New state machine, local UDP route

include/controller.h

@@ -6,17 +6,46 @@
 #include "configurations/EthernetConfiguration.h"
 #include "configurations/KeyConfiguration.h"
 
+enum class SesameDeviceStatus {
+
+    /**
+     * @brief The initial state of the device after boot
+     */
+    initial,
+
+    /**
+     * @brief The device has configured the individual parts,
+     * but has no the ethernet hardware detected.
+     */
+    configuredButNoEthernetHardware,
+
+    /**
+     * @brief The device has ethernet hardware, but no ethernet link
+     */
+    ethernetHardwareButNoLink,
+
+    /**
+     * @brief The device has an ethernet link, but no IP address.
+     */
+    ethernetLinkButNoIP,
+
+    /**
+     * @brief The device has an IP address, but no socket connection
+     */
+    ipAddressButNoSocketConnection,
+};
+
 class SesameController: public ServerConnectionCallbacks {
 
 public:
-    SesameController();
+    SesameController(ServoConfiguration servoConfig, ServerConfiguration serverConfig, EthernetConfiguration ethernetConfig, KeyConfiguration keyConfig);
-
-    void configure(ServoConfiguration servoConfig, ServerConfiguration serverConfig, EthernetConfiguration ethernetConfig, KeyConfiguration keyConfig);
 
     void loop(uint32_t millis);
 
 private:
 
+    SesameDeviceStatus status = SesameDeviceStatus::initial;
+
     uint32_t currentTime = 0;
 
     ServerConnection server;
@@ -26,7 +55,7 @@ private:
 
     // An EthernetUDP instance to send and receive packets over UDP
     EthernetUDP udp;
-
+    EthernetHardwareStatus ethernetStatus;
     EthernetConfiguration ethernetConfig;
     bool ethernetIsConfigured = false;
 
@@ -43,6 +72,31 @@ private:
 
     SignedMessage outgoingMessage;
 
+    // MARK: Ethernet
+
+    void initializeSpiBusForEthernetModule();
+
+    /**
+     * @brief Checks to ensure that Ethernet hardware is available
+     * 
+     * @return true The hardware is available
+     * @return false The hardware is missing
+     */
+    bool hasAvailableEthernetHardware();
+
+    /**
+     * @brief Check that an active ethernet link is available
+     * 
+     * @return true Link is available
+     * @return false Link is absent
+     */
+    bool hasEthernetLink();
+
+    void configureEthernet();
+
+    void startUDP();
+    void stopUDP();
+    
     bool hasCurrentChallenge() {
         return currentChallengeExpiry > currentTime;
     }

include/server.h

@@ -46,14 +46,16 @@ class ServerConnection {
 
 public:
 
-    ServerConnection();
+    ServerConnection(ServerConfiguration configuration);
 
     /**
      * @brief Set the configuration and the callback handler
      * 
      * @param callback The handler to handle messages and errors
      */
-    void configure(ServerConfiguration configuration, ServerConnectionCallbacks* callbacks);
+    void setCallbacks(ServerConnectionCallbacks* callbacks);
+
+    void shouldConnect(bool connect);
 
     /**
      * @brief Call this function regularly to handle socket operations.
@@ -73,7 +75,8 @@ public:
 
 private:
 
-    uint32_t currentTime;
+    uint32_t currentTime = 0;
+    bool shouldBeConnected = false;
 
     bool socketIsConnected() {
         return webSocket.isConnected();
@@ -81,15 +84,12 @@ private:
 
     void connect();
 
-    void disconnect();
-
-    bool shouldReconnect = true;
     bool isConnecting = false;
+    bool isDisconnecting = false;
     uint32_t connectionTimeout = 0;
     uint32_t nextReconnectAttemptMs = 0;
 
-    void didDisconnect();
+    void didChangeConnectionState(bool isConnected);
-    void didConnect();
 
 
     ServerConfiguration configuration;

include/servo.h

@@ -52,15 +52,10 @@ public:
 
     /**
      * @brief Construct a new servo controller
-     */
-    ServoController();
-
-    /**
-     * @brief Configure the servo
      * 
      * @param The configuration for the servo
      */
-    void configure(ServoConfiguration configuration);
+    ServoController(ServoConfiguration configuration);
 
     /**
      * @brief Update the servo state periodically

src/controller.cpp

@@ -5,62 +5,133 @@
 #include <SPI.h>
 #include <Ethernet.h>
 
-SesameController::SesameController() {
+SesameController::SesameController(ServoConfiguration servoConfig, ServerConfiguration serverConfig, EthernetConfiguration ethernetConfig, KeyConfiguration keyConfig) 
+    : ethernetConfig(ethernetConfig), keyConfig(keyConfig), servo(servoConfig), server(serverConfig) {
     
 }
 
-void SesameController::configure(ServoConfiguration servoConfig, ServerConfiguration serverConfig, EthernetConfiguration ethernetConfig, KeyConfiguration keyConfig) {
+void SesameController::initializeSpiBusForEthernetModule() {
-    this->ethernetConfig = ethernetConfig;
-    this->keyConfig = keyConfig;
-
-    // Ensure source of random numbers without WiFi and Bluetooth
-    enableCrypto();
-
-    // Initialize SPI interface to Ethernet module
     SPI.begin(ethernetConfig.spiPinSclk, ethernetConfig.spiPinMiso, ethernetConfig.spiPinMosi, ethernetConfig.spiPinSS); //SCLK, MISO, MOSI, SS
     pinMode(ethernetConfig.spiPinSS, OUTPUT);
-
     Ethernet.init(ethernetConfig.spiPinSS);
-
-    if (Ethernet.begin(ethernetConfig.macAddress, ethernetConfig.dhcpLeaseTimeoutMs, ethernetConfig.dhcpLeaseResponseTimeoutMs) == 1) {
-        Serial.print("[INFO] DHCP assigned IP ");
-        Serial.println(Ethernet.localIP());
-        ethernetIsConfigured = true;
-    } else {
-        // Check for Ethernet hardware present
-        if (Ethernet.hardwareStatus() == EthernetNoHardware) {
-            Serial.println("[ERROR] Ethernet shield not found.");
-        } else if (Ethernet.linkStatus() == LinkOFF) {
-            Serial.println("[ERROR] Ethernet cable is not connected.");
-        } else if (Ethernet.linkStatus() == Unknown) {
-            Serial.println("[ERROR] Ethernet cable status unknown.");
-        } else if (Ethernet.linkStatus() == LinkON) {
-            Serial.println("[INFO] Ethernet cable is connected.");
-        
-            // Try to configure using IP address instead of DHCP
-            Ethernet.begin(ethernetConfig.macAddress, ethernetConfig.manualIp, ethernetConfig.manualDnsAddress);
-            Serial.print("[WARNING] DHCP failed, using self-assigned IP ");
-            Serial.println(Ethernet.localIP());
-            ethernetIsConfigured = true;
-        }
-    }
-    
-    servo.configure(servoConfig);
-    Serial.println("[INFO] Servo configured");
-
-    // Direct messages and errors over the websocket to the controller
-    server.configure(serverConfig, this);
-    Serial.println("[INFO] Server connection configured");
-
-    udp.begin(ethernetConfig.udpPort);
-    Serial.println("[INFO] Local UDP connection configured");
 }
 
 void SesameController::loop(uint32_t millis) {
     currentTime = millis;
-    //server.loop(millis);
 
