Dog soldier v1

#include <Arduino.h>
#include <WiFi.h>
#include <WebServer.h>
#include <SPI.h>
#include <Wire.h>
#include <Adafruit_VEML7700.h>

// Radar modules receive fused 5 V from the sealed USB-C power bank; their ground
// is shared with all three UART bridges and the XIAO controller.
// Walksnail video is captured directly by the Orange Pi and selected in its compositor;
// it does not use a XIAO GPIO or change the radar HTTP API.
// Seeed Studio XIAO ESP32S3: GPIO12/13/11 are the external SPI lines.
static constexpr uint8_t SPI_SCK_PIN = 12;
static constexpr uint8_t SPI_MISO_PIN = 13;
static constexpr uint8_t SPI_MOSI_PIN = 11;
static constexpr uint8_t BRIDGE_CS[3] = {10, 1, 2};
static constexpr uint8_t LIGHT_SDA_PIN = 5;
static constexpr uint8_t LIGHT_SCL_PIN = 6;
static constexpr float NIGHT_LOCKOUT_LUX = 300.0F;
static constexpr float NIGHT_REENABLE_LUX = 200.0F;
const char *AP_NAME = "RadarArray";
const char *AP_PASSWORD = "radar-array-6";
WebServer server(80);

struct Track { bool valid = false; int16_t xMm = 0, yMm = 0, speedCms = 0; uint16_t resolutionMm = 0; };
struct RadarState { uint8_t bytes[30]; uint8_t count = 0; Track tracks[3]; uint32_t lastFrameMs = 0; };
RadarState radars[6];
uint8_t focusedRadar = 0;
// The ROCK 5B display application reads this state: false is the small corner overlay;
// true requests a 1.5x radar panel while the gaze tracker says the wearer is looking at it.
bool radarOverlayExpanded = false;
enum class VisionMode : uint8_t { Normal, Thermal, Night };
VisionMode requestedVisionMode = VisionMode::Normal;
bool nightSafetyLockout = false;
bool ambientLightAvailable = false;
float ambientLux = 0.0F;
uint32_t lastLuxReadMs = 0;
Adafruit_VEML7700 veml7700;

const char *visionModeName(VisionMode mode) {
  if (mode == VisionMode::Thermal) return "thermal";
  if (mode == VisionMode::Night) return "night";
  return "normal";
}

uint8_t spiCommand(uint8_t reg, uint8_t channel, bool read) { return (uint8_t)((reg << 3) | (channel << 1) | (read ? 0x80 : 0)); }
void uartWrite(uint8_t port, uint8_t reg, uint8_t value) {
  SPI.beginTransaction(SPISettings(1000000, MSBFIRST, SPI_MODE0)); digitalWrite(BRIDGE_CS[port / 2], LOW);
  SPI.transfer(spiCommand(reg, port % 2, false)); SPI.transfer(value); digitalWrite(BRIDGE_CS[port / 2], HIGH); SPI.endTransaction();
}
uint8_t uartRead(uint8_t port, uint8_t reg) {
  SPI.beginTransaction(SPISettings(1000000, MSBFIRST, SPI_MODE0)); digitalWrite(BRIDGE_CS[port / 2], LOW);
  SPI.transfer(spiCommand(reg, port % 2, true)); uint8_t value = SPI.transfer(0xFF); digitalWrite(BRIDGE_CS[port / 2], HIGH); SPI.endTransaction(); return value;
}
void configureUart(uint8_t port) {
  // Common SC16IS752 boards use 1.8432 MHz: divisor 1 produces 115200 baud.
  uartWrite(port, 3, 0x80); uartWrite(port, 0, 1); uartWrite(port, 1, 0);
  uartWrite(port, 3, 0x03); uartWrite(port, 2, 0x07);
}
int16_t decodeSigned(uint16_t raw) { return (raw & 0x8000) ? (int16_t)(raw - 0x8000) : -(int16_t)raw; }
void decodeFrame(uint8_t radar) {
  RadarState &s = radars[radar];
  if (s.bytes[0] != 0xAA || s.bytes[1] != 0xFF || s.bytes[2] != 0x03 || s.bytes[3] != 0x00 || s.bytes[28] != 0x55 || s.bytes[29] != 0xCC) return;
  for (uint8_t t = 0; t < 3; ++t) {
    uint8_t o = 4 + t * 8; uint16_t x = s.bytes[o] | ((uint16_t)s.bytes[o + 1] << 8); uint16_t y = s.bytes[o + 2] | ((uint16_t)s.bytes[o + 3] << 8);
    uint16_t v = s.bytes[o + 4] | ((uint16_t)s.bytes[o + 5] << 8); uint16_t q = s.bytes[o + 6] | ((uint16_t)s.bytes[o + 7] << 8);
    s.tracks[t].valid = x || y || v || q; s.tracks[t].xMm = decodeSigned(x); s.tracks[t].yMm = decodeSigned(y); s.tracks[t].speedCms = decodeSigned(v); s.tracks[t].resolutionMm = q;
  }
  s.lastFrameMs = millis();
}
void acceptByte(uint8_t radar, uint8_t value) {
  RadarState &s = radars[radar]; if (s.count == 0 && value != 0xAA) return;
  if (s.count == 1 && value != 0xFF) { s.count = value == 0xAA ? 1 : 0; return; }
  s.bytes[s.count++] = value; if (s.count == 30) { decodeFrame(radar); s.count = 0; }
}
void pollRadars() { for (uint8_t p = 0; p < 6; ++p) { uint8_t safety = 0; while ((uartRead(p, 5) & 1) && safety++ < 64) acceptByte(p, uartRead(p, 0)); } }

