diff --git a/components/bldc_driver/include/bldc_driver.hpp b/components/bldc_driver/include/bldc_driver.hpp index a465fbbc0..59daa9a63 100644 --- a/components/bldc_driver/include/bldc_driver.hpp +++ b/components/bldc_driver/include/bldc_driver.hpp @@ -68,13 +68,16 @@ class BldcDriver { * force level. */ void enable() { - logger_.info("Enabling"); - for (auto g : generators_) { - // remove force level, and don't hold it - mcpwm_generator_set_force_level(g, -1, false); + if (enabled_) { + return; } - gpio_set_level((gpio_num_t)gpio_en_, 1); + logger_.info("Enabling"); + mcpwm_timer_enable(timer_); + mcpwm_timer_start_stop(timer_, MCPWM_TIMER_START_NO_STOP); enabled_ = true; + if (gpio_en_ >= 0) { + gpio_set_level((gpio_num_t)gpio_en_, 1); + } } /** @@ -83,13 +86,13 @@ class BldcDriver { * low. */ void disable() { - logger_.info("Disabling"); - for (auto g : generators_) { - // set force level to 0 (gate off), and hold it - mcpwm_generator_set_force_level(g, 0, true); + if (!enabled_) { + return; } + logger_.info("Disabling"); + mcpwm_timer_start_stop(timer_, MCPWM_TIMER_STOP_FULL); + mcpwm_timer_disable(timer_); enabled_ = false; - std::lock_guard lock(en_mutex_); if (gpio_en_ >= 0) { gpio_set_level((gpio_num_t)gpio_en_, 0); } @@ -107,7 +110,6 @@ class BldcDriver { * @return True if the driver is faulted, false otherwise. */ bool is_faulted() { - std::lock_guard lock(fault_mutex_); if (gpio_fault_ < 0) { return false; } @@ -174,14 +176,6 @@ class BldcDriver { uint32_t b_ticks = (uint32_t)(duty_b * (float)(TICKS_PER_PERIOD / 2)); uint32_t c_ticks = (uint32_t)(duty_c * (float)(TICKS_PER_PERIOD / 2)); - static int log_counter = 0; - // log_counter++; - if (log_counter == 500) { - fmt::print("PWM (abc): {:.3f},{:.3f},{:.3f}\n", duty_a, duty_b, duty_c); - fmt::print("Ticks (abc): {},{},{}\n", a_ticks, b_ticks, c_ticks); - log_counter = 0; - } - mcpwm_comparator_set_compare_value(comparators_[0], a_ticks); mcpwm_comparator_set_compare_value(comparators_[1], b_ticks); mcpwm_comparator_set_compare_value(comparators_[2], c_ticks); @@ -223,16 +217,10 @@ class BldcDriver { configure_operators(); configure_comparators(); configure_generators(); - // start timer - logger_.info("starting timer"); - mcpwm_timer_enable(timer_); - mcpwm_timer_start_stop(timer_, MCPWM_TIMER_START_NO_STOP); - // enable enable(); } void configure_enable_gpio() { - std::lock_guard lock(en_mutex_); if (gpio_en_ < 0) { return; } @@ -246,7 +234,6 @@ class BldcDriver { } void configure_fault_gpio() { - std::lock_guard lock(fault_mutex_); if (gpio_fault_ < 0) { return; } @@ -347,9 +334,7 @@ class BldcDriver { gpio_num_t gpio_bl_; gpio_num_t gpio_ch_; gpio_num_t gpio_cl_; - std::mutex en_mutex_; int gpio_en_; - std::mutex fault_mutex_; int gpio_fault_; std::atomic power_supply_voltage_; std::atomic limit_voltage_; diff --git a/components/bldc_haptics/include/bldc_haptics.hpp b/components/bldc_haptics/include/bldc_haptics.hpp index 3fc76963b..c24fbebca 100644 --- a/components/bldc_haptics/include/bldc_haptics.hpp +++ b/components/bldc_haptics/include/bldc_haptics.hpp @@ -141,11 +141,42 @@ template class BldcHaptics { .log_level = Logger::Verbosity::WARN}); } + /// @brief Destructor for the haptic motor + /// @note This will stop the motor if it is running + ~BldcHaptics() { + // stop the motor if it is running + stop(); + } + + /// @brief Check if the haptic motor is running + /// @return True if the haptic motor is running, false otherwise + bool is_running() const { return motor_task_->is_running(); } + /// @brief Start the haptic motor - void start() { motor_task_->start(); } + void start() { + // enable the motor + { + std::unique_lock lk(motor_mutex_); + motor_.get().enable(); + } + if (is_running()) { + return; + } + motor_task_->start(); + } /// @brief Stop the haptic motor - void stop() { motor_task_->stop(); } + void stop() { + // disable the motor + { + std::unique_lock lk(motor_mutex_); + motor_.get().disable(); + } + if (!is_running()) { + return; + } + motor_task_->stop(); + } /// @brief Get the current position of the haptic motor /// @return Current position of the haptic motor diff --git a/components/bldc_motor/include/bldc_motor.hpp b/components/bldc_motor/include/bldc_motor.hpp index 5c6461d04..016173be5 100644 --- a/components/bldc_motor/include/bldc_motor.hpp +++ b/components/bldc_motor/include/bldc_motor.hpp @@ -169,8 +169,12 @@ class BldcMotor { // finish the rest of init init(); + // enable the motor for foc initialization + enable(); // then initialize the foc (calibration etc.) init_foc(config.zero_electric_offset, config.sensor_direction); + // disable the motor to put it back into a safe state + disable(); } /** @@ -179,12 +183,18 @@ class BldcMotor { */ ~BldcMotor() { disable(); } + /** + * @brief Check if the motor is enabled. + * @return True if the motor is enabled, false otherwise. + */ + bool is_enabled() const { return enabled_; } + /** * @brief Enable the controller and driver output. */ void enable() { - enabled_ = true; driver_->enable(); + enabled_ = true; } /** @@ -211,6 +221,10 @@ class BldcMotor { * @param el_angle current electrical angle of the motor */ void set_phase_voltage(float uq, float ud, float el_angle) { + if (!enabled_) { + return; + } + float center; int sector; float _ca, _sa; @@ -642,11 +656,7 @@ class BldcMotor { } protected: - void init() { - status_ = Status::INITIALIZING; - enable(); - status_ = Status::UNCALIBRATED; - } + void init() { status_ = Status::UNCALIBRATED; } void init_foc(float zero_electric_offset = 0, detail::SensorDirection sensor_direction = detail::SensorDirection::CLOCKWISE) { diff --git a/components/cli/include/cli.hpp b/components/cli/include/cli.hpp index 0fc4e54e6..16c184368 100644 --- a/components/cli/include/cli.hpp +++ b/components/cli/include/cli.hpp @@ -68,27 +68,26 @@ class Cli : private cli::CliSession { * correct while APB frequency is changing in light sleep mode. */ const uart_config_t uart_config = { - .baud_rate = CONFIG_ESP_CONSOLE_UART_BAUDRATE, - .data_bits = UART_DATA_8_BITS, - .parity = UART_PARITY_DISABLE, - .stop_bits = UART_STOP_BITS_1, + .baud_rate = CONFIG_ESP_CONSOLE_UART_BAUDRATE, + .data_bits = UART_DATA_8_BITS, + .parity = UART_PARITY_DISABLE, + .stop_bits = UART_STOP_BITS_1, #if CONFIG_IDF_TARGET_ESP32 || CONFIG_IDF_TARGET_ESP32S2 - .source_clk = UART_SCLK_REF_TICK, + .source_clk = UART_SCLK_REF_TICK, #else - .source_clk = UART_SCLK_XTAL, + .source_clk = UART_SCLK_XTAL, #endif }; /* Install UART driver for interrupt-driven reads and writes */ - ESP_ERROR_CHECK( uart_driver_install(CONFIG_ESP_CONSOLE_UART_NUM, - 256, 0, 0, NULL, 0) ); - ESP_ERROR_CHECK( uart_param_config(CONFIG_ESP_CONSOLE_UART_NUM, &uart_config) ); + ESP_ERROR_CHECK(uart_driver_install(CONFIG_ESP_CONSOLE_UART_NUM, 256, 0, 0, NULL, 0)); + ESP_ERROR_CHECK(uart_param_config(CONFIG_ESP_CONSOLE_UART_NUM, &uart_config)); /* Tell VFS to use UART driver */ esp_vfs_dev_uart_use_driver(CONFIG_ESP_CONSOLE_UART_NUM); /* Minicom, screen, idf_monitor send CR when ENTER key is pressed */ esp_vfs_dev_uart_port_set_rx_line_endings(CONFIG_ESP_CONSOLE_UART_NUM, ESP_LINE_ENDINGS_CR); /* Move the caret to the beginning of the next line on '\n' */ esp_vfs_dev_uart_port_set_tx_line_endings(CONFIG_ESP_CONSOLE_UART_NUM, ESP_LINE_ENDINGS_CRLF); -#else // CONFIG_ESP_CONSOLE_USB_SERIAL_JTAG +#else // CONFIG_ESP_CONSOLE_USB_SERIAL_JTAG usb_serial_jtag_driver_config_t cfg = USB_SERIAL_JTAG_DRIVER_CONFIG_DEFAULT(); usb_serial_jtag_driver_install(&cfg); esp_vfs_usb_serial_jtag_use_driver(); diff --git a/components/rtsp/example/main/jpeg_image.hpp b/components/rtsp/example/main/jpeg_image.hpp index e3169ad73..ab5eb5423 100644 --- a/components/rtsp/example/main/jpeg_image.hpp +++ b/components/rtsp/example/main/jpeg_image.hpp @@ -1,3 +1,174 @@ #pragma once -static const char jpeg_data[] = {0xff, 0xd8, 0xff, 0xe0, 0x00, 0x10, 0x4a, 0x46, 0x49, 0x46, 0x00, 0x01, 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0x02, 0x52, 0x52, 0x10, 0x94, 0x50, 0x31, 0x29, 0x29, + 0x81, 0xff, 0xd9}; diff --git a/components/rtsp/example/main/rtsp_example.cpp b/components/rtsp/example/main/rtsp_example.cpp index 88ffc4f18..ce5bd1b1e 100644 --- a/components/rtsp/example/main/rtsp_example.cpp +++ b/components/rtsp/example/main/rtsp_example.cpp @@ -14,8 +14,8 @@ #include "task.hpp" #include "wifi_sta.hpp" -#include "rtsp_server.hpp" #include "rtsp_client.hpp" +#include "rtsp_server.hpp" #include "jpeg_image.hpp" @@ -64,7 +64,7 @@ extern "C" void app_main(void) { .port = server_port, .path = "/mjpeg/1", .log_level = espp::Logger::Verbosity::INFO, - }); + }); rtsp_server.start(); espp::JpegFrame jpeg_frame(jpeg_data, sizeof(jpeg_data)); @@ -77,13 +77,15 @@ extern "C" void app_main(void) { //! [rtsp_client_example] espp::RtspClient rtsp_client({ .server_address = ip_address, // string of the form {}.{}.{}.{} - .rtsp_port = CONFIG_RTSP_SERVER_PORT, - .path = "/mjpeg/1", - .on_jpeg_frame = [](std::unique_ptr jpeg_frame) { - fmt::print("Got JPEG frame of size {}x{}\n", jpeg_frame->get_width(), jpeg_frame->get_height()); - }, - .log_level = espp::Logger::Verbosity::ERROR, - }); + .rtsp_port = CONFIG_RTSP_SERVER_PORT, + .path = "/mjpeg/1", + .on_jpeg_frame = + [](std::unique_ptr jpeg_frame) { + fmt::print("Got JPEG frame of size {}x{}\n", jpeg_frame->get_width(), + jpeg_frame->get_height()); + }, + .log_level = espp::Logger::Verbosity::ERROR, + }); std::error_code ec; diff --git a/components/rtsp/include/jpeg_frame.hpp b/components/rtsp/include/jpeg_frame.hpp index d59a122d6..82292fbee 100644 --- a/components/rtsp/include/jpeg_frame.hpp +++ b/components/rtsp/include/jpeg_frame.hpp @@ -1,138 +1,124 @@ #pragma once -#include "rtp_jpeg_packet.hpp" #include "jpeg_header.hpp" +#include "rtp_jpeg_packet.hpp" namespace espp { - /// A class that represents a complete JPEG frame. +/// A class that represents a complete JPEG frame. +/// +/// This class is used to collect the JPEG scans that are received in RTP +/// packets and to serialize them into a complete JPEG frame. +class JpegFrame { +public: + /// Construct a JpegFrame from a RtpJpegPacket. /// - /// This class is used to collect the JPEG scans that are received in RTP - /// packets and to serialize them into a complete JPEG frame. - class JpegFrame { - public: - - /// Construct a JpegFrame from a RtpJpegPacket. - /// - /// This constructor will parse the header of the packet and add the JPEG - /// data to the frame. - /// - /// @param packet The packet to parse. - explicit JpegFrame(const RtpJpegPacket& packet) - : header_(packet.get_width(), packet.get_height(), packet.get_q_table(0), packet.get_q_table(1)) { - // add the jpeg header - serialize_header(); - // add the jpeg data - add_scan(packet); - } - - /// Construct a JpegFrame from buffer of jpeg data - /// @param data The buffer containing the jpeg data. - /// @param size The size of the buffer. - explicit JpegFrame(const char* data, size_t size) - : data_(data, data + size) - , header_(std::string_view(data_.data(), size)) { - } - - /// Get a reference to the header. - /// @return A reference to the header. - const JpegHeader& get_header() const { - return header_; - } - - /// Get the width of the frame. - /// @return The width of the frame. - int get_width() const { - return header_.get_width(); - } - - /// Get the height of the frame. - /// @return The height of the frame. - int get_height() const { - return header_.get_height(); - } - - /// Check if the frame is complete. - /// @return True if the frame is complete, false otherwise. - bool is_complete() const { - return finalized_; - } - - /// Append a RtpJpegPacket to the frame. - /// This will add the JPEG data to the frame. - /// @param packet The packet containing the scan to append. - void append(const RtpJpegPacket& packet) { - add_scan(packet); - } - - /// Append a JPEG scan to the frame. - /// This will add the JPEG data to the frame. - /// @note If the packet contains the EOI marker, the frame will be - /// finalized, and no further scans can be added. - /// @param packet The packet containing the scan to append. - void add_scan(const RtpJpegPacket& packet) { - add_scan(packet.get_jpeg_data()); - if (packet.get_marker()) { - finalize(); - } - } - - /// Get the serialized data. - /// This will return the serialized data. - /// @return The serialized data. - std::string_view get_data() const { - return std::string_view(data_.data(), data_.size()); - } - - /// Get the scan data. - /// This will return the scan data. - /// @return The scan data. - std::string_view get_scan_data() const { - auto header_data = header_.get_data(); - size_t header_size = header_data.size(); - return std::string_view(data_.data() + header_size, data_.size() - header_size); - } - - protected: - /// Serialize the header. - void serialize_header() { - auto header_data = header_.get_data(); - data_.resize(header_data.size()); - memcpy(data_.data(), header_data.data(), header_data.size()); + /// This constructor will parse the header of the packet and add the JPEG + /// data to the frame. + /// + /// @param packet The packet to parse. + explicit JpegFrame(const RtpJpegPacket &packet) + : header_(packet.get_width(), packet.get_height(), packet.get_q_table(0), + packet.get_q_table(1)) { + // add the jpeg header + serialize_header(); + // add the jpeg data + add_scan(packet); + } + + /// Construct a JpegFrame from buffer of jpeg data + /// @param data The buffer containing the jpeg data. + /// @param size The size of the buffer. + explicit JpegFrame(const char *data, size_t size) + : data_(data, data + size), header_(std::string_view(data_.data(), size)) {} + + /// Get a reference to the header. + /// @return A reference to the header. + const JpegHeader &get_header() const { return header_; } + + /// Get the width of the frame. + /// @return The width of the frame. + int get_width() const { return header_.get_width(); } + + /// Get the height of the frame. + /// @return The height of the frame. + int get_height() const { return header_.get_height(); } + + /// Check if the frame is complete. + /// @return True if the frame is complete, false otherwise. + bool is_complete() const { return finalized_; } + + /// Append a RtpJpegPacket to the frame. + /// This will add the JPEG data to the frame. + /// @param packet The packet containing the scan to append. + void append(const RtpJpegPacket &packet) { add_scan(packet); } + + /// Append a JPEG scan to the frame. + /// This will add the JPEG data to the frame. + /// @note If the packet contains the EOI marker, the frame will be + /// finalized, and no further scans can be added. + /// @param packet The packet containing the scan to append. + void add_scan(const RtpJpegPacket &packet) { + add_scan(packet.get_jpeg_data()); + if (packet.get_marker()) { + finalize(); } - - /// Append a JPEG scan to the frame. - /// This will add the JPEG data to the frame. - /// @param scan The jpeg scan to append. - void add_scan(std::string_view scan) { - if (finalized_) { - // TODO: handle this error - return; - } - data_.insert(std::end(data_), std::begin(scan), std::end(scan)); + } + + /// Get the serialized data. + /// This will return the serialized data. + /// @return The serialized data. + std::string_view get_data() const { return std::string_view(data_.data(), data_.size()); } + + /// Get the scan data. + /// This will return the scan data. + /// @return The scan data. + std::string_view get_scan_data() const { + auto header_data = header_.get_data(); + size_t header_size = header_data.size(); + return std::string_view(data_.data() + header_size, data_.size() - header_size); + } + +protected: + /// Serialize the header. + void serialize_header() { + auto header_data = header_.get_data(); + data_.resize(header_data.size()); + memcpy(data_.data(), header_data.data(), header_data.size()); + } + + /// Append a JPEG scan to the frame. + /// This will add the JPEG data to the frame. + /// @param scan The jpeg scan to append. + void add_scan(std::string_view scan) { + if (finalized_) { + // TODO: handle this error + return; } - - /// Add the EOI marker to the frame. - /// This will add the EOI marker to the frame. This must be called before - /// calling get_data(). - /// @note This will prevent any further scans from being added to the frame. - void finalize() { - if (!finalized_) { - finalized_ = true; - // add_eoi(); - } else { - // TODO: handle this error - // already finalized - } + data_.insert(std::end(data_), std::begin(scan), std::end(scan)); + } + + /// Add the EOI marker to the frame. + /// This will add the EOI marker to the frame. This must be called before + /// calling get_data(). + /// @note This will prevent any further scans from being added to the frame. + void finalize() { + if (!finalized_) { + finalized_ = true; + // add_eoi(); + } else { + // TODO: handle this error + // already finalized } - - /// Add the EOI marker to the frame. - void add_eoi() { - data_.push_back(0xFF); - data_.push_back(0xD9); - } - - std::vector data_; - JpegHeader header_; - bool finalized_ = false; - }; + } + + /// Add the EOI marker to the frame. + void add_eoi() { + data_.push_back(0xFF); + data_.push_back(0xD9); + } + + std::vector data_; + JpegHeader header_; + bool finalized_ = false; +}; } // namespace espp diff --git a/components/rtsp/include/jpeg_header.hpp b/components/rtsp/include/jpeg_header.hpp index c341cb83d..8c25ea4ab 100644 --- a/components/rtsp/include/jpeg_header.hpp +++ b/components/rtsp/include/jpeg_header.hpp @@ -1,359 +1,763 @@ -# pragma once +#pragma once #include #include #include namespace espp { - /// A class to generate a JPEG header for a given image size and quantization tables. - /// The header is generated once and then cached for future use. - /// The header is generated according to the JPEG standard and is compatible with - /// the ESP32 camera driver. - class JpegHeader { - public: - /// Create a JPEG header for a given image size and quantization tables. - /// @param width The image width in pixels. - /// @param height The image height in pixels. - /// @param q0_table The quantization table for the Y channel. - /// @param q1_table The quantization table for the Cb and Cr channels. - explicit JpegHeader(int width, int height, std::string_view q0_table, std::string_view q1_table) +/// A class to generate a JPEG header for a given image size and quantization tables. +/// The header is generated once and then cached for future use. +/// The header is generated according to the JPEG standard and is compatible with +/// the ESP32 camera driver. +class JpegHeader { +public: + /// Create a JPEG header for a given image size and quantization tables. + /// @param width The image width in pixels. + /// @param height The image height in pixels. + /// @param q0_table The quantization table for the Y channel. + /// @param q1_table The quantization table for the Cb and Cr channels. + explicit JpegHeader(int width, int height, std::string_view q0_table, std::string_view q1_table) : width_(width), height_(height), q0_table_(q0_table), q1_table_(q1_table) { - serialize(); - } - - /// Create a JPEG header from a given JPEG header data. - explicit JpegHeader(std::string_view data) - : data_(data.data(), data.data() + data.size()) { - parse(); - } + serialize(); + } - ~JpegHeader() {} + /// Create a JPEG header from a given JPEG header data. + explicit JpegHeader(std::string_view data) : data_(data.data(), data.data() + data.size()) { + parse(); + } - /// Get the image width. - /// @return The image width in pixels. - int get_width() const { - return width_; - } + ~JpegHeader() {} - /// Get the image height. - /// @return The image height in pixels. - int get_height() const { - return height_; - } + /// Get the image width. + /// @return The image width in pixels. + int get_width() const { return width_; } - /// Get the JPEG header data. - /// @return The JPEG header data. - std::string_view get_data() const { - return std::string_view(data_.data(), data_.size()); - } + /// Get the image height. + /// @return The image height in pixels. + int get_height() const { return height_; } - /// Get the Quantization table at the index. - /// @param index The index of the quantization table. - /// @return The quantization table. - std::string_view get_quantization_table(int index) const { - return index == 0 ? q0_table_ : q1_table_; - } + /// Get the JPEG header data. + /// @return The JPEG header data. + std::string_view get_data() const { return std::string_view(data_.data(), data_.size()); } - protected: + /// Get the Quantization table at the index. + /// @param index The index of the quantization table. + /// @return The quantization table. + std::string_view get_quantization_table(int index) const { + return index == 0 ? q0_table_ : q1_table_; + } - static constexpr int SOF0_SIZE = 19; - static constexpr int DQT_HEADER_SIZE = 5; +protected: + static constexpr int SOF0_SIZE = 19; + static constexpr int DQT_HEADER_SIZE = 5; - // JFIF APP0 Marker for version 1.2 with 72 DPI and no thumbnail - static constexpr char JFIF_APP0_DATA[] = { - 0xFF, 0xE0, // APP0 marker - 0x00, 0x10, // Length of APP0 data (16 bytes) + // JFIF APP0 Marker for version 1.2 with 72 DPI and no thumbnail + static constexpr char JFIF_APP0_DATA[] = { + 0xFF, 0xE0, // APP0 marker + 0x00, 0x10, // Length of APP0 data (16 bytes) 0x4A, 0x46, 0x49, 0x46, 0x00, // Identifier: ASCII "JFIF\0" - 0x01, 0x01, // Version number (1.1) - 0x01, // Units: 1 = dots per inch - 0x00, 0x00, // X density - 0x00, 0x00, // Y density - 0x00, 0x00 // No thumbnail - }; + 0x01, 0x01, // Version number (1.1) + 0x01, // Units: 1 = dots per inch + 0x00, 0x00, // X density + 0x00, 0x00, // Y density + 0x00, 0x00 // No thumbnail + }; - static constexpr char HUFFMAN_TABLES[] = { + static constexpr char HUFFMAN_TABLES[] = { // Huffman table DC (luminance) - 0xff, 0xc4, - 0x00, 0x1f, 0x00, - 0x00, 0x01, 0x05, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08, 0x09, 0x0a, 0x0b, + 0xff, + 0xc4, + 0x00, + 0x1f, + 0x00, + 0x00, + 0x01, + 0x05, + 0x01, + 0x01, + 0x01, + 0x01, + 0x01, + 0x01, + 0x00, + 0x00, + 0x00, + 0x00, + 0x00, + 0x00, + 0x00, + 0x00, + 0x01, + 0x02, + 0x03, + 0x04, + 0x05, + 0x06, + 0x07, + 0x08, + 0x09, + 0x0a, + 0x0b, // Huffman table AC (luminance) - 0xff, 0xc4, - 0x00, 0xb5, 0x10, - 0x00, 0x02, 0x01, 0x03, 0x03, 0x02, 0x04, 0x03, 0x05, 0x05, 0x04, 0x04, 0x00, 0x00, 0x01, 0x7d, 0x01, 0x02, 0x03, 0x00, 0x04, 0x11, 0x05, 0x12, 0x21, 0x31, 0x41, 0x06, 0x13, 0x51, 0x61, 0x07, 0x22, 0x71, 0x14, 0x32, 0x81, 0x91, 0xa1, 0x08, 0x23, 0x42, 0xb1, 0xc1, 0x15, 0x52, 0xd1, 0xf0, 0x24, 0x33, 0x62, 0x72, 0x82, 0x09, 0x0a, 0x16, 0x17, 0x18, 0x19, 0x1a, 0x25, 0x26, 0x27, 0x28, 0x29, 0x2a, 0x34, 0x35, 0x36, 0x37, 0x38, 0x39, 0x3a, 0x43, 0x44, 0x45, 0x46, 0x47, 0x48, 0x49, 0x4a, 0x53, 0x54, 0x55, 0x56, 0x57, 0x58, 0x59, 0x5a, 0x63, 0x64, 0x65, 0x66, 0x67, 0x68, 0x69, 0x6a, 0x73, 0x74, 0x75, 0x76, 0x77, 0x78, 0x79, 0x7a, 0x83, 0x84, 0x85, 0x86, 0x87, 0x88, 0x89, 0x8a, 0x92, 0x93, 0x94, 0x95, 0x96, 0x97, 0x98, 0x99, 0x9a, 0xa2, 0xa3, 0xa4, 0xa5, 0xa6, 0xa7, 0xa8, 0xa9, 0xaa, 0xb2, 0xb3, 0xb4, 0xb5, 0xb6, 0xb7, 0xb8, 0xb9, 0xba, 0xc2, 0xc3, 0xc4, 0xc5, 0xc6, 0xc7, 0xc8, 0xc9, 0xca, 0xd2, 0xd3, 0xd4, 0xd5, 0xd6, 0xd7, 0xd8, 0xd9, 0xda, 0xe1, 0xe2, 0xe3, 0xe4, 0xe5, 0xe6, 0xe7, 0xe8, 0xe9, 0xea, 0xf1, 0xf2, 0xf3, 0xf4, 0xf5, 0xf6, 0xf7, 0xf8, 0xf9, 0xfa, + 0xff, + 0xc4, + 0x00, + 0xb5, + 0x10, + 0x00, + 0x02, + 0x01, + 0x03, + 0x03, + 0x02, + 0x04, + 0x03, + 0x05, + 0x05, + 0x04, + 0x04, + 0x00, + 0x00, + 0x01, + 0x7d, + 0x01, + 0x02, + 0x03, + 0x00, + 0x04, + 0x11, + 0x05, + 0x12, + 0x21, + 0x31, + 0x41, + 0x06, + 0x13, + 0x51, + 0x61, + 0x07, + 0x22, + 0x71, + 0x14, + 0x32, + 0x81, + 0x91, + 0xa1, + 0x08, + 0x23, + 0x42, + 0xb1, + 0xc1, + 0x15, + 0x52, + 0xd1, + 0xf0, + 0x24, + 0x33, + 0x62, + 0x72, + 0x82, + 0x09, + 0x0a, + 0x16, + 0x17, + 0x18, + 0x19, + 0x1a, + 0x25, + 0x26, + 0x27, + 0x28, + 0x29, + 0x2a, + 0x34, + 0x35, + 0x36, + 0x37, + 0x38, + 0x39, + 0x3a, + 0x43, + 0x44, + 0x45, + 0x46, + 0x47, + 0x48, + 0x49, + 0x4a, + 0x53, + 0x54, + 0x55, + 0x56, + 0x57, + 0x58, + 0x59, + 0x5a, + 0x63, + 0x64, + 0x65, + 0x66, + 0x67, + 0x68, + 0x69, + 0x6a, + 0x73, + 0x74, + 0x75, + 0x76, + 0x77, + 0x78, + 0x79, + 0x7a, + 0x83, + 0x84, + 0x85, + 0x86, + 0x87, + 0x88, + 0x89, + 0x8a, + 0x92, + 0x93, + 0x94, + 0x95, + 0x96, + 0x97, + 0x98, + 0x99, + 0x9a, + 0xa2, + 0xa3, + 0xa4, + 0xa5, + 0xa6, + 0xa7, + 0xa8, + 0xa9, + 0xaa, + 0xb2, + 0xb3, + 0xb4, + 0xb5, + 0xb6, + 0xb7, + 0xb8, + 0xb9, + 0xba, + 0xc2, + 0xc3, + 0xc4, + 0xc5, + 0xc6, + 0xc7, + 0xc8, + 0xc9, + 0xca, + 0xd2, + 0xd3, + 0xd4, + 0xd5, + 0xd6, + 0xd7, + 0xd8, + 0xd9, + 0xda, + 0xe1, + 0xe2, + 0xe3, + 0xe4, + 0xe5, + 0xe6, + 0xe7, + 0xe8, + 0xe9, + 0xea, + 0xf1, + 0xf2, + 0xf3, + 0xf4, + 0xf5, + 0xf6, + 0xf7, + 0xf8, + 0xf9, + 0xfa, // Huffman table DC (chrominance) - 0xff, 0xc4, - 0x00, 0x1f, 0x01, - 0x00, 0x03, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08, 0x09, 0x0a, 0x0b, + 0xff, + 0xc4, + 0x00, + 0x1f, + 0x01, + 0x00, + 0x03, + 0x01, + 0x01, + 0x01, + 0x01, + 0x01, + 0x01, + 0x01, + 0x01, + 0x01, + 0x00, + 0x00, + 0x00, + 0x00, + 0x00, + 0x00, + 0x01, + 0x02, + 0x03, + 0x04, + 0x05, + 0x06, + 0x07, + 0x08, + 0x09, + 0x0a, + 0x0b, // Huffman table AC (chrominance) - 0xff, 0xc4, - 0x00, 0xb5, 0x11, - 0x00, 0x02, 0x01, 0x02, 0x04, 0x04, 0x03, 0x04, 0x07, 0x05, 0x04, 0x04, 0x00, 0x01, 0x02, 0x77, 0x00, 0x01, 0x02, 0x03, 0x11, 0x04, 0x05, 0x21, 0x31, 0x06, 0x12, 0x41, 0x51, 0x07, 0x61, 0x71, 0x13, 0x22, 0x32, 0x81, 0x08, 0x14, 0x42, 0x91, 0xa1, 0xb1, 0xc1, 0x09, 0x23, 0x33, 0x52, 0xf0, 0x15, 0x62, 0x72, 0xd1, 0x0a, 0x16, 0x24, 0x34, 0xe1, 0x25, 0xf1, 0x17, 0x18, 0x19, 0x1a, 0x26, 0x27, 0x28, 0x29, 0x2a, 0x35, 0x36, 0x37, 0x38, 0x39, 0x3a, 0x43, 0x44, 0x45, 0x46, 0x47, 0x48, 0x49, 0x4a, 0x53, 0x54, 0x55, 0x56, 0x57, 0x58, 0x59, 0x5a, 0x63, 0x64, 0x65, 0x66, 0x67, 0x68, 0x69, 0x6a, 0x73, 0x74, 0x75, 0x76, 0x77, 0x78, 0x79, 0x7a, 0x82, 0x83, 0x84, 0x85, 0x86, 0x87, 0x88, 0x89, 0x8a, 0x92, 0x93, 0x94, 0x95, 0x96, 0x97, 0x98, 0x99, 0x9a, 0xa2, 0xa3, 0xa4, 0xa5, 0xa6, 0xa7, 0xa8, 0xa9, 0xaa, 0xb2, 0xb3, 0xb4, 0xb5, 0xb6, 0xb7, 0xb8, 0xb9, 0xba, 0xc2, 0xc3, 0xc4, 0xc5, 0xc6, 0xc7, 0xc8, 0xc9, 0xca, 0xd2, 0xd3, 0xd4, 0xd5, 0xd6, 0xd7, 0xd8, 0xd9, 0xda, 0xe2, 0xe3, 0xe4, 0xe5, 0xe6, 0xe7, 0xe8, 0xe9, 0xea, 0xf2, 0xf3, 0xf4, 0xf5, 0xf6, 0xf7, 0xf8, 0xf9, 0xfa, - }; + 0xff, + 0xc4, + 0x00, + 0xb5, + 0x11, + 0x00, + 0x02, + 0x01, + 0x02, + 0x04, + 0x04, + 0x03, + 0x04, + 0x07, + 0x05, + 0x04, + 0x04, + 0x00, + 0x01, + 0x02, + 0x77, + 0x00, + 0x01, + 0x02, + 0x03, + 0x11, + 0x04, + 0x05, + 0x21, + 0x31, + 0x06, + 0x12, + 0x41, + 0x51, + 0x07, + 0x61, + 0x71, + 0x13, + 0x22, + 0x32, + 0x81, + 0x08, + 0x14, + 0x42, + 0x91, + 0xa1, + 0xb1, + 0xc1, + 0x09, + 0x23, + 0x33, + 0x52, + 0xf0, + 0x15, + 0x62, + 0x72, + 0xd1, + 0x0a, + 0x16, + 0x24, + 0x34, + 0xe1, + 0x25, + 0xf1, + 0x17, + 0x18, + 0x19, + 0x1a, + 0x26, + 0x27, + 0x28, + 0x29, + 0x2a, + 0x35, + 0x36, + 0x37, + 0x38, + 0x39, + 0x3a, + 0x43, + 0x44, + 0x45, + 0x46, + 0x47, + 0x48, + 0x49, + 0x4a, + 0x53, + 0x54, + 0x55, + 0x56, + 0x57, + 0x58, + 0x59, + 0x5a, + 0x63, + 0x64, + 0x65, + 0x66, + 0x67, + 0x68, + 0x69, + 0x6a, + 0x73, + 0x74, + 0x75, + 0x76, + 0x77, + 0x78, + 0x79, + 0x7a, + 0x82, + 0x83, + 0x84, + 0x85, + 0x86, + 0x87, + 0x88, + 0x89, + 0x8a, + 0x92, + 0x93, + 0x94, + 0x95, + 0x96, + 0x97, + 0x98, + 0x99, + 0x9a, + 0xa2, + 0xa3, + 0xa4, + 0xa5, + 0xa6, + 0xa7, + 0xa8, + 0xa9, + 0xaa, + 0xb2, + 0xb3, + 0xb4, + 0xb5, + 0xb6, + 0xb7, + 0xb8, + 0xb9, + 0xba, + 0xc2, + 0xc3, + 0xc4, + 0xc5, + 0xc6, + 0xc7, + 0xc8, + 0xc9, + 0xca, + 0xd2, + 0xd3, + 0xd4, + 0xd5, + 0xd6, + 0xd7, + 0xd8, + 0xd9, + 0xda, + 0xe2, + 0xe3, + 0xe4, + 0xe5, + 0xe6, + 0xe7, + 0xe8, + 0xe9, + 0xea, + 0xf2, + 0xf3, + 0xf4, + 0xf5, + 0xf6, + 0xf7, + 0xf8, + 0xf9, + 0xfa, + }; - // Scan header (SOS) - static constexpr char SOS[] = { - 0xFF, 0xDA, // SOS marker - 0x00, 0x0C, // length - 0x03, // number of components - 0x01, 0x00, // component IDs and Huffman tables - 0x02, 0x11, // component IDs and Huffman tables - 0x03, 0x11, // component IDs and Huffman tables + // Scan header (SOS) + static constexpr char SOS[] = { + 0xFF, 0xDA, // SOS marker + 0x00, 0x0C, // length + 0x03, // number of components + 0x01, 0x00, // component IDs and Huffman tables + 0x02, 0x11, // component IDs and Huffman tables + 0x03, 0x11, // component IDs and Huffman tables 0x00, 0x3F, 0x00 // Ss, Se, Ah/Al - }; + }; + int add_sof0(int offset) { + // add the SOF0 marker + data_[offset++] = 0xFF; + data_[offset++] = 0xC0; + // add the length of the marker + data_[offset++] = 0x00; + data_[offset++] = 0x11; + // add the precision + data_[offset++] = 0x08; + // add the height + data_[offset++] = (height_ >> 8) & 0xFF; + data_[offset++] = height_ & 0xFF; + // add the width + data_[offset++] = (width_ >> 8) & 0xFF; + data_[offset++] = width_ & 0xFF; + // add the number of components + data_[offset++] = 0x03; + // add the Y component + data_[offset++] = 0x01; + data_[offset++] = 0x21; + data_[offset++] = 0x00; + // add the Cb component + data_[offset++] = 0x02; + data_[offset++] = 0x11; + data_[offset++] = 0x01; + // add the Cr component + data_[offset++] = 0x03; + data_[offset++] = 0x11; + data_[offset++] = 0x01; + return offset; + } - int add_sof0(int offset) { - // add the SOF0 marker - data_[offset++] = 0xFF; - data_[offset++] = 0xC0; - // add the length of the marker - data_[offset++] = 0x00; - data_[offset++] = 0x11; - // add the precision - data_[offset++] = 0x08; - // add the height - data_[offset++] = (height_ >> 8) & 0xFF; - data_[offset++] = height_ & 0xFF; - // add the width - data_[offset++] = (width_ >> 8) & 0xFF; - data_[offset++] = width_ & 0xFF; - // add the number of components - data_[offset++] = 0x03; - // add the Y component - data_[offset++] = 0x01; - data_[offset++] = 0x21; - data_[offset++] = 0x00; - // add the Cb component - data_[offset++] = 0x02; - data_[offset++] = 0x11; - data_[offset++] = 0x01; - // add the Cr component - data_[offset++] = 0x03; - data_[offset++] = 0x11; - data_[offset++] = 0x01; - return offset; - } + void serialize() { + int header_size = 2 + sizeof(JFIF_APP0_DATA) + DQT_HEADER_SIZE + q0_table_.size() + + DQT_HEADER_SIZE + q1_table_.size() + sizeof(HUFFMAN_TABLES) + SOF0_SIZE + + sizeof(SOS); + // serialize the jpeg header to the data_ vector + data_.resize(header_size); + int offset = 0; - void serialize() { - int header_size = - 2 + - sizeof(JFIF_APP0_DATA) + - DQT_HEADER_SIZE + - q0_table_.size() + - DQT_HEADER_SIZE + - q1_table_.size() + - sizeof(HUFFMAN_TABLES) + - SOF0_SIZE + - sizeof(SOS); - // serialize the jpeg header to the data_ vector - data_.resize(header_size); - int offset = 0; + // add the SOI marker + data_[offset++] = 0xFF; + data_[offset++] = 0xD8; - // add the SOI marker - data_[offset++] = 0xFF; - data_[offset++] = 0xD8; + // add the JFIF APP0 marker + memcpy(data_.data() + offset, JFIF_APP0_DATA, sizeof(JFIF_APP0_DATA)); + offset += sizeof(JFIF_APP0_DATA); - // add the JFIF APP0 marker - memcpy(data_.data() + offset, JFIF_APP0_DATA, sizeof(JFIF_APP0_DATA)); - offset += sizeof(JFIF_APP0_DATA); + // add the DQT marker for luminance + data_[offset++] = 0xFF; + data_[offset++] = 0xDB; + data_[offset++] = 0x00; + data_[offset++] = 0x43; + data_[offset++] = 0x00; + memcpy(data_.data() + offset, q0_table_.data(), q0_table_.size()); + offset += q0_table_.size(); - // add the DQT marker for luminance - data_[offset++] = 0xFF; - data_[offset++] = 0xDB; - data_[offset++] = 0x00; - data_[offset++] = 0x43; - data_[offset++] = 0x00; - memcpy(data_.data() + offset, q0_table_.data(), q0_table_.size()); - offset += q0_table_.size(); + // add the DQT marker for chrominance + data_[offset++] = 0xFF; + data_[offset++] = 0xDB; + data_[offset++] = 0x00; + data_[offset++] = 0x43; + data_[offset++] = 0x01; + memcpy(data_.data() + offset, q1_table_.data(), q1_table_.size()); + offset += q1_table_.size(); - // add the DQT marker for chrominance - data_[offset++] = 0xFF; - data_[offset++] = 0xDB; - data_[offset++] = 0x00; - data_[offset++] = 0x43; - data_[offset++] = 0x01; - memcpy(data_.data() + offset, q1_table_.data(), q1_table_.size()); - offset += q1_table_.size(); + // add huffman tables + memcpy(data_.data() + offset, HUFFMAN_TABLES, sizeof(HUFFMAN_TABLES)); + offset += sizeof(HUFFMAN_TABLES); - // add huffman tables - memcpy(data_.data() + offset, HUFFMAN_TABLES, sizeof(HUFFMAN_TABLES)); - offset += sizeof(HUFFMAN_TABLES); + // add the SOF0 + offset = add_sof0(offset); - // add the SOF0 - offset = add_sof0(offset); + // add the SOS marker + memcpy(data_.data() + offset, SOS, sizeof(SOS)); + offset += sizeof(SOS); + } - // add the SOS marker - memcpy(data_.data() + offset, SOS, sizeof(SOS)); - offset += sizeof(SOS); + void parse() { + // parse the jpeg header from the data_ vector + int offset = 0; + // check the SOI marker + if (data_[offset++] != 0xFF || data_[offset++] != 0xD8) { + fmt::print("Invalid SOI marker\n"); + return; } - - void parse() { - // parse the jpeg header from the data_ vector - int offset = 0; - // check the SOI marker - if (data_[offset++] != 0xFF || data_[offset++] != 0xD8) { - fmt::print("Invalid SOI marker\n"); - return; - } - // check the JFIF APP0 marker - if (memcmp(data_.data() + offset, JFIF_APP0_DATA, sizeof(JFIF_APP0_DATA)) != 0) { - fmt::print("Invalid JFIF APP0 marker\n"); - return; - } - offset += sizeof(JFIF_APP0_DATA); - // check the DQT marker for luminance - if (data_[offset++] != 0xFF || data_[offset++] != 0xDB) { - fmt::print("Invalid DQT marker\n"); - return; - } - if (data_[offset++] != 0x00 || data_[offset++] != 0x43) { - fmt::print("Invalid DQT marker\n"); - return; - } - if (data_[offset++] != 0x00) { - fmt::print("Invalid DQT marker\n"); - return; - } - q0_table_ = std::string_view(data_.data() + offset, 64); - offset += 64; - // check the DQT marker for chrominance - if (data_[offset++] != 0xFF || data_[offset++] != 0xDB) { - fmt::print("Invalid DQT marker\n"); - return; - } - if (data_[offset++] != 0x00 || data_[offset++] != 0x43) { - fmt::print("Invalid DQT marker\n"); - return; - } - if (data_[offset++] != 0x01) { - fmt::print("Invalid DQT marker\n"); - return; - } - q1_table_ = std::string_view(data_.data() + offset, 64); - offset += 64; - // check huffman tables - if (data_[offset++] != 0xFF || data_[offset++] != 0xC4) { - fmt::print("Invalid huffman tables marker\n"); - return; - } - if (data_[offset++] != 0x00 || data_[offset++] != 0x1f || data_[offset++] != 0x00) { - fmt::print("Invalid huffman tables marker\n"); - return; - } - offset += sizeof(HUFFMAN_TABLES) - 5; - // check the SOF0 marker - if (data_[offset++] != 0xFF || data_[offset++] != 0xC0) { - fmt::print("Invalid SOF0 marker\n"); - return; - } - if (data_[offset++] != 0x00 || data_[offset++] != 0x11) { - fmt::print("Invalid SOF0 marker\n"); - return; - } - // skip the precision - offset++; - // get the height and width - height_ = (data_[offset] << 8) | data_[offset+1]; - offset += 2; - width_ = (data_[offset] << 8) | data_[offset+1]; - offset += 2; - if (data_[offset++] != 0x03) { - fmt::print("Invalid SOF0 marker\n"); - return; - } - if (data_[offset++] != 0x01) { - fmt::print("Invalid SOF0 marker\n"); - return; - } - if (data_[offset++] != 0x21) { - fmt::print("Invalid SOF0 marker\n"); - return; - } - if (data_[offset++] != 0x00) { - fmt::print("Invalid SOF0 marker\n"); - return; - } - if (data_[offset++] != 0x02) { - fmt::print("Invalid SOF0 marker\n"); - return; - } - if (data_[offset++] != 0x11) { - fmt::print("Invalid SOF0 marker\n"); - return; - } - if (data_[offset++] != 0x01) { - fmt::print("Invalid SOF0 marker\n"); - return; - } - if (data_[offset++] != 0x03) { - fmt::print("Invalid SOF0 marker\n"); - return; - } - if (data_[offset++] != 0x11) { - fmt::print("Invalid SOF0 marker\n"); - return; - } - if (data_[offset++] != 0x01) { - fmt::print("Invalid SOF0 marker\n"); - return; - } - // check the SOS marker - if (data_[offset++] != 0xFF || data_[offset++] != 0xDA) { - fmt::print("Invalid SOS marker\n"); - return; - } - if (data_[offset++] != 0x00 || data_[offset++] != 0x0C) { - fmt::print("Invalid SOS marker\n"); - return; - } - if (data_[offset++] != 0x03) { - fmt::print("Invalid SOS marker\n"); - return; - } - if (data_[offset++] != 0x01) { - fmt::print("Invalid SOS marker\n"); - return; - } - if (data_[offset++] != 0x00) { - fmt::print("Invalid SOS marker\n"); - return; - } - if (data_[offset++] != 0x02) { - fmt::print("Invalid SOS marker\n"); - return; - } - if (data_[offset++] != 0x11) { - fmt::print("Invalid SOS marker\n"); - return; - } - if (data_[offset++] != 0x03) { - fmt::print("Invalid SOS marker\n"); - return; - } - if (data_[offset++] != 0x11) { - fmt::print("Invalid SOS marker\n"); - return; - } - if (data_[offset++] != 0x00) { - fmt::print("Invalid SOS marker\n"); - return; - } - if (data_[offset++] != 0x3F) { - fmt::print("Invalid SOS marker\n"); - return; - } - if (data_[offset++] != 0x00) { - fmt::print("Invalid SOS marker\n"); - return; - } - data_.resize(offset); + // check the JFIF APP0 marker + if (memcmp(data_.data() + offset, JFIF_APP0_DATA, sizeof(JFIF_APP0_DATA)) != 0) { + fmt::print("Invalid JFIF APP0 marker\n"); + return; + } + offset += sizeof(JFIF_APP0_DATA); + // check the DQT marker for luminance + if (data_[offset++] != 0xFF || data_[offset++] != 0xDB) { + fmt::print("Invalid DQT marker\n"); + return; + } + if (data_[offset++] != 0x00 || data_[offset++] != 0x43) { + fmt::print("Invalid DQT marker\n"); + return; + } + if (data_[offset++] != 0x00) { + fmt::print("Invalid DQT marker\n"); + return; + } + q0_table_ = std::string_view(data_.data() + offset, 64); + offset += 64; + // check the DQT marker for chrominance + if (data_[offset++] != 0xFF || data_[offset++] != 0xDB) { + fmt::print("Invalid DQT marker\n"); + return; + } + if (data_[offset++] != 0x00 || data_[offset++] != 0x43) { + fmt::print("Invalid DQT marker\n"); + return; + } + if (data_[offset++] != 0x01) { + fmt::print("Invalid DQT marker\n"); + return; + } + q1_table_ = std::string_view(data_.data() + offset, 64); + offset += 64; + // check huffman tables + if (data_[offset++] != 0xFF || data_[offset++] != 0xC4) { + fmt::print("Invalid huffman tables marker\n"); + return; + } + if (data_[offset++] != 0x00 || data_[offset++] != 0x1f || data_[offset++] != 0x00) { + fmt::print("Invalid huffman tables marker\n"); + return; + } + offset += sizeof(HUFFMAN_TABLES) - 5; + // check the SOF0 marker + if (data_[offset++] != 0xFF || data_[offset++] != 0xC0) { + fmt::print("Invalid SOF0 marker\n"); + return; + } + if (data_[offset++] != 0x00 || data_[offset++] != 0x11) { + fmt::print("Invalid SOF0 marker\n"); + return; + } + // skip the precision + offset++; + // get the height and width + height_ = (data_[offset] << 8) | data_[offset + 1]; + offset += 2; + width_ = (data_[offset] << 8) | data_[offset + 1]; + offset += 2; + if (data_[offset++] != 0x03) { + fmt::print("Invalid SOF0 marker\n"); + return; } + if (data_[offset++] != 0x01) { + fmt::print("Invalid SOF0 marker\n"); + return; + } + if (data_[offset++] != 0x21) { + fmt::print("Invalid SOF0 marker\n"); + return; + } + if (data_[offset++] != 0x00) { + fmt::print("Invalid SOF0 marker\n"); + return; + } + if (data_[offset++] != 0x02) { + fmt::print("Invalid SOF0 marker\n"); + return; + } + if (data_[offset++] != 0x11) { + fmt::print("Invalid SOF0 marker\n"); + return; + } + if (data_[offset++] != 0x01) { + fmt::print("Invalid SOF0 marker\n"); + return; + } + if (data_[offset++] != 0x03) { + fmt::print("Invalid SOF0 marker\n"); + return; + } + if (data_[offset++] != 0x11) { + fmt::print("Invalid SOF0 marker\n"); + return; + } + if (data_[offset++] != 0x01) { + fmt::print("Invalid SOF0 marker\n"); + return; + } + // check the SOS marker + if (data_[offset++] != 0xFF || data_[offset++] != 0xDA) { + fmt::print("Invalid SOS marker\n"); + return; + } + if (data_[offset++] != 0x00 || data_[offset++] != 0x0C) { + fmt::print("Invalid SOS marker\n"); + return; + } + if (data_[offset++] != 0x03) { + fmt::print("Invalid SOS marker\n"); + return; + } + if (data_[offset++] != 0x01) { + fmt::print("Invalid SOS marker\n"); + return; + } + if (data_[offset++] != 0x00) { + fmt::print("Invalid SOS marker\n"); + return; + } + if (data_[offset++] != 0x02) { + fmt::print("Invalid SOS marker\n"); + return; + } + if (data_[offset++] != 0x11) { + fmt::print("Invalid SOS marker\n"); + return; + } + if (data_[offset++] != 0x03) { + fmt::print("Invalid SOS marker\n"); + return; + } + if (data_[offset++] != 0x11) { + fmt::print("Invalid SOS marker\n"); + return; + } + if (data_[offset++] != 0x00) { + fmt::print("Invalid SOS marker\n"); + return; + } + if (data_[offset++] != 0x3F) { + fmt::print("Invalid SOS marker\n"); + return; + } + if (data_[offset++] != 0x00) { + fmt::print("Invalid SOS marker\n"); + return; + } + data_.resize(offset); + } - int width_; - int height_; - std::string_view q0_table_; - std::string_view q1_table_; + int width_; + int height_; + std::string_view q0_table_; + std::string_view