Touch OSC and NodeMCU

1) A layout for the mobile phone
2) A sketch to receive the data on a NodeMCU over Wifi
3) A sketch to send a RC package to the stm32 from the NodeMCU

TODO: Merge these two sketches later

NodeMCU/Remote.ino/Remote.ino.ino

@@ -0,0 +1,183 @@
+/*---------------------------------------------------------------------------------------------
+
+  Open Sound Control (OSC) library for the ESP8266/ESP32
+
+  Example for receiving open sound control (OSC) bundles on the ESP8266/ESP32
+  Send integers '0' or '1' to the address "/led" to turn on/off the built-in LED of the esp8266.
+
+  This example code is in the public domain.
+
+  Inspired from https://trippylighting.com/teensy-arduino-ect/touchosc-and-arduino-oscuino/
+
+--------------------------------------------------------------------------------------------- */
+#ifdef ESP8266
+#include <ESP8266WiFi.h>
+#else
+#include <WiFi.h>
+#endif
+#include <WiFiUdp.h>
+#include <OSCMessage.h>
+#include <OSCBundle.h>
+#include <OSCData.h>
+
+char ssid[] = "FaRgO2G4";          // your network SSID (name)
+char pass[] = "Johansson85";       // your network password
+
+// A UDP instance to let us send and receive packets over UDP
+WiFiUDP Udp;
+const IPAddress outIp(192,168,1,72);        // remote IP (not needed for receive)
+const unsigned int outPort = 9999;          // remote port (not needed for receive)
+const unsigned int localPort = 8888;        // local port to listen for UDP packets (here's where we send the packets)
+
+
+OSCErrorCode error;
+unsigned int ledState = LOW;              // LOW means led is *on*
+
+#ifndef BUILTIN_LED
+#ifdef LED_BUILTIN
+#define BUILTIN_LED LED_BUILTIN
+#else
+#define BUILTIN_LED 13
+#endif
+#endif
+
+void setup() {
+  pinMode(BUILTIN_LED, OUTPUT);
+  digitalWrite(BUILTIN_LED, ledState);    // turn *on* led
+
+  Serial.begin(115200);
+
+  // Connect to WiFi network
+  Serial.println();
+  Serial.println();
+  Serial.print("Connecting to ");
+  Serial.println(ssid);
+  WiFi.begin(ssid, pass);
+
+  while (WiFi.status() != WL_CONNECTED) {
+    delay(500);
+    Serial.print(".");
+  }
+  Serial.println("");
+
+  Serial.println("WiFi connected");
+  Serial.println("IP address: ");
+  Serial.println(WiFi.localIP());
+
+  Serial.println("Starting UDP");
+  Udp.begin(localPort);
+  Serial.print("Local port: ");
+#ifdef ESP32
+  Serial.println(localPort);
+#else
+  Serial.println(Udp.localPort());
+#endif
+
+}
+
+
+void OSCMsgReceive(){
+  OSCMessage msgIN;
+  int size;
+  if((size = Udp.parsePacket())>0){
+    while(size--)
+      msgIN.fill(Udp.read());
+    if(!msgIN.hasError()){
+      msgIN.route("/Robot/Enable",toggleEnabled);
+      msgIN.route("/Fader/Throttle",funcThrottle);
+      msgIN.route("/Fader/Steering",funcSteering);
+      msgIN.route("/Gain/Kp",funcKp);
+      //msgIN.route("/Gain/Ki",funcKi);
+      //msgIN.route("/Gain/Kd",funcKd);
+    }
+  }
+}
+
+void toggleEnabled(OSCMessage &msg, int addrOffset){
+  ledState = (boolean) msg.getFloat(0);
+  OSCMessage msgOUT("/Robot/Enable");
+
+  digitalWrite(BUILTIN_LED, !ledState);
+
+  msgOUT.add(ledState);
+  if (ledState) {
+    Serial.println("Robot enabled");
+  }
+  else {
+    Serial.println("Robot disabled");
+  }
+
+  //send osc message back to controll object in TouchOSC
+  //Local feedback is turned off in the TouchOSC interface.
+  //The button is turned on in TouchOSC interface whe the conrol receives this message.
+  Udp.beginPacket(Udp.remoteIP(), outPort);
+  msgOUT.send(Udp); // send the bytes
+  Udp.endPacket(); // mark the end of the OSC Packet
+  msgOUT.empty(); // free space occupied by message
+}
+
+void funcThrottle(OSCMessage &msg, int addrOffset ){
+
+  int value = msg.getFloat(0);
+  OSCMessage msgOUT("/Fader/Throttle");
+
+  Serial.print("Throttle = : ");
+  Serial.println(value);
+
+  msgOUT.add(value);
+
+  Udp.beginPacket(Udp.remoteIP(), outPort);
+  msgOUT.send(Udp); // send the bytes
+  Udp.endPacket(); // mark the end of the OSC Packet
+  msgOUT.empty(); // free space occupied by message
+}
+
+void funcSteering(OSCMessage &msg, int addrOffset ){
+
+  int value = msg.getFloat(0);
+  OSCMessage msgOUT("/Fader/Steering");
+
+  Serial.print("Steering = : ");
+  Serial.println(value);
+
+  msgOUT.add(value);
+
+  Udp.beginPacket(Udp.remoteIP(), outPort);
+  msgOUT.send(Udp); // send the bytes
+  Udp.endPacket(); // mark the end of the OSC Packet
+  msgOUT.empty(); // free space occupied by message
+}
+
+
+void funcKp(OSCMessage &msg, int addrOffset ){
+
+  int value = msg.getFloat(0);
+  OSCMessage msgOUT("/Gain/Kp");
+
+  Serial.print("Kp = : ");
+  Serial.println(value);
+
+  msgOUT.add(value);
+
+  Udp.beginPacket(Udp.remoteIP(), outPort);
+  msgOUT.send(Udp); // send the bytes
+  Udp.endPacket(); // mark the end of the OSC Packet
+  msgOUT.empty(); // free space occupied by message
+
+  // Redo this for label
+  OSCMessage msgLABEL("/Gain/KpOut");
+  msgLABEL.add(value);
+
+  Udp.beginPacket(Udp.remoteIP(), outPort);
+  msgLABEL.send(Udp); // send the bytes
+  Udp.endPacket(); // mark the end of the OSC Packet
+  msgLABEL.empty(); // free space occupied by message
+}
+
+
+void loop() {
+  OSCMsgReceive();
+}
+
+
+

