增加旋转特定角度功能，同时指定espressif32版本号以修复烧录程序后页面无法打开的问题

nano_core/include/speed.hpp

@@ -3,6 +3,7 @@
 
 #include <stdint.h>
 #include <functional>
+#include <Ticker.h>
 
 enum Direction { POS = 0, NEG = 1, STOP = 2 };
 
@@ -55,6 +56,9 @@ class SpeedManager {
 
     bool set_web_speed(const Speed& speed);
     bool set_web_json_speed(const char* str, int len);
+    bool set_web_max_speed(Direction dir);
+    void set_web_stop_speed();
+    void start_ticker(int duration_ms);
 
     void need_update();
 
@@ -63,6 +67,7 @@ class SpeedManager {
  private:
     Speed get_speed(int id);
     Speed max_speed(Direction dir);
+    Ticker ticker_;
 
     static const double speed_tab[];
 

nano_core/include/web_server.hpp

@@ -30,6 +30,7 @@ class NanoServer {
     void handle_speed_set();
     void handle_config_query();
     void handle_config_set();
+    void handle_spin_certain_degree();
 };
 
 #endif  // _WEBSERVER_HPP

nano_core/src/speed.cpp

@@ -62,6 +62,10 @@ bool RunningStatus::to_json(char* str,
 
 const double SpeedManager::speed_tab[] = {0, 0, 10, 30, 0.5, 50, 100, 1};
 
+void ticker_callback(SpeedManager* manager) {
+    manager->set_web_stop_speed();
+}
+
 SpeedManager::SpeedManager(int p1, int p2, int p3, int p4)
     : p1_(p1),
       p2_(p2),
@@ -126,6 +130,18 @@ bool SpeedManager::set_web_speed(const Speed& speed) {
     return true;
 }
 
+bool SpeedManager::set_web_max_speed(Direction dir) {
+    return set_web_speed(max_speed(dir));
+}
+
+void SpeedManager::set_web_stop_speed() {
+    set_web_speed(Speed(Direction::STOP, SpeedType::DEGREE, 0));
+}
+
+void SpeedManager::start_ticker(int duration_ms) {
+    ticker_.once_ms(duration_ms, ticker_callback, this);
+}
+
 bool SpeedManager::set_web_json_speed(const char* str, int len) {
     return web_speed_.from_json(str, len);
 }

nano_core/src/web_server.cpp

@@ -1,6 +1,8 @@
-#include "web_server.hpp"
+#include <ArduinoJson.h>
 
+#include "web_server.hpp"
 #include "configure.hpp"
+#include "speed.hpp"
 
 bool NanoServer::init(fs::FS& fs, SpeedManager* manager) {
     manager_ = manager;
@@ -17,6 +19,8 @@ bool NanoServer::init(fs::FS& fs, SpeedManager* manager) {
     server_.on("/config", HTTP_POST, [this]() { this->handle_config_query(); });
     server_.on("/set_config", HTTP_POST,
                [this]() { this->handle_config_set(); });
+    server_.on("/spin", HTTP_POST,
+               [this]() { this->handle_spin_certain_degree(); });
     return true;
 }
 
@@ -65,6 +69,34 @@ void NanoServer::handle_speed_set() {
     handle_status_query();
 }
 
+void NanoServer::handle_spin_certain_degree() {
+    String arg = server_.arg(0);
+    StaticJsonDocument<128> doc;
+    auto err = deserializeJson(doc, arg.c_str());
+    if (err) {
+        Serial.println(err.c_str());
+        server_.send(500, "text/json", R"({"ret": false})");
+    }
+    double deg = doc["deg"];
+
+    // Only allow positive degree to simplify logic
+    if (!(deg >= 0 && deg < 360)) {
+        server_.send(500, "text/json", R"({"ret": false})");
+    }
+    int tmp = doc["d"];
+    Direction d = (deg == 0) ? Direction::STOP : Direction(tmp);
+
+    double stepper_step =
+        MOTOR_STEP_DEG / (MOTOR_STEP_NUM * Config::inst().data.gearbox_ratio);
+    double duration_ms = deg / (1000 / double(MOTOR_MIN_DELAY_US) * stepper_step);
+    if (!manager_->set_web_max_speed(d)) {
+        server_.send(500, "text/json", R"({"ret": false})");
+    }
+    manager_->start_ticker(duration_ms);
+    manager_->need_update();
+    handle_config_query();
+}
+
 void NanoServer::handle_config_query() {
     char buf[CONFIG_STR_LEN];
     int len;

nano_view/src/App.js

@@ -140,6 +140,7 @@ class App extends React.Component {
       // user input
       input_speed: this.default_speed_list[0],
       input_direction: this.default_direction_list[0],
+      input_degree: 0,
       btn_touched: false,
       // config info
       config_fetched: false,
@@ -204,6 +205,21 @@ class App extends React.Component {
     }).then(data => this.update_status(data));
   }
 
+  set_spin_degree(dir, deg) {
+    return fetch("/spin", {
+      method: "POST",
+      body: JSON.stringify({
+        d: dir,
+        deg: deg
+      })
+    }).then(function (response) {
+      if (response.ok) {
+        return response.json();
+      }
+      throw new Error('error');
+    }).then(data => this.update_status(data));
+  }
+
   set_config() {
     fetch("/set_config", {
       method: "POST",
@@ -305,6 +321,15 @@ class App extends React.Component {
     }
   }
 
+  handle_degree_input(event) {
+    let v = this.degree_control.value;
+    if (v === "") {
+      this.setState({input_degree: 0});
+    } else {
+      this.setState({input_degree: parseInt(v)});
+    }
+  }
+
   handle_speed_radio(event) {
     let v = this.speed_check_control.value;
     if (v === "") {
@@ -322,6 +347,12 @@ class App extends React.Component {
     }
   }
 
+  handle_degree_btn(event) {
+    if (this.state.input_degree !== 0) {
+      this.set_spin_degree(this.state.input_direction, this.state.input_degree).catch(err => this.failed_handle(err));
+    }
+  }
+
   handle_btn_push(event) {
     if (this.state.status_direction !== DIRECTION.STOP) {
       return;
@@ -440,10 +471,27 @@ class App extends React.Component {
                     </div>
                   </div>
                 </div>
+                <div className="in-card-part">
+                  <div>
+                    <h4>旋转角度</h4>
+                    <div key={`degree_input`} className="direction_input">
+                      <Form.Check>
+                        <Form.Check.Label>
+                          <Form.Control ref={(el) => {
+                            this.degree_control = el;
+                          }} onChange={this.handle_degree_input.bind(this)} className={"in-check-control"} size="sm"
+                                        type="number"/> <span>°</span>
+                        </Form.Check.Label>
+                      </Form.Check>
+                    </div>
+                  </div>
+                </div>
               </div>
               <div className="in-card-btn-group">
                 <Button
                   onClick={this.handle_start_btn.bind(this)}>{this.state.status_direction === DIRECTION.STOP ? "开始" : "停止"}</Button>
+                <Button
+                  onClick={this.handle_degree_btn.bind(this)}>旋转</Button>
                 <Button disabled={this.state.status_direction !== DIRECTION.STOP && !this.state.btn_touched}
                         onTouchStart={this.handle_btn_push.bind(this)}
                         onMouseDown={this.handle_btn_push.bind(this)}