+    switch (status) {
+        case SesameDeviceStatus::initial:
+            // In initial state, first configure SPI and 
+            enableCrypto(); // Ensure source of random numbers without WiFi and Bluetooth
+            initializeSpiBusForEthernetModule();
+            // Direct messages and errors over the websocket to the controller
+            server.setCallbacks(this);
+            configureEthernet();
+            status = SesameDeviceStatus::configuredButNoEthernetHardware;
+            Serial.println("[INFO] State: initial -> noHardware");
+            // Directly check for ethernet hardware
+            // break;
+        case SesameDeviceStatus::configuredButNoEthernetHardware:
+            if (!hasAvailableEthernetHardware()) { 
+                // No ethernet hardware found, wait
+                // TODO: Try rebooting after some time as a potential fix?
+                break; 
+            } 
+            status = SesameDeviceStatus::ethernetHardwareButNoLink;
+            Serial.println("[INFO] State: noHardware -> noLink");
+            // Directly check for Ethernet link
+            // break;
+        case SesameDeviceStatus::ethernetHardwareButNoLink:
+            if (!hasEthernetLink()) { 
+                if (!hasAvailableEthernetHardware()) { 
+                    status = SesameDeviceStatus::configuredButNoEthernetHardware;
+                    Serial.println("[INFO] State: noLink -> noHardware");
+                    break;
+                } 
+                // Wait for ethernet link
+                // TODO: Try rebooting after some time as a potential fix?
+                break; 
+            }
+            status = SesameDeviceStatus::ethernetLinkButNoIP;
+            Serial.println("[INFO] State: noLink -> noIP");
+            // Directly check for socket connection
+            // break;
+
+        case SesameDeviceStatus::ethernetLinkButNoIP:
+            if (!hasEthernetLink()) { 
+                if (hasAvailableEthernetHardware()) {
+                    status = SesameDeviceStatus::ethernetHardwareButNoLink;
+                    Serial.println("[INFO] State: noIP -> noLink");
+                } else {
+                    status = SesameDeviceStatus::configuredButNoEthernetHardware;
+                    Serial.println("[INFO] State: noIP -> noHardware");
+                } 
+                break; 
+            }
+            
+            startUDP();
+            status = SesameDeviceStatus::ipAddressButNoSocketConnection;
+            Serial.println("[INFO] State: noIP -> noSocket");
+            // Directly check for socket connection
+            // break;
+
+        case SesameDeviceStatus::ipAddressButNoSocketConnection:
+            if (!hasEthernetLink()) { 
+                server.shouldConnect(false);
+                stopUDP();
+                if (!hasAvailableEthernetHardware()) { 
+                    status = SesameDeviceStatus::configuredButNoEthernetHardware;
+                    Serial.println("[INFO] State: noSocket -> noHardware");
+                } else {
+                    status = SesameDeviceStatus::ethernetHardwareButNoLink;
+                    Serial.println("[INFO] State: noSocket -> noLink");
+                }
+                break; 
+            }
+            server.shouldConnect(true);
+            server.loop(millis);
             checkLocalMessage();
+            break;
+    }
+}
+
+bool SesameController::hasAvailableEthernetHardware() {
+    EthernetHardwareStatus ethernetStatus = Ethernet.hardwareStatus();
+
+    static bool didNotify = false;
+
+    if (ethernetStatus != EthernetW5500) {
+        if (!didNotify) {
+            Serial.print("[ERROR] No Ethernet hardware found: ");
+            Serial.println(ethernetStatus);
+            didNotify = true;
+        }
+        return false;
+    }
+    return true;
+}
+
+bool SesameController::hasEthernetLink() {
+    return Ethernet.linkStatus() == EthernetLinkStatus::LinkON;
+}
+
+void SesameController::configureEthernet() {
+    if (Ethernet.begin(ethernetConfig.macAddress, ethernetConfig.dhcpLeaseTimeoutMs, ethernetConfig.dhcpLeaseResponseTimeoutMs) == 1) {
+        Serial.print("[INFO] DHCP assigned IP ");
+        Serial.println(Ethernet.localIP());
+        return;
+    }
+    Ethernet.begin(ethernetConfig.macAddress, ethernetConfig.manualIp, ethernetConfig.manualDnsAddress);
+    Serial.print("[WARNING] DHCP failed, using self-assigned IP ");
+    Serial.println(Ethernet.localIP());
+}
+
+void SesameController::startUDP() {
+    udp.begin(ethernetConfig.udpPort);
+}
+
+void SesameController::stopUDP() {
+    udp.stop();
 }
     
 // MARK: Local

src/main.cpp

@@ -22,13 +22,6 @@
 #include "controller.h"
 #include "config.h"
 
-SesameController controller{};
-
-void setup() {
-    Serial.begin(serialBaudRate);
-    Serial.setDebugOutput(true);
-    Serial.println("[INFO] Device started");
-
 ServoConfiguration servoConfig {
     .pwmTimer = pwmTimer,
     .pwmFrequency = servoFrequency,
@@ -68,7 +61,12 @@ void setup() {
     .challengeExpiryMs = challengeExpiryMs,
 };
 
-    controller.configure(servoConfig, serverConfig, ethernetConfig, keyConfig);
+SesameController controller(servoConfig, serverConfig, ethernetConfig, keyConfig);
+
+void setup() {
+    Serial.begin(serialBaudRate);
+    Serial.setDebugOutput(true);
+    Serial.println("[INFO] Device started");
 }
 
 void loop() {

src/server.cpp

@@ -1,26 +1,25 @@
 #include "server.h"
 
-constexpr int32_t pingInterval = 10000;
+ServerConnection::ServerConnection(ServerConfiguration configuration) : configuration(configuration) { }
-constexpr uint32_t pongTimeout = 5000;
-uint8_t disconnectTimeoutCount = 3;
 
-ServerConnection::ServerConnection() { }
+void ServerConnection::setCallbacks(ServerConnectionCallbacks *callbacks) {
-
-void ServerConnection::configure(ServerConfiguration configuration, ServerConnectionCallbacks *callbacks) {
     controller = callbacks;
-    this->configuration = configuration;
 }
 
-void ServerConnection::connect() {
+void ServerConnection::shouldConnect(bool connect) {
-    if (webSocket.isConnected()) {
+    if (connect == shouldBeConnected) {
         return;
     }
+
     if (controller == NULL) {
         Serial.println("[ERROR] No callbacks set for server");
         return;
     }
+    shouldBeConnected = connect;
+    nextReconnectAttemptMs = currentTime;
+}
 