NodeMCU/SerialProtocol/SerialProtocol.ino

@@ -0,0 +1,50 @@
+
+
+unsigned int ledState = LOW;
+
+typedef struct Packet {
+  int16_t MagicWordLow;
+  int16_t MagicWordHigh;
+  
+  int16_t Throttle;
+  int16_t Steering;
+  
+  int16_t Kp;
+  int16_t Ki;
+  int16_t Kd;
+  
+  bool Enabled;
+};
+
+void setup() {
+  pinMode(LED_BUILTIN, OUTPUT);
+  Serial.begin(57600);
+  Serial.println("Starting...");
+
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+  delay(2000);
+
+  ledState = !ledState;
+  digitalWrite(BUILTIN_LED, ledState);
+  
+  int bufferSize = 15;
+  uint8_t buffer[bufferSize];
+
+  Packet* pPacket = (Packet*)buffer;
+
+  pPacket->MagicWordLow = 0x0DED;
+  pPacket->MagicWordHigh = 0x0DEC;
+  pPacket->Throttle = 123;
+  pPacket->Steering = 456;
+  pPacket->Kp = 10;
+  pPacket->Ki = 20;
+  pPacket->Kd = 30;
+  pPacket->Enabled = true;
+  
+
+  Serial.write(buffer, bufferSize);
+  
+}

src/serialization/RCProtocol.h

@@ -24,8 +24,6 @@ public:
 
     RCProtocol();
 
-    void start();
-
     //! Read the latest package
     RCProtocol::Packet read();
 
@@ -33,8 +31,6 @@ public:
     //! Returns true when a hole package is available
     bool appendByte(uint8_t newByte);
 
-    // static int size();
-
     const static uint32_t MAGIC_WORD = 0xDEC0DED;
 
 private: