    cJSON_AddBoolToObject(root, "overflow", overflow);
+    cJSON_AddNumberToObject(root, "weight", weight);
+    return root;
+}

components/ClientComponent/include/Client.hpp

@@ -1,8 +1,14 @@
 #ifndef CLIENT_HPP
 #define CLIENT_HPP
 
-namespace Client {
+#include <stddef.h>
+
+namespace Client
+{
     void clientStart(void);
+    void clientPublish(const void *message, size_t len);
+    // ONLY pass null terminated strings to this function! It uses strlen!
+    void clientPublishStr(const char *message);
 }
 
-#endif
+#endif

components/ClientComponent/include/Credentials.hpp

@@ -1,9 +1,16 @@
 #ifndef CREDENTIALS_HPP
 #define CREDENTIALS_HPP
 
-const char* AWS_IOT_ENDPOINT;
-const char* AWS_CERT_CA;
-const char* AWS_CERT_CRT;
-const char* AWS_CERT_PRIVATE;
+// These are generated by CMakeLists.txt
+// To make sure compilation succeeds, ensure ca.crt, client.crt, aws.url and client.key exist!
+// https://docs.espressif.com/projects/esp-idf/en/stable/esp32/api-guides/build-system.html#embedding-binary-data
+// AWS root CA certificate
+extern const uint8_t AWS_CA_CRT[] asm("_binary_ca_crt_start");
+// Device-local certificate
+extern const uint8_t AWS_CLIENT_CRT[] asm("_binary_client_crt_start");
+// Device-local private key
+extern const uint8_t AWS_CLIENT_KEY[] asm("_binary_client_key_start");
+// URL of AWS endpoint
+extern const uint8_t AWS_URL[] asm("_binary_aws_url_start");
 
 #endif

components/ClientComponent/include/Serialize.hpp

@@ -0,0 +1,26 @@
+#ifndef CLIENT_SERIALIZE_HPP
+#define CLIENT_SERIALIZE_HPP
+
+#include <cJSON.h>
+#include <stdint.h>
+
+namespace Client
+{
+    /*
+     * @brief Serialize data from sensors for API interaction.
+     *
+     * The current shape of the JSON object returned is the following:
+     * {
+     *   "bin_id": 18838586676582,
+     *   "fullness": 0.5,
+     *   "usage": 44,
+     *   "overflow": false,
+     *   "weight": 50
+     * }
+     *
+     * @return cJSON* root of a JSON object containing sensor data. Make sure to free this after you are done using it.
+     */
+    cJSON *serialize(float fullness, uint32_t usage, bool overflow, int32_t weight);
+}
+
+#endif

components/FullnessComponent/include/FullnessMetric.hpp

@@ -11,8 +11,8 @@
 
 #include "Distance.hpp"
 #include <array>
-#include <cstdint>
 #include <cstddef>
+#include <cstdint>
 
 namespace Fullness
 {

components/TaskComponent/CMakeLists.txt

@@ -2,5 +2,10 @@ idf_component_register(SRCS "fullnessTask.cpp"
                             "usageTask.cpp"
                             "weightTask.cpp"
                             "clientTask.cpp"
+                            "servoTask.cpp"
+                            "cameraTask.cpp"
                     INCLUDE_DIRS "include"
-                    REQUIRES freertos FullnessComponent WeightComponent ClientComponent TaskComponent log driver nvs_flash)
+                    REQUIRES freertos FullnessComponent WeightComponent ClientComponent TaskComponent log driver nvs_flash
+                        json spiffs esp_http_server esp_wifi esp_netif esp_timer
+                    PRIV_REQUIRES nvs_flash esp_psram driver esp32-camera unity mbedtls
+                    )