StackChan/firmware/main/hal/hal_espnow.cpp

/*
 * SPDX-FileCopyrightText: 2026 M5Stack Technology CO LTD
 *
 * SPDX-License-Identifier: MIT
 */
#include "hal.h"
#include <algorithm>
#include <mooncake_log.h>
#include <esp_wifi.h>
#include <esp_netif.h>
#include <esp_err.h>
#include <esp_system.h>
#include <esp_event.h>
#include <lwip/err.h>
#include <lwip/sys.h>
#include <time.h>
#include <sys/time.h>
#include <esp_sntp.h>
#include <esp_log.h>
#include <esp_mac.h>
#include <espnow.h>
#include <espnow_storage.h>
#include <espnow_utils.h>
#include <esp_check.h>

static const std::string _tag = "HAL-EspNow";

static EventGroupHandle_t s_wifi_event_group = NULL;
static const int WIFI_CONNECTED_BIT          = BIT0;
static const int WIFI_DISCONNECTED_BIT       = BIT1;
static const int WIFI_FAIL_BIT               = BIT2;
static const int WIFI_STARTED_BIT            = BIT3;

static void wifi_event_handler(void* arg, esp_event_base_t event_base, int32_t event_id, void* event_data)
{
    const char* TAG = "WiFi";

    // Wifi started
    if (event_base == WIFI_EVENT && event_id == WIFI_EVENT_STA_START) {
        xEventGroupSetBits(s_wifi_event_group, WIFI_STARTED_BIT);
    }

    // Disconnected
    else if (event_base == WIFI_EVENT && event_id == WIFI_EVENT_STA_DISCONNECTED) {
        xEventGroupSetBits(s_wifi_event_group, WIFI_DISCONNECTED_BIT);
        xEventGroupSetBits(s_wifi_event_group, WIFI_FAIL_BIT);
    }

    // Connected
    else if (event_base == IP_EVENT && event_id == IP_EVENT_STA_GOT_IP) {
        ip_event_got_ip_t* event = (ip_event_got_ip_t*)event_data;
        ESP_LOGI(TAG, "got ip:" IPSTR, IP2STR(&event->ip_info.ip));
        xEventGroupSetBits(s_wifi_event_group, WIFI_CONNECTED_BIT);
    }
}

static void _wifi_init(int channel = 1)
{
    mclog::tagInfo(_tag, "wifi init");

    // ESP_ERROR_CHECK(nvs_flash_init());
    // ESP_ERROR_CHECK(esp_netif_init());
    // ESP_ERROR_CHECK(esp_event_loop_create_default());
    esp_netif_t* sta_netif = esp_netif_create_default_wifi_sta();
    assert(sta_netif);

    wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT();
    ESP_ERROR_CHECK(esp_wifi_init(&cfg));
    ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_STA));

    if (!s_wifi_event_group) {
        s_wifi_event_group = xEventGroupCreate();
    }

    ESP_ERROR_CHECK(
        esp_event_handler_instance_register(WIFI_EVENT, ESP_EVENT_ANY_ID, &wifi_event_handler, nullptr, nullptr));
    ESP_ERROR_CHECK(
        esp_event_handler_instance_register(IP_EVENT, IP_EVENT_STA_GOT_IP, &wifi_event_handler, nullptr, nullptr));

    ESP_ERROR_CHECK(esp_wifi_start());

    channel = std::clamp(channel, 1, 13);

    mclog::tagInfo(_tag, "wifi channel set to {}", channel);

    // 建议先开启混杂模式再设信道，确保射频频率被强制锁定
    ESP_ERROR_CHECK(esp_wifi_set_promiscuous(true));
    ESP_ERROR_CHECK(esp_wifi_set_channel(channel, WIFI_SECOND_CHAN_NONE));
    ESP_ERROR_CHECK(esp_wifi_set_promiscuous(false));
}

static esp_err_t _handle_espnow_received(uint8_t* src_addr, void* data, size_t size, wifi_pkt_rx_ctrl_t* rx_ctrl)
{
    const char* TAG = "EspNow";

    ESP_PARAM_CHECK(src_addr);
    ESP_PARAM_CHECK(data);
    ESP_PARAM_CHECK(size);
    ESP_PARAM_CHECK(rx_ctrl);

    static uint32_t count = 0;

    ESP_LOGI(TAG, "espnow_recv, <%" PRIu32 "> [" MACSTR "][%d][%d][%u]: %.*s", count++, MAC2STR(src_addr),
             rx_ctrl->channel, rx_ctrl->rssi, size, size, "~");

    std::vector<uint8_t> received_data((uint8_t*)data, (uint8_t*)data + size);
    GetHAL().onEspNowData.emit(received_data);

    return ESP_OK;
}

void Hal::startEspNow(int channel)
{
    mclog::tagInfo(_tag, "start EspNow on channel {}", channel);

    _wifi_init(channel);

    espnow_config_t espnow_config = ESPNOW_INIT_CONFIG_DEFAULT();

    // 2. 修改关键参数以兼容 Arduino
    espnow_config.forward_enable         = false;  // 关闭转发（多跳），Arduino 无法解析带转发头的包
    espnow_config.forward_switch_channel = false;  // 关闭自动切信道
    espnow_config.send_retry_num         = 5;      // 失败重试次数（可按需调，建议5-10）

    // 3. 修改接收使能开关
    espnow_config.receive_enable.forward = false;  // 关闭转发包接收
    espnow_config.receive_enable.data    = true;   // 必须开启这个，才能接收 Arduino 发来的普通数据包

    espnow_init(&espnow_config);
    espnow_set_config_for_data_type(ESPNOW_DATA_TYPE_DATA, true, _handle_espnow_received);

    mclog::tagInfo(_tag, "factory mac: {}", getFactoryMacString());
}

bool Hal::espNowSend(const std::vector<uint8_t>& data, const uint8_t* destAddr)
{
    mclog::tagInfo(_tag, "send data with size: {}", data.size());

    espnow_frame_head_t frame_head = ESPNOW_FRAME_CONFIG_DEFAULT();
    esp_err_t ret                  = ESP_FAIL;

    if (destAddr == nullptr) {
        ret = espnow_send(ESPNOW_DATA_TYPE_DATA, ESPNOW_ADDR_BROADCAST, data.data(), data.size(), &frame_head,
                          portMAX_DELAY);
    } else {
        ret = espnow_send(ESPNOW_DATA_TYPE_DATA, destAddr, data.data(), data.size(), &frame_head, portMAX_DELAY);
    }

    if (ret != ESP_OK) {
        mclog::tagError(_tag, "send failed: {}", esp_err_to_name(ret));
        return false;
    }
    return true;
}

#include <driver/gpio.h>

void Hal::setLaserEnabled(bool enabled)
{
    static bool laser_enabled = false;
    static bool is_inited     = false;

    if (laser_enabled == enabled) {
        return;
    }

    const gpio_num_t laser_pin = GPIO_NUM_9;

    if (!is_inited) {
        gpio_reset_pin(laser_pin);
        gpio_set_direction(laser_pin, GPIO_MODE_OUTPUT);
        gpio_set_pull_mode(laser_pin, GPIO_PULLUP_ONLY);
        is_inited = true;
    }

    mclog::tagInfo(_tag, "set laser {}", enabled ? "enabled" : "disabled");

    if (enabled) {
        gpio_set_level(laser_pin, 1);
    } else {
        gpio_set_level(laser_pin, 0);
    }
    laser_enabled = enabled;
}