bool readAmbientLux(float &lux) {
  if (!ambientLightAvailable) return false;
  lux = veml7700.readLux();
  return isfinite(lux) && lux >= 0.0F;
}

void updateNightSafety() {
  if (millis() - lastLuxReadMs < 100) return;
  lastLuxReadMs = millis();
  float nextLux = 0.0F;
  ambientLightAvailable = readAmbientLux(nextLux);
  if (!ambientLightAvailable) return;
  ambientLux = nextLux;
  if (nightSafetyLockout) {
    if (ambientLux < NIGHT_REENABLE_LUX) nightSafetyLockout = false;
  } else if (ambientLux > NIGHT_LOCKOUT_LUX) {
    nightSafetyLockout = true;
  }
}

String radarJson() {
  VisionMode effectiveVisionMode = (requestedVisionMode == VisionMode::Night && nightSafetyLockout) ? VisionMode::Normal : requestedVisionMode;
  String json = "{\"focusedRadar\":" + String(focusedRadar + 1) + ",\"overlayExpanded\":" + String(radarOverlayExpanded ? "true" : "false") + ",\"requestedVisionMode\":\"" + visionModeName(requestedVisionMode) + "\",\"effectiveVisionMode\":\"" + visionModeName(effectiveVisionMode) + "\",\"ambientLux\":" + String(ambientLux, 1) + ",\"ambientLightAvailable\":" + String(ambientLightAvailable ? "true" : "false") + ",\"nightSafetyLockout\":" + String(nightSafetyLockout ? "true" : "false") + ",\"radars\":[";
  for (uint8_t r = 0; r < 6; ++r) { if (r) json += ','; json += "{\"id\":" + String(r + 1) + ",\"ageMs\":" + String(millis() - radars[r].lastFrameMs) + ",\"tracks\":[";
    for (uint8_t t = 0; t < 3; ++t) { if (t) json += ','; const Track &v = radars[r].tracks[t]; json += "{\"valid\":" + String(v.valid ? "true" : "false") + ",\"xMm\":" + String(v.xMm) + ",\"yMm\":" + String(v.yMm) + ",\"speedCms\":" + String(v.speedCms) + ",\"resolutionMm\":" + String(v.resolutionMm) + "}"; }
    json += "]}";
  }
  return json + "]}";
}
void handleRoot() {
  const char page[] = R"HTML(<!doctype html><html><head><meta name="viewport" content="width=device-width"><style>body{margin:0;background:#06100c;color:#8cffb1;font-family:monospace}canvas{width:100vw;height:100vh}</style></head><body><canvas id="r"></canvas><script>const c=document.querySelector('#r'),x=c.getContext('2d');function draw(d){c.width=innerWidth;c.height=innerHeight;let w=c.width,h=c.height,cx=w/2,cy=h*.88,s=Math.min(w,h)/13000;x.fillStyle='#06100c';x.fillRect(0,0,w,h);x.strokeStyle='#176936';for(let i=1;i<5;i++){x.beginPath();x.arc(cx,cy,i*2500*s,Math.PI,2*Math.PI);x.stroke()}x.beginPath();x.moveTo(cx-6500*s,cy);x.lineTo(cx+6500*s,cy);x.stroke();d.radars.forEach((r,ri)=>r.tracks.forEach((t,ti)=>{if(!t.valid)return;x.fillStyle=ri===d.focusedRadar-1?'#ffcf4d':'#8cffb1';x.beginPath();x.arc(cx+t.xMm*s,cy-t.yMm*s,7,0,7);x.fill();x.fillText('R'+r.id+'.'+(ti+1),cx+t.xMm*s+9,cy-t.yMm*s)}));x.fillStyle='#8cffb1';x.fillText('RADAR ARRAY | FOCUS R'+d.focusedRadar,18,28)}async function tick(){try{draw(await (await fetch('/data')).json())}catch(e){}setTimeout(tick,100)}tick();</script></body></html>)HTML";
  server.send(200, "text/html", page);
}
void setup() {
  Serial.begin(115200); SPI.begin(SPI_SCK_PIN, SPI_MISO_PIN, SPI_MOSI_PIN);
  Wire.begin(LIGHT_SDA_PIN, LIGHT_SCL_PIN);
  ambientLightAvailable = veml7700.begin();
  if (ambientLightAvailable) {
    veml7700.setGain(VEML7700_GAIN_1_8);
    veml7700.setIntegrationTime(VEML7700_IT_100MS);
  }
  for (uint8_t pin : BRIDGE_CS) { pinMode(pin, OUTPUT); digitalWrite(pin, HIGH); }
  for (uint8_t p = 0; p < 6; ++p) configureUart(p);
  WiFi.mode(WIFI_AP); WiFi.softAP(AP_NAME, AP_PASSWORD);
  server.on("/", HTTP_GET, handleRoot); server.on("/data", HTTP_GET, [](){ server.send(200, "application/json", radarJson()); });
  server.on("/focus", HTTP_POST, [](){ if (!server.hasArg("sensor")) { server.send(400, "text/plain", "sensor is required"); return; } int sensor = server.arg("sensor").toInt(); if (sensor < 1 || sensor > 6) { server.send(400, "text/plain", "sensor must be 1 through 6"); return; } focusedRadar = sensor - 1; server.send(200, "application/json", radarJson()); });
  // The Orange Pi gaze process sends expanded=1 while the calibrated gaze point stays in the radar overlay.
  server.on("/overlay", HTTP_POST, [](){ if (!server.hasArg("expanded")) { server.send(400, "text/plain", "expanded must be 0 or 1"); return; } String value = server.arg("expanded"); if (value != "0" && value != "1") { server.send(400, "text/plain", "expanded must be 0 or 1"); return; } radarOverlayExpanded = value == "1"; server.send(200, "application/json", radarJson()); });
  // The Orange Pi voice service calls /vision?mode=normal, thermal, or night.
  // A bright-light lockout changes an active night request to normal until lux drops below the lower threshold.
  server.on("/vision", HTTP_POST, [](){ if (!server.hasArg("mode")) { server.send(400, "text/plain", "mode is required"); return; } String mode = server.arg("mode"); if (mode == "normal") requestedVisionMode = VisionMode::Normal; else if (mode == "thermal") requestedVisionMode = VisionMode::Thermal; else if (mode == "night") requestedVisionMode = VisionMode::Night; else { server.send(400, "text/plain", "mode must be normal, thermal, or night"); return; } server.send(200, "application/json", radarJson()); });
  server.begin();
}
void loop() { server.handleClient(); pollRadars(); updateNightSafety(); delay(1); }