q1_table_; - std::vector data_; - }; + std::vector data_; +}; } // namespace espp diff --git a/components/rtsp/include/rtcp_packet.hpp b/components/rtsp/include/rtcp_packet.hpp index bb963d448..de35f1880 100644 --- a/components/rtsp/include/rtcp_packet.hpp +++ b/components/rtsp/include/rtcp_packet.hpp @@ -4,24 +4,22 @@ #include namespace espp { - /// @brief A class to represent a RTCP packet - /// @details This class is used to represent a RTCP packet. - /// It is used as a base class for all RTCP packet types. - class RtcpPacket { - public: - RtcpPacket() = default; - virtual ~RtcpPacket() = default; +/// @brief A class to represent a RTCP packet +/// @details This class is used to represent a RTCP packet. +/// It is used as a base class for all RTCP packet types. +class RtcpPacket { +public: + RtcpPacket() = default; + virtual ~RtcpPacket() = default; - std::string_view get_data() const { - return std::string_view(reinterpret_cast(m_buffer), m_bufferSize); - } + std::string_view get_data() const { + return std::string_view(reinterpret_cast(m_buffer), m_bufferSize); + } - void serialize() { + void serialize() {} - } - - protected: - uint8_t* m_buffer; - uint32_t m_bufferSize; - }; +protected: + uint8_t *m_buffer; + uint32_t m_bufferSize; +}; } // namespace espp diff --git a/components/rtsp/include/rtp_jpeg_packet.hpp b/components/rtsp/include/rtp_jpeg_packet.hpp index c4cbff166..7942f5258 100644 --- a/components/rtsp/include/rtp_jpeg_packet.hpp +++ b/components/rtsp/include/rtp_jpeg_packet.hpp @@ -3,225 +3,212 @@ #include "rtp_packet.hpp" namespace espp { - /// RTP packet for JPEG video. - /// The RTP payload for JPEG is defined in RFC 2435. - class RtpJpegPacket : public RtpPacket { - public: - /// Construct an RTP packet from a buffer. - /// @param data The buffer containing the RTP packet. - explicit RtpJpegPacket(std::string_view data) : RtpPacket(data) { - parse_mjpeg_header(); +/// RTP packet for JPEG video. +/// The RTP payload for JPEG is defined in RFC 2435. +class RtpJpegPacket : public RtpPacket { +public: + /// Construct an RTP packet from a buffer. + /// @param data The buffer containing the RTP packet. + explicit RtpJpegPacket(std::string_view data) : RtpPacket(data) { parse_mjpeg_header(); } + + /// Construct an RTP packet from fields + /// @details This will construct a packet with quantization tables, so it + /// can only be used for the first packet in a frame. + /// @param type_specific The type-specific field. + /// @param frag_type The fragment type field. + /// @param q The q field. + /// @param width The width field. + /// @param height The height field. + /// @param q0 The first quantization table. + /// @param q1 The second quantization table. + /// @param scan_data The scan data. + explicit RtpJpegPacket(const int type_specific, const int frag_type, const int q, const int width, + const int height, std::string_view q0, std::string_view q1, + std::string_view scan_data) + : RtpPacket(PAYLOAD_OFFSET_WITH_QUANT + scan_data.size()), type_specific_(type_specific), + offset_(0), frag_type_(frag_type), q_(q), width_(width), height_(height) { + + jpeg_data_start_ = PAYLOAD_OFFSET_WITH_QUANT; + jpeg_data_size_ = scan_data.size(); + + serialize_mjpeg_header(); + serialize_q_tables(q0, q1); + + auto &packet = get_packet(); + size_t jpeg_offset = jpeg_data_start_ + get_rtp_header_size(); + memcpy(packet.data() + jpeg_offset, scan_data.data(), scan_data.size()); + } + + /// Construct an RTP packet from fields + /// @details This will construct a packet without quantization tables, so it + /// cannot be used for the first packet in a frame. + /// @param type_specific The type-specific field. + /// @param offset The offset field. + /// @param frag_type The fragment type field. + /// @param q The q field. + /// @param width The width field. + /// @param height The height field. + /// @param scan_data The scan data. + explicit RtpJpegPacket(const int type_specific, const int offset, const int frag_type, + const int q, const int width, const int height, std::string_view scan_data) + : RtpPacket(PAYLOAD_OFFSET_NO_QUANT + scan_data.size()), type_specific_(type_specific), + offset_(offset), frag_type_(frag_type), q_(q), width_(width), height_(height) { + jpeg_data_start_ = PAYLOAD_OFFSET_NO_QUANT; + jpeg_data_size_ = scan_data.size(); + + serialize_mjpeg_header(); + + auto &packet = get_packet(); + size_t jpeg_offset = jpeg_data_start_ + get_rtp_header_size(); + memcpy(packet.data() + jpeg_offset, scan_data.data(), scan_data.size()); + } + + ~RtpJpegPacket() {} + + /// Get the type-specific field. + /// @return The type-specific field. + int get_type_specific() const { return type_specific_; } + + /// Get the offset field. + /// @return The offset field. + int get_offset() const { return offset_; } + + /// Get the fragment type field. + /// @return The fragment type field. + int get_q() const { return q_; } + + /// Get the fragment type field. + /// @return The fragment type field. + int get_width() const { return width_; } + + /// Get the fragment type field. + /// @return The fragment type field. + int get_height() const { return height_; } + + /// Get the mjepg header. + /// @return The mjepg header. + std::string_view get_mjpeg_header() { + return std::string_view(get_payload().data(), MJPEG_HEADER_SIZE); + } + + /// Get whether the packet contains quantization tables. + /// @note The quantization tables are optional. If they are present, the + /// number of quantization tables is always 2. + /// @note This check is based on the value of the q field. If the q field + /// is 128-256, the packet contains quantization tables. + /// @return Whether the packet contains quantization tables. + bool has_q_tables() const { return q_ >= 128 && q_ <= 256; } + + /// Get the number of quantization tables. + /// @note The quantization tables are optional. If they are present, the + /// number of quantization tables is always 2. + /// @note Only the first packet in a frame contains quantization tables. + /// @return The number of quantization tables. + int get_num_q_tables() const { return q_tables_.size(); } + + /// Get the quantization table at the specified index. + /// @param index The index of the quantization table. + /// @return The quantization table at the specified index. + std::string_view get_q_table(int index) const { + if (index < get_num_q_tables()) { + return q_tables_[index]; } + return {}; + } - /// Construct an RTP packet from fields - /// @details This will construct a packet with quantization tables, so it - /// can only be used for the first packet in a frame. - /// @param type_specific The type-specific field. - /// @param frag_type The fragment type field. - /// @param q The q field. - /// @param width The width field. - /// @param height The height field. - /// @param q0 The first quantization table. - /// @param q1 The second quantization table. - /// @param scan_data The scan data. - explicit RtpJpegPacket(const int type_specific, const int frag_type, - const int q, const int width, const int height, - std::string_view q0, std::string_view q1, - std::string_view scan_data) - : RtpPacket(PAYLOAD_OFFSET_WITH_QUANT + scan_data.size()), - type_specific_(type_specific), - offset_(0), - frag_type_(frag_type), - q_(q), - width_(width), - height_(height) { - - jpeg_data_start_ = PAYLOAD_OFFSET_WITH_QUANT; - jpeg_data_size_ = scan_data.size(); - - serialize_mjpeg_header(); - serialize_q_tables(q0, q1); - - auto& packet = get_packet(); - size_t jpeg_offset = jpeg_data_start_ + get_rtp_header_size(); - memcpy(packet.data() + jpeg_offset, scan_data.data(), scan_data.size()); + void set_q_table(int index, std::string_view q_table) { + if (index < get_num_q_tables()) { + q_tables_[index] = q_table; } - - /// Construct an RTP packet from fields - /// @details This will construct a packet without quantization tables, so it - /// cannot be used for the first packet in a frame. - /// @param type_specific The type-specific field. - /// @param offset The offset field. - /// @param frag_type The fragment type field. - /// @param q The q field. - /// @param width The width field. - /// @param height The height field. - /// @param scan_data The scan data. - explicit RtpJpegPacket(const int type_specific, const int offset, const int frag_type, - const int q, const int width, const int height, - std::string_view scan_data) - : RtpPacket(PAYLOAD_OFFSET_NO_QUANT + scan_data.size()), - type_specific_(type_specific), - offset_(offset), - frag_type_(frag_type), - q_(q), - width_(width), - height_(height) { - jpeg_data_start_ = PAYLOAD_OFFSET_NO_QUANT; - jpeg_data_size_ = scan_data.size(); - - serialize_mjpeg_header(); - - auto& packet = get_packet(); - size_t jpeg_offset = jpeg_data_start_ + get_rtp_header_size(); - memcpy(packet.data() + jpeg_offset, scan_data.data(), scan_data.size()); - } - - ~RtpJpegPacket() {} - - /// Get the type-specific field. - /// @return The type-specific field. - int get_type_specific() const { return type_specific_; } - - /// Get the offset field. - /// @return The offset field. - int get_offset() const { return offset_; } - - /// Get the fragment type field. - /// @return The fragment type field. - int get_q() const { return q_; } - - /// Get the fragment type field. - /// @return The fragment type field. - int get_width() const { return width_; } - - /// Get the fragment type field. - /// @return The fragment type field. - int get_height() const { return height_; } - - /// Get the mjepg header. - /// @return The mjepg header. - std::string_view get_mjpeg_header() { - return std::string_view(get_payload().data(), MJPEG_HEADER_SIZE); - } - - /// Get whether the packet contains quantization tables. - /// @note The quantization tables are optional. If they are present, the - /// number of quantization tables is always 2. - /// @note This check is based on the value of the q field. If the q field - /// is 128-256, the packet contains quantization tables. - /// @return Whether the packet contains quantization tables. - bool has_q_tables() const { return q_ >= 128 && q_ <= 256; } - - /// Get the number of quantization tables. - /// @note The quantization tables are optional. If they are present, the - /// number of quantization tables is always 2. - /// @note Only the first packet in a frame contains quantization tables. - /// @return The number of quantization tables. - int get_num_q_tables() const { return q_tables_.size(); } - - /// Get the quantization table at the specified index. - /// @param index The index of the quantization table. - /// @return The quantization table at the specified index. - std::string_view get_q_table(int index) const { - if (index < get_num_q_tables()) { - return q_tables_[index]; - } - return {}; - } - - void set_q_table(int index, std::string_view q_table) { - if (index < get_num_q_tables()) { - q_tables_[index] = q_table; - } - } - - /// Get the JPEG data. - /// The jpeg data is the payload minus the mjpeg header and quantization - /// tables. - /// @return The JPEG data. - std::string_view get_jpeg_data() const { - auto payload = get_payload(); - return std::string_view(payload.data() + jpeg_data_start_, jpeg_data_size_); - } - - protected: - static constexpr int MJPEG_HEADER_SIZE = 8; - static constexpr int QUANT_HEADER_SIZE = 4; - static constexpr int NUM_Q_TABLES = 2; - static constexpr int Q_TABLE_SIZE = 64; - - static constexpr int PAYLOAD_OFFSET_NO_QUANT = MJPEG_HEADER_SIZE; - static constexpr int PAYLOAD_OFFSET_WITH_QUANT = MJPEG_HEADER_SIZE + QUANT_HEADER_SIZE + (NUM_Q_TABLES * Q_TABLE_SIZE); - - void parse_mjpeg_header() { - auto payload = get_payload(); - type_specific_ = payload[0]; - offset_ = (payload[1] << 16) | (payload[2] << 8) | payload[3]; - frag_type_ = payload[4]; - q_ = payload[5]; - width_ = payload[6] * 8; - height_ = payload[7] * 8; - - size_t offset = MJPEG_HEADER_SIZE; - - if (has_q_tables()) { - int num_quant_bytes = payload[11]; - int expected_num_quant_bytes = NUM_Q_TABLES * Q_TABLE_SIZE; - if (num_quant_bytes == expected_num_quant_bytes) { - q_tables_.resize(NUM_Q_TABLES); - offset += QUANT_HEADER_SIZE; - for (int i = 0; i < NUM_Q_TABLES; i++) { - q_tables_[i] = std::string_view(payload.data() + offset, Q_TABLE_SIZE); - offset += Q_TABLE_SIZE; - } + } + + /// Get the JPEG data. + /// The jpeg data is the payload minus the mjpeg header and quantization + /// tables. + /// @return The JPEG data. + std::string_view get_jpeg_data() const { + auto payload = get_payload(); + return std::string_view(payload.data() + jpeg_data_start_, jpeg_data_size_); + } + +protected: + static constexpr int MJPEG_HEADER_SIZE = 8; + static constexpr int QUANT_HEADER_SIZE = 4; + static constexpr int NUM_Q_TABLES = 2; + static constexpr int Q_TABLE_SIZE = 64; + + static constexpr int PAYLOAD_OFFSET_NO_QUANT = MJPEG_HEADER_SIZE; + static constexpr int PAYLOAD_OFFSET_WITH_QUANT = + MJPEG_HEADER_SIZE + QUANT_HEADER_SIZE + (NUM_Q_TABLES * Q_TABLE_SIZE); + + void parse_mjpeg_header() { + auto payload = get_payload(); + type_specific_ = payload[0]; + offset_ = (payload[1] << 16) | (payload[2] << 8) | payload[3]; + frag_type_ = payload[4]; + q_ = payload[5]; + width_ = payload[6] * 8; + height_ = payload[7] * 8; + + size_t offset = MJPEG_HEADER_SIZE; + + if (has_q_tables()) { + int num_quant_bytes = payload[11]; + int expected_num_quant_bytes = NUM_Q_TABLES * Q_TABLE_SIZE; + if (num_quant_bytes == expected_num_quant_bytes) { + q_tables_.resize(NUM_Q_TABLES); + offset += QUANT_HEADER_SIZE; + for (int i = 0; i < NUM_Q_TABLES; i++) { + q_tables_[i] = std::string_view(payload.data() + offset, Q_TABLE_SIZE); + offset += Q_TABLE_SIZE; } } - - jpeg_data_start_ = offset; - jpeg_data_size_ = payload.size() - jpeg_data_start_; - } - - void serialize_mjpeg_header() { - auto& packet = get_packet(); - size_t offset = get_rtp_header_size(); - - packet[offset++] = type_specific_; - packet[offset++] = (offset_ >> 16) & 0xff; - packet[offset++] = (offset_ >> 8) & 0xff; - packet[offset++] = offset_ & 0xff; - packet[offset++] = frag_type_; - packet[offset++] = q_; - packet[offset++] = width_ / 8; - packet[offset++] = height_ / 8; - } - - void serialize_q_tables(std::string_view q0, std::string_view q1) { - q_tables_.resize(NUM_Q_TABLES); - auto& packet = get_packet(); - int offset = get_rtp_header_size() + MJPEG_HEADER_SIZE; - packet[offset++] = 0; - packet[offset++] = 0; - packet[offset++] = 0; - packet[offset++] = NUM_Q_TABLES * Q_TABLE_SIZE; - - memcpy(packet.data() + offset, q0.data(), Q_TABLE_SIZE); - q_tables_[0] = std::string_view(packet.data() + offset, Q_TABLE_SIZE); - offset += Q_TABLE_SIZE; - - memcpy(packet.data() + offset, q1.data(), Q_TABLE_SIZE); - q_tables_[1] = std::string_view(packet.data() + offset, Q_TABLE_SIZE); - offset += Q_TABLE_SIZE; } - int type_specific_{0}; - int offset_{0}; - int frag_type_{0}; - int q_{0}; - int width_{0}; - int height_{0}; - int jpeg_data_start_{0}; - int jpeg_data_size_{0}; - std::vector q_tables_; - }; + jpeg_data_start_ = offset; + jpeg_data_size_ = payload.size() - jpeg_data_start_; + } + + void serialize_mjpeg_header() { + auto &packet = get_packet(); + size_t offset = get_rtp_header_size(); + + packet[offset++] = type_specific_; + packet[offset++] = (offset_ >> 16) & 0xff; + packet[offset++] = (offset_ >> 8) & 0xff; + packet[offset++] = offset_ & 0xff; + packet[offset++] = frag_type_; + packet[offset++] = q_; + packet[offset++] = width_ / 8; + packet[offset++] = height_ / 8; + } + + void serialize_q_tables(std::string_view q0, std::string_view q1) { + q_tables_.resize(NUM_Q_TABLES); + auto &packet = get_packet(); + int offset = get_rtp_header_size() + MJPEG_HEADER_SIZE; + packet[offset++] = 0; + packet[offset++] = 0; + packet[offset++] = 0; + packet[offset++] = NUM_Q_TABLES * Q_TABLE_SIZE; + + memcpy(packet.data() + offset, q0.data(), Q_TABLE_SIZE); + q_tables_[0] = std::string_view(packet.data() + offset, Q_TABLE_SIZE); + offset += Q_TABLE_SIZE; + + memcpy(packet.data() + offset, q1.data(), Q_TABLE_SIZE); + q_tables_[1] = std::string_view(packet.data() + offset, Q_TABLE_SIZE); + offset += Q_TABLE_SIZE; + } + + int type_specific_{0}; + int offset_{0}; + int frag_type_{0}; + int q_{0}; + int width_{0}; + int height_{0}; + int jpeg_data_start_{0}; + int jpeg_data_size_{0}; + std::vector q_tables_; +}; } // namespace espp diff --git a/components/rtsp/include/rtp_packet.hpp b/components/rtsp/include/rtp_packet.hpp index 100011bf7..7ed97b275 100644 --- a/components/rtsp/include/rtp_packet.hpp +++ b/components/rtsp/include/rtp_packet.hpp @@ -5,150 +5,143 @@ #include namespace espp { - /// RtpPacket is a class to parse RTP packet. - class RtpPacket { - public: - /// Construct an empty RtpPacket. - /// The packet_ vector is empty and the header fields are set to 0. - RtpPacket() : version_(2), padding_(false), extension_(false), csrc_count_(0), - marker_(false), payload_type_(0), sequence_number_(0), timestamp_(0), - ssrc_(0), payload_size_(0) { - // ensure that the packet_ vector is at least RTP_HEADER_SIZE bytes long - packet_.resize(RTP_HEADER_SIZE); - } - - /// Construct an RtpPacket with a payload of size payload_size. - explicit RtpPacket(size_t payload_size) : version_(2), padding_(false), extension_(false), csrc_count_(0), - marker_(false), payload_type_(0), sequence_number_(0), timestamp_(0), - ssrc_(0), payload_size_(payload_size) { - // ensure that the packet_ vector is at least RTP_HEADER_SIZE + payload_size bytes long - packet_.resize(RTP_HEADER_SIZE + payload_size); - } - - /// Construct an RtpPacket from a string_view. - /// Store the string_view in the packet_ vector and parses the header. - /// @param data The string_view to parse. - explicit RtpPacket(std::string_view data) { - packet_.assign(data.begin(), data.end()); - payload_size_ = packet_.size() - RTP_HEADER_SIZE; - if (packet_.size() >= RTP_HEADER_SIZE) - parse_rtp_header(); - } - - ~RtpPacket() {} - - /// Getters for the RTP header fields. - int get_version() const { return version_; } - bool get_padding() const { return padding_; } - bool get_extension() const { return extension_; } - int get_csrc_count() const { return csrc_count_; } - bool get_marker() const { return marker_; } - int get_payload_type() const { return payload_type_; } - int get_sequence_number() const { return sequence_number_; } - int get_timestamp() const { return timestamp_; } - int get_ssrc() const { return ssrc_; } - - /// Setters for the RTP header fields. - void set_version(int version) { version_ = version; } - void set_padding(bool padding) { padding_ = padding; } - void set_extension(bool extension) { extension_ = extension; } - void set_csrc_count(int csrc_count) { csrc_count_ = csrc_count; } - void set_marker(bool marker) { marker_ = marker; } - void set_payload_type(int payload_type) { payload_type_ = payload_type; } - void set_sequence_number(int sequence_number) { sequence_number_ = sequence_number; } - void set_timestamp(int timestamp) { timestamp_ = timestamp; } - void set_ssrc(int ssrc) { ssrc_ = ssrc; } - - /// Serialize the RTP header. - /// @note This method should be called after modifying the RTP header fields. - /// @note This method does not serialize the payload. To set the payload, use - /// set_payload(). - /// To get the payload, use get_payload(). - void serialize() { - serialize_rtp_header(); - } - - /// Get a string_view of the whole packet. - /// @note The string_view is valid as long as the packet_ vector is not modified. - /// @note If you manually build the packet_ vector, you should make sure that you - /// call serialize() before calling this method. - /// @return A string_view of the whole packet. - std::string_view get_data() const { - return std::string_view(packet_.data(), packet_.size()); - } - - /// Get the size of the RTP header. - /// @return The size of the RTP header. - size_t get_rtp_header_size() const { - return RTP_HEADER_SIZE; - } - - /// Get a string_view of the RTP header. - /// @return A string_view of the RTP header. - std::string_view get_rpt_header() const { - return std::string_view(packet_.data(), RTP_HEADER_SIZE); - } - - /// Get a reference to the packet_ vector. - /// @return A reference to the packet_ vector. - std::vector& get_packet() { - return packet_; - } - - /// Get a string_view of the payload. - /// @return A string_view of the payload. - std::string_view get_payload() const { - return std::string_view(packet_.data() + RTP_HEADER_SIZE, payload_size_); - } - - /// Set the payload. - /// @param payload The payload to set. - void set_payload(std::string_view payload) { - packet_.resize(RTP_HEADER_SIZE + payload.size()); - std::copy(payload.begin(), payload.end(), packet_.begin() + RTP_HEADER_SIZE); - payload_size_ = payload.size(); - } - - protected: - static constexpr int RTP_HEADER_SIZE = 12; - - void parse_rtp_header() { - version_ = (packet_[0] & 0xC0) >> 6; - padding_ = (packet_[0] & 0x20) >> 5; - extension_ = (packet_[0] & 0x10) >> 4; - csrc_count_ = packet_[0] & 0x0F; - marker_ = (packet_[1] & 0x80) >> 7; - payload_type_ = packet_[1] & 0x7F; - sequence_number_ = (packet_[2] << 8) | packet_[3]; - timestamp_ = (packet_[4] << 24) | (packet_[5] << 16) | (packet_[6] << 8) | packet_[7]; - ssrc_ = (packet_[8] << 24) | (packet_[9] << 16) | (packet_[10] << 8) | packet_[11]; - } - - void serialize_rtp_header() { - packet_[0] = (version_ << 6) | (padding_ << 5) | (extension_ << 4) | csrc_count_; - packet_[1] = (marker_ << 7) | payload_type_; - packet_[2] = sequence_number_ >> 8; - packet_[3] = sequence_number_ & 0xFF; - packet_[4] = timestamp_ >> 24; - packet_[5] = (timestamp_ >> 16) & 0xFF; - packet_[6] = (timestamp_ >> 8) & 0xFF; - packet_[7] = timestamp_ & 0xFF; - packet_[8] = ssrc_ >> 24; - packet_[9] = (ssrc_ >> 16) & 0xFF; - packet_[10] = (ssrc_ >> 8) & 0xFF; - packet_[11] = ssrc_ & 0xFF; - } - - std::vector packet_; - int version_; - bool padding_; - bool extension_; - int csrc_count_; - bool marker_; - int payload_type_; - int sequence_number_; - int timestamp_; - int ssrc_; - int payload_size_; - }; -} // namespace espp +/// RtpPacket is a class to parse RTP packet. +class RtpPacket { +public: + /// Construct an empty RtpPacket. + /// The packet_ vector is empty and the header fields are set to 0. + RtpPacket() + : version_(2), padding_(false), extension_(false), csrc_count_(0), marker_(false), + payload_type_(0), sequence_number_(0), timestamp_(0), ssrc_(0), payload_size_(0) { + // ensure that the packet_ vector is at least RTP_HEADER_SIZE bytes long + packet_.resize(RTP_HEADER_SIZE); + } + + /// Construct an RtpPacket with a payload of size payload_size. + explicit RtpPacket(size_t payload_size) + : version_(2), padding_(false), extension_(false), csrc_count_(0), marker_(false), + payload_type_(0), sequence_number_(0), timestamp_(0), ssrc_(0), + payload_size_(payload_size) { + // ensure that the packet_ vector is at least RTP_HEADER_SIZE + payload_size bytes long + packet_.resize(RTP_HEADER_SIZE + payload_size); + } + + /// Construct an RtpPacket from a string_view. + /// Store the string_view in the packet_ vector and parses the header. + /// @param data The string_view to parse. + explicit RtpPacket(std::string_view data) { + packet_.assign(data.begin(), data.end()); + payload_size_ = packet_.size() - RTP_HEADER_SIZE; + if (packet_.size() >= RTP_HEADER_SIZE) + parse_rtp_header(); + } + + ~RtpPacket() {} + + /// Getters for the RTP header fields. + int get_version() const { return version_; } + bool get_padding() const { return padding_; } + bool get_extension() const { return extension_; } + int get_csrc_count() const { return csrc_count_; } + bool get_marker() const { return marker_; } + int get_payload_type() const { return payload_type_; } + int get_sequence_number() const { return sequence_number_; } + int get_timestamp() const { return timestamp_; } + int get_ssrc() const { return ssrc_; } + + /// Setters for the RTP header fields. + void set_version(int version) { version_ = version; } + void set_padding(bool padding) { padding_ = padding; } + void set_extension(bool extension) { extension_ = extension; } + void set_csrc_count(int csrc_count) { csrc_count_ = csrc_count; } + void set_marker(bool marker) { marker_ = marker; } + void set_payload_type(int payload_type) { payload_type_ = payload_type; } + void set_sequence_number(int sequence_number) { sequence_number_ = sequence_number; } + void set_timestamp(int timestamp) { timestamp_ = timestamp; } + void set_ssrc(int ssrc) { ssrc_ = ssrc; } + + /// Serialize the RTP header. + /// @note This method should be called after modifying the RTP header fields. + /// @note This method does not serialize the payload. To set the payload, use + /// set_payload(). + /// To get the payload, use get_payload(). + void serialize() { serialize_rtp_header(); } + + /// Get a string_view of the whole packet. + /// @note The string_view is valid as long as the packet_ vector is not modified. + /// @note If you manually build the packet_ vector, you should make sure that you + /// call serialize() before calling this method. + /// @return A string_view of the whole packet. + std::string_view get_data() const { return std::string_view(packet_.data(), packet_.size()); } + + /// Get the size of the RTP header. + /// @return The size of the RTP header. + size_t get_rtp_header_size() const { return RTP_HEADER_SIZE; } + + /// Get a string_view of the RTP header. + /// @return A string_view of the RTP header. + std::string_view get_rpt_header() const { + return std::string_view(packet_.data(), RTP_HEADER_SIZE); + } + + /// Get a reference to the packet_ vector. + /// @return A reference to the packet_ vector. + std::vector &get_packet() { return packet_; } + + /// Get a string_view of the payload. + /// @return A string_view of the payload. + std::string_view get_payload() const { + return std::string_view(packet_.data() + RTP_HEADER_SIZE, payload_size_); + } + + /// Set the payload. + /// @param payload The payload to set. + void set_payload(std::string_view payload) { + packet_.resize(RTP_HEADER_SIZE + payload.size()); + std::copy(payload.begin(), payload.end(), packet_.begin() + RTP_HEADER_SIZE); + payload_size_ = payload.size(); + } + +protected: + static constexpr int RTP_HEADER_SIZE = 12; + + void parse_rtp_header() { + version_ = (packet_[0] & 0xC0) >> 6; + padding_ = (packet_[0] & 0x20) >> 5; + extension_ = (packet_[0] & 0x10) >> 4; + csrc_count_ = packet_[0] & 0x0F; + marker_ = (packet_[1] & 0x80) >> 7; + payload_type_ = packet_[1] & 0x7F; + sequence_number_ = (packet_[2] << 8) | packet_[3]; + timestamp_ = (packet_[4] << 24) | (packet_[5] << 16) | (packet_[6] << 8) | packet_[7]; + ssrc_ = (packet_[8] << 24) | (packet_[9] << 16) | (packet_[10] << 8) | packet_[11]; + } + + void serialize_rtp_header() { + packet_[0] = (version_ << 6) | (padding_ << 5) | (extension_ << 4) | csrc_count_; + packet_[1] = (marker_ << 7) | payload_type_; + packet_[2] = sequence_number_ >> 8; + packet_[3] = sequence_number_ & 0xFF; + packet_[4] = timestamp_ >> 24; + packet_[5] = (timestamp_ >> 16) & 0xFF; + packet_[6] = (timestamp_ >> 8) & 0xFF; + packet_[7] = timestamp_ & 0xFF; + packet_[8] = ssrc_ >> 24; + packet_[9] = (ssrc_ >> 16) & 0xFF; + packet_[10] = (ssrc_ >> 8) & 0xFF; + packet_[11] = ssrc_ & 0xFF; + } + + std::vector packet_; + int version_; + bool padding_; + bool extension_; + int csrc_count_; + bool marker_; + int payload_type_; + int sequence_number_; + int timestamp_; + int ssrc_; + int payload_size_; +}; +} // namespace espp diff --git a/components/rtsp/include/rtsp_client.hpp b/components/rtsp/include/rtsp_client.hpp index e3cd945e5..1daf059a1 100644 --- a/components/rtsp/include/rtsp_client.hpp +++ b/components/rtsp/include/rtsp_client.hpp @@ -13,466 +13,475 @@ namespace espp { - /// A class for interacting with an RTSP server using RTP and RTCP over UDP - /// - /// This class is used to connect to an RTSP server and receive JPEG frames - /// over RTP. It uses the TCP socket to send RTSP requests and receive RTSP - /// responses. It uses the UDP socket to receive RTP and RTCP packets. - /// - /// The RTSP client is designed to be used with the RTSP server in the - /// [camera-streamer]https://github.com/esp-cpp/camera-streamer) project, but it - /// should work with any RTSP server that sends JPEG frames over RTP. - /// - /// \section RtspClient Example - /// \snippet rtsp_example.cpp rtsp_client_example - class RtspClient { - public: - /// Function type for the callback to call when a JPEG frame is received - using jpeg_frame_callback_t = std::function jpeg_frame)>; - - /// Configuration for the RTSP client - struct Config { - std::string server_address; ///< The server IP Address to connect to - int rtsp_port{8554}; ///< The port of the RTSP server - std::string path{"/mjpeg/1"}; ///< The path to the RTSP stream on the server. Will be appended to the server address and port to form the full path of the form "rtsp://:" - jpeg_frame_callback_t on_jpeg_frame; ///< The callback to call when a JPEG frame is received - espp::Logger::Verbosity log_level = espp::Logger::Verbosity::INFO; ///< The verbosity of the logger - }; +/// A class for interacting with an RTSP server using RTP and RTCP over UDP +/// +/// This class is used to connect to an RTSP server and receive JPEG frames +/// over RTP. It uses the TCP socket to send RTSP requests and receive RTSP +/// responses. It uses the UDP socket to receive RTP and RTCP packets. +/// +/// The RTSP client is designed to be used with the RTSP server in the +/// [camera-streamer]https://github.com/esp-cpp/camera-streamer) project, but it +/// should work with any RTSP server that sends JPEG frames over RTP. +/// +/// \section RtspClient Example +/// \snippet rtsp_example.cpp rtsp_client_example +class RtspClient { +public: + /// Function type for the callback to call when a JPEG frame is received + using jpeg_frame_callback_t = std::function jpeg_frame)>; + + /// Configuration for the RTSP client + struct Config { + std::string server_address; ///< The server IP Address to connect to + int rtsp_port{8554}; ///< The port of the RTSP server + std::string path{"/mjpeg/1"}; ///< The path to the RTSP stream on the server. Will be appended + ///< to the server address and port to form the full path of the + ///< form "rtsp://:" + jpeg_frame_callback_t on_jpeg_frame; ///< The callback to call when a JPEG frame is received + espp::Logger::Verbosity log_level = + espp::Logger::Verbosity::INFO; ///< The verbosity of the logger + }; - /// Constructor - /// \param config The configuration for the RTSP client - explicit RtspClient(const Config& config) - : server_address_(config.server_address), - rtsp_port_(config.rtsp_port), + /// Constructor + /// \param config The configuration for the RTSP client + explicit RtspClient(const Config &config) + : server_address_(config.server_address), rtsp_port_(config.rtsp_port), rtsp_socket_({.log_level = espp::Logger::Verbosity::WARN}), rtp_socket_({.log_level = espp::Logger::Verbosity::WARN}), rtcp_socket_({.log_level = espp::Logger::Verbosity::WARN}), - on_jpeg_frame_(config.on_jpeg_frame), - cseq_(0), + on_jpeg_frame_(config.on_jpeg_frame), cseq_(0), path_("rtsp://" + server_address_ + ":" + std::to_string(rtsp_port_) + config.path), - logger_({.tag = "RtspClient", .level = config.log_level}) { + logger_({.tag = "RtspClient", .level = config.log_level}) {} + + /// Destructor + /// Disconnects from the RTSP server + ~RtspClient() { + std::error_code ec; + disconnect(ec); + if (ec) { + logger_.error("Error disconnecting: {}", ec.message()); } - - /// Destructor - /// Disconnects from the RTSP server - ~RtspClient() { - std::error_code ec; - disconnect(ec); - if (ec) { - logger_.error("Error disconnecting: {}", ec.message()); - } + } + + /// Send an RTSP request to the server + /// \note This is a blocking call + /// \note This will parse the response and set the session ID if it is + /// present in the response. If the response is not a 200 OK, then + /// an error code will be set and the response will be returned. + /// If the response is a 200 OK, then the response will be returned + /// and the error code will be set to success. + /// \param method The method to use for connecting. + /// Options are "OPTIONS", "DESCRIBE", "SETUP", "PLAY", and "TEARDOWN" + /// \param path The path to the RTSP stream on the server. + /// \param extra_headers Any extra headers to send with the request. These + /// will be added to the request after the CSeq and Session headers. The + /// key is the header name and the value is the header value. For example, + /// {"Accept": "application/sdp"} will add "Accept: application/sdp" to the + /// request. The "User-Agent" header will be added automatically. The + /// "CSeq" and "Session" headers will be added automatically. + /// The "Accept" header will be added automatically. The "Transport" + /// header will be added automatically for the "SETUP" method. Defaults to + /// an empty map. + /// \param ec The error code to set if an error occurs + /// \return The response from the server + std::string send_request(const std::string &method, const std::string &path, + const std::unordered_map &extra_headers, + std::error_code &ec) { + // send the request + std::string request = method + " " + path + " RTSP/1.0\r\n"; + request += "CSeq: " + std::to_string(cseq_) + "\r\n"; + if (session_id_.size() > 0) { + request += "Session: " + session_id_ + "\r\n"; } - - /// Send an RTSP request to the server - /// \note This is a blocking call - /// \note This will parse the response and set the session ID if it is - /// present in the response. If the response is not a 200 OK, then - /// an error code will be set and the response will be returned. - /// If the response is a 200 OK, then the response will be returned - /// and the error code will be set to success. - /// \param method The method to use for connecting. - /// Options are "OPTIONS", "DESCRIBE", "SETUP", "PLAY", and "TEARDOWN" - /// \param path The path to the RTSP stream on the server. - /// \param extra_headers Any extra headers to send with the request. These - /// will be added to the request after the CSeq and Session headers. The - /// key is the header name and the value is the header value. For example, - /// {"Accept": "application/sdp"} will add "Accept: application/sdp" to the - /// request. The "User-Agent" header will be added automatically. The - /// "CSeq" and "Session" headers will be added automatically. - /// The "Accept" header will be added automatically. The "Transport" - /// header will be added automatically for the "SETUP" method. Defaults to - /// an empty map. - /// \param ec The error code to set if an error occurs - /// \return The response from the server - std::string send_request(const std::string& method, const std::string& path, const std::unordered_map& extra_headers, std::error_code& ec) { - // send the request - std::string request = method + " " + path + " RTSP/1.0\r\n"; - request += "CSeq: " + std::to_string(cseq_) + "\r\n"; - if (session_id_.size() > 0) { - request += "Session: " + session_id_ + "\r\n"; - } - for (auto& [key, value] : extra_headers) { - request += key + ": " + value + "\r\n"; - } - request += "User-Agent: rtsp-client\r\n"; - request += "Accept: application/sdp\r\n"; - request += "\r\n"; - std::string response; - auto transmit_config = espp::detail::TcpTransmitConfig{ + for (auto &[key, value] : extra_headers) { + request += key + ": " + value + "\r\n"; + } + request += "User-Agent: rtsp-client\r\n"; + request += "Accept: application/sdp\r\n"; + request += "\r\n"; + std::string response; + auto transmit_config = espp::detail::TcpTransmitConfig{ .wait_for_response = true, .response_size = 1024, - .on_response_callback = [&response](auto &response_vector) { response.assign(response_vector.begin(), response_vector.end()); }, + .on_response_callback = + [&response](auto &response_vector) { + response.assign(response_vector.begin(), response_vector.end()); + }, .response_timeout = std::chrono::seconds(5), - }; - // NOTE: now this call blocks until the response is received - logger_.debug("Request:\n{}", request); - if (!rtsp_socket_.transmit(request, transmit_config)) { - ec = std::make_error_code(std::errc::io_error); - logger_.error("Failed to send request"); - return {}; - } - - // TODO: how to keep receiving until we get the full response? - // if (response.find("\r\n\r\n") != std::string::npos) { - // break; - // } - - // parse the response - logger_.debug("Response:\n{}", response); - if (parse_response(response, ec)) { - return response; - } + }; + // NOTE: now this call blocks until the response is received + logger_.debug("Request:\n{}", request); + if (!rtsp_socket_.transmit(request, transmit_config)) { + ec = std::make_error_code(std::errc::io_error); + logger_.error("Failed to send request"); return {}; } - /// Connect to the RTSP server - /// Connects to the RTSP server and sends the OPTIONS request. - /// \param ec The error code to set if an error occurs - void connect(std::error_code& ec) { - // exit early if error code is already set - if (ec) { - return; - } + // TODO: how to keep receiving until we get the full response? + // if (response.find("\r\n\r\n") != std::string::npos) { + // break; + // } - rtsp_socket_.reinit(); - auto did_connect = rtsp_socket_.connect({ - .ip_address = server_address_, - .port = static_cast(rtsp_port_), - }); - if (!did_connect) { - ec = std::make_error_code(std::errc::io_error); - logger_.error("Failed to connect to {}:{}", server_address_, rtsp_port_); - return; - } - - // send the options request - send_request("OPTIONS", "*", {}, ec); + // parse the response + logger_.debug("Response:\n{}", response); + if (parse_response(response, ec)) { + return response; } - - /// Disconnect from the RTSP server - /// Disconnects from the RTSP server and sends the TEARDOWN request. - /// \param ec The error code to set if an error occurs - void disconnect(std::error_code& ec) { - // send the teardown request - teardown(ec); - rtsp_socket_.reinit(); + return {}; + } + + /// Connect to the RTSP server + /// Connects to the RTSP server and sends the OPTIONS request. + /// \param ec The error code to set if an error occurs + void connect(std::error_code &ec) { + // exit early if error code is already set + if (ec) { + return; } - /// Describe the RTSP stream - /// Sends the DESCRIBE request to the RTSP server and parses the response. - /// \param ec The error code to set if an error occurs - void describe(std::error_code& ec) { - // exit early if the error code is set - if (ec) { - return; - } - // send the describe request - auto response = send_request("DESCRIBE", path_, {}, ec); - if (ec) { - return; - } - // sdp response is of the form: - // std::regex sdp_regex("m=video (\\d+) RTP/AVP (\\d+)"); - // parse the sdp response and get the video port without using regex - // this is a very simple sdp parser that only works for this specific case - auto sdp_start = response.find("m=video"); - if (sdp_start == std::string::npos) { - ec = std::make_error_code(std::errc::wrong_protocol_type); - logger_.error("Invalid sdp"); - return; - } - auto sdp_end = response.find("\r\n", sdp_start); - if (sdp_end == std::string::npos) { - ec = std::make_error_code(std::errc::protocol_error); - logger_.error("Incomplete sdp"); - return; - } - auto sdp = response.substr(sdp_start, sdp_end - sdp_start); - auto port_start = sdp.find(" "); - if (port_start == std::string::npos) { - ec = std::make_error_code(std::errc::protocol_error); - logger_.error("Could not find port start"); - return; - } - auto port_end = sdp.find(" ", port_start + 1); - if (port_end == std::string::npos) { - ec = std::make_error_code(std::errc::protocol_error); - logger_.error("Could not find port end"); - return; - } - auto port = sdp.substr(port_start + 1, port_end - port_start - 1); - video_port_ = std::stoi(port); - logger_.debug("Video port: {}", video_port_); - auto payload_type_start = sdp.find(" ", port_end + 1); - if (payload_type_start == std::string::npos) { - ec = std::make_error_code(std::errc::protocol_error); - logger_.error("Could not find payload type start"); - return; - } - auto payload_type = sdp.substr(payload_type_start + 1, sdp.size() - payload_type_start - 1); - video_payload_type_ = std::stoi(payload_type); - logger_.debug("Video payload type: {}", video_payload_type_); + rtsp_socket_.reinit(); + auto did_connect = rtsp_socket_.connect({ + .ip_address = server_address_, + .port = static_cast(rtsp_port_), + }); + if (!did_connect) { + ec = std::make_error_code(std::errc::io_error); + logger_.error("Failed to connect to {}:{}", server_address_, rtsp_port_); + return; } - /// Setup the RTSP stream - /// \note Starts the RTP and RTCP threads. - /// Sends the SETUP request to the RTSP server and parses the response. - /// \note The default ports are 5000 and 5001 for RTP and RTCP respectively. - /// \param ec The error code to set if an error occurs - void setup(std::error_code& ec) { - // default to rtp and rtcp client ports 5000 and 5001 - setup(5000, 50001, ec); + // send the options request + send_request("OPTIONS", "*", {}, ec); + } + + /// Disconnect from the RTSP server + /// Disconnects from the RTSP server and sends the TEARDOWN request. + /// \param ec The error code to set if an error occurs + void disconnect(std::error_code &ec) { + // send the teardown request + teardown(ec); + rtsp_socket_.reinit(); + } + + /// Describe the RTSP stream + /// Sends the DESCRIBE request to the RTSP server and parses the response. + /// \param ec The error code to set if an error occurs + void describe(std::error_code &ec) { + // exit early if the error code is set + if (ec) { + return; + } + // send the describe request + auto response = send_request("DESCRIBE", path_, {}, ec); + if (ec) { + return; + } + // sdp response is of the form: + // std::regex sdp_regex("m=video (\\d+) RTP/AVP (\\d+)"); + // parse the sdp response and get the video port without using regex + // this is a very simple sdp parser that only works for this specific case + auto sdp_start = response.find("m=video"); + if (sdp_start == std::string::npos) { + ec = std::make_error_code(std::errc::wrong_protocol_type); + logger_.error("Invalid sdp"); + return; + } + auto sdp_end = response.find("\r\n", sdp_start); + if (sdp_end == std::string::npos) { + ec = std::make_error_code(std::errc::protocol_error); + logger_.error("Incomplete sdp"); + return; + } + auto sdp = response.substr(sdp_start, sdp_end - sdp_start); + auto port_start = sdp.find(" "); + if (port_start == std::string::npos) { + ec = std::make_error_code(std::errc::protocol_error); + logger_.error("Could not find port start"); + return; + } + auto port_end = sdp.find(" ", port_start + 1); + if (port_end == std::string::npos) { + ec = std::make_error_code(std::errc::protocol_error); + logger_.error("Could not find port end"); + return; + } + auto port = sdp.substr(port_start + 1, port_end - port_start - 1); + video_port_ = std::stoi(port); + logger_.debug("Video port: {}", video_port_); + auto payload_type_start = sdp.find(" ", port_end + 1); + if (payload_type_start == std::string::npos) { + ec = std::make_error_code(std::errc::protocol_error); + logger_.error("Could not find payload type start"); + return; + } + auto payload_type = sdp.substr(payload_type_start + 1, sdp.size() - payload_type_start - 1); + video_payload_type_ = std::stoi(payload_type); + logger_.debug("Video payload type: {}", video_payload_type_); + } + + /// Setup the RTSP stream + /// \note Starts the RTP and RTCP threads. + /// Sends the SETUP request to the RTSP server and parses the response. + /// \note The default ports are 5000 and 5001 for RTP and RTCP respectively. + /// \param ec The error code to set if an error occurs + void setup(std::error_code &ec) { + // default to rtp and rtcp client ports 5000 and 5001 + setup(5000, 50001, ec); + } + + /// Setup the RTSP stream + /// Sends the SETUP request to the RTSP server and parses the response. + /// \note Starts the RTP and RTCP threads. + /// \param rtp_port The RTP client port + /// \param rtcp_port The RTCP client port + /// \param ec The error code to set if an error occurs + void setup(size_t rtp_port, size_t rtcp_port, std::error_code &ec) { + // exit early if the error code is set + if (ec) { + return; } - /// Setup the RTSP stream - /// Sends the SETUP request to the RTSP server and parses the response. - /// \note Starts the RTP and RTCP threads. - /// \param rtp_port The RTP client port - /// \param rtcp_port The RTCP client port - /// \param ec The error code to set if an error occurs - void setup(size_t rtp_port, size_t rtcp_port, std::error_code& ec) { - // exit early if the error code is set - if (ec) { - return; - } - - // set up the transport header with the rtp and rtcp ports - auto transport_header = - "RTP/AVP;unicast;client_port=" - + std::to_string(rtp_port) + "-" + std::to_string(rtcp_port); - - // send the setup request - auto response = send_request("SETUP", path_, {{"Transport", transport_header}}, ec); - if (ec) { - return; - } + // set up the transport header with the rtp and rtcp ports + auto transport_header = + "RTP/AVP;unicast;client_port=" + std::to_string(rtp_port) + "-" + std::to_string(rtcp_port); - init_rtp(rtp_port, ec); - init_rtcp(rtcp_port, ec); + // send the setup request + auto response = send_request("SETUP", path_, {{"Transport", transport_header}}, ec); + if (ec) { + return; } - /// Play the RTSP stream - /// Sends the PLAY request to the RTSP server and parses the response. - /// \param ec The error code to set if an error occurs - void play(std::error_code& ec) { - // exit early if the error code is set - if (ec) { - return; - } - // send the play request - send_request("PLAY", path_ , {}, ec); + init_rtp(rtp_port, ec); + init_rtcp(rtcp_port, ec); + } + + /// Play the RTSP stream + /// Sends the PLAY request to the RTSP server and parses the response. + /// \param ec The error code to set if an error occurs + void play(std::error_code &ec) { + // exit early if the error code is set + if (ec) { + return; } - - /// Pause the RTSP stream - /// Sends the PAUSE request to the RTSP server and parses the response. - /// \param ec The error code to set if an error occurs - void pause(std::error_code& ec) { - // exit early if the error code is set - if (ec) { - return; - } - // send the pause request - send_request("PAUSE", path_, {}, ec); + // send the play request + send_request("PLAY", path_, {}, ec); + } + + /// Pause the RTSP stream + /// Sends the PAUSE request to the RTSP server and parses the response. + /// \param ec The error code to set if an error occurs + void pause(std::error_code &ec) { + // exit early if the error code is set + if (ec) { + return; } - - /// Teardown the RTSP stream - /// Sends the TEARDOWN request to the RTSP server and parses the response. - /// \param ec The error code to set if an error occurs - void teardown(std::error_code& ec) { - // exit early if the error code is set - if (ec) { - return; - } - // send the teardown request - send_request("TEARDOWN", path_, {}, ec); + // send the pause request + send_request("PAUSE", path_, {}, ec); + } + + /// Teardown the RTSP stream + /// Sends the TEARDOWN request to the RTSP server and parses the response. + /// \param ec The error code to set if an error occurs + void teardown(std::error_code &ec) { + // exit early if the error code is set + if (ec) { + return; } - - protected: - /// Parse the RTSP response - /// \note Parses response data for the following fields: - /// - Status code - /// - Status message - /// - Session - /// \note Increments the sequence number on success. - /// \param response_data The response data to parse - /// \param ec The error code to set if an error occurs - /// \return True if the response was parsed successfully, false otherwise - bool parse_response(const std::string& response_data, std::error_code& ec) { - // exit early if the error code is set - if (ec) { - return false; - } - if (response_data.empty()) { - ec = std::make_error_code(std::errc::no_message); - logger_.error("Empty response"); - return false; - } - // RTP response is of the form: - // std::regex response_regex("RTSP/1.0 (\\d+) (.*)\r\n(.*)\r\n\r\n"); - // parse the response but don't use regex since it may be slow on embedded platforms - // make sure it matches the expected response format - if (response_data.find("RTSP/1.0") != 0) { - ec = std::make_error_code(std::errc::protocol_error); - logger_.error("Invalid response"); - return false; - } - // parse the status code and message - int status_code = std::stoi(response_data.substr(9, 3)); - std::string status_message = response_data.substr(13, response_data.find("\r\n") - 13); - if (status_code != 200) { - ec = std::make_error_code(std::errc::protocol_error); - logger_.error(std::string("Request failed: ") + status_message); - return false; - } - // parse the session id - auto session_pos = response_data.find("Session: "); - if (session_pos != std::string::npos) { - session_id_ = response_data.substr(session_pos + 9, response_data.find("\r\n", session_pos) - session_pos - 9); - } - // increment the cseq - cseq_++; - return true; + // send the teardown request + send_request("TEARDOWN", path_, {}, ec); + } + +protected: + /// Parse the RTSP response + /// \note Parses response data for the following fields: + /// - Status code + /// - Status message + /// - Session + /// \note Increments the sequence number on success. + /// \param response_data The response data to parse + /// \param ec The error code to set if an error occurs + /// \return True if the response was parsed successfully, false otherwise + bool parse_response(const std::string &response_data, std::error_code &ec) { + // exit early if the error code is set + if (ec) { + return false; } - - /// Initialize the RTP socket - /// \note Starts the RTP socket task. - /// \param rtp_port The RTP client port - /// \param ec The error code to set if an error occurs - void init_rtp(size_t rtp_port, std::error_code& ec) { - // exit early if the error code is set - if (ec) { - return; - } - logger_.debug("Starting rtp socket"); - auto rtp_task_config = espp::Task::Config{ + if (response_data.empty()) { + ec = std::make_error_code(std::errc::no_message); + logger_.error("Empty response"); + return false; + } + // RTP response is of the form: + // std::regex response_regex("RTSP/1.0 (\\d+) (.*)\r\n(.*)\r\n\r\n"); + // parse the response but don't use regex since it may be slow on embedded platforms + // make sure it matches the expected response format + if (response_data.find("RTSP/1.0") != 0) { + ec = std::make_error_code(std::errc::protocol_error); + logger_.error("Invalid response"); + return false; + } + // parse the status code and message + int status_code = std::stoi(response_data.substr(9, 3)); + std::string status_message = response_data.substr(13, response_data.find("\r\n") - 13); + if (status_code != 200) { + ec = std::make_error_code(std::errc::protocol_error); + logger_.error(std::string("Request failed: ") + status_message); + return false; + } + // parse the session id + auto session_pos = response_data.find("Session: "); + if (session_pos != std::string::npos) { + session_id_ = response_data.substr(session_pos + 9, + response_data.find("\r\n", session_pos) - session_pos - 9); + } + // increment the cseq + cseq_++; + return true; + } + + /// Initialize the RTP socket + /// \note Starts the RTP socket task. + /// \param rtp_port The RTP client port + /// \param ec The error code to set if an error occurs + void init_rtp(size_t rtp_port, std::error_code &ec) { + // exit early if the error code is set + if (ec) { + return; + } + logger_.debug("Starting rtp socket"); + auto rtp_task_config = espp::Task::Config{ .name = "Rtp", .callback = nullptr, .stack_size_bytes = 16 * 1024, - }; - auto rtp_config = espp::UdpSocket::ReceiveConfig{ + }; + auto rtp_config = espp::UdpSocket::ReceiveConfig{ .port = rtp_port, .buffer_size = 2 * 1024, - .on_receive_callback = std::bind(&RtspClient::handle_rtp_packet, this, std::placeholders::_1, std::placeholders::_2), - }; - if (!rtp_socket_.start_receiving(rtp_task_config, rtp_config)) { - ec = std::make_error_code(std::errc::operation_canceled); - logger_.error("Failed to start receiving rtp packets"); - return; - } + .on_receive_callback = std::bind(&RtspClient::handle_rtp_packet, this, + std::placeholders::_1, std::placeholders::_2), + }; + if (!rtp_socket_.start_receiving(rtp_task_config, rtp_config)) { + ec = std::make_error_code(std::errc::operation_canceled); + logger_.error("Failed to start receiving rtp packets"); + return; } - - /// Initialize the RTCP socket - /// \note Starts the RTCP socket task. - /// \param rtcp_port The RTCP client port - /// \param ec The error code to set if an error occurs - void init_rtcp(size_t rtcp_port, std::error_code& ec) { - // exit early if the error code is set - if (ec) { - return; - } - logger_.debug("Starting rtcp socket"); - auto rtcp_task_config = espp::Task::Config{ + } + + /// Initialize the RTCP socket + /// \note Starts the RTCP socket task. + /// \param rtcp_port The RTCP client port + /// \param ec The error code to set if an error occurs + void init_rtcp(size_t rtcp_port, std::error_code &ec) { + // exit early if the error code is set + if (ec) { + return; + } + logger_.debug("Starting rtcp socket"); + auto rtcp_task_config = espp::Task::Config{ .name = "Rtcp", .callback = nullptr, .stack_size_bytes = 6 * 1024, - }; - auto rtcp_config = espp::UdpSocket::ReceiveConfig{ + }; + auto rtcp_config = espp::UdpSocket::ReceiveConfig{ .port = rtcp_port, .buffer_size = 1 * 1024, - .on_receive_callback = std::bind(&RtspClient::handle_rtcp_packet, this, std::placeholders::_1, std::placeholders::_2), - }; - if (!rtcp_socket_.start_receiving(rtcp_task_config, rtcp_config)) { - ec = std::make_error_code(std::errc::operation_canceled); - logger_.error("Failed to start receiving rtcp packets"); - return; - } + .on_receive_callback = std::bind(&RtspClient::handle_rtcp_packet, this, + std::placeholders::_1, std::placeholders::_2), + }; + if (!rtcp_socket_.start_receiving(rtcp_task_config, rtcp_config)) { + ec = std::make_error_code(std::errc::operation_canceled); + logger_.error("Failed to start receiving rtcp packets"); + return; } - - /// Handle an RTP packet - /// \note Parses the RTP packet and appends it to the current JPEG frame. - /// \note If the packet is the last fragment of the JPEG frame, the frame is sent to the on_jpeg_frame callback. - /// \note This function is called by the RTP socket task. - /// \param data The data to handle - /// \param sender_info The sender info - /// \return Optional data to send back to the sender - std::optional> handle_rtp_packet(std::vector &data, const espp::Socket::Info &sender_info) { - // jpeg frame that we are building - static std::unique_ptr jpeg_frame; - - logger_.debug("Got RTP packet of size: {}", data.size()); - - std::string_view packet(reinterpret_cast(data.data()), data.size()); - // parse the rtp packet - RtpJpegPacket rtp_jpeg_packet(packet); - auto frag_offset = rtp_jpeg_packet.get_offset(); - if (frag_offset == 0) { - // first fragment - logger_.debug("Received first fragment, size: {}, sequence number: {}", - rtp_jpeg_packet.get_data().size(), rtp_jpeg_packet.get_sequence_number()); - if (jpeg_frame) { - // we already have a frame, this is an error - logger_.warn("Received first fragment but already have a frame"); - jpeg_frame.reset(); - } - jpeg_frame = std::make_unique(rtp_jpeg_packet); - } else if (jpeg_frame) { - logger_.debug("Received middle fragment, size: {}, sequence number: {}", - rtp_jpeg_packet.get_data().size(), rtp_jpeg_packet.get_sequence_number()); - // middle fragment - jpeg_frame->append(rtp_jpeg_packet); - } else { - // we don't have a frame to append to but we got a middle fragment - // this is an error - logger_.warn("Received middle fragment without a frame"); - return {}; - } - - // check if this is the last packet of the frame (the last packet will have - // the marker bit set) - if (jpeg_frame && jpeg_frame->is_complete()) { - // get the jpeg data - auto jpeg_data = jpeg_frame->get_data(); - logger_.debug("Received jpeg frame of size: {} B", jpeg_data.size()); - // call the on_jpeg_frame callback - if (on_jpeg_frame_) { - on_jpeg_frame_(std::move(jpeg_frame)); - } - logger_.debug("Sent jpeg frame to callback, now jpeg_frame is nullptr? {}", jpeg_frame == nullptr); + } + + /// Handle an RTP packet + /// \note Parses the RTP packet and appends it to the current JPEG frame. + /// \note If the packet is the last fragment of the JPEG frame, the frame is sent to the + /// on_jpeg_frame callback. \note This function is called by the RTP socket task. \param data The + /// data to handle \param sender_info The sender info \return Optional data to send back to the + /// sender + std::optional> handle_rtp_packet(std::vector &data, + const espp::Socket::Info &sender_info) { + // jpeg frame that we are building + static std::unique_ptr jpeg_frame; + + logger_.debug("Got RTP packet of size: {}", data.size()); + + std::string_view packet(reinterpret_cast(data.data()), data.size()); + // parse the rtp packet + RtpJpegPacket rtp_jpeg_packet(packet); + auto frag_offset = rtp_jpeg_packet.get_offset(); + if (frag_offset == 0) { + // first fragment + logger_.debug("Received first fragment, size: {}, sequence number: {}", + rtp_jpeg_packet.get_data().size(), rtp_jpeg_packet.get_sequence_number()); + if (jpeg_frame) { + // we already have a frame, this is an error + logger_.warn("Received first fragment but already have a frame"); + jpeg_frame.reset(); } - // return an empty vector to indicate that we don't want to send a response + jpeg_frame = std::make_unique(rtp_jpeg_packet); + } else if (jpeg_frame) { + logger_.debug("Received middle fragment, size: {}, sequence number: {}", + rtp_jpeg_packet.get_data().size(), rtp_jpeg_packet.get_sequence_number()); + // middle fragment + jpeg_frame->append(rtp_jpeg_packet); + } else { + // we don't have a frame to append to but we got a middle fragment + // this is an error + logger_.warn("Received middle fragment without a frame"); return {}; } - /// Handle an RTCP packet - /// \note Parses the RTCP packet and sends a response if necessary. - /// \note This function is called by the RTCP socket task. - /// \param data The data to handle - /// \param sender_info The sender info - /// \return Optional data to send back to the sender - std::optional> handle_rtcp_packet(std::vector &data, const espp::Socket::Info &sender_info) { - // receive the rtcp packet - std::string_view packet(reinterpret_cast(data.data()), data.size()); - // TODO: parse the rtcp packet - // return an empty vector to indicate that we don't want to send a response - return {}; + // check if this is the last packet of the frame (the last packet will have + // the marker bit set) + if (jpeg_frame && jpeg_frame->is_complete()) { + // get the jpeg data + auto jpeg_data = jpeg_frame->get_data(); + logger_.debug("Received jpeg frame of size: {} B", jpeg_data.size()); + // call the on_jpeg_frame callback + if (on_jpeg_frame_) { + on_jpeg_frame_(std::move(jpeg_frame)); + } + logger_.debug("Sent jpeg frame to callback, now jpeg_frame is nullptr? {}", + jpeg_frame == nullptr); } - - std::string server_address_; - int rtsp_port_; - - espp::TcpSocket rtsp_socket_; - espp::UdpSocket rtp_socket_; - espp::UdpSocket rtcp_socket_; - - jpeg_frame_callback_t on_jpeg_frame_{nullptr}; - - int cseq_ = 0; - int video_port_ = 0; - int video_payload_type_ = 0; - std::string path_; - std::string session_id_; - - espp::Logger logger_; - }; + // return an empty vector to indicate that we don't want to send a response + return {}; + } + + /// Handle an RTCP packet + /// \note Parses the RTCP packet and sends a response if necessary. + /// \note This function is called by the RTCP socket task. + /// \param data The data to handle + /// \param sender_info The sender info + /// \return Optional data to send back to the sender + std::optional> handle_rtcp_packet(std::vector &data, + const espp::Socket::Info &sender_info) { + // receive the rtcp packet + std::string_view packet(reinterpret_cast(data.data()), data.size()); + // TODO: parse the rtcp packet + // return an empty vector to indicate that we don't want to send a response + return {}; + } + + std::string server_address_; + int rtsp_port_; + + espp::TcpSocket rtsp_socket_; + espp::UdpSocket rtp_socket_; + espp::UdpSocket rtcp_socket_; + + jpeg_frame_callback_t on_jpeg_frame_{nullptr}; + + int cseq_ = 0; + int video_port_ = 0; + int video_payload_type_ = 0; + std::string path_; + std::string session_id_; + + espp::Logger logger_; +}; } // namespace espp diff --git a/components/rtsp/include/rtsp_server.hpp b/components/rtsp/include/rtsp_server.hpp index a977eb56d..da7970851 100644 --- a/components/rtsp/include/rtsp_server.hpp +++ b/components/rtsp/include/rtsp_server.hpp @@ -8,319 +8,316 @@ #include "esp_random.h" #include "logger.hpp" +#include "task.hpp" #include "tcp_socket.hpp" #include "udp_socket.hpp" -#include "task.hpp" -#include "rtp_packet.hpp" -#include "rtp_jpeg_packet.hpp" #include "jpeg_frame.hpp" #include "rtcp_packet.hpp" +#include "rtp_jpeg_packet.hpp" +#include "rtp_packet.hpp" #include "rtsp_session.hpp" namespace espp { - /// Class for streaming MJPEG data from a camera using RTSP + RTP - /// Starts a TCP socket to listen for RTSP connections, and then spawns off a - /// new RTSP session for each connection. - /// @see RtspSession - /// @note This class does not currently send RTCP packets - /// - /// \section RtspServer example - /// \snippet rtsp_example.cpp rtsp_server_example - class RtspServer { - public: - /// @brief Configuration for the RTSP server - struct Config { - std::string server_address; ///< The ip address of the server - int port; ///< The port to listen on - std::string path; ///< The path to the RTSP stream - size_t max_data_size = 1000; ///< The maximum size of RTP packet data for the MJPEG stream. Frames will be broken up into multiple packets if they are larger than this. It seems that 1500 works well for sending, but is too large for the esp32 (camera-display) to receive properly. - Logger::Verbosity log_level = Logger::Verbosity::WARN; ///< The log level for the RTSP server - }; - - /// @brief Construct an RTSP server - /// @param config The configuration for the RTSP server - explicit RtspServer(const Config& config) - : server_address_(config.server_address) - , port_(config.port) - , path_(config.path) - , rtsp_socket_({.log_level = espp::Logger::Verbosity::WARN}) - , max_data_size_(config.max_data_size) - , logger_({.tag = "RTSP Server", .level = config.log_level}) { - // generate a random ssrc - ssrc_ = esp_random(); +/// Class for streaming MJPEG data from a camera using RTSP + RTP +/// Starts a TCP socket to listen for RTSP connections, and then spawns off a +/// new RTSP session for each connection. +/// @see RtspSession +/// @note This class does not currently send RTCP packets +/// +/// \section RtspServer example +/// \snippet rtsp_example.cpp rtsp_server_example +class RtspServer { +public: + /// @brief Configuration for the RTSP server + struct Config { + std::string server_address; ///< The ip address of the server + int port; ///< The port to listen on + std::string path; ///< The path to the RTSP stream + size_t max_data_size = + 1000; ///< The maximum size of RTP packet data for the MJPEG stream. Frames will be broken + ///< up into multiple packets if they are larger than this. It seems that 1500 works + ///< well for sending, but is too large for the esp32 (camera-display) to receive + ///< properly. + Logger::Verbosity log_level = Logger::Verbosity::WARN; ///< The log level for the RTSP server + }; + + /// @brief Construct an RTSP server + /// @param config The configuration for the RTSP server + explicit RtspServer(const Config &config) + : server_address_(config.server_address), port_(config.port), path_(config.path), + rtsp_socket_({.log_level = espp::Logger::Verbosity::WARN}), + max_data_size_(config.max_data_size), + logger_({.tag = "RTSP Server", .level = config.log_level}) { + // generate a random ssrc + ssrc_ = esp_random(); + } + + /// @brief Destroy the RTSP server + ~RtspServer() { stop(); } + + /// @brief Sets the log level for the RTSP sessions created by this server + /// @note This does not affect the log level of the RTSP server itself + /// @note This does not change the log level of any sessions that have + /// already been created + /// @param log_level The log level to set + void set_session_log_level(Logger::Verbosity log_level) { session_log_level_ = log_level; } + + /// @brief Start the RTSP server + /// Starts the accept task, session task, and binds the RTSP socket + /// @return True if the server was started successfully, false otherwise + bool start() { + if (accept_task_ && accept_task_->is_started()) { + logger_.error("Server is already running"); + return false; } - /// @brief Destroy the RTSP server - ~RtspServer() { - stop(); + logger_.info("Starting RTSP server on port {}", port_); + + if (!rtsp_socket_.bind(port_)) { + logger_.error("Failed to bind to port {}", port_); + return false; } - /// @brief Sets the log level for the RTSP sessions created by this server - /// @note This does not affect the log level of the RTSP server itself - /// @note This does not change the log level of any sessions that have - /// already been created - /// @param log_level The log level to set - void set_session_log_level(Logger::Verbosity log_level) { - session_log_level_ = log_level; + int max_pending_connections = 5; + if (!rtsp_socket_.listen(max_pending_connections)) { + logger_.error("Failed to listen on port {}", port_); + return false; } - /// @brief Start the RTSP server - /// Starts the accept task, session task, and binds the RTSP socket - /// @return True if the server was started successfully, false otherwise - bool start() { - if (accept_task_ && accept_task_->is_started()) { - logger_.error("Server is already running"); - return false; + using namespace std::placeholders; + accept_task_ = std::make_unique(Task::Config{ + .name = "RTSP Accept Task", + .callback = std::bind(&RtspServer::accept_task_function, this, _1, _2), + .stack_size_bytes = 6 * 1024, + .log_level = espp::Logger::Verbosity::WARN, + }); + accept_task_->start(); + return true; + } + + /// @brief Stop the FTP server + /// Stops the accept task, session task, and closes the RTSP socket + void stop() { + logger_.info("Stopping RTSP server"); + // stop the accept task + if (accept_task_) { + accept_task_->stop(); + } + // stop the session task + if (session_task_) { + session_task_->stop(); + } + // clear the list of sessions + sessions_.clear(); + // close the RTSP socket + rtsp_socket_.close(); + } + + /// @brief Send a frame over the RTSP connection + /// Converts the full JPEG frame into a series of simplified RTP/JPEG + /// packets and stores it to be sent over the RTP socket, but does not + /// actually send it + /// @note Overwrites any existing frame that has not been sent + /// @param frame The frame to send + void send_frame(const JpegFrame &frame) { + // get the frame scan data + auto frame_header = frame.get_header(); + auto frame_data = frame.get_scan_data(); + + auto width = frame_header.get_width(); + auto height = frame_header.get_height(); + auto q0 = frame_header.get_quantization_table(0); + auto q1 = frame_header.get_quantization_table(1); + + // if the frame data is larger than the MTU, then we need to break it up + // into multiple RTP packets + size_t num_packets = frame_data.size() / max_data_size_ + 1; + logger_.debug("Frame data is {} bytes, breaking into {} packets", frame_data.size(), + num_packets); + + // create num_packets RtpJpegPackets + // The first packet will have the quantization tables, and the last packet + // will have the end of image marker and the marker bit set + std::vector> packets; + packets.reserve(num_packets); + for (size_t i = 0; i < num_packets; i++) { + // get the start and end indices for the current packet + size_t start_index = i * max_data_size_; + size_t end_index = std::min(start_index + max_data_size_, frame_data.size()); + + static const int type_specific = 0; + static const int fragment_type = 0; + int offset = i * max_data_size_; + + std::unique_ptr packet; + // if this is the first packet, it has the quantization tables + if (i == 0) { + // use the original q value and include the quantization tables + packet = std::make_unique( + type_specific, fragment_type, 128, width, height, q0, q1, + frame_data.substr(start_index, end_index - start_index)); + } else { + // use a different q value (less than 128) and don't include the + // quantization tables + packet = std::make_unique( + type_specific, offset, fragment_type, 96, width, height, + frame_data.substr(start_index, end_index - start_index)); } - logger_.info("Starting RTSP server on port {}", port_); - - if (!rtsp_socket_.bind(port_)) { - logger_.error("Failed to bind to port {}", port_); - return false; + // set the payload type to 26 (JPEG) + packet->set_payload_type(26); + // set the sequence number + packet->set_sequence_number(sequence_number_++); + // set the timestamp + static auto start_time = std::chrono::steady_clock::now(); + auto now = std::chrono::steady_clock::now(); + auto timestamp = + std::chrono::duration_cast(now - start_time).count(); + packet->set_timestamp(timestamp * 90); + + // set the ssrc + packet->set_ssrc(ssrc_); + + auto mjpeg_header = packet->get_mjpeg_header(); + std::vector mjpeg_vec(mjpeg_header.begin(), mjpeg_header.end()); + + // if it's the last packet, set the marker bit + if (i == num_packets - 1) { + packet->set_marker(true); } - int max_pending_connections = 5; - if (!rtsp_socket_.listen(max_pending_connections)) { - logger_.error("Failed to listen on port {}", port_); - return false; - } + // make sure the packet header has been serialized + packet->serialize(); - using namespace std::placeholders; - accept_task_ = std::make_unique(Task::Config{ - .name = "RTSP Accept Task", - .callback = std::bind(&RtspServer::accept_task_function, this, _1, _2), - .stack_size_bytes = 6 * 1024, - .log_level = espp::Logger::Verbosity::WARN, - }); - accept_task_->start(); - return true; + // add the packet to the list of packets + packets.emplace_back(std::move(packet)); } - /// @brief Stop the FTP server - /// Stops the accept task, session task, and closes the RTSP socket - void stop() { - logger_.info("Stopping RTSP server"); - // stop the accept task - if (accept_task_) { - accept_task_->stop(); - } - // stop the session task - if (session_task_) { - session_task_->stop(); - } - // clear the list of sessions - sessions_.clear(); - // close the RTSP socket - rtsp_socket_.close(); + // now move the packets into the rtp_packets_ vector + { + std::unique_lock lock(rtp_packets_mutex_); + // move the new packets into the list + rtp_packets_ = std::move(packets); } - - /// @brief Send a frame over the RTSP connection - /// Converts the full JPEG frame into a series of simplified RTP/JPEG - /// packets and stores it to be sent over the RTP socket, but does not - /// actually send it - /// @note Overwrites any existing frame that has not been sent - /// @param frame The frame to send - void send_frame(const JpegFrame& frame) { - // get the frame scan data - auto frame_header = frame.get_header(); - auto frame_data = frame.get_scan_data(); - - auto width = frame_header.get_width(); - auto height = frame_header.get_height(); - auto q0 = frame_header.get_quantization_table(0); - auto q1 = frame_header.get_quantization_table(1); - - // if the frame data is larger than the MTU, then we need to break it up - // into multiple RTP packets - size_t num_packets = frame_data.size() / max_data_size_ + 1; - logger_.debug("Frame data is {} bytes, breaking into {} packets", frame_data.size(), num_packets); - - // create num_packets RtpJpegPackets - // The first packet will have the quantization tables, and the last packet - // will have the end of image marker and the marker bit set - std::vector> packets; - packets.reserve(num_packets); - for (size_t i = 0; i < num_packets; i++) { - // get the start and end indices for the current packet - size_t start_index = i * max_data_size_; - size_t end_index = std::min(start_index + max_data_size_, frame_data.size()); - - static const int type_specific = 0; - static const int fragment_type = 0; - int offset = i * max_data_size_; - - std::unique_ptr packet; - // if this is the first packet, it has the quantization tables - if (i == 0) { - // use the original q value and include the quantization tables - packet = std::make_unique(type_specific, fragment_type, - 128, width, height, - q0, q1, - frame_data.substr(start_index, end_index - start_index)); - } else { - // use a different q value (less than 128) and don't include the - // quantization tables - packet = std::make_unique(type_specific, offset, fragment_type, - 96, width, height, - frame_data.substr(start_index, end_index - start_index)); - } - - // set the payload type to 26 (JPEG) - packet->set_payload_type(26); - // set the sequence number - packet->set_sequence_number(sequence_number_++); - // set the timestamp - static auto start_time = std::chrono::steady_clock::now(); - auto now = std::chrono::steady_clock::now(); - auto timestamp = std::chrono::duration_cast(now - start_time).count(); - packet->set_timestamp(timestamp * 90); - - // set the ssrc - packet->set_ssrc(ssrc_); - - auto mjpeg_header = packet->get_mjpeg_header(); - std::vector mjpeg_vec(mjpeg_header.begin(), mjpeg_header.end()); - - // if it's the last packet, set the marker bit - if (i == num_packets - 1) { - packet->set_marker(true); - } - - // make sure the packet header has been serialized - packet->serialize(); - - // add the packet to the list of packets - packets.emplace_back(std::move(packet)); - } - - // now move the packets into the rtp_packets_ vector - { - std::unique_lock lock(rtp_packets_mutex_); - // move the new packets into the list - rtp_packets_ = std::move(packets); - } + } + +protected: + bool accept_task_function(std::mutex &m, std::condition_variable &cv) { + // accept a new connection + auto control_socket = rtsp_socket_.accept(); + if (!control_socket) { + logger_.error("Failed to accept new connection"); + return false; } - protected: + logger_.info("Accepted new connection"); + + // create a new session + auto session = std::make_unique( + std::move(control_socket), + RtspSession::Config{.server_address = fmt::format("{}:{}", server_address_, port_), + .rtsp_path = path_, + .log_level = session_log_level_}); + + // add the session to the list of sessions + auto session_id = session->get_session_id(); + sessions_.emplace(session_id, std::move(session)); + + // start the session task if it is not already running + using namespace std::placeholders; + if (!session_task_ || !session_task_->is_started()) { + logger_.info("Starting session task"); + session_task_ = std::make_unique(Task::Config{ + .name = "RtspSessionTask", + .callback = std::bind(&RtspServer::session_task_function, this, _1, _2), + .stack_size_bytes = 6 * 1024, + .log_level = espp::Logger::Verbosity::WARN, + }); + session_task_->start(); + } + // we do not want to stop the task + return false; + } + + bool session_task_function(std::mutex &m, std::condition_variable &cv) { + // sleep between frames + { + using namespace std::chrono_literals; + std::unique_lock lk(m); + cv.wait_for(lk, 10ms); + } - bool accept_task_function(std::mutex& m, std::condition_variable& cv) { - // accept a new connection - auto control_socket = rtsp_socket_.accept(); - if (!control_socket) { - logger_.error("Failed to accept new connection"); + // when this function returns, the vector of pointers will go out of scope + // and the pointers will be deleted (which is good because it means we + // won't send the same frame twice) + std::vector> packets; + { + // copy the rtp packets into a local vector + std::unique_lock lock(rtp_packets_mutex_); + if (rtp_packets_.empty()) { + // if there is not a new frame (no packets), then simply return + // we do not want to stop the task return false; } - - logger_.info("Accepted new connection"); - - // create a new session - auto session = std::make_unique(std::move(control_socket), - RtspSession::Config{ - .server_address = fmt::format("{}:{}", server_address_, port_), - .rtsp_path = path_, - .log_level = session_log_level_ - }); - - // add the session to the list of sessions - auto session_id = session->get_session_id(); - sessions_.emplace(session_id, std::move(session)); - - // start the session task if it is not already running - using namespace std::placeholders; - if (!session_task_ || !session_task_->is_started()) { - logger_.info("Starting session task"); - session_task_ = std::make_unique(Task::Config{ - .name = "RtspSessionTask", - .callback = std::bind(&RtspServer::session_task_function, this, _1, _2), - .stack_size_bytes = 6 * 1024, - .log_level = espp::Logger::Verbosity::WARN, - }); - session_task_->start(); - } - // we do not want to stop the task - return false; + // move the packets into the local vector + packets = std::move(rtp_packets_); } - bool session_task_function(std::mutex& m, std::condition_variable& cv) { - // sleep between frames - { - using namespace std::chrono_literals; - std::unique_lock lk(m); - cv.wait_for(lk, 10ms); - } - - // when this function returns, the vector of pointers will go out of scope - // and the pointers will be deleted (which is good because it means we - // won't send the same frame twice) - std::vector> packets; - { - // copy the rtp packets into a local vector - std::unique_lock lock(rtp_packets_mutex_); - if (rtp_packets_.empty()) { - // if there is not a new frame (no packets), then simply return - // we do not want to stop the task - return false; - } - // move the packets into the local vector - packets = std::move(rtp_packets_); - } - - logger_.debug("Sending frame data to clients"); - - // for each session in sessions_ - // if the session is active - // send the latest frame to the client - std::lock_guard lk(session_mutex_); - for (auto& session : sessions_) { - [[maybe_unused]] auto session_id = session.first; - auto& session_ptr = session.second; - // send the packets to the client - for (auto& packet : packets) { - // if the session is not active or is closed, then stop sending - if (!session_ptr->is_active() || session_ptr->is_closed()) { - break; - } - session_ptr->send_rtp_packet(*packet); + logger_.debug("Sending frame data to clients"); + + // for each session in sessions_ + // if the session is active + // send the latest frame to the client + std::lock_guard lk(session_mutex_); + for (auto &session : sessions_) { + [[maybe_unused]] auto session_id = session.first; + auto &session_ptr = session.second; + // send the packets to the client + for (auto &packet : packets) { + // if the session is not active or is closed, then stop sending + if (!session_ptr->is_active() || session_ptr->is_closed()) { + break; } + session_ptr->send_rtp_packet(*packet); } - // loop over the sessions and erase ones which are closed - for (auto it = sessions_.begin(); it != sessions_.end();) { - auto& session = it->second; - if (session->is_closed()) { - logger_.info("Removing session {}", session->get_session_id()); - it = sessions_.erase(it); - } else { - ++it; - } + } + // loop over the sessions and erase ones which are closed + for (auto it = sessions_.begin(); it != sessions_.end();) { + auto &session = it->second; + if (session->is_closed()) { + logger_.info("Removing session {}", session->get_session_id()); + it = sessions_.erase(it); + } else { + ++it; } - - // we do not want to stop the task - return false; } - uint32_t ssrc_; ///< the ssrc (synchronization source identifier) for the RTP packets - uint16_t sequence_number_{0}; ///< the sequence number for the RTP packets + // we do not want to stop the task + return false; + } - std::string server_address_; ///< the address of the server - int port_; ///< the port of the RTSP server - std::string path_; ///< the path of the RTSP server, e.g. rtsp:://:/ + uint32_t ssrc_; ///< the ssrc (synchronization source identifier) for the RTP packets + uint16_t sequence_number_{0}; ///< the sequence number for the RTP packets - TcpSocket rtsp_socket_; + std::string server_address_; ///< the address of the server + int port_; ///< the port of the RTSP server + std::string path_; ///< the path of the RTSP server, e.g. rtsp:://:/ - size_t max_data_size_; + TcpSocket rtsp_socket_; - std::mutex rtp_packets_mutex_; - std::vector> rtp_packets_; + size_t max_data_size_; - Logger::Verbosity session_log_level_{Logger::Verbosity::WARN}; - std::mutex session_mutex_; - std::unordered_map> sessions_; + std::mutex rtp_packets_mutex_; + std::vector> rtp_packets_; - Logger logger_; - std::unique_ptr accept_task_; - std::unique_ptr session_task_; - }; + Logger::Verbosity session_log_level_{Logger::Verbosity::WARN}; + std::mutex session_mutex_; + std::unordered_map> sessions_; + + Logger logger_; + std::unique_ptr accept_task_; + std::unique_ptr session_task_; +}; } // namespace espp diff --git a/components/task/include/task.hpp b/components/task/include/task.hpp index fb8e71d18..4d3ade92a 100644 --- a/components/task/include/task.hpp +++ b/components/task/include/task.hpp @@ -178,6 +178,13 @@ class Task { */ bool is_started() { return started_; } + /** + * @brief Is the task running? + * + * @return true if the task is running, false otherwise. + */ + bool is_running() { return is_started(); } + #if defined(ESP_PLATFORM) /** * @brief Get the info (as a string) for the task of the current context. @@ -215,6 +222,7 @@ class Task { break; } } else { + started_ = false; break; } } diff --git a/docs/adc/adc_types.html b/docs/adc/adc_types.html index 20a8b2692..60ded94dd 100644 --- a/docs/adc/adc_types.html +++ b/docs/adc/adc_types.html @@ -139,7 +139,7 @@
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    Example Usage +
    +inline bool is_enabled() const
    +