-    isConnecting = true;
+void ServerConnection::connect() {
     Serial.printf("[INFO] Connecting to %s:%d%s\n", configuration.url, configuration.port, configuration.path);
     connectionTimeout = currentTime + configuration.socketHeartbeatIntervalMs;
     webSocket.begin(configuration.url, configuration.port, configuration.path);
@@ -33,47 +32,76 @@ void ServerConnection::connect() {
     webSocket.setReconnectInterval(configuration.reconnectTime);
 }
 
-void ServerConnection::didDisconnect() {
+void ServerConnection::didChangeConnectionState(bool isConnected) {
-    if (shouldReconnect || isConnecting) {
+    static bool wasConnected = false;
-        return; // Disconnect already registered. 
+    if (isConnected) {
-    }
+        Serial.println("[INFO] Socket connected, enabling heartbeat");
-    Serial.println("[INFO] Socket disconnected");
-    nextReconnectAttemptMs = currentTime + configuration.socketHeartbeatIntervalMs;
-    shouldReconnect = true;
-}
-
-void ServerConnection::didConnect() {
         isConnecting = false;
-    Serial.println("[INFO] Socket connected");
         webSocket.enableHeartbeat(configuration.socketHeartbeatIntervalMs, configuration.socketHeartbeatTimeoutMs, configuration.socketHeartbeatFailureReconnectCount);
+    } else {
+        isDisconnecting = false;
+        if (!wasConnected && shouldBeConnected && nextReconnectAttemptMs < currentTime) {
+            nextReconnectAttemptMs = currentTime + configuration.socketHeartbeatIntervalMs;
+            Serial.println("[INFO] Socket disconnected, setting reconnect time");
+        } else if (wasConnected) {
+            Serial.println("[INFO] Socket disconnected");
         }
-
+    }
-void ServerConnection::disconnect() {
+    wasConnected = isConnected;
-    webSocket.disconnect();
 }
 
 void ServerConnection::loop(uint32_t millis) {
     currentTime = millis;
     webSocket.loop();
-    if (shouldReconnect && !isConnecting) {
+
-        shouldReconnect = false;
+    if (shouldBeConnected) {
-        connect();
+        if (isDisconnecting) {
+            return; // Wait for disconnect to finish, then it will be reconnected
         }
-    if (isConnecting && millis > connectionTimeout) {
+        if (isConnecting) {
-        Serial.println("[INFO] Failed to connect");
+            if (millis > connectionTimeout) {
-        disconnect();
+                // Cancel connection attempt
-        shouldReconnect = true;
+                Serial.println("[INFO] Canceling socket connection attempt");
+                isDisconnecting = true;
                 isConnecting = false;
+                webSocket.disconnect();
+            }
+            return; // Wait for connect to finish
+        }
+        if (webSocket.isConnected()) {
+            return; // Already connected
+        }
+        if (controller == NULL) {
+            return;
+        }
+        if (millis < nextReconnectAttemptMs) {
+            return; // Wait for next reconnect
+        }
+        isConnecting = true;
+        connect();
+    } else {
+        if (isDisconnecting) {
+            return; // Wait for disconnect
+        }
+        if (isConnecting) { 
+            return; // Wait until connection is established, then it will be disconnected
+        }
+        if (!webSocket.isConnected()) {
+            return;
+        }
+        isDisconnecting = true;
+        Serial.println("[INFO] Disconnecting socket");
+        webSocket.disconnect();
     }
 }
 
 void ServerConnection::webSocketEventHandler(WStype_t type, uint8_t * payload, size_t length) {
 switch(type) {
     case WStype_DISCONNECTED:
-        didDisconnect();
+        didChangeConnectionState(false);
         break;
     case WStype_CONNECTED:
-        didConnect();
+        didChangeConnectionState(true);
         break;
     case WStype_TEXT:
         controller->sendServerError(MessageResult::TextReceivedOverSocket);

src/servo.cpp

@@ -2,8 +2,6 @@
 
 #include <esp32-hal.h> // For `millis()`
 
-ServoController::ServoController() { }
-
 void performReset(void * pvParameters) {
     ServoController* servo = (ServoController *) pvParameters;
     for(;;){
@@ -12,7 +10,7 @@ void performReset(void * pvParameters) {
     }
 }
 
-void ServoController::configure(ServoConfiguration configuration) {
+ServoController::ServoController(ServoConfiguration configuration) {
 
     // Create a task that runs on a different core,
     // So that it's always executed