feat: update float ESP-NOW runtime flow

.github/workflows/ci.yml

@@ -18,7 +18,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        environment: [espA, espB, espA_pool]
+        environment: [espA, espB]
 
     steps:
       - name: Checkout

.github/workflows/release.yml

@@ -15,7 +15,7 @@ jobs:
     strategy:
       fail-fast: true
       matrix:
-        environment: [espA, espB, espA_pool]
+        environment: [espA, espB]
 
     steps:
       - name: Checkout

CONTRIBUTING.md

@@ -57,25 +57,24 @@ Subject in imperative ("add X", not "added X" / "adds X"), <72 chars. Body expla
 ### Pull request expectations
 
 - The branch must be **rebased on `master`** before merging (or at least up-to-date) — the PR UI will warn if not.
-- All [CI checks](.github/workflows/ci.yml) must be green: `build (espA)`, `build (espB)`, `build (espA_pool)`.
+- All [CI checks](.github/workflows/ci.yml) must be green: `build (espA)`, `build (espB)`.
 - At least **one approving review** from another maintainer.
 - Description should state *what* changes and *why*, plus a manual test plan if the change touches motion/PID/comms (CI does not run hardware tests).
 
 ## CI
 
-`.github/workflows/ci.yml` runs on every push to any branch and on every pull request to `master`. It compiles all three PlatformIO environments in parallel:
+`.github/workflows/ci.yml` runs on every push to any branch and on every pull request to `master`. It compiles both PlatformIO environments in parallel:
 
 - `espA` — float controller firmware
 - `espB` — communication bridge firmware
-- `espA_pool` — float controller with shallow-pool profile
 
 Caching of PlatformIO core and build artifacts keeps a typical run under 2 minutes after the first warm-up.
 
 **Hardware tests are not run by CI.** The `test/unit_hw/` and `test/integration/` suites need real ESP32 boards plus motor / TOF / Bar02. Run them locally on a bench setup — see the *Development and Testing* section in [README.md](README.md).
 
