Added support WebSocket for control via a WEB-APP

WST-FC/include/communicationModules/CommunicationWebSocket.h

@@ -0,0 +1,37 @@
+#ifndef COMMUNICATIONWEBSOCKET_H
+#define COMMUNICATIONWEBSOCKET_H
+
+#include <WiFi.h>
+#include <AsyncTCP.h>         
+#include <ESPAsyncWebServer.h>  
+#include "DroneData.h"
+#include "Configuration.h"
+#include "ICommunicationInterface.h"
+
+class CommunicationWebSocket : public ICommunicationInterface {
+private:
+    static CommunicationWebSocket* instance;
+    DroneControlData *sharedData;
+    DroneStatus *droneStatus;
+
+    unsigned long lastUpdate{0};
+    unsigned long lastDataTime = 0; 
+
+    AsyncWebServer server;
+    AsyncWebSocket ws;
+
+public:
+    CommunicationWebSocket(DroneControlData *dataPtr, DroneStatus *status);
+
+    void Init() override;
+    void Loop() override;
+    void SendData(SensorsData* data) override;
+    void SendData(DroneControlData* data);
+
+
+    static void onWsEvent(AsyncWebSocket *server, AsyncWebSocketClient *client, AwsEventType type, void *arg, uint8_t *data, size_t len);
+
+    void checkConnectionTimeout(); 
+};
+
+#endif

WST-FC/include/communicationModules/ICommunicationInterface.h

@@ -8,5 +8,6 @@ class ICommunicationInterface{
     virtual void Init();
     virtual void Loop();
     virtual void SendData(SensorsData* data);
+    virtual void SendData(DroneControlData* data);
 };
 #endif 

WST-FC/platformio.ini

@@ -21,6 +21,8 @@ lib_deps =
 	br3ttb/PID@^1.2.1
 	adafruit/Adafruit ADXL345@^1.3.4
 	adafruit/Adafruit Unified Sensor@^1.1.14
+	esp32async/AsyncTCP@^3.4.10
+	esp32async/ESPAsyncWebServer@^3.10.3
 
 [env:esp32-c3-super-mini]
 platform = espressif32
@@ -38,3 +40,5 @@ lib_deps =
 	br3ttb/PID@^1.2.1
 	adafruit/Adafruit ADXL345@^1.3.4
 	adafruit/Adafruit Unified Sensor@^1.1.14
+	esp32async/AsyncTCP@^3.4.10
+	esp32async/ESPAsyncWebServer@^3.10.3

WST-FC/src/communicationModules/CommunicationWebSocket.cpp

@@ -0,0 +1,64 @@
+#include "Configuration.h"
+#include "communicationModules/CommunicationWebSocket.h"
+CommunicationWebSocket* CommunicationWebSocket::instance = nullptr;
+CommunicationWebSocket::CommunicationWebSocket(DroneControlData *dataPtr, DroneStatus *status)
+    : server(80), ws("/ws")
+{
+    sharedData = dataPtr;
+    droneStatus = status;
+    instance = this;
+}
+void CommunicationWebSocket::Init(){
+    ws.onEvent(onWsEvent);
+    server.addHandler(&ws);
+    server.begin();
+    Serial.println("WebSocket server started on port 80");
+}
+void CommunicationWebSocket::Loop(){
+    checkConnectionTimeout();
+    ws.cleanupClients(); 
+}
+void CommunicationWebSocket::SendData(SensorsData* data){
+    ws.textAll((char*)data, sizeof(SensorsData));
+}
+void CommunicationWebSocket::checkConnectionTimeout() {
+    if (millis() - lastDataTime > 500) {
+        if (sharedData != nullptr) {
+
+            sharedData->throttle = 0; 
+            sharedData->yaw = 0;
+            sharedData->pitch = 0;
+            sharedData->roll = 0;
+        }
+    }
+}
+void CommunicationWebSocket::onWsEvent(AsyncWebSocket *server, AsyncWebSocketClient *client, 
+                                       AwsEventType type, void *arg, uint8_t *data, size_t len) 
+{
+    if (type == WS_EVT_CONNECT) {
+        Serial.printf("[WS] Client connected! ID: %u\n", client->id());
+    } 
+    else if (type == WS_EVT_DISCONNECT) {
+        Serial.printf("[WS] Client disconnected! ID: %u\n", client->id());
+
+        if (instance && instance->sharedData) {
+            instance->sharedData->throttle = 0; 
+            instance->sharedData->yaw = 0;
+            instance->sharedData->pitch = 0;
+            instance->sharedData->roll = 0;
+        }
+    } 
+    else if (type == WS_EVT_DATA) {
+        AwsFrameInfo *info = (AwsFrameInfo*)arg;
+
+        if (info->final && info->index == 0 && info->len == len && info->opcode == WS_BINARY) {
+
+            if (len == sizeof(DroneControlData) && instance && instance->sharedData) {
+
+                memcpy(instance->sharedData, data, sizeof(DroneControlData));
+
+                instance->lastDataTime = millis();
+            }
+        }
+    }
+}