    Check if the motor is enabled.

    +
    +
    Returns
    +

    True if the motor is enabled, false otherwise.

    +
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    +
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    inline void enable()
    @@ -548,13 +559,13 @@

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    Warning

    -

    doxygenfunction: Unable to resolve function “to_time_t” with arguments None in doxygen xml output for project “esp-docs” from directory: /Users/bob/backbone/lodestone/components/espp/doc/_build/en/esp32/xml_in/. +

    doxygenfunction: Unable to resolve function “to_time_t” with arguments None in doxygen xml output for project “esp-docs” from directory: /Users/bob/esp-cpp/bldc_test_stand/components/espp/doc/_build/en/esp32/xml_in/. Potential matches: 

    - template<typename TP> std::time_t to_time_t(TP tp)
diff --git a/docs/ftp/index.html b/docs/ftp/index.html
index 8c0560e57..a2e903ef8 100644
--- a/docs/ftp/index.html
+++ b/docs/ftp/index.html
@@ -128,7 +128,7 @@
       
  •  »
    • 
       
  • FTP APIs
    • 
       
  • 
-               Edit on GitHub
+               Edit on GitHub
       
    • 
   
   
    
diff --git a/docs/genindex.html b/docs/genindex.html
index 2d7ca2c0e..3bbf002c8 100644
--- a/docs/genindex.html
+++ b/docs/genindex.html
@@ -122,7 +122,7 @@
       
  •  »
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  • Index
    • 
       
  • 
-               Edit on GitHub
+               Edit on GitHub
       
    • 
   
   
    
@@ -652,6 +652,8 @@ 
    E
    
       
  • espp::BldcHaptics::Config::motor (C++ member)
 
    • 
       
  • espp::BldcHaptics::get_position (C++ function)
+
    • 
+      
  • espp::BldcHaptics::is_running (C++ function)
 
    • 
       
  • espp::BldcHaptics::play_haptic (C++ function)
 
    • 
@@ -660,6 +662,8 @@ 
    E
    
       
  • espp::BldcHaptics::stop (C++ function)
 
    • 
       
  • espp::BldcHaptics::update_detent_config (C++ function)
+
    • 
+      
  • espp::BldcHaptics::~BldcHaptics (C++ function)
 
    • 
       
  • espp::BldcMotor (C++ class)
 
    • 
@@ -710,6 +714,8 @@ 
    E
    
       
  • espp::BldcMotor::get_shaft_angle (C++ function)
 
    • 
       
  • espp::BldcMotor::get_shaft_velocity (C++ function)
+
    • 
+      
  • espp::BldcMotor::is_enabled (C++ function)
 
    • 
       
  • espp::BldcMotor::loop_foc (C++ function)
 
    • 
@@ -1426,11 +1432,11 @@ 
    E
    
       
  • espp::LedStrip::Config::write (C++ member)
 
    • 
       
  • espp::LedStrip::LedStrip (C++ function)
-
    • 
-      
  • espp::LedStrip::num_leds (C++ function)
 
    • 
   
   
   
    
@@ -180,19 +180,19 @@ 
    API Reference
 
    Header File

    Header File

    Header File

    @@ -301,6 +301,27 @@

    Example 2: Playing a haptic click / buzz +
    +inline ~BldcHaptics()
    +

    Destructor for the haptic motor.

    +
    +

    Note

    +

    This will stop the motor if it is running

    +
    +
    + +
    +
    +inline bool is_running() const
    +

    Check if the haptic motor is running.

    +
    +
    Returns
    +

    True if the haptic motor is running, false otherwise

    +
    +
    +
    +
    inline void start()
    diff --git a/docs/haptics/drv2605.html b/docs/haptics/drv2605.html index 75e181b6c..626db12fb 100644 --- a/docs/haptics/drv2605.html +++ b/docs/haptics/drv2605.html @@ -137,7 +137,7 @@
  • Haptics APIs »
  • DRV2605 Haptic Motor Driver
  • - Edit on GitHub + Edit on GitHub
    • @@ -159,7 +159,7 @@

    API Reference

    Header File

    diff --git a/docs/haptics/index.html b/docs/haptics/index.html index a915915cb..b21e261a9 100644 --- a/docs/haptics/index.html +++ b/docs/haptics/index.html @@ -129,7 +129,7 @@
  • »
  • Haptics APIs
  • - Edit on GitHub + Edit on GitHub
    • diff --git a/docs/index.html b/docs/index.html index d0f8fc648..5949b92e7 100644 --- a/docs/index.html +++ b/docs/index.html @@ -124,7 +124,7 @@
  • »
  • ESPP Documentation
  • - Edit on GitHub + Edit on GitHub
    • diff --git a/docs/input/index.html b/docs/input/index.html index 5a8e90b1d..9af08a99e 100644 --- a/docs/input/index.html +++ b/docs/input/index.html @@ -128,7 +128,7 @@
  • »
  • Input APIs
  • - Edit on GitHub + Edit on GitHub
    • diff --git a/docs/input/touchpad_input.html b/docs/input/touchpad_input.html index 59cdac91c..38362abec 100644 --- a/docs/input/touchpad_input.html +++ b/docs/input/touchpad_input.html @@ -136,7 +136,7 @@
  • Input APIs »
  • Touchpad Input
  • - Edit on GitHub + Edit on GitHub
    • @@ -154,7 +154,7 @@

    API Reference

    Header File

    diff --git a/docs/io_expander/aw9523.html b/docs/io_expander/aw9523.html index e75886e8e..6e7cc71a8 100644 --- a/docs/io_expander/aw9523.html +++ b/docs/io_expander/aw9523.html @@ -137,7 +137,7 @@
  • IO Expander APIs »
  • AW9523 I/O Expander
  • - Edit on GitHub + Edit on GitHub
    • @@ -156,7 +156,7 @@

    API Reference

    Header File

    diff --git a/docs/io_expander/index.html b/docs/io_expander/index.html index c8969a773..bf03232ea 100644 --- a/docs/io_expander/index.html +++ b/docs/io_expander/index.html @@ -129,7 +129,7 @@
  • »
  • IO Expander APIs
  • - Edit on GitHub + Edit on GitHub
    • diff --git a/docs/io_expander/mcp23x17.html b/docs/io_expander/mcp23x17.html index b0277abd5..349ace6fc 100644 --- a/docs/io_expander/mcp23x17.html +++ b/docs/io_expander/mcp23x17.html @@ -137,7 +137,7 @@
  • IO Expander APIs »
  • MCP23x17 I/O Expander
  • - Edit on GitHub + Edit on GitHub
    • @@ -154,7 +154,7 @@

    API Reference

    Header File

    diff --git a/docs/joystick.html b/docs/joystick.html index 44519a836..e425ad950 100644 --- a/docs/joystick.html +++ b/docs/joystick.html @@ -133,7 +133,7 @@
  • »
  • Joystick APIs
  • - Edit on GitHub + Edit on GitHub
    • @@ -156,7 +156,7 @@

    API Reference

    Header File

    diff --git a/docs/led.html b/docs/led.html index c5cda2f0b..9dc829855 100644 --- a/docs/led.html +++ b/docs/led.html @@ -133,7 +133,7 @@
  • »
  • LED APIs
  • - Edit on GitHub + Edit on GitHub
    • @@ -155,7 +155,7 @@

    API Reference

    Header File

    diff --git a/docs/led_strip.html b/docs/led_strip.html index f0466c876..9a79bd75c 100644 --- a/docs/led_strip.html +++ b/docs/led_strip.html @@ -132,7 +132,7 @@
  • »
  • LED Strip APIs
  • - Edit on GitHub + Edit on GitHub
    • @@ -152,7 +152,7 @@

    API Reference

    Header File

    diff --git a/docs/logger.html b/docs/logger.html index 301897516..75373a26b 100644 --- a/docs/logger.html +++ b/docs/logger.html @@ -134,7 +134,7 @@
  • »
  • Logging APIs
  • - Edit on GitHub + Edit on GitHub
    • @@ -161,7 +161,7 @@

    API Reference

    Header File

    diff --git a/docs/math/bezier.html b/docs/math/bezier.html index 977319fba..5a61fceb0 100644 --- a/docs/math/bezier.html +++ b/docs/math/bezier.html @@ -140,7 +140,7 @@
  • Math APIs »
  • Bezier
  • - Edit on GitHub + Edit on GitHub
    • @@ -158,7 +158,7 @@

    API Reference

    Header File

    diff --git a/docs/math/fast_math.html b/docs/math/fast_math.html index 524d53527..cfaccc253 100644 --- a/docs/math/fast_math.html +++ b/docs/math/fast_math.html @@ -139,7 +139,7 @@
  • Math APIs »
  • Fast Math
  • - Edit on GitHub + Edit on GitHub
    • @@ -167,7 +167,7 @@

    API Reference

    Header File

    diff --git a/docs/math/gaussian.html b/docs/math/gaussian.html index 59aec1e82..5067ca23f 100644 --- a/docs/math/gaussian.html +++ b/docs/math/gaussian.html @@ -141,7 +141,7 @@
  • Math APIs »
  • Gaussian
  • - Edit on GitHub + Edit on GitHub
    • @@ -161,7 +161,7 @@

    API Reference

    Header File

    diff --git a/docs/math/index.html b/docs/math/index.html index 27fb9cad3..6e1f10444 100644 --- a/docs/math/index.html +++ b/docs/math/index.html @@ -132,7 +132,7 @@
  • »
  • Math APIs
  • - Edit on GitHub + Edit on GitHub
    • diff --git a/docs/math/range_mapper.html b/docs/math/range_mapper.html index dcb09599c..68f92c7d4 100644 --- a/docs/math/range_mapper.html +++ b/docs/math/range_mapper.html @@ -140,7 +140,7 @@
  • Math APIs »
  • Range Mapper
  • - Edit on GitHub + Edit on GitHub
    • @@ -157,7 +157,7 @@

    API Reference

    Header File

    diff --git a/docs/math/vector2d.html b/docs/math/vector2d.html index 3353b0c25..2cefe08ec 100644 --- a/docs/math/vector2d.html +++ b/docs/math/vector2d.html @@ -140,7 +140,7 @@
  • Math APIs »
  • Vector2d
  • - Edit on GitHub + Edit on GitHub
    • @@ -157,7 +157,7 @@

    API Reference

    Header File

    diff --git a/docs/monitor.html b/docs/monitor.html index 507ceba67..04788dec9 100644 --- a/docs/monitor.html +++ b/docs/monitor.html @@ -133,7 +133,7 @@
  • »
  • Monitoring APIs
  • - Edit on GitHub + Edit on GitHub
    • @@ -158,7 +158,7 @@

    API Reference

    Header File

    diff --git a/docs/network/index.html b/docs/network/index.html index 2ba70ad52..3b148b811 100644 --- a/docs/network/index.html +++ b/docs/network/index.html @@ -130,7 +130,7 @@
  • »
  • Network APIs
  • - Edit on GitHub + Edit on GitHub
    • diff --git a/docs/network/socket.html b/docs/network/socket.html index a1ab6fa52..f1a2bf25d 100644 --- a/docs/network/socket.html +++ b/docs/network/socket.html @@ -138,7 +138,7 @@
  • Network APIs »
  • Sockets
  • - Edit on GitHub + Edit on GitHub
    • @@ -156,7 +156,7 @@

    API Reference

    Header File

    diff --git a/docs/network/tcp_socket.html b/docs/network/tcp_socket.html index 5bc6b4238..1a59563fd 100644 --- a/docs/network/tcp_socket.html +++ b/docs/network/tcp_socket.html @@ -138,7 +138,7 @@
  • Network APIs »
  • TCP Sockets
  • - Edit on GitHub + Edit on GitHub
    • @@ -157,7 +157,7 @@

    API Reference

    Header File

    diff --git a/docs/network/udp_socket.html b/docs/network/udp_socket.html index 7e6e6bfc6..0fbb3581a 100644 --- a/docs/network/udp_socket.html +++ b/docs/network/udp_socket.html @@ -138,7 +138,7 @@
  • Network APIs »
  • UDP Sockets
  • - Edit on GitHub + Edit on GitHub
    • @@ -156,7 +156,7 @@

    API Reference

    Header File

    diff --git a/docs/nfc/index.html b/docs/nfc/index.html index 6ee4b2e6f..ca4a7b29c 100644 --- a/docs/nfc/index.html +++ b/docs/nfc/index.html @@ -129,7 +129,7 @@
  • »
  • NFC APIs
  • - Edit on GitHub + Edit on GitHub
    • diff --git a/docs/nfc/ndef.html b/docs/nfc/ndef.html index 7f64a17af..4ed9c3237 100644 --- a/docs/nfc/ndef.html +++ b/docs/nfc/ndef.html @@ -138,7 +138,7 @@
  • NFC APIs »
  • NDEF
  • - Edit on GitHub + Edit on GitHub
    • @@ -155,7 +155,7 @@

    API Reference

    Header File

    diff --git a/docs/nfc/st25dv.html b/docs/nfc/st25dv.html index d2ee8011c..3a36f0e08 100644 --- a/docs/nfc/st25dv.html +++ b/docs/nfc/st25dv.html @@ -138,7 +138,7 @@
  • NFC APIs »
  • ST25DV
  • - Edit on GitHub + Edit on GitHub
    • @@ -159,7 +159,7 @@

    API Reference

    Header File

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  • »
  • PID APIs
  • - Edit on GitHub + Edit on GitHub
    • @@ -155,7 +155,7 @@

    API Reference

    Header File

    diff --git a/docs/rmt.html b/docs/rmt.html index b1bfc8bca..aba1ca843 100644 --- a/docs/rmt.html +++ b/docs/rmt.html @@ -134,7 +134,7 @@
  • »
  • Remote Control Transceiver (RMT)
  • - Edit on GitHub + Edit on GitHub
    • @@ -161,7 +161,7 @@

    API Reference

    Header File

    @@ -325,7 +325,7 @@

    Example 1: Transmitting data

    Header File

    diff --git a/docs/rtsp.html b/docs/rtsp.html index 31b9eeba0..5575aae39 100644 --- a/docs/rtsp.html +++ b/docs/rtsp.html @@ -148,7 +148,7 @@
  • »
  • RTSP APIs
  • - Edit on GitHub + Edit on GitHub
    • @@ -188,7 +188,7 @@

    API Reference

    Header File

    @@ -203,13 +203,15 @@

    Classes

      espp::RtspClient rtsp_client({
       .server_address = ip_address, // string of the form {}.{}.{}.{}
-        .rtsp_port = CONFIG_RTSP_SERVER_PORT,
-        .path = "/mjpeg/1",
-        .on_jpeg_frame = [](std::unique_ptr<espp::JpegFrame> jpeg_frame) {
-          fmt::print("Got JPEG frame of size {}x{}\n", jpeg_frame->get_width(), jpeg_frame->get_height());
-        },
-        .log_level = espp::Logger::Verbosity::ERROR,
-        });
+      .rtsp_port = CONFIG_RTSP_SERVER_PORT,
+      .path = "/mjpeg/1",
+      .on_jpeg_frame =
+          [](std::unique_ptr<espp::JpegFrame> jpeg_frame) {
+            fmt::print("Got JPEG frame of size {}x{}\n", jpeg_frame->get_width(),
+                       jpeg_frame->get_height());
+          },
+      .log_level = espp::Logger::Verbosity::ERROR,
+  });
 
   std::error_code ec;
 
@@ -423,7 +425,7 @@ 
    Example
 
    
 std::string path = {"/mjpeg/1"}
    
-
    The path to the RTSP stream on the server. Will be appended to the server address and port to form the full path of the form “rtsp://<server_address>:<rtsp_port><path>”. 
    
+
    The path to the RTSP stream on the server. Will be appended to the server address and port to form the full path of the form “rtsp://<server_address>:<rtsp_port><path>” 
    
 
    
 
 
    
@@ -447,7 +449,7 @@ 
    Example
 
    Header File
    @@ -473,7 +475,7 @@

    example .port = server_port, .path = "/mjpeg/1", .log_level = espp::Logger::Verbosity::INFO, - }); + }); rtsp_server.start(); espp::JpegFrame jpeg_frame(jpeg_data, sizeof(jpeg_data)); @@ -605,7 +607,7 @@

    example

    Header File

    @@ -762,7 +764,7 @@

    Classes

    Header File

    @@ -904,7 +906,7 @@

    Classes

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    @@ -1203,7 +1205,7 @@

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    @@ -1219,7 +1221,7 @@

    Classes

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    @@ -1306,7 +1308,7 @@

    Classes

    Header File

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1:57,b25:65,b2:57,b3:57,b4:57,b7:40,b:[6,11,12,13,17,29,38,40,43,47,51,57,58,60,62,64,65],b_0:24,b_1:24,b_2:24,b_bright:38,b_down:38,b_gpio:17,b_led:38,b_pin:40,b_up:38,back:[14,23,54,55,60],backbon:30,background:32,backlight:15,backlight_on_valu:15,backlight_pin:15,backspac:10,bad:[11,65],band:57,bandwidth:54,base:[7,11,18,21,24,25,26,27,28,32,42,43,51,53,58,59,60,61,63,65],base_encod:60,basi:2,basic:10,batteri:22,batteryst:22,becaus:[7,18,21,23,60],been:[2,10,24,33,43,54,55,58,60,61,64],befor:[2,17,23,32,43,54,61,63,64,68],beg:23,begin:[10,22,23,54,55,57,64],behavior:[32,59],being:[1,2,3,5,7,10,12,17,18,21,22,33,38,40,41,43,58,59,60,63,64,65],belong:55,below:[2,7,63],beta:[42,47,65],better:[27,59],between:[11,22,31,45,49,58],beyond:[10,13,60],bezier:[35,48],bezierinfo:45,bgr:43,bi:58,bia:32,biequad:24,binari:23,bind:[30,44,51,54,55,61],biquad:[25,26,28,35],biquad_filt:24,biquadfilt:24,biquadfilterdf1:24,biquadfilterdf2:[18,21,24,25,28],biquadrat:24,bit0:60,bit1:60,bit:[2,12,15,38,40,42,57,58],bitfield:2,bitmask:2,bldc:[34,35],bldc_driver:6,bldc_haptic:32,bldc_motor:[7,8],bldc_type:7,bldcdriver:[6,7],bldchaptic:32,bldcmotor:[7,18,21,32],ble:[57,58],ble_appear:58,ble_oob_record:58,ble_radio_nam:58,ble_rol:58,blend:11,blerol:[57,58],blob:[10,15],block:[2,3,5,10,32,42,43,54,55,60,61,64],block_siz:60,blue:[11,13,43,60],bluetooth:57,board:15,bob:[7,30],bodmer:15,bool:[2,6,9,12,14,15,17,18,21,22,23,30,37,40,41,42,43,49,53,54,55,59,60,61,63,64,68],both:[2,3,12,13,24,32,38,41,42,49,57,60],both_unit:[3,65],bound:[32,54,60],bounded_no_det:32,box:[12,58],boxart:13,bp:2,br:57,breathing_period:42,breathing_start:42,bredr:57,bright:[38,43],bro:13,broadcast:[55,57],broken:61,brushless:[6,7,8],bs:22,bsp:15,bt:[57,58],bt_device_class:58,bt_oob_record:58,bt_radio_nam:58,btappear:[57,58],bteir:57,btgoep:57,btl2cap:57,btspp:57,bttype:57,bu:[2,15],bufer:64,buffer:[2,3,9,14,22,54,60,61,62,64],buffer_s:55,build:[26,35,61],built:[13,54,62,63],bundl:12,buscfg:15,busi:55,butterworth:[26,35],butterworth_filt:25,butterworthfilt:[18,21,25,28],button:[2,12,35,37,38],button_component_nam:9,button_top:9,buzz1:33,buzz2:33,buzz3:33,buzz4:33,buzz5:33,byte_ord:43,byteord:43,bytes_encod:60,bytes_encoder_config:60,bytes_written:[9,62],c:[6,10,13,15,22,23,35,57,60,62,65],c_str:23,cach:61,calcul:[2,7,32,65],calibr:[5,7,33,41],call:[3,5,9,10,11,12,14,17,18,21,22,32,33,41,43,44,51,53,54,55,58,59,60,61,63,64,67,68],call_onc:22,callback:[1,2,3,5,7,9,12,14,17,18,21,22,33,38,40,41,42,43,51,52,53,54,55,58,59,60,61,63,64,65],callback_fn:64,camera:61,can:[2,6,7,8,9,10,11,12,14,15,17,18,21,23,30,31,32,33,41,42,43,44,45,49,51,54,55,57,58,59,60,61,62,63,64,65,67],can_chang:42,cannot:[23,54,58,61,62],capabl:[38,57,58],captur:[2,40],carrier:57,catalog:65,caus:[61,63],cb:[15,22,61],cc:58,cdn:[38,60],cell:13,celsiu:65,center:[12,32,41,49],central:57,central_onli:57,central_peripher:57,certain:[32,63],cf:57,ch04:57,ch0:2,ch1:2,ch2:2,ch3:2,ch4:2,ch5:2,ch6:2,ch7:2,chang:[7,9,11,32,38,40,42,44,47,59,61,63],change_gain:59,channel:[0,1,2,3,5,6,11,12,17,41,42,60,61,65,67,68],channel_id:2,channel_sel:2,channelconfig:42,charact:10,chart:51,chdir:23,check:[2,6,9,23,30,42,53,54,58,61,68],child:63,childstat:63,chip:[1,2,3,17,20,38,39,40,43,58,65],choos:6,chose:65,chrono:[1,2,7,9,14,18,21,33,38,40,42,43,44,51,53,54,55,58,59,60,63,64,65],chrono_liter:[1,2,12,33],chunk:57,cin:[10,63],circl:41,circuit:65,circular:41,clamp:[6,11,59,60],clang:65,class_of_devic:57,classic:57,clean:[23,54,64],cleanup:[23,53],clear:[2,15,17,58,59,61],clear_event_high_flag:2,clear_event_low_flag:2,cli:[35,63],cli_configure_stdin_stdout:[],client:[30,31,35,52,53],client_socket:[54,55],client_task:[54,55],client_task_fn:[54,55],clifilesesson:10,clisess:10,clk_speed:[1,2,12,18,21,33,38,40,58],clock:[2,43,57,60],clock_spe:15,clock_speed_hz:15,clock_src:60,clockwis:[],close:[7,8,18,21,23,32,54,61],close_accepted_socket:[],co:[43,60],coars:32,coarse_values_strong_det:32,code:[4,7,8,10,15,16,17,22,23,41,44,51,52,57,59,60,61,62,63,64,66],coeffici:[24,27,29,47,65],collect:[2,61],color:[10,14,15,35,43,60],color_data:14,color_map:15,column:65,com:[2,6,7,10,13,15,18,23,24,28,32,33,38,44,55,57,58,60,61,63,65,67,68],combin:[53,54,55],combo:53,come:55,comma:13,command:[7,15,30,35],common:[12,15,33,57],common_compon:10,commun:[1,2,12,18,21,33,38,40,54,55,58],compat:61,complet:[2,10,13,33,42,57,61,64],complex:64,complex_root:63,compon:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,17,18,19,20,21,22,23,24,25,27,28,29,30,32,33,34,35,37,38,39,40,41,42,43,44,45,46,47,49,50,51,53,54,55,57,58,59,60,61,62,63,64,65,67,68],compos:57,comput:[11,18,21,31,49,57,59,65],compute_voltag:65,condit:[17,42,64],condition_vari:[1,2,3,5,7,12,17,18,21,33,38,40,41,43,58,59,60,63,64,65],conf:[3,5],config:[1,2,3,5,6,7,9,12,14,17,18,21,23,25,27,28,32,33,37,38,40,41,42,43,44,45,47,49,51,53,54,55,57,58,59,60,61,64,65,67,68],config_esp32_wifi_nvs_en:[67,68],config_esp_maximum_retri:68,config_esp_wifi_password:[58,67,68],config_esp_wifi_ssid:[58,67,68],config_freertos_generate_run_time_stat:51,config_freertos_use_trace_facil:51,config_hardware_box:15,config_hardware_ttgo:15,config_hardware_wrover_kit:15,config_rtsp_server_port:61,configur:[0,1,2,3,5,6,7,9,10,12,14,15,17,18,21,23,25,27,28,32,33,37,38,40,41,42,43,44,45,47,49,51,53,54,55,57,58,59,60,61,62,63,64,65,68],configure_alert:2,configure_global_control:38,configure_l:38,configure_pow:6,configure_stdin_stdout:[10,63],confirm:57,connect:[7,9,12,30,33,40,42,54,57,61,67,68],connect_callback:68,connect_config:54,connectconfig:54,consecut:2,constant:59,constexpr:[1,2,15,18,21,32,38,40,58,60,62],construct:[1,2,9,10,11,18,19,21,25,28,33,38,40,44,45,47,51,53,58,61],constructor:[2,10,11,22,32,43,44,50,53,60,61,65],consum:63,contain:[0,9,10,11,12,14,15,17,22,23,29,32,37,45,50,51,55,57,58,59,61,62,63,68],content:23,context:[22,63],continu:[2,4,23,33,35,55,64,65],continuous_adc:3,continuousadc:[3,65],control:[2,6,7,8,15,18,21,22,30,32,33,35,38,40,42,43,45,57,59,61],control_point:45,control_socket:61,controller_driv:15,conveni:[10,12,13,18,21,42,53,62,63],convers:[1,2,3,11,18,21,41,53],convert:[2,5,6,7,11,12,18,21,22,23,41,49,53,61,65],convert_mod:[3,65],convieni:[45,47],cool:44,coordin:[15,37],copi:[10,11,23,50,60,63,64],copy_encod:60,core:64,core_id:[7,64],core_update_period:7,corner:15,correct:[7,63],correspond:[2,15,33,38,65],could:[2,11,13,18,23,59,62,63],couldn:[22,23],count:[1,2,7,9,17,18,21,33,38,40,42,43,44,51,58,59,60,64,65],counter:[17,18,21],counter_clockwis:7,counts_per_revolut:[17,18,21],counts_per_revolution_f:[18,21],counts_to_degre:[18,21],counts_to_radian:[18,21],coupl:[22,41],cout:10,cplusplu:10,cpp:[23,35,44,58,61],cpprefer:[23,44],cpu:51,cr:61,crd:17,creat:[2,7,9,10,11,12,13,15,17,18,21,23,30,32,41,43,44,49,51,54,55,57,58,59,60,61,63,64,65,67,68],create_directori:23,creation:[18,21],credenti:57,cross:[2,44,64],cs:7,cseq:61,csv2:13,csv:[2,23,35],csv_data:13,ctrl:10,cubic:45,curent:[53,63],current:[6,7,9,10,12,15,17,18,21,22,30,31,32,37,38,42,44,47,50,51,52,59,60,61,65,68],current_directori:30,current_duti:42,current_hfsm_period:63,current_limit:7,current_pid_config:7,current_sens:7,currentlyact:63,currentsensor:7,currentsensorconcept:7,cursor:[10,15],curv:45,custom:[14,22,23,33,60,62],cutoff:[7,25,27],cv:[1,2,3,5,7,12,17,18,21,22,33,38,40,41,42,43,54,58,59,60,63,64,65],cv_retval:64,cv_statu:64,cycl:[6,33,42,60],d2:12,d3:12,d4:12,d5:12,d6:12,d:[7,12,22,44,53,54,55],d_current_filt:7,dam:65,daniele77:10,data:[0,1,2,3,5,7,9,11,12,13,14,15,18,21,22,23,24,25,27,28,30,33,37,38,40,41,43,51,53,54,55,57,58,61,62,63,65,68],data_address:58,data_command_pin:15,data_len:[1,2,12,18,21,33,38,40],data_s:60,data_sheet:65,data_str:22,dataformat:2,datasheet:[18,33,38,58,60,65],datasheet_info:65,date:[3,23],date_tim:23,dav:57,db:65,dbm:57,dc:[6,7,8,15],dc_current:[],dc_level_bit:15,dc_pin:15,dc_pin_num:15,de:22,dead_zon:6,deadband:[12,41,49],deadzon:41,deadzone_radiu:41,deal:57,debug:[44,58,63,64],debug_rate_limit:44,decod:[7,18,21,58,61],dedic:12,deep:63,deep_history_st:63,deephistoryst:63,default_address:[1,2,18,21,33,38,40],defautl:47,defin:[22,43,49,60,61,62,63],definit:[19,22],degre:[17,18,21],deinit:[3,68],del:60,delai:[7,24],delet:[5,10,12,17,23,60],delete_fn:60,delimit:13,demo:[10,15],depend:[3,32,49,60,63],depth:60,dequ:10,deriv:[59,63],describ:[14,15,49,54,57,61],descript:[],descriptor:[53,54,55],deseri:[9,22,57,62],design:[12,18,21,32,34,37,43,61,63,65],desir:[0,6,32],destin:23,destroi:[1,2,3,5,6,7,9,12,17,18,21,30,33,38,40,41,43,58,59,60,61,63,64,65],destruct:64,destructor:[10,22,60,61],detail:[7,32,54],detect:9,detent:32,detent_config:32,detentconfig:32,determin:[18,21],determinist:3,dev:15,dev_addr:[1,2,12,18,21,33,38,40],dev_kit:15,devcfg:15,develop:[7,15,57,63],devic:[1,2,15,18,21,32,33,37,38,40,57,58,67],device_address:[1,2,18,21,33,38,40],device_class:57,devkit:15,diagno:33,diagnost:33,did_pub:22,did_sub:[9,22],differ:[2,15,18,19,20,21,22,24,26,33,39,42,43,44,58,59,60,63],digial:27,digit:[2,24,25,28],digital_biquad_filt:[24,28],digital_input:2,digital_output:2,digitalconfig:12,digitalev:2,dim:38,dimension:50,dir_entri:23,direct:[5,12,24,38,40,58],directli:[2,6,8,20,33,34,43,45],directori:[23,30],directory_iter:23,directory_list:23,disabl:[2,6,7,10,17,18,38,58,60],disconnect:[61,68],disconnect_callback:68,discontinu:49,discover:57,discuss:[10,58],displai:[13,35,57,61],display_driv:[15,16],display_event_menu:63,distinguish:62,distribut:[22,49],divid:[11,24,50,59,60,65],divider_config:65,divis:65,dma:[3,60,65],dma_en:60,dnp:2,doc:[6,10,14,30,60,65,67,68],document:[10,13,18,58,60,62,63],doe:[3,5,6,13,17,18,21,23,30,32,38,40,43,53,61,62,63],doesn:[2,23],don:[1,2,3,5,7,12,17,18,21,22,33,38,40,41,43,51,54,55,58,59,60,64,65],done:[22,42,53,54,55],dot:50,doubl:[10,14],double_buff:14,double_click:33,down:[10,12,43,53,54,55,59,63,64],doxygen:30,doxygenfunct:30,dq:[],drain:2,draw:[14,15],drive:[2,7,22,33,34,38,60],driven:[32,34],driver:[1,2,7,8,10,12,14,16,18,21,34,35,37,38,40,43,58,61],driverconcept:7,drv2605:[34,35],drv:15,ds:[2,33],dsiplai:14,dsp:[24,27],dsprelat:[24,28],dual:[12,57],dualconfig:12,dummycurrentsens:7,durat:[1,2,7,9,14,18,21,32,33,38,40,42,43,44,51,53,54,55,58,59,60,63,64,65],duration0:60,duration1:60,dure:[59,63],duti:[6,42],duty_a:6,duty_b:6,duty_c:6,duty_perc:42,duty_resolut:42,dx:13,dynam:[7,32,47,58,59],dynamictask:64,e2:65,e:[10,23,33,43,47,60,63,65],each:[2,3,5,6,11,12,22,23,28,30,32,38,41,44,51,61,62],earli:[1,2,3,5,7,12,17,18,21,33,38,40,41,43,58,59,60,63,64,65],easili:[2,18,52,64],ec:[9,22,23,61,62],eccentr:[33,34],ecm:33,ed:17,edg:[2,9,18,21,32,33,60],edit:10,edr:57,eeprom:58,effici:13,eh_ctrl:58,eight:1,eir:57,either:[12,17,51,65],el_angl:7,elaps:[1,2,9,33,42,44,59,64,65],electr:7,element:[5,50],els:[2,3,5,7,9,23,38,40,62,63,65],em:[9,22],empti:[33,43,57,61,67,68],en:[6,10,23,24,25,28,30,44,53,54,55,57,58,60,65,67,68],enabl:[2,3,5,6,7,9,10,12,14,22,32,38,51,52,54,58,64,67,68],enable_if:[17,50],enable_reus:[53,54,55],encapsul:58,encod:[32,35,61],encode_fn:60,encoded_symbol:60,encoder_typ:19,encoder_update_period:[18,21],encodertyp:17,encrypt:57,end:[2,10,15,22,23,32,33,43,54,55,57,58,63],end_fram:43,endev:63,endif:15,endl:10,endpoint:[53,54,55],energi:57,enforc:63,english:[38,57],enough:64,ensur:[7,10,49,60,67,68],enter:[2,10,63],enterpris:57,entri:[51,63],enumer:[1,2,9,12,14,33,38,40,41,43,44,57,65],eoi:61,epc:57,equal:10,equat:[17,24,65],equival:[10,13,38],erm:[33,34],err:[1,2,12,18,21,23,33,38,40,58],error:[1,2,9,22,23,33,38,44,59,60,61,65],error_cod:[9,22,23,61,62],error_rate_limit:44,esp32:[3,6,10,12,23,30,32,41,60,61,67,68],esp32s2:3,esp32s3:3,esp:[3,5,6,9,10,15,17,24,27,30,35,42,44,55,58,60,61,64,67,68],esp_err_t:[15,60],esp_err_to_nam:[1,2,33,38],esp_error_check:15,esp_lcd_ili9341:15,esp_log:44,esp_ok:[1,2,12,18,21,33,38,40,58,60],esphom:15,espp:[1,2,3,5,6,7,9,10,11,12,14,15,17,18,21,22,23,24,25,27,28,30,31,32,33,37,38,40,41,42,43,44,45,47,49,50,51,53,54,55,57,58,59,60,61,62,63,64,65,67,68],espressif:[6,10,15,27,55,60,67,68],etc:[9,23,38,40,43,59,60,62],evalu:[45,47],even:[58,62],evenli:32,event1:22,event1_cb:22,event2:22,event2_cb:22,event:[2,9,35,58,63,68],event_callback_fn:[9,22],event_count:2,event_flag:2,event_high_flag:2,event_low_flag:2,event_manag:22,eventbas:63,eventdata:68,eventmanag:[9,22],everi:[14,18,21,44],everybodi:10,everyth:10,exactli:57,exampl:[4,8,16,52,66],exceed:68,excel:7,except:[10,23],exchang:57,execut:[10,22,63,64],exis:68,exist:[6,10,13,23,61,62,63],exit:[1,2,3,5,7,10,12,17,18,21,33,38,40,41,43,58,59,60,63,64,65],exitact:10,exitchildren:63,exitselect:63,exp:[47,51],expand:35,explicit:[9,10,53,61,65],explicitli:10,expos:[10,13,44],extend:57,extern:[2,10,33,41,57,63],external_typ:57,extra:[60,61],extra_head:61,exttrigedg:33,exttriglvl:33,f:23,f_cutoff:[25,27],f_sampl:[25,27],facil:51,factor:[18,21,27,32,65],fade:42,fade_time_m:42,fahrenheit:65,fail:[1,2,9,12,18,21,33,38,40,58,62,68],fake:64,fall:[2,9,58,60],falling_edg:9,fals:[1,2,3,5,6,7,9,12,15,17,18,21,22,23,30,33,37,38,40,41,42,43,49,51,54,55,58,59,60,61,63,64,65,68],famili:[1,2],far:10,fast:[35,48,58],fast_co:46,fast_ln:46,fast_math:46,fast_sin:46,fast_sqrt:46,fastest:[18,21],fault:6,fclose:23,featur:2,feedback:[32,33,34],feel:7,few:[10,15,22,63],ff:57,fi:[67,68],field:[2,7,23,41,57,58,61],field_fal:58,field_ris:58,figur:[13,23,62,63],file2:23,file:[31,35],file_byt:23,file_cont:23,file_s:23,file_str:23,file_system:23,filenam:13,filesystem:30,fill:[15,24,27,37,41,53,54,55,58],filter:[3,5,7,17,18,21,29,35,65],filter_cutoff_hz:[18,21],filter_fn:[7,18,21],fine:32,fine_values_no_det:32,fine_values_with_det:32,finger563:63,finish:[10,32,60],first:[2,7,22,43,54,55,57,58,61,65],first_row_is_head:13,fish:10,fit:14,fix:65,fixed_length_encod:62,fixed_resistance_ohm:65,flag:[2,15,22,57,58,60],flip:49,floatrangemapp:41,flush:[14,15,23],flush_callback:[14,15],flush_cb:15,flush_fn:14,fmod:42,fmt:[2,3,5,10,12,13,15,17,18,21,22,38,40,41,42,51,54,55,58,59,60,61,62,64,65,68],foc:[6,7],foc_curr:[],foc_typ:7,foctyp:7,folder:[4,8,10,13,16,17,41,44,51,52,59,62,63,64,66],follow:[2,7,24,32,33,43,46,51,57,58,60,63,65],fopen:23,forc:[6,14],force_refresh:14,form:[24,25,61],format:[2,13,15,22,23,35,51,57,61,64,65],formula:65,forum:57,found:[18,21,33,57,58],four:1,frac:[24,47,65],frag_typ:61,fragment:61,frame:[2,43,61],fread:23,free:[14,23,42,60],free_spac:23,freebook:[24,28],freerto:[51,64],frequenc:[3,5,18,21,25,27,32,42],frequency_hz:42,frequent:[14,59],from:[1,2,3,5,6,7,10,11,12,14,15,18,21,22,23,26,30,32,33,34,35,37,38,40,41,42,44,47,49,50,53,54,55,57,58,59,60,61,62,63,64,65,68],from_sockaddr:53,fs:23,fseek:23,ftell:23,fthat:11,ftm:58,ftp:[35,57,61],ftp_anon:57,ftp_client_sess:30,ftp_ftp:57,ftp_server:30,ftpclientsess:30,ftpserver:30,fulfil:[18,21],full:[6,38,43,61],fulli:[33,63,64],fun:22,further:61,futur:[44,57,61],fwrite:23,g:[11,23,33,38,43,47,60,65],g_bright:38,g_down:38,g_led:38,g_up:38,gain:[1,32,59],game:57,gamepad:[57,58],gamma:[42,47],gate:6,gaussian:[35,42,48],gb:13,gbc:13,gener:[2,18,21,26,53,57,60,61,67,68],generatedeventbas:63,generic_hid:57,geometr:11,get:[1,2,3,6,7,9,10,11,12,13,14,15,17,18,21,22,23,30,32,37,40,41,42,43,47,51,53,54,55,57,58,59,60,61,62,63,64,65,68],get_accepted_socket:[],get_accumul:[18,21],get_all_mv:2,get_celsiu:65,get_config:59,get_count:[17,18,21],get_data:61,get_degre:[17,18,21],get_digital_input_valu:2,get_duti:42,get_electrical_angl:7,get_error:59,get_event_data:2,get_event_flag:2,get_event_high_flag:2,get_event_low_flag:2,get_fahrenheit:65,get_free_spac:23,get_ftm_length:58,get_head:61,get_height:61,get_histori:10,get_info:64,get_integr:59,get_interrupt_captur:40,get_interrupt_statu:58,get_ipv4_info:[53,54,55],get_jpeg_data:61,get_kelvin:65,get_mechanical_degre:[18,21],get_mechanical_radian:[18,21],get_mjpeg_head:61,get_mount_point:23,get_mv:[2,3,65],get_num_q_t:61,get_offset:[15,61],get_output_cent:49,get_output_max:49,get_output_min:49,get_output_rang:49,get_packet:61,get_partition_label:23,get_payload:61,get_pin:[38,40],get_posit:32,get_power_supply_limit:6,get_q:61,get_q_tabl:61,get_quantization_t:61,get_radian:[17,18,21],get_rat:3,get_remote_info:54,get_resist:65,get_revolut:17,get_root_path:23,get_rpm:[18,21],get_rpt_head:61,get_rtp_header_s:61,get_scan_data:61,get_session_id:61,get_shaft_angl:7,get_shaft_veloc:7,get_siz:57,get_stat:12,get_total_spac:23,get_type_specif:61,get_used_spac:23,get_user_input:10,get_user_select:63,get_valu:[12,41],get_values_fn:41,get_vers:61,get_voltag:65,get_voltage_limit:6,get_width:61,getactivechild:63,getactiveleaf:63,getiniti:63,getinputhistori:10,getlin:10,getparentst:63,getsocknam:[53,54,55],getter:[50,61],gettimerperiod:63,gettin:41,gimbal:32,github:[10,13,15,32,45,55,58,60,61,63],give:[53,63,64],given:[2,22,25,61,63],glitch:17,global:[3,38],go:[22,23,63],goe:2,gone:64,goodby:10,googl:58,got:[2,22,61,68],gotten:[7,10,68],gpio:[2,6,9,12,17,38,40,42,60],gpio_a:12,gpio_a_h:[6,7],gpio_a_l:[6,7],gpio_b:12,gpio_b_h:[6,7],gpio_b_l:[6,7],gpio_c_h:[6,7],gpio_c_l:[6,7],gpio_config:2,gpio_config_t:2,gpio_down:12,gpio_en:[6,7],gpio_evt_queu:2,gpio_fault:[6,7],gpio_i:12,gpio_install_isr_servic:2,gpio_intr_negedg:2,gpio_isr_handl:2,gpio_isr_handler_add:2,gpio_joystick_select:12,gpio_left:12,gpio_mode_input:2,gpio_num:[9,43,60],gpio_num_18:15,gpio_num_19:15,gpio_num_22:15,gpio_num_23:15,gpio_num_2:9,gpio_num_45:15,gpio_num_48:15,gpio_num_4:15,gpio_num_5:15,gpio_num_6:15,gpio_num_7:15,gpio_num_t:15,gpio_pullup:12,gpio_pullup_dis:2,gpio_pullup_en:[1,2,12,18,21,33,38,40,58],gpio_right:12,gpio_select:12,gpio_start:12,gpio_up:12,gpio_x:12,gpo:58,grab:41,gradient:11,grai:44,graphic:11,grb:43,greater:44,green:[11,43,44,60],ground:12,group:[23,53,54,55,57],grow:[],guarante:43,guard:63,gui:[14,15,51],guid:[10,67,68],h:[10,11,15,44,61],ha:[2,7,10,12,17,18,21,22,23,30,33,38,40,42,43,51,54,55,57,58,60,61,63,64,68],half:[18,21,24],handl:[9,10,30,38,40,43,54,55,60,63,64],handle_all_ev:63,handleev:63,handler:[2,9,55],handov:57,happen:22,haptic:35,haptic_config:32,haptic_motor:32,hapticconfig:32,hardawr:42,hardwar:[7,17,27,38,42,43,61],hart:65,has_q_tabl:61,has_stop:63,has_valu:[3,5,12,41,42,65],hash:57,have:[2,7,10,13,14,22,24,32,33,38,41,42,43,44,51,54,59,60,61,63,64,65,67,68],hc:57,heart:7,height:[14,15,61],hello:[10,58],hello_everysess:10,help:57,helper:53,henri:7,here:[10,13,18,22,33,38,40,58,59],hid:57,high:[2,3,6,9,14,17,32,40,51,60],high_level:9,high_limit:17,high_resolution_clock:[1,2,7,9,18,21,33,38,40,42,43,44,51,58,59,60,64,65],high_threshold_mv:2,high_water_mark:51,higher:[24,27],histori:[10,24,25,27,28,63],history_s:10,hmi:15,hold:[14,57,58],home:37,hop:[53,54,55],host:[2,15,38,57,67],hot:65,how:[7,13,14,17,59,62,63,65],howev:24,hpp:[0,1,2,3,5,6,7,9,10,11,12,13,14,15,17,18,19,21,22,23,24,25,27,28,29,30,32,33,37,38,40,41,42,43,44,45,46,47,49,50,51,53,54,55,57,58,59,60,61,62,63,64,65,67,68],hr:57,hs:57,hsfm:63,hsv:[11,43,60],html:[6,10,14,15,24,28,57,60,67,68],http:[2,6,7,10,13,14,15,18,23,24,25,28,32,33,38,44,45,53,54,55,57,58,60,61,63,65,67,68],http_www:57,https_www:57,hue:[11,43,60],human:[13,23],human_read:23,hz:[3,32],i2c:[4,18,20,21,33,35,38,39,40,43,58],i2c_cfg:[1,2,12,18,21,33,38,40,58],i2c_config_t:[1,2,12,18,21,33,38,40,58],i2c_driver_instal:[1,2,12,18,21,33,38,40,58],i2c_freq_hz:[1,2,12,18,21,33,38,40,58],i2c_master_read_from_devic:2,i2c_master_write_read_devic:[1,12,18,21,33,38,40,58],i2c_master_write_to_devic:[1,2,12,18,21,33,38,40,58],i2c_mode_mast:[1,2,12,18,21,33,38,40,58],i2c_num:[1,2,12,18,21,33,38,40,58],i2c_param_config:[1,2,12,18,21,33,38,40,58],i2c_read:33,i2c_scl_io:[1,2,12,18,21,33,38,40,58],i2c_sda_io:[1,2,12,18,21,33,38,40,58],i2c_timeout_m:[1,2,12,18,21,33,38,40,58],i2c_writ:33,i:[2,7,13,17,35,39,43,51,59,62,63,64,65],i_gpio:17,id:[2,30,33,57,61,64],ident:10,identifi:[33,57,61],idf:[3,5,6,9,10,35,42,44,55,60,67,68],ifs:23,ifstream:23,ignor:17,iir:27,il:57,imag:61,imap:57,imax:38,imax_25:38,imax_50:38,imax_75:38,immedi:[63,64],imped:6,impl:[25,28],implement:[2,6,7,8,10,11,24,25,27,28,30,31,32,45,46,47,50,57,61,63],implicit:[18,21],impuls:27,includ:[0,1,2,3,5,6,7,9,10,11,12,13,14,15,17,18,19,21,22,23,24,25,27,28,29,30,32,33,37,38,40,41,42,43,44,45,46,47,49,50,51,53,54,55,57,58,59,60,61,62,63,64,65,67,68],incom:54,incomplet:57,increas:[9,17,44,59],increment:[2,17,38],incur:14,independ:[41,50],index:[2,17,43,50,61,65],indic:[38,40,54,55,57,58,64],individu:[41,45],induct:7,infinit:27,info:[1,2,3,5,7,9,12,17,22,32,33,41,43,44,51,53,54,55,59,60,61,65],info_rate_limit:44,inform:[11,14,18,21,25,28,38,40,41,43,45,51,53,54,55,57,58,60,63,65,67,68],infrar:60,inherit:10,init:[41,53,54],init_ipv4:53,initail:[3,65],initi:[1,2,3,5,6,7,9,12,14,15,17,18,21,27,33,37,38,40,41,42,47,49,53,54,55,58,60,63,64,67,68],inlin:[1,2,3,5,6,7,9,10,12,14,15,17,18,21,22,23,24,25,27,28,30,32,33,37,38,40,41,42,43,44,45,47,49,50,51,53,54,55,57,58,59,60,61,63,64,65,67,68],inout:2,input:[2,7,9,10,12,18,21,24,25,27,28,32,33,35,38,40,41,49],input_delay_n:15,input_driv:37,input_valu:2,inquiri:57,insert:10,insid:2,instal:[1,2,9,12,18,21,33,38,40,58],instanc:[22,23],instant:42,instanti:51,instead:[10,30,49,62,63],instruct:27,instrument:[2,33],int16_t:17,int8_t:62,intead:[],integ:[6,17,46,53],integr:59,integrator_max:[7,59],integrator_min:[7,59],intend:[45,63,64],interact:[10,20,22,23,39,61],interest:[12,22],interfac:[6,8,9,14,20,23,30,32,33,35,38,39,40,43,60,61],interfer:32,intermedi:57,intern:[2,10,12,15,17,24,25,27,28,33,38,40,53,63],interpol:11,interrupt:[2,9,17,38,40,58,64],interrupt_typ:9,interrupttyp:9,intr_typ:2,introduc:49,inttrig:33,invalid:[10,11],invalid_argu:10,invers:42,invert:[12,37,38,40,42,49],invert_color:15,invert_i:37,invert_input:49,invert_output:49,invert_x:37,invoc:59,io:[14,15,23,35,45,57],io_conf:2,io_num:2,ip2str:68,ip:[30,53,54,55,61,68],ip_add_membership:[53,54,55],ip_address:[30,54,55,61],ip_callback:68,ip_event_got_ip_t:68,ip_evt:68,ip_info:68,ip_multicast_loop:[53,54,55],ip_multicast_ttl:[53,54,55],ipv4:53,ipv4_ptr:53,ipv6:53,ipv6_ptr:53,ir:60,irdaobex:57,is_a_press:12,is_act:61,is_al:30,is_b_press:12,is_charg:22,is_clos:61,is_complet:61,is_connect:[30,54,61,68],is_dir:23,is_directori:23,is_down_press:12,is_en:6,is_fault:6,is_floating_point:50,is_left_press:12,is_multicast_endpoint:55,is_passive_data_connect:30,is_press:[9,12],is_right_press:12,is_select_press:12,is_start:64,is_start_press:12,is_up_press:12,is_valid:[53,54,55],isr:[2,9],issu:10,istream:10,it_st:58,item:[13,23],iter:[15,22,23,54,55,64],its:[2,3,18,21,22,30,32,38,40,47,51,53,54,55,58,59,63,67],itself:[14,22,37,61,64],join:[53,54,55],joybonnet:[1,12],joystick:[2,12,35,57],joystick_config:12,joystick_i:12,joystick_select:12,joystick_x:12,jpeg:61,jpeg_data:61,jpeg_fram:61,jpeg_frame_callback_t:61,jpeg_head:61,jpegfram:61,jpeghead:61,jpg:13,js1:41,js2:41,jump:49,just:[2,12,18,21,22,57,60,61,62,63,65],k:[10,65],k_bemf:7,kbit:58,kd:[7,32,59],kd_factor_max:32,kd_factor_min:32,keepal:54,kei:[10,57,58,61],kelvin:65,keyboard:[10,57],ki:[7,59],kind:[19,63],know:[14,18,21,22,64],known:[57,63],kohm:40,kp:[7,32,59],kp_factor:32,kv:7,kv_rate:7,label:[15,23],lack:23,lambda:[1,2,12,18,21,33,38,40,44,58,65],landscap:[14,15],landscape_invert:14,larg:61,larger:[3,10,61],last:[12,17,41,43,57,59,63],last_unus:12,latch:60,later:[6,15,17],latest:[6,10,37,41,51,59,60,65,67,68],launch:57,launcher:58,launcher_record:58,lazi:13,lcd:15,lcd_send_lin:15,lcd_spi_post_transfer_callback:15,lcd_spi_pre_transfer_callback:15,lcd_write:15,le:57,le_rol:57,le_sc_confirm:57,le_sc_random:57,lead:[3,11],leaf:63,learn:[33,57],least:[17,43,54],leav:2,led:[2,35,38,60],led_callback:42,led_channel:42,led_encod:[43,60],led_encoder_st:60,led_fade_time_m:42,led_reset_cod:60,led_stip:60,led_strip:[43,60],led_task:42,ledc:42,ledc_channel_5:42,ledc_channel_t:42,ledc_high_speed_mod:42,ledc_mode_t:42,ledc_timer_10_bit:42,ledc_timer_13_bit:42,ledc_timer_2:42,ledc_timer_bit_t:42,ledc_timer_t:42,ledstrip:43,left:[12,15,17,43],legaci:57,legend:13,len:43,length16:58,length:[2,15,24,27,43,50,57,58,60],less:[6,41,57,58,64],let:[10,14,22,51],level0:60,level1:60,level:[6,7,8,9,22,32,33,40,43,44,53,54,55,57,60,61,63,65],leverag:27,lib:33,libarari:62,libfmt:44,librari:[10,22,23,32,33,35,57,62],life:[10,62],lifecycl:14,light:[11,37,44,62,63],like:[22,53],limit:[6,7,10,17,44,57,59],limit_voltag:[6,7],line:35,line_input:10,linear:[33,34],lineinput:10,link:[13,23],links_awaken:13,list:[2,23,33,57],list_directori:23,listconfig:23,listen:[30,54,61],lit:[2,33],littl:[22,42],littlef:23,lk:[1,2,3,5,7,12,17,18,21,22,33,38,40,41,42,43,58,59,60,63,64,65],ll:[1,2,12,18,21,22,33,38,40,43,58],ln:65,load:[12,13,57],local:57,lock:[54,64],lodeston:30,log:[2,7,9,22,32,33,35,37,38,40,42,43,51,58,60,61,64,65],log_level:[1,2,3,5,6,7,9,12,14,17,18,21,32,33,37,38,40,41,42,43,54,55,58,59,60,61,63,64,65,67,68],logger1:44,logger1_thread:44,logger2:44,logger2_thread:44,logger:[1,2,3,5,6,7,9,12,14,17,18,21,22,23,32,33,35,37,38,40,41,42,43,53,54,55,58,59,60,61,63,64,65,67,68],logger_:[14,41],logger_config:53,logger_fn:44,logic:[2,12,55,57],long_local_nam:57,longer:10,loop:[7,8,10,18,21,23,32,44,64],loop_foc:7,loop_iter:44,loopback_en:[53,54,55],loos:22,lose:10,lot:9,low:[2,5,6,7,8,9,12,17,22,40,53,57,60],low_level:9,low_limit:17,low_threshold_mv:2,lower:[17,38,40,65],lowest:64,lowpass:[26,35],lowpass_filt:27,lowpassfilt:27,lra:[33,34],lsb:[2,38],lv_area_t:[14,15],lv_color_t:[14,15],lv_disp_drv_t:[14,15],lv_disp_flush_readi:14,lv_tick_inc:14,lvgl:[14,15,37],lvgl_esp32_driv:15,lvgl_tft:15,m:[1,2,3,5,7,12,17,18,21,22,32,33,38,40,41,42,43,44,54,58,59,60,63,64,65],m_pi:[18,21,51],ma:65,mac:[57,68],mac_addr:57,mac_address:57,machin:35,macro:44,made:58,magic_enum_no_check_support:63,magnet:[20,32,35],magnetic_det:32,magnitud:[41,50,59],magnitude_squar:50,mai:[2,3,9,32,43,57,58,63],mailbox:58,mailto:57,main:[7,14,60],mainli:14,maintain:[14,18,21,58],make:[1,2,7,12,18,21,22,23,33,38,40,53,57,58,61,63,65],make_android_launch:[57,58],make_ev:63,make_le_oob_pair:[57,58],make_multicast:[53,54,55],make_oob_pair:[57,58],make_shar:[7,15],make_text:[57,58],make_uniqu:[1,2,10,12,33,42,51,54,55,60,64],make_uri:[57,58],make_wifi_config:[57,58],makeact:63,malloc_cap_8bit:14,malloc_cap_dma:14,manag:[5,11,12,13,14,23,35,38,40,42,54,55,57,58],mani:[7,9,17,22,54,55,68],manipul:9,manual:[2,10,32,61,63],manual_chid:2,map:[12,41,49,61],mapper:[35,41,48],mario:13,mark:[51,61],marker:61,mask:[38,40],maskaravivek:57,mass:[33,34],master:[1,2,10,12,15,18,21,33,38,40,55,58,60],match:[23,30],math:[35,45,47,49,50],max:[2,6,17,32,33,38,47,49,54,55,59,67],max_connect:54,max_data_s:61,max_glitch_n:17,max_led_curr:38,max_num_byt:[54,55],max_number_of_st:67,max_pending_connect:54,max_receive_s:54,max_transfer_sz:15,maximum:[6,12,18,21,38,41,49,54,55,59,61],maxledcurr:38,maybe_duti:42,maybe_mv:[3,5,65],maybe_r:3,maybe_x_mv:[12,41],maybe_y_mv:[12,41],mb:[23,57],mb_ctrl:58,mcp23x17:[35,39],mcp23x17_read:40,mcp23x17_write:40,mcpwm:[6,32],me:57,mean:[6,11,18,21,24,41,49,51,60,62,64],measur:[3,5,7,17,18,21,41,59,65],mechan:[3,7,18,21,22,30],media:57,mega_man:13,megaman1:13,megaman:13,member:[1,2,3,5,6,7,9,11,12,14,17,18,21,23,25,27,32,33,37,38,40,41,42,43,44,45,47,49,51,53,54,55,57,58,59,60,61,64,65,67,68],memori:[10,14,24,27,42,58,60,64],memset:[1,2,12,15,18,21,33,38,40,58],mention:10,menu:10,menuconfig:23,mere:6,messag:[2,9,22,23,57,58,61,62],method:[7,9,17,23,45,47,59,61,62],metroid1:13,metroid:13,micro:15,micros_per_sec:60,middl:57,millisecond:42,millivolt:65,mime_media:57,min:[2,32,49],minimum:[12,41,49,59],minu:61,minut:[18,21],mireq:15,mirror:40,mirror_i:15,mirror_x:15,miso_io_num:15,mix:11,mjepg:61,mjpeg:61,mkdir:23,mode:[1,2,3,9,12,15,18,21,32,33,38,40,42,57,58],model:[11,63],moder:5,modif:7,modifi:[15,38,61],modul:[],modulo:[18,21],monitor:35,more:[2,3,10,11,14,25,26,28,33,41,42,43,44,47,53,54,55,60,63,65],mosi:15,mosi_io_num:15,most:[3,7,12,18,21,41,59],motion:[7,32],motion_control_typ:7,motioncontroltyp:7,motoion:7,motor:[6,8,18,21,32,34,35],motor_task:7,motor_task_fn:7,motor_typ:33,motorconcept:32,motortyp:33,mount:23,mount_point:23,mous:57,move:[7,10,43,51,60,64],movement:10,ms:14,msb:[2,38],msb_first:60,mt6701:[7,20,35],mt6701_read:[7,21],mt6701_write:[7,21],much:24,multi_rev_no_det:32,multicast:[53,54],multicast_address:[53,54,55],multicast_group:[53,54,55],multipl:[3,5,7,12,32,33,34,44,59,61],multipli:[32,50,59],must:[2,5,7,10,17,22,23,51,53,54,55,57,58,62,63,64,67,68],mutabl:[50,64],mutat:64,mute:2,mutex:[1,2,3,5,7,12,17,18,21,22,33,38,40,41,42,43,54,58,59,60,63,64,65],mux:2,mv:[1,2,3,5,41,65],mystruct:62,n:[2,3,5,10,12,13,17,18,21,22,23,24,28,29,38,40,41,42,51,54,55,58,59,60,61,62,64,65,68],name:[1,2,3,5,7,12,13,17,18,21,22,33,38,40,41,42,43,51,54,55,57,58,59,60,61,62,63,64,65],namespac:[1,2,12,23,33],nanosecond:17,navig:10,ndef:[35,56,58],ndeflib:57,ndefmessag:57,ne:13,nearest:[32,46],necessari:[7,64],need:[3,5,9,10,18,21,22,23,24,32,38,51,57,59,60,63,64],needs_zero_search:[18,21],neg:[43,50,59,65],negat:[12,50],neo_bff_io:43,neo_bff_num_l:43,neopixel_writ:43,network:[35,54,55,57,67],new_duti:42,new_object:62,new_siz:10,new_target:7,newli:64,newlin:51,next:[10,32,60],nf:57,nfault:7,nfc:[35,57,58],nicer:44,nm:7,no_timeout:64,nocolor:10,node:[53,54,55,63],nois:49,nomin:65,nominal_resistance_ohm:65,non:[3,32,49,58],nonallocatingconfig:14,none:[2,14,30,44,57,63],normal:[14,22,24,50],normalizd:[25,27],normalized_cutoff_frequ:[18,21,25,27],note:[1,2,3,5,7,9,10,12,17,18,21,22,23,30,32,33,38,40,41,43,44,54,55,58,59,60,62,63,64,65],noth:[6,51],notifi:[2,61,64],now:[1,2,7,9,13,18,21,22,32,33,38,40,42,43,44,51,54,55,58,59,60,64,65],ntc:65,ntc_smd_standard_series_0402:65,ntcg103jf103ft1:65,nthe:68,nullopt:[42,55],nullptr:[7,10,18,21,23,50,54,55,63,68],num:61,num_connect_retri:68,num_l:43,num_periods_to_run:42,num_pole_pair:7,num_seconds_to_run:[42,44,59,64],num_steps_per_iter:64,num_task:[51,64],num_touch:37,number:[1,2,3,7,9,10,14,15,17,18,21,23,24,27,32,33,37,38,40,42,43,46,53,54,55,57,58,60,61,65,67,68],number_of_link:23,nvs_flash_init:[67,68],o:[2,35,39],object:[7,9,10,11,13,22,43,44,47,51,57,60,61,62,63,65],occur:[22,61,63],off:[2,6,10,17,32,38,44,61,65],offset:[15,58,61],offset_i:15,offset_x:15,ofs:23,ofstream:23,ohm:[7,65],ok:61,oldest:10,on_connect:68,on_disconnect:68,on_got_ip:68,on_jpeg_fram:61,on_off_strong_det:32,on_receive_callback:55,on_response_callback:[54,55],onc:[12,17,18,21,22,61],once_flag:22,one:[2,9,10,18,21,22,30,42,43,54,55,58,60,63],oneshot:[4,35],oneshot_adc:5,oneshotadc:[5,12,41],onli:[2,7,12,13,17,18,21,22,24,41,44,50,55,57,58,60,61,62,63],oob:[57,58],open:[2,7,8,10,23,32,54,57,67,68],open_drain:[2,38],oper:[2,11,23,25,27,28,45,47,50,59,65],oppos:11,opposit:42,optim:[7,24,46],option:[3,5,6,7,10,12,14,15,18,21,37,41,42,43,44,49,53,54,55,58,61,62,64],order:[2,24,25,26,29,35,43,44,54],oreilli:57,org:[24,25,28,53,54,55,65],orient:[7,14],origin:23,oscil:[2,49],osr_128:2,osr_16:2,osr_2:2,osr_32:2,osr_4:2,osr_64:2,osr_8:2,ostream:10,ostringstream:13,other:[7,10,11,14,50,53,54,55,58,59,62,63,64,67],otherwis:[6,9,12,22,30,40,41,42,54,55,57,60,61,63,64,68],our:[42,53,54,55,64],out:[10,13,23,51,53,54,55,57,58,60,62,63,65],output:[2,7,8,10,17,22,23,24,25,27,28,30,37,38,40,42,44,47,49,51,58,59],output_cent:49,output_drive_mode_p0:38,output_invert:42,output_max:[7,49,59],output_min:[7,49,59],output_mod:2,output_rang:49,outputdrivemodep0:38,outputmod:2,outsid:[2,10,11],over:[2,6,20,23,39,42,52,54,55,61,64],overflow:[17,24],overhead:[14,22],overload:23,oversampl:2,oversampling_ratio:2,oversamplingratio:2,overstai:44,overth:2,overwrit:61,own:[3,14,18,21,30,38,40,53,54,55,67],owner:23,p0:38,p0_0:38,p0_1:38,p0_2:38,p0_3:38,p0_5:38,p1:38,p1_0:38,p1_1:38,p1_5:38,p1_6:38,p1_7:38,p1_8:38,p:[2,10,13,59],pack:12,packag:57,packet:[53,54,55,57,61],packet_:61,pad:12,page:[23,65],pair:[7,57,58],panel:37,param:[1,2,7,14,18,21,22,33,37,38,40,41,43,53,54,55,58,60,64,68],paramet:[1,2,3,5,6,7,9,10,11,12,14,15,19,22,23,24,25,27,28,30,32,33,37,38,40,41,42,43,44,45,47,49,50,53,54,55,57,58,59,60,61,63,64,65,67,68],parent:63,pars:[13,51,61],part:[6,15,32,37,65],parti:62,partit:23,partition_label:23,pass:[9,15,22,30,44,49],passiv:30,password:[30,57,67,68],pasv:30,pat:57,path:[23,30,61],paus:[14,61],payload:[57,58,61],payload_s:61,pdf:[2,18,33,38,58,60,65],pend:54,per:[1,2,3,7,18,21],perceiv:11,percent:42,percentag:[6,32,42],perform:[2,3,5,11,23,41,64],perhipher:42,period:[9,12,14,18,21,22,38,40,51,58,63],peripher:[6,17,32,34,42,43,57,60],peripheral_centr:57,peripheral_onli:[57,58],permiss:23,person:57,phase:[6,7],phase_induct:7,phase_resist:7,phone:[57,58],photo:58,pick:17,pico:41,pid:[7,32,35],pid_config:59,pin:[1,2,6,7,9,12,15,33,38,40,42,60,64],pin_bit_mask:2,pin_mask:40,pinout:7,pixel:[14,15,43,61],pixel_buffer_s:[14,15],place:[22,32],plai:[33,61],plan:65,platform:[44,64],play_hapt:32,playback:33,pleas:[10,11,13,28,33,63],plot:2,pn532:57,point:[11,17,23,24,27,32,35,37,42,45,46,50,54,55,57,66,68],pointer:[1,2,14,15,18,21,24,27,32,33,37,38,40,41,43,53,54,58,60,61,63,64,68],pokemon:13,pokemon_blu:13,pokemon_r:13,pokemon_yellow:13,polar:40,pole:7,poll:[12,18,21,38,40,58],pomax:45,pop:57,popul:55,port0:38,port1:38,port:[7,14,30,38,40,53,54,55,61],port_0_direction_mask:38,port_0_interrupt_mask:38,port_1_direction_mask:38,port_1_interrupt_mask:38,port_a:40,port_a_direction_mask:40,port_a_interrupt_mask:40,port_b:40,port_b_direction_mask:40,port_b_interrupt_mask:40,portmax_delai:2,portrait:[14,15],portrait_invert:14,porttick_period_m:[1,2,12,18,21,33,38,40,58],pos_typ:23,posit:[7,15,17,18,21,32,37,41,49],posix:[52,53],possibl:[2,6,14,49,57],post:57,post_cb:15,post_transfer_callback:14,poster:57,potenti:[3,24,30],power:[2,6,7,43,57],power_supply_voltag:[6,7],pranav:13,pre:[15,59,60],pre_cb:15,precis:60,preconfigur:33,predetermin:2,prefer:57,prefix:[2,23],prepend:44,present:[57,61],preset:33,press:[2,9,12,37],prevent:[14,59],previou:[10,42],previous:[6,7,49],primari:60,primarili:10,primary_data:60,print:[2,3,5,10,12,13,17,18,21,22,38,40,41,42,44,51,54,55,58,59,60,61,62,64,65,68],printf:[12,18,21,38,40,58],prior:[58,67,68],prioriti:[3,7,14,44,51,64],privat:10,process:[42,54,55,64],processor:[2,27,64],produc:11,product:[38,50,60,63,65],profil:32,programm:2,programmed_data:58,project:[6,10,30,60,61,67,68],prompt:10,prompt_fn:10,proper:[11,63],properli:[5,61],proport:59,protocol:[30,43,54,55,60],protocol_examples_common:10,prototyp:[22,37],provid:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,20,21,22,23,24,25,26,27,28,29,31,32,34,35,37,38,39,40,41,42,43,44,45,46,47,49,50,51,52,53,54,55,57,58,59,60,61,62,63,64,65,66,68],prt:53,pseudost:63,pub:22,publish:[9,22],pull:[2,38,40],pull_up_en:2,pulldown:9,pulldown_en:9,pullup:9,pullup_en:9,puls:[2,17,60],pulsed_high:2,pulsed_low:2,pulsing_strong_1:33,pulsing_strong_2:33,pure:[17,63],push:2,push_pul:2,push_push:38,put:58,pwm:[6,7,8,33,42],pwmanalog:33,py:41,python:51,q0:61,q0_tabl:61,q1:61,q1_tabl:61,q:[7,27,61],q_current_filt:7,q_factor:27,qt:41,quadhd_io_num:15,quadratur:17,quadwp_io_num:15,qualiti:27,quantiz:61,question:[10,13,42,58],queu:60,queue:[2,9,10,60],queue_siz:15,quickli:63,quit:58,quit_test:[12,18,21,40,58],quote_charact:13,r0:65,r1:[2,65],r25:65,r2:[2,65],r:[11,23,38,43,49,57,60,65],r_0:65,r_bright:38,r_down:38,r_led:38,r_scale:65,r_up:38,race:42,rad:7,radian:[7,17,18,21,50],radio:[57,58],radio_mac_addr:58,radiu:41,rainbow:[43,60],ram:14,ranav:13,random:57,rang:[1,6,11,18,21,23,25,27,32,34,35,41,47,48,65,67],range_mapp:49,rangemapp:[41,49],rate:[1,3,7,18,21,38,40,44],rate_limit:44,ratio:2,ration:45,raw:[1,2,5,7,12,18,21,41,45,53,57,58],rb:23,re:[10,12,18,21,33,53,54,55,60,63,65],reach:[33,54,58,63],read:[1,2,3,5,7,9,10,12,18,21,23,33,37,38,40,41,54,58,65],read_fn:[1,2,18,21,33,38,40,58],read_joystick:[12,41],read_mv:[5,12,41,65],read_mv_fn:65,read_raw:5,read_valu:13,readabl:[13,23],reader:[3,5,41],readthedoc:57,real:[22,33],realli:[13,62,63],realtim:33,reason:[62,64],receic:22,receiv:[2,15,53,54,55,58,61],receive_callback_fn:[53,54,55],receive_config:55,receiveconfig:55,recent:[2,3,7,12,18,21,41,59],recommend:[18,21,22,41],record:[57,58],rectangular:41,recurs:[23,63],recursive_directory_iter:23,recvfrom:[53,55],red:[11,13,43,44,60],redraw:14,reeiv:[],reepres:61,refer:35,reference_wrapp:32,refresh:14,reg:58,reg_addr:[1,12,18,21,33,38,40,58],regard:[18,21],regardless:41,region:2,regist:[1,2,9,18,21,22,33,37,38,40,58,61],registr:22,registri:22,reinit:54,reiniti:54,reistor:38,rel:49,relat:[10,42],releas:9,relev:[23,65],reli:63,reliabl:[18,21,54],remain:44,remot:[35,54,55,57],remote_control:57,remote_info:55,remov:[6,10,22,23],remove_publish:22,remove_subscrib:22,renam:23,render:[14,51],repeatedli:[60,64],replac:10,report:58,repres:[11,18,21,30,42,50,57,58,59,60,61],represent:11,request:[2,30,53,54,55,57,58,61],requir:[7,58],rescal:11,reserv:57,reset:[2,15,17,58,59,60],reset_fn:60,reset_pin:15,reset_st:59,reset_tick:60,resist:[7,65],resistor:[9,38,65],resistordividerconfig:65,resiz:[10,23,51,64],resolut:[42,60],resolution_hz:[43,60],resolv:30,reson:[33,34],resourc:[5,53,54,55,58,60],respect:[4,61,63],respond:[53,54,55],respons:[14,23,27,30,57,59,61],response_callback_fn:[53,54,55],response_s:[54,55],response_timeout:55,restart:63,restartselect:63,restrict:[18,21],result:[2,3,11,50,61],resum:14,ret:15,ret_stat:60,retri:[61,68],retriev:[3,12,37,41],return_to_center_with_det:32,return_to_center_with_detents_and_multiple_revolut:32,reusabl:[10,35],revers:[54,55],revolut:[17,18,21,32],rf:58,rf_activ:58,rf_get_msg:58,rf_intterupt:58,rf_put_msg:58,rf_user:58,rf_write:58,rfc:[57,61],rfid:[57,58],rgb:[11,43,60],rh:[11,50],right:[7,12,30,43,58],rise:[9,33,58,60],rising_edg:9,risk:24,rmdir:23,rmt:[35,43],rmt_bytes_encoder_config_t:60,rmt_channel_handle_t:60,rmt_clk_src_default:60,rmt_clock_source_t:60,rmt_encod:60,rmt_encode_state_t:60,rmt_encoder_handle_t:60,rmt_encoder_t:60,rmt_encoding_complet:60,rmt_encoding_mem_ful:60,rmt_encoding_reset:60,rmt_symbol_word_t:60,rmtencod:[43,60],robust:44,robustli:49,role:57,root:[23,30,63],root_list:23,root_menu:10,root_path:23,rotari:32,rotat:[7,14,15,18,21,32,33,34,43,50,60],round:46,routin:41,row:13,row_index:13,rpm:[7,18,21],rpm_to_rad:7,rstp:57,rt_fmt_str:44,rtcp:61,rtcp_packet:61,rtcp_port:61,rtcppacket:61,rtd:57,rtp:[33,61],rtp_jpeg_packet:61,rtp_packet:61,rtp_port:61,rtpjpegpacket:61,rtppacket:61,rtsp:[35,57],rtsp_client:61,rtsp_path:61,rtsp_port:61,rtsp_server:61,rtsp_session:61,rtspclient:61,rtspserver:61,rtspsession:61,run:[3,7,10,14,18,21,22,30,32,42,44,51],runtim:44,s2:[3,15],s3:[3,12],s:[2,7,8,9,10,11,13,18,21,22,30,32,38,40,41,42,43,44,49,51,55,60,62,63,64,65],s_isdir:23,safe:[42,59],same:[2,5,7,22,57,59],sampl:[1,2,3,7,10,18,21,24,25,27,28,58,59,65],sample_mv:[1,12],sample_r:1,sample_rate_hz:[3,65],sandbox:23,sar:2,sarch:[18,21],satisfi:63,satur:[11,59],sbu:[],scalar:50,scale:[7,47,50,59,65],scaler:47,scan:[2,61,68],scan_data:61,scenario:[67,68],scheme:7,scl:2,scl_io_num:[1,2,12,18,21,33,38,40,58],scl_pullup_en:[1,2,12,18,21,33,38,40,58],sclk:15,sclk_io_num:15,scottbez1:32,screen:15,sda_io_num:[1,2,12,18,21,33,38,40,58],sda_pullup_en:[1,2,12,18,21,33,38,40,58],sdp:61,search:[18,21],second:[1,2,3,7,18,21,25,26,35,38,40,42,44,50,58,61,64,65],secondari:14,seconds_per_minut:[18,21],seconds_since_start:51,section:[11,25,26,35],sectionimpl:28,secur:[57,67,68],security_manager_flag:57,security_manager_tk:57,see:[2,7,10,11,13,14,15,17,24,25,28,33,41,45,51,53,54,55,57,58,60,63,65,67,68],seek_end:23,seek_set:23,seekg:23,seem:[23,61],segment:14,sel:2,select:[2,3,12,30,33,43,57,63],select_bit_mask:2,select_librari:33,select_press:2,select_valu:2,send:[9,14,15,30,43,54,55,58,60,61],send_bright:43,send_command:15,send_config:[54,55],send_data:15,send_fram:61,send_request:61,send_rtcp_packet:61,send_rtp_packet:61,sendconfig:55,sender:[53,54,55],sender_info:[53,54,55],sendto:53,sens:7,sensor:[7,18,21,65],sensor_direct:7,sensorconcept:7,sensordirect:7,sent:[2,15,30,43,54,55,60,61],separ:[12,13,14,51],sequenc:[2,22,33,51,57,58,63],seri:[28,61,65],serial:[9,20,22,33,35,38,39,40,57,58,61],serializa:62,series_second_order_sect:[24,28],serizalizt:13,server:[31,35,52,53],server_address:[54,55,61],server_config:55,server_port:61,server_socket:[54,55],server_task:54,server_task_config:[54,55],server_task_fn:54,server_uri:61,servic:[2,57],session:[10,30,60,61],session_st:60,set:[2,6,7,9,10,15,22,33,38,40,41,42,43,46,47,49,51,53,54,55,57,58,60,61,63,65,67,68],set_al:43,set_analog_alert:2,set_ap_mac:68,set_calibr:41,set_config:59,set_deadzon:41,set_digital_alert:2,set_digital_output_mod:2,set_digital_output_valu:2,set_direct:[38,40],set_drawing_area:15,set_duti:42,set_encod:[43,60],set_fade_with_tim:42,set_histori:10,set_history_s:10,set_input_polar:40,set_interrupt:38,set_interrupt_mirror:40,set_interrupt_on_chang:40,set_interrupt_on_valu:40,set_interrupt_polar:40,set_label:15,set_log_level:22,set_met:15,set_mod:33,set_motion_control_typ:7,set_offset:15,set_payload:61,set_phase_st:6,set_phase_voltag:7,set_pin:[38,40],set_pixel:43,set_pull_up:40,set_pwm:6,set_receive_timeout:[53,54,55],set_record:58,set_session_log_level:61,set_verbos:44,set_vers:61,set_voltag:6,set_waveform:33,setactivechild:63,setcolor:10,setdeephistori:63,setinputhistori:10,setinputhistorys:10,setnocolor:10,setparentst:63,setpoint:[7,32],setshallowhistori:63,setter:[50,61],setup:[2,61],sever:[20,26,39],sftp:57,sgn:46,shaft:[7,18,21],shallow:63,shallow_history_st:63,shallowhistoryst:63,shape:47,share:57,shared_ptr:7,sharp_click:33,sheet:2,shield:12,shift:[43,47],shift_bi:43,shift_left:43,shift_right:43,shifter:47,shop:[38,60],short_local_nam:57,shorten:57,should:[6,7,10,11,12,14,15,23,24,27,40,41,42,43,50,53,54,55,59,60,61,63,64],shouldn:[23,44],show:[10,43,63],showcas:22,shown:44,shut:64,side:[6,31],sign:[17,46,49],signal:[2,12,14,24,25,27,28,33,43,59,60],signatur:64,similar:60,simpl:[0,5,9,22,23,29,30,44,57,59,62,65],simplefoc:7,simpler:[42,60],simpli:[2,3,10,18],simplifi:61,simultan:[10,57],sin:51,sinc:[2,17,18,21,22,23,38,60,61,64,65],sine_pwm:[],singl:[2,5,17,32,43,44],single_unit_1:[3,65],single_unit_2:3,singleton:[22,23],sinusoid:7,sip:57,sixteen:1,size:[1,9,10,12,14,23,33,51,54,55,57,58,60,61,62,64,65],size_t:[1,2,3,7,9,10,12,13,14,15,17,18,21,23,24,25,27,28,33,38,40,42,43,44,51,53,54,55,60,61,62,64,68],sizeof:[1,2,12,15,18,21,33,38,40,58,60,61],sk6085:60,sk6805:60,sk6805_10mhz_bytes_encoder_config:60,sk6805_freq_hz:43,sk6812:43,sleep:[1,2,3,5,7,12,17,18,21,22,33,38,40,41,42,43,44,51,58,59,60,63,64,65],sleep_for:[3,9,15,22,42,43,44,51,54,55,59,61,63,64,68],sleep_until:64,slope:47,slot:33,slow:5,small:[32,47],smart:57,smartknob:32,smb:57,snap:32,snprintf:64,so:[1,2,5,7,10,12,13,15,17,18,21,22,23,26,30,32,33,35,38,40,43,49,51,58,59,60,61,63,64,65],so_recvtimeo:[53,54,55],so_reuseaddr:[53,54,55],so_reuseport:[53,54,55],sockaddr:53,sockaddr_in6:53,sockaddr_in:53,sockaddr_storag:[53,54,55],socket:[30,35,52,61],socket_fd:[53,54,55],soft_bump:33,soft_fuzz:33,softwar:[2,14,22],software_rotation_en:[14,15],some:[1,2,7,10,12,18,20,21,22,23,26,32,33,38,40,44,46,51,53,57,58,60,63,64],someth:[14,64],somewhat:32,sos_filt:28,sosfilt:[25,28],sourc:[55,60],source_address:53,sp:57,sp_hash_c192:57,sp_hash_c256:57,sp_hash_r256:57,sp_random_r192:57,space:[7,11,23,32,43,60],space_vector_pwm:7,sparignli:49,sparkfun:12,spawn:[18,21,30,61,63,64],spawn_endevent_ev:63,spawn_event1_ev:63,spawn_event2_ev:63,spawn_event3_ev:63,spawn_event4_ev:63,specfici:1,special:[19,33,38,60],specif:[11,32,34,37,61,63,64],specifi:[18,21,23,32,44,55,61],speed:[7,18,21,42,54],speed_mod:42,spi2_host:15,spi:[15,18,21,40],spi_bus_add_devic:15,spi_bus_config_t:15,spi_bus_initi:15,spi_device_interface_config_t:15,spi_dma_ch_auto:15,spi_num:15,spi_queue_s:15,spic:15,spics_io_num:15,spike:47,sporad:5,spot:7,sps128:1,sps1600:1,sps16:1,sps2400:1,sps250:1,sps32:1,sps3300:1,sps475:1,sps490:1,sps64:1,sps860:1,sps8:1,sps920:1,squar:50,sr:57,ssid:[57,58,67,68],st25dv04k:58,st25dv:[35,56],st25dv_read:58,st25dv_write:58,st7789_defin:15,st7789v_8h_sourc:15,st:[23,58],st_mode:23,st_size:23,sta:[35,66],stabl:57,stack:[9,51,64],stack_size_byt:[1,2,7,12,18,21,33,38,40,43,51,54,55,58,60,64],stackoverflow:[23,58],stand:7,standalon:[20,39],standard:[23,44,49,61],star:33,start:[1,2,3,5,7,9,10,12,14,15,17,18,21,22,30,32,33,38,40,41,42,43,44,50,51,52,54,55,58,59,60,61,63,64,65],start_fast_transfer_mod:58,start_fram:43,start_receiv:55,startup:[18,21],stat:[23,51],state:[6,9,12,18,21,22,24,25,27,28,33,35,37,38,40,51,58,59,60],state_a:6,state_b:6,state_bas:63,state_c:6,state_machin:63,state_of_charg:22,statebas:63,static_cast:[2,44,60],station:[35,66,67],statist:2,statistics_en:2,statu:[2,58],std:[1,2,3,5,7,9,10,12,13,14,15,17,18,21,22,28,30,32,33,37,38,40,41,42,43,44,45,49,50,51,52,53,54,55,57,58,59,60,61,62,63,64,65,67,68],stdby:7,stdin:63,stdin_out:10,stdout:63,steinhart:65,step:64,still:41,stop:[1,2,3,5,7,12,14,17,18,21,22,30,32,33,38,40,41,42,43,51,54,55,58,59,60,61,63,65,68],stop_fast_transfer_mod:58,storag:[10,53],store:[10,12,15,23,29,47,57,58,61,65],str:13,strcutur:15,stream:[10,13,61],streamer:61,strength:32,strictli:62,string:[9,10,13,22,23,44,51,53,54,55,57,61,62,64,67,68],string_view:[15,23,30,44,54,55,57,58,61,64],strip:[35,60],strong:32,strong_buzz:33,strong_click:33,strongli:62,struct:[1,2,3,5,6,7,9,11,12,14,17,18,21,22,23,25,27,29,32,33,37,38,40,41,42,43,44,45,47,49,51,53,54,55,57,58,59,60,61,62,64,65,67,68],structur:[1,2,7,12,14,15,22,33,37,38,40,41,42,45,47,53,54,55,57,59,63,67,68],sub:[10,22],sub_menu:10,sub_sub_menu:10,subclass:[28,53,61,63],subdirectori:23,submenu:10,submodul:10,subscib:22,subscrib:[9,22],subscript:22,subsequ:[2,57],subset:12,substat:63,subsub:10,subsubmenu:10,subsystem:[3,5,14,42],subtract:50,subystem:68,succeed:[],success:[2,61],successfulli:[17,22,53,54,55,60,61,62],suffix:44,suggest:60,suit:11,super_mario_1:13,super_mario_3:13,super_mario_bros_1:13,super_mario_bros_3:13,suppli:[6,65],supply_mv:65,support:[2,7,10,11,12,17,19,23,33,38,43,52,57,58,61],sure:[7,61],swap:37,swap_xi:37,symlink:[2,33],symmetr:47,syst_address:58,system:[10,13,22,35,51,58,62,63,64,65],sytl:62,t5t:58,t:[1,2,3,5,7,12,13,15,17,18,21,22,23,33,38,40,41,42,43,44,45,47,49,50,51,54,55,57,58,59,60,64,65],t_0:65,ta:12,tabl:[2,23,51,57,61,65],tag:[44,57,58],take:[5,23],taken:23,talk:[38,43],target:[7,68],task1:22,task2:22,task:[1,2,3,5,7,9,12,14,17,18,21,22,30,32,33,35,38,40,41,42,43,54,55,58,59,60,61,63,65],task_1_fn:22,task_2_fn:22,task_callback:51,task_config:55,task_fn:[3,5,12,17,18,21,33,38,40,41,43,51,58,59,60,63,64,65],task_id:51,task_iter:64,task_monitor:51,task_nam:[51,64],task_prior:3,task_stack_size_byt:[9,51],taskmonitor:51,tb:12,tcp:[35,52,61],tcp_socket:54,tcpclientsess:54,tcpobex:57,tcpserver:54,tcpsocket:[53,54,61],tcptransmitconfig:54,tdata:62,tdk:65,tdown:12,tear:[53,54,55,64],teardown:61,tel:57,tell:[43,60],tellg:23,telnet:57,temp:65,temperatur:65,temperature_celsiu:22,templat:[7,17,19,23,25,28,30,32,44,45,49,50,64],termin:[10,63,64],test2:23,test:[3,7],test_dir:23,test_fil:23,test_start:64,texa:[2,33],text:[57,58],text_record:58,tflite:15,tft_driver:15,tft_espi:15,tftp:57,th:[14,29],than:[6,10,14,41,44,58,61],thank:10,thei:[10,12,32,61,63,64],them:[2,11,12,22,47,58,60,61,63,64],therefor:[3,5,10,11,18,21,33,49,64],thermistor:35,thermistor_ntcg_en:65,thi:[1,2,3,5,6,7,9,10,11,12,13,14,15,17,18,21,22,23,24,30,32,33,35,38,40,41,42,43,44,49,50,51,53,54,55,57,58,59,60,61,62,63,64,65,67,68],thin:47,thing:51,third:62,this_thread:[3,9,15,22,42,43,44,51,54,55,59,61,63,64,68],those:[22,38,44,51,63],though:22,thread:[22,30,32,42,51,54,55,59,61,64],threshold:2,through:[2,7,32,33,43,49,60,63],throughput:3,ti:[2,33],tick:63,tickselect:63,time:[2,5,6,12,18,21,22,23,33,38,40,42,43,44,51,55,58,59,60,63,64,65,68],time_point:23,time_t:[23,30],time_to_l:[53,54,55],timeout:[53,54,55,64],timer:42,tinys3:[7,60],tk:57,tkip:57,tleft:12,tloz_links_awaken:13,tloz_links_awakening_dx:13,tlv:58,tm:51,tmc6300:7,tname:62,tnf:57,to_time_t:[23,30],toler:65,tone:43,too:61,top:63,topic:[9,22],torqu:7,torque_control:7,torquecontroltyp:7,total:[17,23],total_spac:23,touch:37,touchpad:[35,36,57],touchpad_input:37,touchpad_read:37,touchpad_read_fn:37,touchpadinput:37,tp:[23,30],tpd_commercial_ntc:65,trace:51,track:59,transact:60,transaction_queue_depth:60,transceiv:35,transfer:[15,26,31,35,58],transfer_funct:29,transferfunct:[28,29],transform:[7,22],transit:63,transition_click_1:33,transition_hum_1:33,transmiss:[54,60],transmit:[22,43,53,54,55,57],transmit_config:54,transmitconfig:[],transmitt:60,transport:61,trapezoid_120:[],trapezoid_150:[],tree:[55,60,63],trigger:[2,5,32,33,40,58],tright:12,trim_polici:13,trim_whitespac:13,triple_click:33,truncat:10,ts:33,tselect:12,tstart:12,ttl:[53,54,55],tup:12,tupl:65,turn:[2,44],tvalu:62,two:[1,11,12,14,38,40,44,51,60],twothird:1,tx:57,tx_config:[],tx_power_level:57,type5tagtyp:58,type:[1,2,4,7,9,10,12,14,17,18,20,21,22,23,26,32,33,35,37,38,39,40,41,43,44,50,53,54,55,57,58,60,61,62,64,65,68],type_specif:61,typedef:[1,2,7,9,10,14,18,21,22,33,37,38,40,41,43,53,54,55,58,60,64,65,68],typenam:[23,30,44,45,49,50],u:[50,57],ua:6,uart:10,uart_serial_plott:2,ub:6,uc:6,ud:7,udp:[35,52,61],udp_multicast:55,udp_socket:55,udpserv:55,udpsocket:[53,55],uic:[57,58],uint16_t:[1,14,15,30,37,38,57,58,60],uint32_t:[2,12,14,15,42,57,58,61,62],uint64_t:[57,58],uint8_t:[1,2,9,12,14,15,18,21,22,33,37,38,40,43,44,53,54,55,57,58,60,62,67,68],uint:60,unabl:30,unbound:32,unbounded_no_det:32,uncalibr:[12,41],uncent:49,unchang:57,under:[17,23],underflow:17,understand:57,unicast:55,uniqu:[54,61,64],unique_lock:[1,2,3,5,7,12,17,18,21,22,33,38,40,41,42,43,54,58,59,60,63,64,65],unique_ptr:[51,54,61,64],unit:[0,3,5,7,12,17,23,24,41,50,65],univers:10,unknown:[57,68],unless:22,unlimit:10,unlink:23,unmap:41,unord:55,unordered_map:61,unregist:37,unreli:55,until:[2,10,22,23,32,33,42,43,54,55,60,63,64],unus:[12,17,32],unweight:45,unwind:63,up:[2,3,10,12,14,17,23,33,38,40,47,54,58,59,61,63,64],upat:14,updat:[6,7,9,12,14,18,21,24,25,27,28,32,38,40,41,42,44,47,49,50,53,58,59,63],update_detent_config:32,update_period:[7,14,18,21],upper:[15,65],uq:7,uri:[57,58,61],uri_record:58,urn:57,urn_epc:57,urn_epc_id:57,urn_epc_pat:57,urn_epc_raw:57,urn_epc_tag:57,urn_nfc:57,us:[1,2,3,5,6,7,8,9,10,11,12,14,15,17,18,19,21,22,23,24,25,30,31,32,33,34,38,40,41,42,43,44,45,47,49,51,52,53,54,55,57,58,60,61,62,63,64,65],usag:[10,13],used_spac:23,user:[2,3,5,8,9,10,15,17,18,21,30,32,33,38,40,60,61,64],usernam:30,ust:22,util:[23,41,44,46,50,51,53,57,58],uuid:57,uuids_128_bit_complet:57,uuids_128_bit_parti:57,uuids_16_bit_complet:57,uuids_16_bit_parti:57,uuids_32_bit_complet:57,uuids_32_bit_parti:57,v:[7,11,49,50],v_in:65,val_mask:40,valid:[30,33,43,53,54,55,61],valu:[1,2,3,5,9,11,12,13,14,17,18,21,23,27,32,33,38,40,41,42,43,44,45,46,47,49,50,57,58,59,60,61,62,64,65],vari:32,variabl:[15,41,44,64],varieti:2,variou:43,ve:[10,23,64],vector2d:[35,45,48],vector2f:41,vector:[2,3,5,7,9,12,13,22,23,27,41,42,43,50,51,53,54,55,57,61,62,64,65],veloc:[7,18,21],velocity_filt:[7,18,21],velocity_filter_fn:[18,21],velocity_limit:7,velocity_openloop:7,velocity_pid_config:7,veloicti:7,veolciti:[18,21],verbos:[1,2,3,5,6,7,9,12,14,17,18,21,22,32,33,37,38,40,41,42,43,54,55,58,59,60,61,63,64,65,67,68],version:[10,50,61],via:[23,33,38,40],vibe:33,vibrat:[32,33],video:[14,61],view:[54,55,57],vio:7,virtual:[12,63],visual:51,volt:[2,6],voltag:[1,2,3,5,6,7,8,22,65],voltage_limit:6,vram0:14,vram1:14,vram:14,vram_size_byt:14,vram_size_px:14,vtaskgetinfo:51,w:[23,33,44,49],wa:[2,3,5,6,9,10,12,15,17,18,21,22,30,41,53,54,55,60,61,63,64],wai:[1,2,3,5,7,10,12,13,17,18,21,23,32,33,38,40,41,43,57,58,59,60,62,63,64,65],wait:[22,32,54,55,64],wait_for:[1,3,5,12,17,18,21,22,33,38,40,41,42,43,54,58,59,60,63,64],wait_for_respons:[54,55],wait_tim:42,wait_until:[2,7,64,65],want:[1,2,3,5,7,10,12,14,17,18,21,22,32,33,38,40,41,42,43,51,54,55,58,59,60,64,65],warn:[1,2,3,5,6,7,9,12,14,17,18,21,22,23,33,37,38,40,41,42,43,44,54,55,58,59,60,61,64,65,67,68],warn_rate_limit:44,watch:57,water:51,wave:47,waveform:33,we:[1,2,6,7,10,12,18,21,22,23,32,33,38,40,42,43,53,54,55,58,60,63,64,65],weak:32,webgm:63,weight:45,weightedconfig:45,welcom:44,well:[2,12,20,22,26,28,33,47,51,54,57,58,61,63,64],well_known:57,wep:57,were:[6,10,41,53,54,55,59,64],what:[5,6,22,60,63],whatev:[38,40],whe:68,when:[1,2,3,5,7,10,12,15,17,18,19,21,22,32,33,38,40,41,43,49,53,54,55,58,59,60,61,62,63,64,65,68],whenev:63,where:[8,17,32,51,55,63,65],whether:[3,9,12,14,18,21,23,42,43,49,53,54,55,60,61,64,68],which:[1,2,3,5,7,8,9,10,11,12,13,14,18,21,22,23,24,25,26,27,32,33,34,38,39,40,42,43,44,45,46,49,50,51,54,55,57,58,60,61,63,64,65,67,68],who:15,whole:[61,63],wi:[67,68],width:[14,15,32,61],wifi:[35,57,58],wifi_ap:67,wifi_record:58,wifi_sta:68,wifiap:67,wifiauthenticationtyp:57,wificonfig:57,wifiencryptiontyp:57,wifista:68,wiki:[24,25,28,53,54,55,65],wikipedia:[17,24,25,28,53,54,55,65],wind:59,window_size_byt:[3,65],windup:59,wire:60,wireless:58,wish:[10,12],witdth:17,within:[11,18,20,21,22,32,44,49,55,64,65],without:[2,3,7,10,32,51,58,60,61],work:[7,9,10,23,32,51,61,64],world:10,worri:65,would:[17,22,63,64],wpa2:57,wpa2_enterpris:57,wpa2_person:57,wpa:57,wpa_enterpris:57,wpa_person:57,wpa_wpa2_person:57,wrap:[6,17,22,38,60],wrapper:[3,5,9,10,13,14,23,37,41,42,44,45,47,60,62,63],write:[1,2,7,10,12,14,15,18,21,23,27,33,38,40,43,58],write_fn:[1,2,18,21,33,38,40,43,58],write_row:13,written:[43,57,58,63],wrote:[13,23],ws2811:43,ws2812:43,ws2812_10mhz_bytes_encoder_config:60,ws2812_freq_hz:60,ws2812b:60,ws2813:43,www:[2,24,28,33,57,58],x1:50,x2:50,x:[2,10,12,15,24,37,38,40,41,50,51,58,61],x_calibr:[12,41],x_mv:[1,2,12,41],xe:15,xml:30,xml_in:30,xqueuecreat:2,xqueuerec:2,xs:15,y1:50,y2:50,y:[2,12,15,24,37,41,44,47,50,61,67,68],y_calibr:[12,41],y_mv:[1,2,12,41],ye:[15,68],yellow:[13,44],yet:[7,18,21,31,64],yield:60,you:[3,7,10,12,13,14,17,22,23,42,43,44,47,49,51,58,59,60,61,62,63,67,68],your:[22,44,51],yourself:63,ys:15,z:17,zelda1:13,zelda2:13,zelda:13,zelda_2:13,zero:[7,17,43,49,58,65],zero_electric_offset:7},titles:["ADC Types","ADS1x15 I2C ADC","ADS7138 I2C ADC","Continuous ADC","ADC APIs","Oneshot ADC","BLDC Driver","BLDC Motor","BLDC APIs","Button APIs","Command Line Interface (CLI) APIs","Color APIs","Controller APIs","CSV APIs","Display","Display Drivers","Display APIs","ABI Encoder","AS5600 Magnetic Encoder","Encoder Types","Encoder APIs","MT6701 Magnetic Encoder","Event Manager APIs","File System APIs","Biquad Filter","Butterworth Filter","Filter APIs","Lowpass Filter","Second Order Sections (SoS) Filter","Transfer Function API","FTP Server","FTP APIs","BLDC Haptics","DRV2605 Haptic Motor Driver","Haptics APIs","ESPP Documentation","Input APIs","Touchpad Input","AW9523 I/O Expander","IO Expander APIs","MCP23x17 I/O Expander","Joystick APIs","LED APIs","LED Strip APIs","Logging APIs","Bezier","Fast Math","Gaussian","Math APIs","Range Mapper","Vector2d","Monitoring APIs","Network APIs","Sockets","TCP Sockets","UDP Sockets","NFC APIs","NDEF","ST25DV","PID APIs","Remote Control Transceiver (RMT)","RTSP APIs","Serialization APIs","State Machine APIs","Task APIs","Thermistor APIs","WiFi APIs","WiFi Access Point (AP)","WiFi Station 