 ### Releases
 
-Push a tag like `v11.3.0` and the [release workflow](.github/workflows/release.yml) builds all three environments and publishes a GitHub Release with the `firmware.bin` and `firmware.elf` for each one attached.
+Push a tag like `v11.3.0` and the [release workflow](.github/workflows/release.yml) builds both environments and publishes a GitHub Release with the `firmware.bin` and `firmware.elf` for each one attached.
 
 ```bash
 # After the change is merged to master:
@@ -99,7 +98,7 @@ Enable:
   - Dismiss stale pull request approvals when new commits are pushed
 - Require status checks to pass before merging
   - Require branches to be up to date before merging
-  - Status checks: `Build espA`, `Build espB`, `Build espA_pool`
+  - Status checks: `Build espA`, `Build espB`
 - Do not allow bypassing the above settings (recommended)
 - Restrict who can push to matching branches (admin only — for emergency hotfixes)
 
@@ -110,7 +109,6 @@ gh api -X PUT repos/:owner/:repo/branches/master/protection \
   -F required_status_checks.strict=true \
   -F 'required_status_checks.contexts[]=Build espA' \
   -F 'required_status_checks.contexts[]=Build espB' \
-  -F 'required_status_checks.contexts[]=Build espA_pool' \
   -F enforce_admins=false \
   -F required_pull_request_reviews.required_approving_review_count=1 \
   -F required_pull_request_reviews.dismiss_stale_reviews=true \

include/float_common.h

@@ -2,6 +2,7 @@
 #define FLOAT_COMMON_H
 
 #include <Arduino.h>
+#include <string.h>
 
 /*
  *******************************************************************************
@@ -28,17 +29,23 @@ enum FloatCommand : uint8_t {
   CMD_AUTO_MODE    = 5,
   CMD_SEND_PACKAGE = 6,
   CMD_OTA          = 7,
-  CMD_UPDATE_PID   = 8,
-  CMD_SET_SPEED    = 9,
+  CMD_PID_CONFIG_SET = 8,
+  CMD_RESERVED_9   = 9,
   CMD_TEST_STEPS   = 10,
   CMD_DEBUG_MODE   = 11,
   CMD_HOME         = 12,
   CMD_STOP         = 13,
-  CMD_UPDATE_PID_EXT = 14,
+  CMD_PID_CONFIG_GET = 14,
   CMD_SYRINGE_SET  = 15,
   CMD_PID_HOLD     = 16,
   CMD_PID_STEP     = 17,
   CMD_SET_SURFACE_OFFSET = 18,
+  CMD_PROFILE_SET  = 19,
+  CMD_PROFILE_GET  = 20,
+  CMD_BALANCE_CONFIG_SET = 21,
+  CMD_BALANCE_CONFIG_GET = 22,
+  CMD_MOTOR_CONFIG_SET = 23,
+  CMD_MOTOR_CONFIG_GET = 24,
 };
 
 // List of messages for the ESPA acknowledgements: CS has to be aware of these 
@@ -49,17 +56,22 @@ enum FloatCommand : uint8_t {
 #define CMD4_ACK        "CMD4_RECVD"
 #define CMD5_ACK        "SWITCH_AM_RECVD"
 #define CMD7_ACK        "TRY_UPLOAD_RECVD"
-#define CMD8_ACK        "CHNG_PARMS_RECVD"
-#define CMD9_ACK        "TEST_FREQ_RECVD"
+#define CMD8_ACK        "PID_CONFIG_SET_RECVD"
+#define CMD8_ERR        "PID_CONFIG_SET_ERR"
 #define CMD10_ACK       "TEST_STEPS_RECVD"
 #define CMD11_ACK       "DEBUG_MODE_RECVD"
 #define CMD12_ACK       "HOME_RECVD"
 #define CMD13_ACK       "STOP_RECVD"
-#define CMD14_ACK       "CHNG_PID_EXT_RECVD"
 #define CMD15_ACK       "SYRINGE_SET_RECVD"
 #define CMD16_ACK       "PID_HOLD_RECVD"
 #define CMD17_ACK       "PID_STEP_RECVD"
 #define CMD18_ACK       "SURFACE_OFF_RECVD"
+#define CMD19_ACK       "PROFILE_SET_RECVD"
+#define CMD19_ERR       "PROFILE_SET_ERR"
+#define CMD21_ACK       "BALANCE_CONFIG_SET_RECVD"
+#define CMD21_ERR       "BALANCE_CONFIG_SET_ERR"
+#define CMD23_ACK       "MOTOR_CONFIG_SET_RECVD"
+#define CMD23_ERR       "MOTOR_CONFIG_SET_ERR"
 
 // Sensor data structure
 typedef struct sensor_data {
@@ -74,32 +86,115 @@ typedef struct input_message {
   char message[OUTPUT_LEN];
 } input_message;
 
-typedef struct output_message {
-  float params[3];
+struct EmptyPayload {
+  uint8_t reserved;
+};
+
+struct PidConfigPayload {
+  float kp;
+  float ki;
+  float kd;
+  float periodMs;
+  float alphaD;
+  float integralLimit;
+  float minRetargetFrac;
+  float uNeutral;
+};
+
+struct BalanceConfigPayload {
+  uint32_t holdMs;
+  float stopPressureDeltaKpa;
+  uint8_t stopPressureSamples;
+  uint16_t samplePeriodMs;
+};
+
+struct MotorConfigPayload {
+  uint32_t maxSpeed;
+  uint32_t maxAcceleration;
+  uint32_t homingSpeed;
+  uint32_t testSpeed;
+};
+
+struct TestStepsPayload {
   int32_t steps;
-  uint16_t freq;
-  uint8_t command = CMD_IDLE;
+};
+
+struct SyringeSetPayload {
+  float uNorm;
+  float durationS;
+};
+
+struct PidHoldPayload {
+  float depthM;
+  float durationS;
+};
+
+struct PidStepPayload {
+  float depthM;
+};
+
+struct SurfaceOffsetPayload {
+  float meters;
+};
+
+// Ordine dei campi invariato rispetto alla versione precedente (solo rinominati):
+// il layout binario e il contratto di serializzazione con la GUI restano compatibili.
+// [essenziale] = si imposta per ogni prova (vedi regolamento MATE Task 4.1).
+// [avanzato]   = safety/calibrazione, cambia di rado (nella GUI sta in "Avanzate").
+struct ProfileSetPayload {
+  uint8_t profileCount;     // [avanzato]   n. immersioni complete
+  float descentTargetM;     // [essenziale] target discesa, riferito al FONDO del float
+  float ascentTargetM;      // [essenziale] target risalita, riferito al TOP del float
+  float depthToleranceM;    // [essenziale] banda +/- attorno al target
+  float holdTimeS;          // [essenziale] tempo di mantenimento al target