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,62,64,65],b_0:24,b_1:24,b_2:24,b_bright:38,b_down:38,b_gpio:17,b_led:38,b_pin:40,b_up:38,back:[14,23,54,55,60],background:32,backlight:15,backlight_on_valu:15,backlight_pin:15,backspac:10,bad:[11,65],band:57,bandwidth:54,base:[7,11,18,21,24,25,26,27,28,32,42,43,51,53,58,59,60,61,63,65],base_encod:60,basi:2,basic:10,batteri:22,batteryst:22,becaus:[7,18,21,23,60],been:[2,10,24,33,43,54,55,58,60,61,64],befor:[2,17,23,32,43,54,61,63,64,68],beg:23,begin:[10,22,23,54,55,57,64],behavior:[32,59],being:[1,2,3,5,7,10,12,17,18,21,22,33,38,40,41,43,58,59,60,63,64,65],belong:55,below:[2,7,63],beta:[42,47,65],better:[27,59],between:[11,22,31,45,49,58],beyond:[10,13,60],bezier:[35,48],bezierinfo:45,bgr:43,bi:58,bia:32,biequad:24,binari:23,bind:[30,44,51,54,55,61],biquad:[25,26,28,35],biquad_filt:24,biquadfilt:24,biquadfilterdf1:24,biquadfilterdf2:[18,21,24,25,28],biquadrat:24,bit0:60,bit1:60,bit:[2,12,15,38,40,42,57,58],bitfield:2,bitmask:2,bldc:[34,35],bldc_driver:6,bldc_haptic:32,bldc_motor:[7,8],bldc_test_stand:30,bldc_type:7,bldcdriver:[6,7],bldchaptic:32,bldcmotor:[7,18,21,32],ble:[57,58],ble_appear:58,ble_oob_record:58,ble_radio_nam:58,ble_rol:58,blend:11,blerol:[57,58],blob:[10,15],block:[2,3,5,10,32,42,43,54,55,60,61,64],block_siz:60,blue:[11,13,43,60],bluetooth:57,board:15,bob:[7,30],bodmer:15,bool:[2,6,7,9,12,14,15,17,18,21,22,23,30,32,37,40,41,42,43,49,53,54,55,59,60,61,63,64,68],both:[2,3,12,13,24,32,38,41,42,49,57,60],both_unit:[3,65],bound:[32,54,60],bounded_no_det:32,box:[12,58],boxart:13,bp:2,br:57,breathing_period:42,breathing_start:42,bredr:57,bright:[38,43],bro:13,broadcast:[55,57],broken:61,brushless:[6,7,8],bs:22,bsp:15,bt:[57,58],bt_device_class:58,bt_oob_record:58,bt_radio_nam:58,btappear:[57,58],bteir:57,btgoep:57,btl2cap:57,btspp:57,bttype:57,bu:[2,15],bufer:64,buffer:[2,3,9,14,22,54,60,61,62,64],buffer_s:55,build:[26,35,61],built:[13,54,62,63],bundl:12,buscfg:15,busi:55,butterworth:[26,35],butterworth_filt:25,butterworthfilt:[18,21,25,28],button:[2,12,35,37,38],button_component_nam:9,button_top:9,buzz1:33,buzz2:33,buzz3:33,buzz4:33,buzz5:33,byte_ord:43,byteord:43,bytes_encod:60,bytes_encoder_config:60,bytes_written:[9,62],c:[6,10,13,15,22,23,35,57,60,62,65],c_str:23,cach:61,calcul:[2,7,32,65],calibr:[5,7,33,41],call:[3,5,9,10,11,12,14,17,18,21,22,32,33,41,43,44,51,53,54,55,58,59,60,61,63,64,67,68],call_onc:22,callback:[1,2,3,5,7,9,12,14,17,18,21,22,33,38,40,41,42,43,51,52,53,54,55,58,59,60,61,63,64,65],callback_fn:64,camera:61,can:[2,6,7,8,9,10,11,12,14,15,17,18,21,23,30,31,32,33,41,42,43,44,45,49,51,54,55,57,58,59,60,61,62,63,64,65,67],can_chang:42,cannot:[23,54,58,61,62],capabl:[38,57,58],captur:[2,40],carrier:57,catalog:65,caus:[61,63],cb:[15,22,61],cc:58,cdn:[38,60],cell:13,celsiu:65,center:[12,32,41,49],central:57,central_onli:57,central_peripher:57,certain:[32,63],cf:57,ch04:57,ch0:2,ch1:2,ch2:2,ch3:2,ch4:2,ch5:2,ch6:2,ch7:2,chang:[7,9,11,32,38,40,42,44,47,59,61,63],change_gain:59,channel:[0,1,2,3,5,6,11,12,17,41,42,60,61,65,67,68],channel_id:2,channel_sel:2,channelconfig:42,charact:10,chart:51,chdir:23,check:[2,6,7,9,23,30,32,42,53,54,58,61,68],child:63,childstat:63,chip:[1,2,3,17,20,38,39,40,43,58,65],choos:6,chose:65,chrono:[1,2,7,9,14,18,21,33,38,40,42,43,44,51,53,54,55,58,59,60,63,64,65],chrono_liter:[1,2,12,33],chunk:57,cin:[10,63],circl:41,circuit:65,circular:41,clamp:[6,11,59,60],clang:65,class_of_devic:57,classic:57,clean:[23,54,64],cleanup:[23,53],clear:[2,15,17,58,59,61],clear_event_high_flag:2,clear_event_low_flag:2,cli:[35,63],client:[30,31,35,52,53],client_socket:[54,55],client_task:[54,55],client_task_fn:[54,55],clifilesesson:10,clisess:10,clk_speed:[1,2,12,18,21,33,38,40,58],clock:[2,43,57,60],clock_spe:15,clock_speed_hz:15,clock_src:60,close:[7,8,18,21,23,32,54,61],co:[43,60],coars:32,coarse_values_strong_det:32,code:[4,7,8,10,15,16,17,22,23,41,44,51,52,57,59,60,61,62,63,64,66],coeffici:[24,27,29,47,65],collect:[2,61],color:[10,14,15,35,43,60],color_data:14,color_map:15,column:65,com:[2,6,7,10,13,15,18,23,24,28,32,33,38,44,55,57,58,60,61,63,65,67,68],combin:[53,54,55],combo:53,come:55,comma:13,command:[7,15,30,35],common:[12,15,33,57],common_compon:10,commun:[1,2,12,18,21,33,38,40,54,55,58],compat:61,complet:[2,10,13,33,42,57,61,64],complex:64,complex_root:63,compon:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,17,18,19,20,21,22,23,24,25,27,28,29,30,32,33,34,35,37,38,39,40,41,42,43,44,45,46,47,49,50,51,53,54,55,57,58,59,60,61,62,63,64,65,67,68],compos:57,comput:[11,18,21,31,49,57,59,65],compute_voltag:65,condit:[17,42,64],condition_vari:[1,2,3,5,7,12,17,18,21,33,38,40,41,43,58,59,60,63,64,65],conf:[3,5],config:[1,2,3,5,6,7,9,12,14,17,18,21,23,25,27,28,32,33,37,38,40,41,42,43,44,45,47,49,51,53,54,55,57,58,59,60,61,64,65,67,68],config_esp32_wifi_nvs_en:[67,68],config_esp_maximum_retri:68,config_esp_wifi_password:[58,67,68],config_esp_wifi_ssid:[58,67,68],config_freertos_generate_run_time_stat:51,config_freertos_use_trace_facil:51,config_hardware_box:15,config_hardware_ttgo:15,config_hardware_wrover_kit:15,config_rtsp_server_port:61,configur:[0,1,2,3,5,6,7,9,10,12,14,15,17,18,21,23,25,27,28,32,33,37,38,40,41,42,43,44,45,47,49,51,53,54,55,57,58,59,60,61,62,63,64,65,68],configure_alert:2,configure_global_control:38,configure_l:38,configure_pow:6,configure_stdin_stdout:[10,63],confirm:57,connect:[7,9,12,30,33,40,42,54,57,61,67,68],connect_callback:68,connect_config:54,connectconfig:54,consecut:2,constant:59,constexpr:[1,2,15,18,21,32,38,40,58,60,62],construct:[1,2,9,10,11,18,19,21,25,28,33,38,40,44,45,47,51,53,58,61],constructor:[2,10,11,22,32,43,44,50,53,60,61,65],consum:63,contain:[0,9,10,11,12,14,15,17,22,23,29,32,37,45,50,51,55,57,58,59,61,62,63,68],content:23,context:[22,63],continu:[2,4,23,33,35,55,64,65],continuous_adc:3,continuousadc:[3,65],control:[2,6,7,8,15,18,21,22,30,32,33,35,38,40,42,43,45,57,59,61],control_point:45,control_socket:61,controller_driv:15,conveni:[10,12,13,18,21,42,53,62,63],convers:[1,2,3,11,18,21,41,53],convert:[2,5,6,7,11,12,18,21,22,23,41,49,53,61,65],convert_mod:[3,65],convieni:[45,47],cool:44,coordin:[15,37],copi:[10,11,23,50,60,63,64],copy_encod:60,core:64,core_id:[7,64],core_update_period:7,corner:15,correct:[7,63],correspond:[2,15,33,38,65],could:[2,11,13,18,23,59,62,63],couldn:[22,23],count:[1,2,7,9,17,18,21,33,38,40,42,43,44,51,58,59,60,64,65],counter:[17,18,21],counter_clockwis:7,counts_per_revolut:[17,18,21],counts_per_revolution_f:[18,21],counts_to_degre:[18,21],counts_to_radian:[18,21],coupl:[22,41],cout:10,cplusplu:10,cpp:[23,30,35,44,58,61],cpprefer:[23,44],cpu:51,cr:61,crd:17,creat:[2,7,9,10,11,12,13,15,17,18,21,23,30,32,41,43,44,49,51,54,55,57,58,59,60,61,63,64,65,67,68],create_directori:23,creation:[18,21],credenti:57,cross:[2,44,64],cs:7,cseq:61,csv2:13,csv:[2,23,35],csv_data:13,ctrl:10,cubic:45,curent:[53,63],current:[6,7,9,10,12,15,17,18,21,22,30,31,32,37,38,42,44,47,50,51,52,59,60,61,65,68],current_directori:30,current_duti:42,current_hfsm_period:63,current_limit:7,current_pid_config:7,current_sens:7,currentlyact:63,currentsensor:7,currentsensorconcept:7,cursor:[10,15],curv:45,custom:[14,22,23,33,60,62],cutoff:[7,25,27],cv:[1,2,3,5,7,12,17,18,21,22,33,38,40,41,42,43,54,58,59,60,63,64,65],cv_retval:64,cv_statu:64,cycl:[6,33,42,60],d2:12,d3:12,d4:12,d5:12,d6:12,d:[7,12,22,44,53,54,55],d_current_filt:7,dam:65,daniele77:10,data:[0,1,2,3,5,7,9,11,12,13,14,15,18,21,22,23,24,25,27,28,30,33,37,38,40,41,43,51,53,54,55,57,58,61,62,63,65,68],data_address:58,data_command_pin:15,data_len:[1,2,12,18,21,33,38,40],data_s:60,data_sheet:65,data_str:22,dataformat:2,datasheet:[18,33,38,58,60,65],datasheet_info:65,date:[3,23],date_tim:23,dav:57,db:65,dbm:57,dc:[6,7,8,15],dc_level_bit:15,dc_pin:15,dc_pin_num:15,de:22,dead_zon:6,deadband:[12,41,49],deadzon:41,deadzone_radiu:41,deal:57,debug:[44,58,63,64],debug_rate_limit:44,decod:[7,18,21,58,61],dedic:12,deep:63,deep_history_st:63,deephistoryst:63,default_address:[1,2,18,21,33,38,40],defautl:47,defin:[22,43,49,60,61,62,63],definit:[19,22],degre:[17,18,21],deinit:[3,68],del:60,delai:[7,24],delet:[5,10,12,17,23,60],delete_fn:60,delimit:13,demo:[10,15],depend:[3,32,49,60,63],depth:60,dequ:10,deriv:[59,63],describ:[14,15,49,54,57,61],descriptor:[53,54,55],deseri:[9,22,57,62],design:[12,18,21,32,34,37,43,61,63,65],desir:[0,6,32],destin:23,destroi:[1,2,3,5,6,7,9,12,17,18,21,30,33,38,40,41,43,58,59,60,61,63,64,65],destruct:64,destructor:[10,22,32,60,61],detail:[7,32,54],detect:9,detent:32,detent_config:32,detentconfig:32,determin:[18,21],determinist:3,dev:15,dev_addr:[1,2,12,18,21,33,38,40],dev_kit:15,devcfg:15,develop:[7,15,57,63],devic:[1,2,15,18,21,32,33,37,38,40,57,58,67],device_address:[1,2,18,21,33,38,40],device_class:57,devkit:15,diagno:33,diagnost:33,did_pub:22,did_sub:[9,22],differ:[2,15,18,19,20,21,22,24,26,33,39,42,43,44,58,59,60,63],digial:27,digit:[2,24,25,28],digital_biquad_filt:[24,28],digital_input:2,digital_output:2,digitalconfig:12,digitalev:2,dim:38,dimension:50,dir_entri:23,direct:[5,12,24,38,40,58],directli:[2,6,8,20,33,34,43,45],directori:[23,30],directory_iter:23,directory_list:23,disabl:[2,6,7,10,17,18,38,58,60],disconnect:[61,68],disconnect_callback:68,discontinu:49,discover:57,discuss:[10,58],displai:[13,35,57,61],display_driv:[15,16],display_event_menu:63,distinguish:62,distribut:[22,49],divid:[11,24,50,59,60,65],divider_config:65,divis:65,dma:[3,60,65],dma_en:60,dnp:2,doc:[6,10,14,30,60,65,67,68],document:[10,13,18,58,60,62,63],doe:[3,5,6,13,17,18,21,23,30,32,38,40,43,53,61,62,63],doesn:[2,23],don:[1,2,3,5,7,12,17,18,21,22,33,38,40,41,43,51,54,55,58,59,60,64,65],done:[22,42,53,54,55],dot:50,doubl:[10,14],double_buff:14,double_click:33,down:[10,12,43,53,54,55,59,63,64],doxygen:30,doxygenfunct:30,drain:2,draw:[14,15],drive:[2,7,22,33,34,38,60],driven:[32,34],driver:[1,2,7,8,10,12,14,16,18,21,34,35,37,38,40,43,58,61],driverconcept:7,drv2605:[34,35],drv:15,ds:[2,33],dsiplai:14,dsp:[24,27],dsprelat:[24,28],dual:[12,57],dualconfig:12,dummycurrentsens:7,durat:[1,2,7,9,14,18,21,32,33,38,40,42,43,44,51,53,54,55,58,59,60,63,64,65],duration0:60,duration1:60,dure:[59,63],duti:[6,42],duty_a:6,duty_b:6,duty_c:6,duty_perc:42,duty_resolut:42,dx:13,dynam:[7,32,47,58,59],dynamictask:64,e2:65,e:[10,23,33,43,47,60,63,65],each:[2,3,5,6,11,12,22,23,28,30,32,38,41,44,51,61,62],earli:[1,2,3,5,7,12,17,18,21,33,38,40,41,43,58,59,60,63,64,65],easili:[2,18,52,64],ec:[9,22,23,61,62],eccentr:[33,34],ecm:33,ed:17,edg:[2,9,18,21,32,33,60],edit:10,edr:57,eeprom:58,effici:13,eh_ctrl:58,eight:1,eir:57,either:[12,17,51,65],el_angl:7,elaps:[1,2,9,33,42,44,59,64,65],electr:7,element:[5,50],els:[2,3,5,7,9,23,38,40,62,63,65],em:[9,22],empti:[33,43,57,61,67,68],en:[6,10,23,24,25,28,30,44,53,54,55,57,58,60,65,67,68],enabl:[2,3,5,6,7,9,10,12,14,22,32,38,51,52,54,58,64,67,68],enable_if:[17,50],enable_reus:[53,54,55],encapsul:58,encod:[32,35,61],encode_fn:60,encoded_symbol:60,encoder_typ:19,encoder_update_period:[18,21],encodertyp:17,encrypt:57,end:[2,10,15,22,23,32,33,43,54,55,57,58,63],end_fram:43,endev:63,endif:15,endl:10,endpoint:[53,54,55],energi:57,enforc:63,english:[38,57],enough:64,ensur:[7,10,49,60,67,68],enter:[2,10,63],enterpris:57,entri:[51,63],enumer:[1,2,9,12,14,33,38,40,41,43,44,57,65],eoi:61,epc:57,equal:10,equat:[17,24,65],equival:[10,13,38],erm:[33,34],err:[1,2,12,18,21,23,33,38,40,58],error:[1,2,9,22,23,33,38,44,59,60,61,65],error_cod:[9,22,23,61,62],error_rate_limit:44,esp32:[3,6,10,12,23,30,32,41,60,61,67,68],esp32s2:3,esp32s3:3,esp:[3,5,6,9,10,15,17,24,27,30,35,42,44,55,58,60,61,64,67,68],esp_err_t:[15,60],esp_err_to_nam:[1,2,33,38],esp_error_check:15,esp_lcd_ili9341:15,esp_log:44,esp_ok:[1,2,12,18,21,33,38,40,58,60],esphom:15,espp:[1,2,3,5,6,7,9,10,11,12,14,15,17,18,21,22,23,24,25,27,28,30,31,32,33,37,38,40,41,42,43,44,45,47,49,50,51,53,54,55,57,58,59,60,61,62,63,64,65,67,68],espressif:[6,10,15,27,55,60,67,68],etc:[9,23,38,40,43,59,60,62],evalu:[45,47],even:[58,62],evenli:32,event1:22,event1_cb:22,event2:22,event2_cb:22,event:[2,9,35,58,63,68],event_callback_fn:[9,22],event_count:2,event_flag:2,event_high_flag:2,event_low_flag:2,event_manag:22,eventbas:63,eventdata:68,eventmanag:[9,22],everi:[14,18,21,44],everybodi:10,everyth:10,exactli:57,exampl:[4,8,16,52,66],exceed:68,excel:7,except:[10,23],exchang:57,execut:[10,22,63,64],exis:68,exist:[6,10,13,23,61,62,63],exit:[1,2,3,5,7,10,12,17,18,21,33,38,40,41,43,58,59,60,63,64,65],exitact:10,exitchildren:63,exitselect:63,exp:[47,51],expand:35,explicit:[9,10,53,61,65],explicitli:10,expos:[10,13,44],extend:57,extern:[2,10,33,41,57,63],external_typ:57,extra:[60,61],extra_head:61,exttrigedg:33,exttriglvl:33,f:23,f_cutoff:[25,27],f_sampl:[25,27],facil:51,factor:[18,21,27,32,65],fade:42,fade_time_m:42,fahrenheit:65,fail:[1,2,9,12,18,21,33,38,40,58,62,68],fake:64,fall:[2,9,58,60],falling_edg:9,fals:[1,2,3,5,6,7,9,12,15,17,18,21,22,23,30,32,33,37,38,40,41,42,43,49,51,54,55,58,59,60,61,63,64,65,68],famili:[1,2],far:10,fast:[35,48,58],fast_co:46,fast_ln:46,fast_math:46,fast_sin:46,fast_sqrt:46,fastest:[18,21],fault:6,fclose:23,featur:2,feedback:[32,33,34],feel:7,few:[10,15,22,63],ff:57,fi:[67,68],field:[2,7,23,41,57,58,61],field_fal:58,field_ris:58,figur:[13,23,62,63],file2:23,file:[31,35],file_byt:23,file_cont:23,file_s:23,file_str:23,file_system:23,filenam:13,filesystem:30,fill:[15,24,27,37,41,53,54,55,58],filter:[3,5,7,17,18,21,29,35,65],filter_cutoff_hz:[18,21],filter_fn:[7,18,21],fine:32,fine_values_no_det:32,fine_values_with_det:32,finger563:63,finish:[10,32,60],first:[2,7,22,43,54,55,57,58,61,65],first_row_is_head:13,fish:10,fit:14,fix:65,fixed_length_encod:62,fixed_resistance_ohm:65,flag:[2,15,22,57,58,60],flip:49,floatrangemapp:41,flush:[14,15,23],flush_callback:[14,15],flush_cb:15,flush_fn:14,fmod:42,fmt:[2,3,5,10,12,13,15,17,18,21,22,38,40,41,42,51,54,55,58,59,60,61,62,64,65,68],foc:[6,7],foc_typ:7,foctyp:7,folder:[4,8,10,13,16,17,41,44,51,52,59,62,63,64,66],follow:[2,7,24,32,33,43,46,51,57,58,60,63,65],fopen:23,forc:[6,14],force_refresh:14,form:[24,25,61],format:[2,13,15,22,23,35,51,57,61,64,65],formula:65,forum:57,found:[18,21,33,57,58],four:1,frac:[24,47,65],frag_typ:61,fragment:61,frame:[2,43,61],fread:23,free:[14,23,42,60],free_spac:23,freebook:[24,28],freerto:[51,64],frequenc:[3,5,18,21,25,27,32,42],frequency_hz:42,frequent:[14,59],from:[1,2,3,5,6,7,10,11,12,14,15,18,21,22,23,26,30,32,33,34,35,37,38,40,41,42,44,47,49,50,53,54,55,57,58,59,60,61,62,63,64,65,68],from_sockaddr:53,fs:23,fseek:23,ftell:23,fthat:11,ftm:58,ftp:[35,57,61],ftp_anon:57,ftp_client_sess:30,ftp_ftp:57,ftp_server:30,ftpclientsess:30,ftpserver:30,fulfil:[18,21],full:[6,38,43,61],fulli:[33,63,64],fun:22,further:61,futur:[44,57,61],fwrite:23,g:[11,23,33,38,43,47,60,65],g_bright:38,g_down:38,g_led:38,g_up:38,gain:[1,32,59],game:57,gamepad:[57,58],gamma:[42,47],gate:6,gaussian:[35,42,48],gb:13,gbc:13,gener:[2,18,21,26,53,57,60,61,67,68],generatedeventbas:63,generic_hid:57,geometr:11,get:[1,2,3,6,7,9,10,11,12,13,14,15,17,18,21,22,23,30,32,37,40,41,42,43,47,51,53,54,55,57,58,59,60,61,62,63,64,65,68],get_accumul:[18,21],get_all_mv:2,get_celsiu:65,get_config:59,get_count:[17,18,21],get_data:61,get_degre:[17,18,21],get_digital_input_valu:2,get_duti:42,get_electrical_angl:7,get_error:59,get_event_data:2,get_event_flag:2,get_event_high_flag:2,get_event_low_flag:2,get_fahrenheit:65,get_free_spac:23,get_ftm_length:58,get_head:61,get_height:61,get_histori:10,get_info:64,get_integr:59,get_interrupt_captur:40,get_interrupt_statu:58,get_ipv4_info:[53,54,55],get_jpeg_data:61,get_kelvin:65,get_mechanical_degre:[18,21],get_mechanical_radian:[18,21],get_mjpeg_head:61,get_mount_point:23,get_mv:[2,3,65],get_num_q_t:61,get_offset:[15,61],get_output_cent:49,get_output_max:49,get_output_min:49,get_output_rang:49,get_packet:61,get_partition_label:23,get_payload:61,get_pin:[38,40],get_posit:32,get_power_supply_limit:6,get_q:61,get_q_tabl:61,get_quantization_t:61,get_radian:[17,18,21],get_rat:3,get_remote_info:54,get_resist:65,get_revolut:17,get_root_path:23,get_rpm:[18,21],get_rpt_head:61,get_rtp_header_s:61,get_scan_data:61,get_session_id:61,get_shaft_angl:7,get_shaft_veloc:7,get_siz:57,get_stat:12,get_total_spac:23,get_type_specif:61,get_used_spac:23,get_user_input:10,get_user_select:63,get_valu:[12,41],get_values_fn:41,get_vers:61,get_voltag:65,get_voltage_limit:6,get_width:61,getactivechild:63,getactiveleaf:63,getiniti:63,getinputhistori:10,getlin:10,getparentst:63,getsocknam:[53,54,55],getter:[50,61],gettimerperiod:63,gettin:41,gimbal:32,github:[10,13,15,32,45,55,58,60,61,63],give:[53,63,64],given:[2,22,25,61,63],glitch:17,global:[3,38],go:[22,23,63],goe:2,gone:64,goodby:10,googl:58,got:[2,22,61,68],gotten:[7,10,68],gpio:[2,6,9,12,17,38,40,42,60],gpio_a:12,gpio_a_h:[6,7],gpio_a_l:[6,7],gpio_b:12,gpio_b_h:[6,7],gpio_b_l:[6,7],gpio_c_h:[6,7],gpio_c_l:[6,7],gpio_config:2,gpio_config_t:2,gpio_down:12,gpio_en:[6,7],gpio_evt_queu:2,gpio_fault:[6,7],gpio_i:12,gpio_install_isr_servic:2,gpio_intr_negedg:2,gpio_isr_handl:2,gpio_isr_handler_add:2,gpio_joystick_select:12,gpio_left:12,gpio_mode_input:2,gpio_num:[9,43,60],gpio_num_18:15,gpio_num_19:15,gpio_num_22:15,gpio_num_23:15,gpio_num_2:9,gpio_num_45:15,gpio_num_48:15,gpio_num_4:15,gpio_num_5:15,gpio_num_6:15,gpio_num_7:15,gpio_num_t:15,gpio_pullup:12,gpio_pullup_dis:2,gpio_pullup_en:[1,2,12,18,21,33,38,40,58],gpio_right:12,gpio_select:12,gpio_start:12,gpio_up:12,gpio_x:12,gpo:58,grab:41,gradient:11,grai:44,graphic:11,grb:43,greater:44,green:[11,43,44,60],ground:12,group:[23,53,54,55,57],guarante:43,guard:63,gui:[14,15,51],guid:[10,67,68],h:[10,11,15,44,61],ha:[2,7,10,12,17,18,21,22,23,30,33,38,40,42,43,51,54,55,57,58,60,61,63,64,68],half:[18,21,24],handl:[9,10,30,38,40,43,54,55,60,63,64],handle_all_ev:63,handleev:63,handler:[2,9,55],handov:57,happen:22,haptic:35,haptic_config:32,haptic_motor:32,hapticconfig:32,hardawr:42,hardwar:[7,17,27,38,42,43,61],hart:65,has_q_tabl:61,has_stop:63,has_valu:[3,5,12,41,42,65],hash:57,have:[2,7,10,13,14,22,24,32,33,38,41,42,43,44,51,54,59,60,61,63,64,65,67,68],hc:57,heart:7,height:[14,15,61],hello:[10,58],hello_everysess:10,help:57,helper:53,henri:7,here:[10,13,18,22,33,38,40,58,59],hid:57,high:[2,3,6,9,14,17,32,40,51,60],high_level:9,high_limit:17,high_resolution_clock:[1,2,7,9,18,21,33,38,40,42,43,44,51,58,59,60,64,65],high_threshold_mv:2,high_water_mark:51,higher:[24,27],histori:[10,24,25,27,28,63],history_s:10,hmi:15,hold:[14,57,58],home:37,hop:[53,54,55],host:[2,15,38,57,67],hot:65,how:[7,13,14,17,59,62,63,65],howev:24,hpp:[0,1,2,3,5,6,7,9,10,11,12,13,14,15,17,18,19,21,22,23,24,25,27,28,29,30,32,33,37,38,40,41,42,43,44,45,46,47,49,50,51,53,54,55,57,58,59,60,61,62,63,64,65,67,68],hr:57,hs:57,hsfm:63,hsv:[11,43,60],html:[6,10,14,15,24,28,57,60,67,68],http:[2,6,7,10,13,14,15,18,23,24,25,28,32,33,38,44,45,53,54,55,57,58,60,61,63,65,67,68],http_www:57,https_www:57,hue:[11,43,60],human:[13,23],human_read:23,hz:[3,32],i2c:[4,18,20,21,33,35,38,39,40,43,58],i2c_cfg:[1,2,12,18,21,33,38,40,58],i2c_config_t:[1,2,12,18,21,33,38,40,58],i2c_driver_instal:[1,2,12,18,21,33,38,40,58],i2c_freq_hz:[1,2,12,18,21,33,38,40,58],i2c_master_read_from_devic:2,i2c_master_write_read_devic:[1,12,18,21,33,38,40,58],i2c_master_write_to_devic:[1,2,12,18,21,33,38,40,58],i2c_mode_mast:[1,2,12,18,21,33,38,40,58],i2c_num:[1,2,12,18,21,33,38,40,58],i2c_param_config:[1,2,12,18,21,33,38,40,58],i2c_read:33,i2c_scl_io:[1,2,12,18,21,33,38,40,58],i2c_sda_io:[1,2,12,18,21,33,38,40,58],i2c_timeout_m:[1,2,12,18,21,33,38,40,58],i2c_writ:33,i:[2,7,13,17,35,39,43,51,59,62,63,64,65],i_gpio:17,id:[2,30,33,57,61,64],ident:10,identifi:[33,57,61],idf:[3,5,6,9,10,35,42,44,55,60,67,68],ifs:23,ifstream:23,ignor:17,iir:27,il:57,imag:61,imap:57,imax:38,imax_25:38,imax_50:38,imax_75:38,immedi:[63,64],imped:6,impl:[25,28],implement:[2,6,7,8,10,11,24,25,27,28,30,31,32,45,46,47,50,57,61,63],implicit:[18,21],impuls:27,includ:[0,1,2,3,5,6,7,9,10,11,12,13,14,15,17,18,19,21,22,23,24,25,27,28,29,30,32,33,37,38,40,41,42,43,44,45,46,47,49,50,51,53,54,55,57,58,59,60,61,62,63,64,65,67,68],incom:54,incomplet:57,increas:[9,17,44,59],increment:[2,17,38],incur:14,independ:[41,50],index:[2,17,43,50,61,65],indic:[38,40,54,55,57,58,64],individu:[41,45],induct:7,infinit:27,info:[1,2,3,5,7,9,12,17,22,32,33,41,43,44,51,53,54,55,59,60,61,65],info_rate_limit:44,inform:[11,14,18,21,25,28,38,40,41,43,45,51,53,54,55,57,58,60,63,65,67,68],infrar:60,inherit:10,init:[41,53,54],init_ipv4:53,initail:[3,65],initi:[1,2,3,5,6,7,9,12,14,15,17,18,21,27,33,37,38,40,41,42,47,49,53,54,55,58,60,63,64,67,68],inlin:[1,2,3,5,6,7,9,10,12,14,15,17,18,21,22,23,24,25,27,28,30,32,33,37,38,40,41,42,43,44,45,47,49,50,51,53,54,55,57,58,59,60,61,63,64,65,67,68],inout:2,input:[2,7,9,10,12,18,21,24,25,27,28,32,33,35,38,40,41,49],input_delay_n:15,input_driv:37,input_valu:2,inquiri:57,insert:10,insid:2,instal:[1,2,9,12,18,21,33,38,40,58],instanc:[22,23],instant:42,instanti:51,instead:[10,30,49,62,63],instruct:27,instrument:[2,33],int16_t:17,int8_t:62,integ:[6,17,46,53],integr:59,integrator_max:[7,59],integrator_min:[7,59],intend:[45,63,64],interact:[10,20,22,23,39,61],interest:[12,22],interfac:[6,8,9,14,20,23,30,32,33,35,38,39,40,43,60,61],interfer:32,intermedi:57,intern:[2,10,12,15,17,24,25,27,28,33,38,40,53,63],interpol:11,interrupt:[2,9,17,38,40,58,64],interrupt_typ:9,interrupttyp:9,intr_typ:2,introduc:49,inttrig:33,invalid:[10,11],invalid_argu:10,invers:42,invert:[12,37,38,40,42,49],invert_color:15,invert_i:37,invert_input:49,invert_output:49,invert_x:37,invoc:59,io:[14,15,23,35,45,57],io_conf:2,io_num:2,ip2str:68,ip:[30,53,54,55,61,68],ip_add_membership:[53,54,55],ip_address:[30,54,55,61],ip_callback:68,ip_event_got_ip_t:68,ip_evt:68,ip_info:68,ip_multicast_loop:[53,54,55],ip_multicast_ttl:[53,54,55],ipv4:53,ipv4_ptr:53,ipv6:53,ipv6_ptr:53,ir:60,irdaobex:57,is_a_press:12,is_act:61,is_al:30,is_b_press:12,is_charg:22,is_clos:61,is_complet:61,is_connect:[30,54,61,68],is_dir:23,is_directori:23,is_down_press:12,is_en:[6,7],is_fault:6,is_floating_point:50,is_left_press:12,is_multicast_endpoint:55,is_passive_data_connect:30,is_press:[9,12],is_right_press:12,is_run:[32,64],is_select_press:12,is_start:64,is_start_press:12,is_up_press:12,is_valid:[53,54,55],isr:[2,9],issu:10,istream:10,it_st:58,item:[13,23],iter:[15,22,23,54,55,64],its:[2,3,18,21,22,30,32,38,40,47,51,53,54,55,58,59,63,67],itself:[14,22,37,61,64],join:[53,54,55],joybonnet:[1,12],joystick:[2,12,35,57],joystick_config:12,joystick_i:12,joystick_select:12,joystick_x:12,jpeg:61,jpeg_data:61,jpeg_fram:61,jpeg_frame_callback_t:61,jpeg_head:61,jpegfram:61,jpeghead:61,jpg:13,js1:41,js2:41,jump:49,just:[2,12,18,21,22,57,60,61,62,63,65],k:[10,65],k_bemf:7,kbit:58,kd:[7,32,59],kd_factor_max:32,kd_factor_min:32,keepal:54,kei:[10,57,58,61],kelvin:65,keyboard:[10,57],ki:[7,59],kind:[19,63],know:[14,18,21,22,64],known:[57,63],kohm:40,kp:[7,32,59],kp_factor:32,kv:7,kv_rate:7,label:[15,23],lack:23,lambda:[1,2,12,18,21,33,38,40,44,58,65],landscap:[14,15],landscape_invert:14,larg:61,larger:[3,10,61],last:[12,17,41,43,57,59,63],last_unus:12,latch:60,later:[6,15,17],latest:[6,10,37,41,51,59,60,65,67,68],launch:57,launcher:58,launcher_record:58,lazi:13,lcd:15,lcd_send_lin:15,lcd_spi_post_transfer_callback:15,lcd_spi_pre_transfer_callback:15,lcd_write:15,le:57,le_rol:57,le_sc_confirm:57,le_sc_random:57,lead:[3,11],leaf:63,learn:[33,57],least:[17,43,54],leav:2,led:[2,35,38,60],led_callback:42,led_channel:42,led_encod:[43,60],led_encoder_st:60,led_fade_time_m:42,led_reset_cod:60,led_stip:60,led_strip:[43,60],led_task:42,ledc:42,ledc_channel_5:42,ledc_channel_t:42,ledc_high_speed_mod:42,ledc_mode_t:42,ledc_timer_10_bit:42,ledc_timer_13_bit:42,ledc_timer_2:42,ledc_timer_bit_t:42,ledc_timer_t:42,ledstrip:43,left:[12,15,17,43],legaci:57,legend:13,len:43,length16:58,length:[2,15,24,27,43,50,57,58,60],less:[6,41,57,58,64],let:[10,14,22,51],level0:60,level1:60,level:[6,7,8,9,22,32,33,40,43,44,53,54,55,57,60,61,63,65],leverag:27,lib:33,libarari:62,libfmt:44,librari:[10,22,23,32,33,35,57,62],life:[10,62],lifecycl:14,light:[11,37,44,62,63],like:[22,53],limit:[6,7,10,17,44,57,59],limit_voltag:[6,7],line:35,line_input:10,linear:[33,34],lineinput:10,link:[13,23],links_awaken:13,list:[2,23,33,57],list_directori:23,listconfig:23,listen:[30,54,61],lit:[2,33],littl:[22,42],littlef:23,lk:[1,2,3,5,7,12,17,18,21,22,33,38,40,41,42,43,58,59,60,63,64,65],ll:[1,2,12,18,21,22,33,38,40,43,58],ln:65,load:[12,13,57],local:57,lock:[54,64],log:[2,7,9,22,32,33,35,37,38,40,42,43,51,58,60,61,64,65],log_level:[1,2,3,5,6,7,9,12,14,17,18,21,32,33,37,38,40,41,42,43,54,55,58,59,60,61,63,64,65,67,68],logger1:44,logger1_thread:44,logger2:44,logger2_thread:44,logger:[1,2,3,5,6,7,9,12,14,17,18,21,22,23,32,33,35,37,38,40,41,42,43,53,54,55,58,59,60,61,63,64,65,67,68],logger_:[14,41],logger_config:53,logger_fn:44,logic:[2,12,55,57],long_local_nam:57,longer:10,loop:[7,8,10,18,21,23,32,44,64],loop_foc:7,loop_iter:44,loopback_en:[53,54,55],loos:22,lose:10,lot:9,low:[2,5,6,7,8,9,12,17,22,40,53,57,60],low_level:9,low_limit:17,low_threshold_mv:2,lower:[17,38,40,65],lowest:64,lowpass:[26,35],lowpass_filt:27,lowpassfilt:27,lra:[33,34],lsb:[2,38],lv_area_t:[14,15],lv_color_t:[14,15],lv_disp_drv_t:[14,15],lv_disp_flush_readi:14,lv_tick_inc:14,lvgl:[14,15,37],lvgl_esp32_driv:15,lvgl_tft:15,m:[1,2,3,5,7,12,17,18,21,22,32,33,38,40,41,42,43,44,54,58,59,60,63,64,65],m_pi:[18,21,51],ma:65,mac:[57,68],mac_addr:57,mac_address:57,machin:35,macro:44,made:58,magic_enum_no_check_support:63,magnet:[20,32,35],magnetic_det:32,magnitud:[41,50,59],magnitude_squar:50,mai:[2,3,9,32,43,57,58,63],mailbox:58,mailto:57,main:[7,14,60],mainli:14,maintain:[14,18,21,58],make:[1,2,7,12,18,21,22,23,33,38,40,53,57,58,61,63,65],make_android_launch:[57,58],make_ev:63,make_le_oob_pair:[57,58],make_multicast:[53,54,55],make_oob_pair:[57,58],make_shar:[7,15],make_text:[57,58],make_uniqu:[1,2,10,12,33,42,51,54,55,60,64],make_uri:[57,58],make_wifi_config:[57,58],makeact:63,malloc_cap_8bit:14,malloc_cap_dma:14,manag:[5,11,12,13,14,23,35,38,40,42,54,55,57,58],mani:[7,9,17,22,54,55,68],manipul:9,manual:[2,10,32,61,63],manual_chid:2,map:[12,41,49,61],mapper:[35,41,48],mario:13,mark:[51,61],marker:61,mask:[38,40],maskaravivek:57,mass:[33,34],master:[1,2,10,12,15,18,21,33,38,40,55,58,60],match:[23,30],math:[35,45,47,49,50],max:[2,6,17,32,33,38,47,49,54,55,59,67],max_connect:54,max_data_s:61,max_glitch_n:17,max_led_curr:38,max_num_byt:[54,55],max_number_of_st:67,max_pending_connect:54,max_receive_s:54,max_transfer_sz:15,maximum:[6,12,18,21,38,41,49,54,55,59,61],maxledcurr:38,maybe_duti:42,maybe_mv:[3,5,65],maybe_r:3,maybe_x_mv:[12,41],maybe_y_mv:[12,41],mb:[23,57],mb_ctrl:58,mcp23x17:[35,39],mcp23x17_read:40,mcp23x17_write:40,mcpwm:[6,32],me:57,mean:[6,11,18,21,24,41,49,51,60,62,64],measur:[3,5,7,17,18,21,41,59,65],mechan:[3,7,18,21,22,30],media:57,mega_man:13,megaman1:13,megaman:13,member:[1,2,3,5,6,7,9,11,12,14,17,18,21,23,25,27,32,33,37,38,40,41,42,43,44,45,47,49,51,53,54,55,57,58,59,60,61,64,65,67,68],memori:[10,14,24,27,42,58,60,64],memset:[1,2,12,15,18,21,33,38,40,58],mention:10,menu:10,menuconfig:23,mere:6,messag:[2,9,22,23,57,58,61,62],method:[7,9,17,23,45,47,59,61,62],metroid1:13,metroid:13,micro:15,micros_per_sec:60,middl:57,millisecond:42,millivolt:65,mime_media:57,min:[2,32,49],minimum:[12,41,49,59],minu:61,minut:[18,21],mireq:15,mirror:40,mirror_i:15,mirror_x:15,miso_io_num:15,mix:11,mjepg:61,mjpeg:61,mkdir:23,mode:[1,2,3,9,12,15,18,21,32,33,38,40,42,57,58],model:[11,63],moder:5,modif:7,modifi:[15,38,61],modulo:[18,21],monitor:35,more:[2,3,10,11,14,25,26,28,33,41,42,43,44,47,53,54,55,60,63,65],mosi:15,mosi_io_num:15,most:[3,7,12,18,21,41,59],motion:[7,32],motion_control_typ:7,motioncontroltyp:7,motoion:7,motor:[6,8,18,21,32,34,35],motor_task:7,motor_task_fn:7,motor_typ:33,motorconcept:32,motortyp:33,mount:23,mount_point:23,mous:57,move:[7,10,43,51,60,64],movement:10,ms:14,msb:[2,38],msb_first:60,mt6701:[7,20,35],mt6701_read:[7,21],mt6701_write:[7,21],much:24,multi_rev_no_det:32,multicast:[53,54],multicast_address:[53,54,55],multicast_group:[53,54,55],multipl:[3,5,7,12,32,33,34,44,59,61],multipli:[32,50,59],must:[2,5,7,10,17,22,23,51,53,54,55,57,58,62,63,64,67,68],mutabl:[50,64],mutat:64,mute:2,mutex:[1,2,3,5,7,12,17,18,21,22,33,38,40,41,42,43,54,58,59,60,63,64,65],mux:2,mv:[1,2,3,5,41,65],mystruct:62,n:[2,3,5,10,12,13,17,18,21,22,23,24,28,29,38,40,41,42,51,54,55,58,59,60,61,62,64,65,68],name:[1,2,3,5,7,12,13,17,18,21,22,33,38,40,41,42,43,51,54,55,57,58,59,60,61,62,63,64,65],namespac:[1,2,12,23,33],nanosecond:17,navig:10,ndef:[35,56,58],ndeflib:57,ndefmessag:57,ne:13,nearest:[32,46],necessari:[7,64],need:[3,5,9,10,18,21,22,23,24,32,38,51,57,59,60,63,64],needs_zero_search:[18,21],neg:[43,50,59,65],negat:[12,50],neo_bff_io:43,neo_bff_num_l:43,neopixel_writ:43,network:[35,54,55,57,67],new_duti:42,new_object:62,new_siz:10,new_target:7,newli:64,newlin:51,next:[10,32,60],nf:57,nfault:7,nfc:[35,57,58],nicer:44,nm:7,no_timeout:64,nocolor:10,node:[53,54,55,63],nois:49,nomin:65,nominal_resistance_ohm:65,non:[3,32,49,58],nonallocatingconfig:14,none:[2,14,30,44,57,63],normal:[14,22,24,50],normalizd:[25,27],normalized_cutoff_frequ:[18,21,25,27],note:[1,2,3,5,7,9,10,12,17,18,21,22,23,30,32,33,38,40,41,43,44,54,55,58,59,60,62,63,64,65],noth:[6,51],notifi:[2,61,64],now:[1,2,7,9,13,18,21,22,32,33,38,40,42,43,44,51,54,55,58,59,60,64,65],ntc:65,ntc_smd_standard_series_0402:65,ntcg103jf103ft1:65,nthe:68,nullopt:[42,55],nullptr:[7,10,18,21,23,50,54,55,63,68],num:61,num_connect_retri:68,num_l:43,num_periods_to_run:42,num_pole_pair:7,num_seconds_to_run:[42,44,59,64],num_steps_per_iter:64,num_task:[51,64],num_touch:37,number:[1,2,3,7,9,10,14,15,17,18,21,23,24,27,32,33,37,38,40,42,43,46,53,54,55,57,58,60,61,65,67,68],number_of_link:23,nvs_flash_init:[67,68],o:[2,35,39],object:[7,9,10,11,13,22,43,44,47,51,57,60,61,62,63,65],occur:[22,61,63],off:[2,6,10,17,32,38,44,61,65],offset:[15,58,61],offset_i:15,offset_x:15,ofs:23,ofstream:23,ohm:[7,65],ok:61,oldest:10,on_connect:68,on_disconnect:68,on_got_ip:68,on_jpeg_fram:61,on_off_strong_det:32,on_receive_callback:55,on_response_callback:[54,55],onc:[12,17,18,21,22,61],once_flag:22,one:[2,9,10,18,21,22,30,42,43,54,55,58,60,63],oneshot:[4,35],oneshot_adc:5,oneshotadc:[5,12,41],onli:[2,7,12,13,17,18,21,22,24,41,44,50,55,57,58,60,61,62,63],oob:[57,58],open:[2,7,8,10,23,32,54,57,67,68],open_drain:[2,38],oper:[2,11,23,25,27,28,45,47,50,59,65],oppos:11,opposit:42,optim:[7,24,46],option:[3,5,6,7,10,12,14,15,18,21,37,41,42,43,44,49,53,54,55,58,61,62,64],order:[2,24,25,26,29,35,43,44,54],oreilli:57,org:[24,25,28,53,54,55,65],orient:[7,14],origin:23,oscil:[2,49],osr_128:2,osr_16:2,osr_2:2,osr_32:2,osr_4:2,osr_64:2,osr_8:2,ostream:10,ostringstream:13,other:[7,10,11,14,50,53,54,55,58,59,62,63,64,67],otherwis:[6,7,9,12,22,30,32,40,41,42,54,55,57,60,61,63,64,68],our:[42,53,54,55,64],out:[10,13,23,51,53,54,55,57,58,60,62,63,65],output:[2,7,8,10,17,22,23,24,25,27,28,30,37,38,40,42,44,47,49,51,58,59],output_cent:49,output_drive_mode_p0:38,output_invert:42,output_max:[7,49,59],output_min:[7,49,59],output_mod:2,output_rang:49,outputdrivemodep0:38,outputmod:2,outsid:[2,10,11],over:[2,6,20,23,39,42,52,54,55,61,64],overflow:[17,24],overhead:[14,22],overload:23,oversampl:2,oversampling_ratio:2,oversamplingratio:2,overstai:44,overth:2,overwrit:61,own:[3,14,18,21,30,38,40,53,54,55,67],owner:23,p0:38,p0_0:38,p0_1:38,p0_2:38,p0_3:38,p0_5:38,p1:38,p1_0:38,p1_1:38,p1_5:38,p1_6:38,p1_7:38,p1_8:38,p:[2,10,13,59],pack:12,packag:57,packet:[53,54,55,57,61],packet_:61,pad:12,page:[23,65],pair:[7,57,58],panel:37,param:[1,2,7,14,18,21,22,33,37,38,40,41,43,53,54,55,58,60,64,68],paramet:[1,2,3,5,6,7,9,10,11,12,14,15,19,22,23,24,25,27,28,30,32,33,37,38,40,41,42,43,44,45,47,49,50,53,54,55,57,58,59,60,61,63,64,65,67,68],parent:63,pars:[13,51,61],part:[6,15,32,37,65],parti:62,partit:23,partition_label:23,pass:[9,15,22,30,44,49],passiv:30,password:[30,57,67,68],pasv:30,pat:57,path:[23,30,61],paus:[14,61],payload:[57,58,61],payload_s:61,pdf:[2,18,33,38,58,60,65],pend:54,per:[1,2,3,7,18,21],perceiv:11,percent:42,percentag:[6,32,42],perform:[2,3,5,11,23,41,64],perhipher:42,period:[9,12,14,18,21,22,38,40,51,58,63],peripher:[6,17,32,34,42,43,57,60],peripheral_centr:57,peripheral_onli:[57,58],permiss:23,person:57,phase:[6,7],phase_induct:7,phase_resist:7,phone:[57,58],photo:58,pick:17,pico:41,pid:[7,32,35],pid_config:59,pin:[1,2,6,7,9,12,15,33,38,40,42,60,64],pin_bit_mask:2,pin_mask:40,pinout:7,pixel:[14,15,43,61],pixel_buffer_s:[14,15],place:[22,32],plai:[33,61],plan:65,platform:[44,64],play_hapt:32,playback:33,pleas:[10,11,13,28,33,63],plot:2,pn532:57,point:[11,17,23,24,27,32,35,37,42,45,46,50,54,55,57,66,68],pointer:[1,2,14,15,18,21,24,27,32,33,37,38,40,41,43,53,54,58,60,61,63,64,68],pokemon:13,pokemon_blu:13,pokemon_r:13,pokemon_yellow:13,polar:40,pole:7,poll:[12,18,21,38,40,58],pomax:45,pop:57,popul:55,port0:38,port1:38,port:[7,14,30,38,40,53,54,55,61],port_0_direction_mask:38,port_0_interrupt_mask:38,port_1_direction_mask:38,port_1_interrupt_mask:38,port_a:40,port_a_direction_mask:40,port_a_interrupt_mask:40,port_b:40,port_b_direction_mask:40,port_b_interrupt_mask:40,portmax_delai:2,portrait:[14,15],portrait_invert:14,porttick_period_m:[1,2,12,18,21,33,38,40,58],pos_typ:23,posit:[7,15,17,18,21,32,37,41,49],posix:[52,53],possibl:[2,6,14,49,57],post:57,post_cb:15,post_transfer_callback:14,poster:57,potenti:[3,24,30],power:[2,6,7,43,57],power_supply_voltag:[6,7],pranav:13,pre:[15,59,60],pre_cb:15,precis:60,preconfigur:33,predetermin:2,prefer:57,prefix:[2,23],prepend:44,present:[57,61],preset:33,press:[2,9,12,37],prevent:[14,59],previou:[10,42],previous:[6,7,49],primari:60,primarili:10,primary_data:60,print:[2,3,5,10,12,13,17,18,21,22,38,40,41,42,44,51,54,55,58,59,60,61,62,64,65,68],printf:[12,18,21,38,40,58],prior:[58,67,68],prioriti:[3,7,14,44,51,64],privat:10,process:[42,54,55,64],processor:[2,27,64],produc:11,product:[38,50,60,63,65],profil:32,programm:2,programmed_data:58,project:[6,10,30,60,61,67,68],prompt:10,prompt_fn:10,proper:[11,63],properli:[5,61],proport:59,protocol:[30,43,54,55,60],protocol_examples_common:10,prototyp:[22,37],provid:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,20,21,22,23,24,25,26,27,28,29,31,32,34,35,37,38,39,40,41,42,43,44,45,46,47,49,50,51,52,53,54,55,57,58,59,60,61,62,63,64,65,66,68],prt:53,pseudost:63,pub:22,publish:[9,22],pull:[2,38,40],pull_up_en:2,pulldown:9,pulldown_en:9,pullup:9,pullup_en:9,puls:[2,17,60],pulsed_high:2,pulsed_low:2,pulsing_strong_1:33,pulsing_strong_2:33,pure:[17,63],push:2,push_pul:2,push_push:38,put:58,pwm:[6,7,8,33,42],pwmanalog:33,py:41,python:51,q0:61,q0_tabl:61,q1:61,q1_tabl:61,q:[7,27,61],q_current_filt:7,q_factor:27,qt:41,quadhd_io_num:15,quadratur:17,quadwp_io_num:15,qualiti:27,quantiz:61,question:[10,13,42,58],queu:60,queue:[2,9,10,60],queue_siz:15,quickli:63,quit:58,quit_test:[12,18,21,40,58],quote_charact:13,r0:65,r1:[2,65],r25:65,r2:[2,65],r:[11,23,38,43,49,57,60,65],r_0:65,r_bright:38,r_down:38,r_led:38,r_scale:65,r_up:38,race:42,rad:7,radian:[7,17,18,21,50],radio:[57,58],radio_mac_addr:58,radiu:41,rainbow:[43,60],ram:14,ranav:13,random:57,rang:[1,6,11,18,21,23,25,27,32,34,35,41,47,48,65,67],range_mapp:49,rangemapp:[41,49],rate:[1,3,7,18,21,38,40,44],rate_limit:44,ratio:2,ration:45,raw:[1,2,5,7,12,18,21,41,45,53,57,58],rb:23,re:[10,12,18,21,33,53,54,55,60,63,65],reach:[33,54,58,63],read:[1,2,3,5,7,9,10,12,18,21,23,33,37,38,40,41,54,58,65],read_fn:[1,2,18,21,33,38,40,58],read_joystick:[12,41],read_mv:[5,12,41,65],read_mv_fn:65,read_raw:5,read_valu:13,readabl:[13,23],reader:[3,5,41],readthedoc:57,real:[22,33],realli:[13,62,63],realtim:33,reason:[62,64],receic:22,receiv:[2,15,53,54,55,58,61],receive_callback_fn:[53,54,55],receive_config:55,receiveconfig:55,recent:[2,3,7,12,18,21,41,59],recommend:[18,21,22,41],record:[57,58],rectangular:41,recurs:[23,63],recursive_directory_iter:23,recvfrom:[53,55],red:[11,13,43,44,60],redraw:14,reepres:61,refer:35,reference_wrapp:32,refresh:14,reg:58,reg_addr:[1,12,18,21,33,38,40,58],regard:[18,21],regardless:41,region:2,regist:[1,2,9,18,21,22,33,37,38,40,58,61],registr:22,registri:22,reinit:54,reiniti:54,reistor:38,rel:49,relat:[10,42],releas:9,relev:[23,65],reli:63,reliabl:[18,21,54],remain:44,remot:[35,54,55,57],remote_control:57,remote_info:55,remov:[6,10,22,23],remove_publish:22,remove_subscrib:22,renam:23,render:[14,51],repeatedli:[60,64],replac:10,report:58,repres:[11,18,21,30,42,50,57,58,59,60,61],represent:11,request:[2,30,53,54,55,57,58,61],requir:[7,58],rescal:11,reserv:57,reset:[2,15,17,58,59,60],reset_fn:60,reset_pin:15,reset_st:59,reset_tick:60,resist:[7,65],resistor:[9,38,65],resistordividerconfig:65,resiz:[10,23,51,64],resolut:[42,60],resolution_hz:[43,60],resolv:30,reson:[33,34],resourc:[5,53,54,55,58,60],respect:[4,61,63],respond:[53,54,55],respons:[14,23,27,30,57,59,61],response_callback_fn:[53,54,55],response_s:[54,55],response_timeout:55,restart:63,restartselect:63,restrict:[18,21],result:[2,3,11,50,61],resum:14,ret:15,ret_stat:60,retri:[61,68],retriev:[3,12,37,41],return_to_center_with_det:32,return_to_center_with_detents_and_multiple_revolut:32,reusabl:[10,35],revers:[54,55],revolut:[17,18,21,32],rf:58,rf_activ:58,rf_get_msg:58,rf_intterupt:58,rf_put_msg:58,rf_user:58,rf_write:58,rfc:[57,61],rfid:[57,58],rgb:[11,43,60],rh:[11,50],right:[7,12,30,43,58],rise:[9,33,58,60],rising_edg:9,risk:24,rmdir:23,rmt:[35,43],rmt_bytes_encoder_config_t:60,rmt_channel_handle_t:60,rmt_clk_src_default:60,rmt_clock_source_t:60,rmt_encod:60,rmt_encode_state_t:60,rmt_encoder_handle_t:60,rmt_encoder_t:60,rmt_encoding_complet:60,rmt_encoding_mem_ful:60,rmt_encoding_reset:60,rmt_symbol_word_t:60,rmtencod:[43,60],robust:44,robustli:49,role:57,root:[23,30,63],root_list:23,root_menu:10,root_path:23,rotari:32,rotat:[7,14,15,18,21,32,33,34,43,50,60],round:46,routin:41,row:13,row_index:13,rpm:[7,18,21],rpm_to_rad:7,rstp:57,rt_fmt_str:44,rtcp:61,rtcp_packet:61,rtcp_port:61,rtcppacket:61,rtd:57,rtp:[33,61],rtp_jpeg_packet:61,rtp_packet:61,rtp_port:61,rtpjpegpacket:61,rtppacket:61,rtsp:[35,57],rtsp_client:61,rtsp_path:61,rtsp_port:61,rtsp_server:61,rtsp_session:61,rtspclient:61,rtspserver:61,rtspsession:61,run:[3,7,10,14,18,21,22,30,32,42,44,51],runtim:44,s2:[3,15],s3:[3,12],s:[2,7,8,9,10,11,13,18,21,22,30,32,38,40,41,42,43,44,49,51,55,60,62,63,64,65],s_isdir:23,safe:[42,59],same:[2,5,7,22,57,59],sampl:[1,2,3,7,10,18,21,24,25,27,28,58,59,65],sample_mv:[1,12],sample_r:1,sample_rate_hz:[3,65],sandbox:23,sar:2,sarch:[18,21],satisfi:63,satur:[11,59],scalar:50,scale:[7,47,50,59,65],scaler:47,scan:[2,61,68],scan_data:61,scenario:[67,68],scheme:7,scl:2,scl_io_num:[1,2,12,18,21,33,38,40,58],scl_pullup_en:[1,2,12,18,21,33,38,40,58],sclk:15,sclk_io_num:15,scottbez1:32,screen:15,sda_io_num:[1,2,12,18,21,33,38,40,58],sda_pullup_en:[1,2,12,18,21,33,38,40,58],sdp:61,search:[18,21],second:[1,2,3,7,18,21,25,26,35,38,40,42,44,50,58,61,64,65],secondari:14,seconds_per_minut:[18,21],seconds_since_start:51,section:[11,25,26,35],sectionimpl:28,secur:[57,67,68],security_manager_flag:57,security_manager_tk:57,see:[2,7,10,11,13,14,15,17,24,25,28,33,41,45,51,53,54,55,57,58,60,63,65,67,68],seek_end:23,seek_set:23,seekg:23,seem:[23,61],segment:14,sel:2,select:[2,3,12,30,33,43,57,63],select_bit_mask:2,select_librari:33,select_press:2,select_valu:2,send:[9,14,15,30,43,54,55,58,60,61],send_bright:43,send_command:15,send_config:[54,55],send_data:15,send_fram:61,send_request:61,send_rtcp_packet:61,send_rtp_packet:61,sendconfig:55,sender:[53,54,55],sender_info:[53,54,55],sendto:53,sens:7,sensor:[7,18,21,65],sensor_direct:7,sensorconcept:7,sensordirect:7,sent:[2,15,30,43,54,55,60,61],separ:[12,13,14,51],sequenc:[2,22,33,51,57,58,63],seri:[28,61,65],serial:[9,20,22,33,35,38,39,40,57,58,61],serializa:62,series_second_order_sect:[24,28],serizalizt:13,server:[31,35,52,53],server_address:[54,55,61],server_config:55,server_port:61,server_socket:[54,55],server_task:54,server_task_config:[54,55],server_task_fn:54,server_uri:61,servic:[2,57],session:[10,30,60,61],session_st:60,set:[2,6,7,9,10,15,22,33,38,40,41,42,43,46,47,49,51,53,54,55,57,58,60,61,63,65,67,68],set_al:43,set_analog_alert:2,set_ap_mac:68,set_calibr:41,set_config:59,set_deadzon:41,set_digital_alert:2,set_digital_output_mod:2,set_digital_output_valu:2,set_direct:[38,40],set_drawing_area:15,set_duti:42,set_encod:[43,60],set_fade_with_tim:42,set_histori:10,set_history_s:10,set_input_polar:40,set_interrupt:38,set_interrupt_mirror:40,set_interrupt_on_chang:40,set_interrupt_on_valu:40,set_interrupt_polar:40,set_label:15,set_log_level:22,set_met:15,set_mod:33,set_motion_control_typ:7,set_offset:15,set_payload:61,set_phase_st:6,set_phase_voltag:7,set_pin:[38,40],set_pixel:43,set_pull_up:40,set_pwm:6,set_receive_timeout:[53,54,55],set_record:58,set_session_log_level:61,set_verbos:44,set_vers:61,set_voltag:6,set_waveform:33,setactivechild:63,setcolor:10,setdeephistori:63,setinputhistori:10,setinputhistorys:10,setnocolor:10,setparentst:63,setpoint:[7,32],setshallowhistori:63,setter:[50,61],setup:[2,61],sever:[20,26,39],sftp:57,sgn:46,shaft:[7,18,21],shallow:63,shallow_history_st:63,shallowhistoryst:63,shape:47,share:57,shared_ptr:7,sharp_click:33,sheet:2,shield:12,shift:[43,47],shift_bi:43,shift_left:43,shift_right:43,shifter:47,shop:[38,60],short_local_nam:57,shorten:57,should:[6,7,10,11,12,14,15,23,24,27,40,41,42,43,50,53,54,55,59,60,61,63,64],shouldn:[23,44],show:[10,43,63],showcas:22,shown:44,shut:64,side:[6,31],sign:[17,46,49],signal:[2,12,14,24,25,27,28,33,43,59,60],signatur:64,similar:60,simpl:[0,5,9,22,23,29,30,44,57,59,62,65],simplefoc:7,simpler:[42,60],simpli:[2,3,10,18],simplifi:61,simultan:[10,57],sin:51,sinc:[2,17,18,21,22,23,38,60,61,64,65],singl:[2,5,17,32,43,44],single_unit_1:[3,65],single_unit_2:3,singleton:[22,23],sinusoid:7,sip:57,sixteen:1,size:[1,9,10,12,14,23,33,51,54,55,57,58,60,61,62,64,65],size_t:[1,2,3,7,9,10,12,13,14,15,17,18,21,23,24,25,27,28,33,38,40,42,43,44,51,53,54,55,60,61,62,64,68],sizeof:[1,2,12,15,18,21,33,38,40,58,60,61],sk6085:60,sk6805:60,sk6805_10mhz_bytes_encoder_config:60,sk6805_freq_hz:43,sk6812:43,sleep:[1,2,3,5,7,12,17,18,21,22,33,38,40,41,42,43,44,51,58,59,60,63,64,65],sleep_for:[3,9,15,22,42,43,44,51,54,55,59,61,63,64,68],sleep_until:64,slope:47,slot:33,slow:5,small:[32,47],smart:57,smartknob:32,smb:57,snap:32,snprintf:64,so:[1,2,5,7,10,12,13,15,17,18,21,22,23,26,30,32,33,35,38,40,43,49,51,58,59,60,61,63,64,65],so_recvtimeo:[53,54,55],so_reuseaddr:[53,54,55],so_reuseport:[53,54,55],sockaddr:53,sockaddr_in6:53,sockaddr_in:53,sockaddr_storag:[53,54,55],socket:[30,35,52,61],socket_fd:[53,54,55],soft_bump:33,soft_fuzz:33,softwar:[2,14,22],software_rotation_en:[14,15],some:[1,2,7,10,12,18,20,21,22,23,26,32,33,38,40,44,46,51,53,57,58,60,63,64],someth:[14,64],somewhat:32,sos_filt:28,sosfilt:[25,28],sourc:[55,60],source_address:53,sp:57,sp_hash_c192:57,sp_hash_c256:57,sp_hash_r256:57,sp_random_r192:57,space:[7,11,23,32,43,60],space_vector_pwm:7,sparignli:49,sparkfun:12,spawn:[18,21,30,61,63,64],spawn_endevent_ev:63,spawn_event1_ev:63,spawn_event2_ev:63,spawn_event3_ev:63,spawn_event4_ev:63,specfici:1,special:[19,33,38,60],specif:[11,32,34,37,61,63,64],specifi:[18,21,23,32,44,55,61],speed:[7,18,21,42,54],speed_mod:42,spi2_host:15,spi:[15,18,21,40],spi_bus_add_devic:15,spi_bus_config_t:15,spi_bus_initi:15,spi_device_interface_config_t:15,spi_dma_ch_auto:15,spi_num:15,spi_queue_s:15,spic:15,spics_io_num:15,spike:47,sporad:5,spot:7,sps128:1,sps1600:1,sps16:1,sps2400:1,sps250:1,sps32:1,sps3300:1,sps475:1,sps490:1,sps64:1,sps860:1,sps8:1,sps920:1,squar:50,sr:57,ssid:[57,58,67,68],st25dv04k:58,st25dv:[35,56],st25dv_read:58,st25dv_write:58,st7789_defin:15,st7789v_8h_sourc:15,st:[23,58],st_mode:23,st_size:23,sta:[35,66],stabl:57,stack:[9,51,64],stack_size_byt:[1,2,7,12,18,21,33,38,40,43,51,54,55,58,60,64],stackoverflow:[23,58],stand:7,standalon:[20,39],standard:[23,44,49,61],star:33,start:[1,2,3,5,7,9,10,12,14,15,17,18,21,22,30,32,33,38,40,41,42,43,44,50,51,52,54,55,58,59,60,61,63,64,65],start_fast_transfer_mod:58,start_fram:43,start_receiv:55,startup:[18,21],stat:[23,51],state:[6,9,12,18,21,22,24,25,27,28,33,35,37,38,40,51,58,59,60],state_a:6,state_b:6,state_bas:63,state_c:6,state_machin:63,state_of_charg:22,statebas:63,static_cast:[2,44,60],station:[35,66,67],statist:2,statistics_en:2,statu:[2,58],std:[1,2,3,5,7,9,10,12,13,14,15,17,18,21,22,28,30,32,33,37,38,40,41,42,43,44,45,49,50,51,52,53,54,55,57,58,59,60,61,62,63,64,65,67,68],stdby:7,stdin:63,stdin_out:10,stdout:63,steinhart:65,step:64,still:41,stop:[1,2,3,5,7,12,14,17,18,21,22,30,32,33,38,40,41,42,43,51,54,55,58,59,60,61,63,65,68],stop_fast_transfer_mod:58,storag:[10,53],store:[10,12,15,23,29,47,57,58,61,65],str:13,strcutur:15,stream:[10,13,61],streamer:61,strength:32,strictli:62,string:[9,10,13,22,23,44,51,53,54,55,57,61,62,64,67,68],string_view:[15,23,30,44,54,55,57,58,61,64],strip:[35,60],strong:32,strong_buzz:33,strong_click:33,strongli:62,struct:[1,2,3,5,6,7,9,11,12,14,17,18,21,22,23,25,27,29,32,33,37,38,40,41,42,43,44,45,47,49,51,53,54,55,57,58,59,60,61,62,64,65,67,68],structur:[1,2,7,12,14,15,22,33,37,38,40,41,42,45,47,53,54,55,57,59,63,67,68],sub:[10,22],sub_menu:10,sub_sub_menu:10,subclass:[28,53,61,63],subdirectori:23,submenu:10,submodul:10,subscib:22,subscrib:[9,22],subscript:22,subsequ:[2,57],subset:12,substat:63,subsub:10,subsubmenu:10,subsystem:[3,5,14,42],subtract:50,subystem:68,success:[2,61],successfulli:[17,22,53,54,55,60,61,62],suffix:44,suggest:60,suit:11,super_mario_1:13,super_mario_3:13,super_mario_bros_1:13,super_mario_bros_3:13,suppli:[6,65],supply_mv:65,support:[2,7,10,11,12,17,19,23,33,38,43,52,57,58,61],sure:[7,61],swap:37,swap_xi:37,symlink:[2,33],symmetr:47,syst_address:58,system:[10,13,22,35,51,58,62,63,64,65],sytl:62,t5t:58,t:[1,2,3,5,7,12,13,15,17,18,21,22,23,33,38,40,41,42,43,44,45,47,49,50,51,54,55,57,58,59,60,64,65],t_0:65,ta:12,tabl:[2,23,51,57,61,65],tag:[44,57,58],take:[5,23],taken:23,talk:[38,43],target:[7,68],task1:22,task2:22,task:[1,2,3,5,7,9,12,14,17,18,21,22,30,32,33,35,38,40,41,42,43,54,55,58,59,60,61,63,65],task_1_fn:22,task_2_fn:22,task_callback:51,task_config:55,task_fn:[3,5,12,17,18,21,33,38,40,41,43,51,58,59,60,63,64,65],task_id:51,task_iter:64,task_monitor:51,task_nam:[51,64],task_prior:3,task_stack_size_byt:[9,51],taskmonitor:51,tb:12,tcp:[35,52,61],tcp_socket:54,tcpclientsess:54,tcpobex:57,tcpserver:54,tcpsocket:[53,54,61],tcptransmitconfig:54,tdata:62,tdk:65,tdown:12,tear:[53,54,55,64],teardown:61,tel:57,tell:[43,60],tellg:23,telnet:57,temp:65,temperatur:65,temperature_celsiu:22,templat:[7,17,19,23,25,28,30,32,44,45,49,50,64],termin:[10,63,64],test2:23,test:[3,7],test_dir:23,test_fil:23,test_start:64,texa:[2,33],text:[57,58],text_record:58,tflite:15,tft_driver:15,tft_espi:15,tftp:57,th:[14,29],than:[6,10,14,41,44,58,61],thank:10,thei:[10,12,32,61,63,64],them:[2,11,12,22,47,58,60,61,63,64],therefor:[3,5,10,11,18,21,33,49,64],thermistor:35,thermistor_ntcg_en:65,thi:[1,2,3,5,6,7,9,10,11,12,13,14,15,17,18,21,22,23,24,30,32,33,35,38,40,41,42,43,44,49,50,51,53,54,55,57,58,59,60,61,62,63,64,65,67,68],thin:47,thing:51,third:62,this_thread:[3,9,15,22,42,43,44,51,54,55,59,61,63,64,68],those:[22,38,44,51,63],though:22,thread:[22,30,32,42,51,54,55,59,61,64],threshold:2,through:[2,7,32,33,43,49,60,63],throughput:3,ti:[2,33],tick:63,tickselect:63,time:[2,5,6,12,18,21,22,23,33,38,40,42,43,44,51,55,58,59,60,63,64,65,68],time_point:23,time_t:[23,30],time_to_l:[53,54,55],timeout:[53,54,55,64],timer:42,tinys3:[7,60],tk:57,tkip:57,tleft:12,tloz_links_awaken:13,tloz_links_awakening_dx:13,tlv:58,tm:51,tmc6300:7,tname:62,tnf:57,to_time_t:[23,30],toler:65,tone:43,too:61,top:63,topic:[9,22],torqu:7,torque_control:7,torquecontroltyp:7,total:[17,23],total_spac:23,touch:37,touchpad:[35,36,57],touchpad_input:37,touchpad_read:37,touchpad_read_fn:37,touchpadinput:37,tp:[23,30],tpd_commercial_ntc:65,trace:51,track:59,transact:60,transaction_queue_depth:60,transceiv:35,transfer:[15,26,31,35,58],transfer_funct:29,transferfunct:[28,29],transform:[7,22],transit:63,transition_click_1:33,transition_hum_1:33,transmiss:[54,60],transmit:[22,43,53,54,55,57],transmit_config:54,transmitt:60,transport:61,tree:[55,60,63],trigger:[2,5,32,33,40,58],tright:12,trim_polici:13,trim_whitespac:13,triple_click:33,truncat:10,ts:33,tselect:12,tstart:12,ttl:[53,54,55],tup:12,tupl:65,turn:[2,44],tvalu:62,two:[1,11,12,14,38,40,44,51,60],twothird:1,tx:57,tx_power_level:57,type5tagtyp:58,type:[1,2,4,7,9,10,12,14,17,18,20,21,22,23,26,32,33,35,37,38,39,40,41,43,44,50,53,54,55,57,58,60,61,62,64,65,68],type_specif:61,typedef:[1,2,7,9,10,14,18,21,22,33,37,38,40,41,43,53,54,55,58,60,64,65,68],typenam:[23,30,44,45,49,50],u:[50,57],ua:6,uart:10,uart_serial_plott:2,ub:6,uc:6,ud:7,udp:[35,52,61],udp_multicast:55,udp_socket:55,udpserv:55,udpsocket:[53,55],uic:[57,58],uint16_t:[1,14,15,30,37,38,57,58,60],uint32_t:[2,12,14,15,42,57,58,61,62],uint64_t:[57,58],uint8_t:[1,2,9,12,14,15,18,21,22,33,37,38,40,43,44,53,54,55,57,58,60,62,67,68],uint:60,unabl:30,unbound:32,unbounded_no_det:32,uncalibr:[12,41],uncent:49,unchang:57,under:[17,23],underflow:17,understand:57,unicast:55,uniqu:[54,61,64],unique_lock:[1,2,3,5,7,12,17,18,21,22,33,38,40,41,42,43,54,58,59,60,63,64,65],unique_ptr:[51,54,61,64],unit:[0,3,5,7,12,17,23,24,41,50,65],univers:10,unknown:[57,68],unless:22,unlimit:10,unlink:23,unmap:41,unord:55,unordered_map:61,unregist:37,unreli:55,until:[2,10,22,23,32,33,42,43,54,55,60,63,64],unus:[12,17,32],unweight:45,unwind:63,up:[2,3,10,12,14,17,23,33,38,40,47,54,58,59,61,63,64],upat:14,updat:[6,7,9,12,14,18,21,24,25,27,28,32,38,40,41,42,44,47,49,50,53,58,59,63],update_detent_config:32,update_period:[7,14,18,21],upper:[15,65],uq:7,uri:[57,58,61],uri_record:58,urn:57,urn_epc:57,urn_epc_id:57,urn_epc_pat:57,urn_epc_raw:57,urn_epc_tag:57,urn_nfc:57,us:[1,2,3,5,6,7,8,9,10,11,12,14,15,17,18,19,21,22,23,24,25,30,31,32,33,34,38,40,41,42,43,44,45,47,49,51,52,53,54,55,57,58,60,61,62,63,64,65],usag:[10,13],used_spac:23,user:[2,3,5,8,9,10,15,17,18,21,30,32,33,38,40,60,61,64],usernam:30,ust:22,util:[23,41,44,46,50,51,53,57,58],uuid:57,uuids_128_bit_complet:57,uuids_128_bit_parti:57,uuids_16_bit_complet:57,uuids_16_bit_parti:57,uuids_32_bit_complet:57,uuids_32_bit_parti:57,v:[7,11,49,50],v_in:65,val_mask:40,valid:[30,33,43,53,54,55,61],valu:[1,2,3,5,9,11,12,13,14,17,18,21,23,27,32,33,38,40,41,42,43,44,45,46,47,49,50,57,58,59,60,61,62,64,65],vari:32,variabl:[15,41,44,64],varieti:2,variou:43,ve:[10,23,64],vector2d:[35,45,48],vector2f:41,vector:[2,3,5,7,9,12,13,22,23,27,41,42,43,50,51,53,54,55,57,61,62,64,65],veloc:[7,18,21],velocity_filt:[7,18,21],velocity_filter_fn:[18,21],velocity_limit:7,velocity_openloop:7,velocity_pid_config:7,veloicti:7,veolciti:[18,21],verbos:[1,2,3,5,6,7,9,12,14,17,18,21,22,32,33,37,38,40,41,42,43,54,55,58,59,60,61,63,64,65,67,68],version:[10,50,61],via:[23,33,38,40],vibe:33,vibrat:[32,33],video:[14,61],view:[54,55,57],vio:7,virtual:[12,63],visual:51,volt:[2,6],voltag:[1,2,3,5,6,7,8,22,65],voltage_limit:6,vram0:14,vram1:14,vram:14,vram_size_byt:14,vram_size_px:14,vtaskgetinfo:51,w:[23,33,44,49],wa:[2,3,5,6,9,10,12,15,17,18,21,22,30,41,53,54,55,60,61,63,64],wai:[1,2,3,5,7,10,12,13,17,18,21,23,32,33,38,40,41,43,57,58,59,60,62,63,64,65],wait:[22,32,54,55,64],wait_for:[1,3,5,12,17,18,21,22,33,38,40,41,42,43,54,58,59,60,63,64],wait_for_respons:[54,55],wait_tim:42,wait_until:[2,7,64,65],want:[1,2,3,5,7,10,12,14,17,18,21,22,32,33,38,40,41,42,43,51,54,55,58,59,60,64,65],warn:[1,2,3,5,6,7,9,12,14,17,18,21,22,23,33,37,38,40,41,42,43,44,54,55,58,59,60,61,64,65,67,68],warn_rate_limit:44,watch:57,water:51,wave:47,waveform:33,we:[1,2,6,7,10,12,18,21,22,23,32,33,38,40,42,43,53,54,55,58,60,63,64,65],weak:32,webgm:63,weight:45,weightedconfig:45,welcom:44,well:[2,12,20,22,26,28,33,47,51,54,57,58,61,63,64],well_known:57,wep:57,were:[6,10,41,53,54,55,59,64],what:[5,6,22,60,63],whatev:[38,40],whe:68,when:[1,2,3,5,7,10,12,15,17,18,19,21,22,32,33,38,40,41,43,49,53,54,55,58,59,60,61,62,63,64,65,68],whenev:63,where:[8,17,32,51,55,63,65],whether:[3,9,12,14,18,21,23,42,43,49,53,54,55,60,61,64,68],which:[1,2,3,5,7,8,9,10,11,12,13,14,18,21,22,23,24,25,26,27,32,33,34,38,39,40,42,43,44,45,46,49,50,51,54,55,57,58,60,61,63,64,65,67,68],who:15,whole:[61,63],wi:[67,68],width:[14,15,32,61],wifi:[35,57,58],wifi_ap:67,wifi_record:58,wifi_sta:68,wifiap:67,wifiauthenticationtyp:57,wificonfig:57,wifiencryptiontyp:57,wifista:68,wiki:[24,25,28,53,54,55,65],wikipedia:[17,24,25,28,53,54,55,65],wind:59,window_size_byt:[3,65],windup:59,wire:60,wireless:58,wish:[10,12],witdth:17,within:[11,18,20,21,22,32,44,49,55,64,65],without:[2,3,7,10,32,51,58,60,61],work:[7,9,10,23,32,51,61,64],world:10,worri:65,would:[17,22,63,64],wpa2:57,wpa2_enterpris:57,wpa2_person:57,wpa:57,wpa_enterpris:57,wpa_person:57,wpa_wpa2_person:57,wrap:[6,17,22,38,60],wrapper:[3,5,9,10,13,14,23,37,41,42,44,45,47,60,62,63],write:[1,2,7,10,12,14,15,18,21,23,27,33,38,40,43,58],write_fn:[1,2,18,21,33,38,40,43,58],write_row:13,written:[43,57,58,63],wrote:[13,23],ws2811:43,ws2812:43,ws2812_10mhz_bytes_encoder_config:60,ws2812_freq_hz:60,ws2812b:60,ws2813:43,www:[2,24,28,33,57,58],x1:50,x2:50,x:[2,10,12,15,24,37,38,40,41,50,51,58,61],x_calibr:[12,41],x_mv:[1,2,12,41],xe:15,xml:30,xml_in:30,xqueuecreat:2,xqueuerec:2,xs:15,y1:50,y2:50,y:[2,12,15,24,37,41,44,47,50,61,67,68],y_calibr:[12,41],y_mv:[1,2,12,41],ye:[15,68],yellow:[13,44],yet:[7,18,21,31,64],yield:60,you:[3,7,10,12,13,14,17,22,23,42,43,44,47,49,51,58,59,60,61,62,63,67,68],your:[22,44,51],yourself:63,ys:15,z:17,zelda1:13,zelda2:13,zelda:13,zelda_2:13,zero:[7,17,43,49,58,65],zero_electric_offset:7},titles:["ADC Types","ADS1x15 I2C ADC","ADS7138 I2C ADC","Continuous ADC","ADC APIs","Oneshot ADC","BLDC Driver","BLDC Motor","BLDC APIs","Button APIs","Command Line Interface (CLI) APIs","Color APIs","Controller APIs","CSV APIs","Display","Display Drivers","Display APIs","ABI Encoder","AS5600 Magnetic Encoder","Encoder Types","Encoder APIs","MT6701 Magnetic Encoder","Event Manager APIs","File System APIs","Biquad Filter","Butterworth Filter","Filter APIs","Lowpass Filter","Second Order Sections (SoS) Filter","Transfer Function API","FTP Server","FTP APIs","BLDC Haptics","DRV2605 Haptic Motor Driver","Haptics APIs","ESPP Documentation","Input APIs","Touchpad Input","AW9523 I/O Expander","IO Expander APIs","MCP23x17 I/O Expander","Joystick APIs","LED APIs","LED Strip APIs","Logging APIs","Bezier","Fast Math","Gaussian","Math APIs","Range Mapper","Vector2d","Monitoring APIs","Network APIs","Sockets","TCP Sockets","UDP Sockets","NFC APIs","NDEF","ST25DV","PID APIs","Remote Control Transceiver (RMT)","RTSP APIs","Serialization APIs","State Machine APIs","Task APIs","Thermistor APIs","WiFi APIs","WiFi Access Point (AP)","WiFi Station (STA)"],titleterms:{"1":[32,43,60],"2":32,"class":[1,2,3,5,6,7,9,10,11,12,13,14,15,17,18,21,22,23,24,25,27,28,30,32,33,37,38,40,41,42,43,44,45,47,49,50,51,53,54,55,57,58,59,60,61,62,63,64,65,67,68],"function":[29,30],"long":64,abi:17,abiencod:17,access:67,adc:[0,1,2,3,4,5,41,65],ads1x15:1,ads7138:2,alpaca:62,analog:12,ap:67,apa102:43,api:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68],as5600:18,aw9523:38,basic:[32,44,51,59,64],bench:63,bezier:45,biquad:24,bldc:[6,7,8,32],box:15,breath:42,butterworth:25,button:9,buzz:32,cli:10,click:32,client:[54,55,61],color:11,command:10,complex:[13,59,62,63],config:15,continu:3,control:[12,60],csv:13,data:60,de:62,devic:63,digit:12,displai:[14,15,16],document:35,driver:[6,15,33],drv2605:33,encod:[17,18,19,20,21,60],esp32:15,espp:35,event:22,exampl:[1,2,3,5,7,9,10,12,13,15,17,18,21,22,23,32,33,38,40,41,42,43,44,51,54,55,58,59,60,61,62,63,64,65,67,68],expand:[38,39,40],fast:46,file:[0,1,2,3,5,6,7,9,10,11,12,13,14,15,17,18,19,21,22,23,24,25,27,28,29,30,32,33,37,38,40,41,42,43,44,45,46,47,49,50,51,53,54,55,57,58,59,60,61,62,63,64,65,67,68],filesystem:23,filter:[24,25,26,27,28],format:44,ftp:[30,31],gaussian:47,gener:63,get_latest_info:51,haptic:[32,33,34],header:[0,1,2,3,5,6,7,9,10,11,12,13,14,15,17,18,19,21,22,23,24,25,27,28,29,30,32,33,37,38,40,41,42,43,44,45,46,47,49,50,51,53,54,55,57,58,59,60,61,62,63,64,65,67,68],hfsm:63,i2c:[1,2,12],i:[38,40],ili9341:15,info:[23,64],input:[36,37],interfac:10,io:39,joystick:41,kit:15,led:[42,43],line:10,linear:[17,42],log:44,logger:44,lowpass:27,machin:63,macro:[10,13,62,63],magnet:[18,21],manag:22,mani:64,mapper:49,math:[46,48],mcp23x17:40,monitor:51,motor:[7,33],mt6701:21,multicast:55,ndef:57,network:52,newlib:23,nfc:56,o:[38,40],oneshot:[5,10],order:28,pid:59,plai:32,point:67,posix:23,rang:49,reader:13,real:63,refer:[0,1,2,3,5,6,7,9,10,11,12,13,14,15,17,18,19,21,22,23,24,25,27,28,29,30,32,33,37,38,40,41,42,43,44,45,46,47,49,50,51,53,54,55,57,58,59,60,61,62,63,64,65,67,68],remot:60,request:64,respons:[54,55],rmt:60,rotat:17,rtsp:61,run:[63,64],s3:15,second:28,section:28,serial:62,server:[30,54,55,61],so:28,socket:[53,54,55],spi:43,st25dv:58,st7789:15,sta:68,state:63,station:68,std:23,stop:64,strip:43,structur:62,system:23,task:[51,64],tcp:54,test:63,thermistor:65,thread:44,touchpad:37,transceiv:60,transfer:29,transmit:60,ttgo:15,type:[0,19],udp:55,union:[57,58],usag:[7,32],valid:65,vector2d:50,verbos:44,via:43,wifi:[66,67,68],writer:13,wrover:15,ws2812:60}}) 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    Macros

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    +__gnu_linux__
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    API Reference

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    Running the HFSM Test Bench on a Real Device:

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    Classes

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    Classes

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    Task Request Stop Example +
    +inline bool is_running()
    +

    Is the task running?

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    Returns
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    true if the task is running, false otherwise.

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    Public Static Functions

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    API Reference

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  • WiFi APIs
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    API Reference

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  • WiFi Station (STA)
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    API Reference

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