+  float descentTimeoutS;    // [avanzato]   timeout assoluto fase discesa (hold incluso)
+  float ascentTimeoutS;     // [avanzato]   timeout assoluto fase risalita (hold incluso)
+  float surfaceRestOffsetM; // [avanzato]   quanto il top del float resta sotto pelo a riposo
+};
+
+union FloatCommandPayload {
+  EmptyPayload empty;
+  PidConfigPayload pidConfig;
+  BalanceConfigPayload balanceConfig;
+  MotorConfigPayload motorConfig;
+  TestStepsPayload testSteps;
+  SyringeSetPayload syringeSet;
+  PidHoldPayload pidHold;
+  PidStepPayload pidStep;
+  SurfaceOffsetPayload surfaceOffset;
+  ProfileSetPayload profileSet;
+};
+
+typedef struct output_message {
+  FloatCommand command = CMD_IDLE;
+  FloatCommandPayload payload;
 } output_message;
 
-// MAC addresses - UPDATE THESE TO YOUR ACTUAL MAC ADDRESSES
-extern uint8_t espA_mac[6];
-extern uint8_t espB_mac[6];
-
-// LED States for better status indication
-enum FloatLEDState {
-  LED_OFF,
-  LED_INIT,           // Green solid - Initializing
-  LED_IDLE,           // Green solid - Ready/Idle
-  LED_IDLE_DATA,      // Green fast blink - Idle with data
-  LED_LOW_BATTERY,    // Red solid - Low battery
-  LED_ERROR,          // Red fast blink - Error state
-  LED_PROFILE,        // Blue blink - Running profile
-  LED_AUTO_MODE,      // Yellow blink - Auto mode active
-  LED_HOMING,         // Purple blink - Motor homing
-  LED_MOTOR_MOVING,   // Purple solid - Motor moving
-  LED_PID_CONTROL,    // Cyan blink - PID active
-  LED_COMMUNICATION,  // White blink - Communicating
-  LED_OTA_MODE        // Orange blink - OTA update mode
+inline output_message makeOutputMessage(FloatCommand command) {
+  output_message message;
+  memset(&message, 0, sizeof(message));
+  message.command = command;
+  return message;
+}
+
+static_assert(sizeof(output_message) <= 250, "output_message must fit in one ESP-NOW packet");
+
+// Shared logical LED states. ESPA maps them to the RGB LED; ESPB maps the
+// subset it can represent on the built-in single-colour LED.
+enum class LEDState : uint8_t {
+  OFF,             // Off / disabled
+  INIT,            // Green solid or boot blinks - Initializing
+  IDLE,            // Green solid / ESPB solid on - Ready/idle
+  IDLE_WITH_DATA,  // Green fast blink - Idle with stored profile data
+  LOW_BATTERY,     // Red solid - Battery voltage below threshold
+  ERROR,           // Red fast blink / ESPB fast blink - Error state
+  PROFILE,         // Blue solid - Running non-PID profile phase
+  AUTO_MODE,       // Yellow blink - Auto mode active
+  HOMING,          // Purple blink - Motor homing
+  MOTOR_MOVING,    // Purple solid - Motor moving
+  PID_CONTROL,     // Cyan blink - PID depth control active
+  COMMUNICATION,   // White solid - Communicating
+  OTA_MODE,        // Orange blink - OTA update mode
 };
 
 #endif

lib/DebugSerial/library.json

@@ -11,7 +11,7 @@
   ],
   "repository": {
     "type": "git",
-    "url": "https://github.com/politocean/Float_2025.git"
+    "url": "https://github.com/politocean/Float.git"
   },
   "frameworks": ["arduino"],
   "platforms": ["espressif32"],

lib/comms/include/comms.h

@@ -27,9 +27,11 @@ class CommsManager {
     // Returns true if the peer acknowledged delivery.
     bool sendMessage(const char* message, uint32_t timeoutMs = 1000);
 
-    // Access the last received command (set by the ESP-NOW receive callback)
-    const output_message& lastCommand() const { return _received; }
-    void clearCommand() { _received.command = CMD_IDLE; }
+    // Access the last received command (set by the ESP-NOW receive callback).
+    // Returns a snapshot by value: the receive callback runs in the WiFi task,
+    // so the read/write must be guarded to avoid a torn struct.
+    output_message lastCommand() const;
+    void clearCommand();
 
     // Outgoing packet — callers fill status_to_send.charge before calling sendMessage()
     input_message status_to_send;
@@ -43,6 +45,10 @@ class CommsManager {
     output_message      _received;
     volatile int8_t     _sendResult = -1; // -1=pending, 0=fail, 1=success
 
+    // Guards _received against concurrent access between the WiFi-task receive
+    // callback (writer) and the main loop (reader).
+    mutable portMUX_TYPE _recvMux = portMUX_INITIALIZER_UNLOCKED;
+
     void _initEspNow();
     void _deInitEspNow();
     void _reInitEspNow();

lib/comms/src/comms.cpp

@@ -31,7 +31,7 @@ void setEspNowChannel() {
 CommsManager::CommsManager() {
     _instance = this;
     memset(&status_to_send, 0, sizeof(status_to_send));
-    memset(&_received,      0, sizeof(_received));
+    _received = makeOutputMessage(CMD_IDLE);
 }
 
 // ---------------------------------------------------------------------------
@@ -90,9 +90,26 @@ void CommsManager::_reInitEspNow() {
     Serial.println("ESP-NOW re-initialised");
 }
 
+// ---------------------------------------------------------------------------
+output_message CommsManager::lastCommand() const {
+    portENTER_CRITICAL(&_recvMux);
+    const output_message snapshot = _received;
+    portEXIT_CRITICAL(&_recvMux);
+    return snapshot;
+}
+
+// ---------------------------------------------------------------------------
+void CommsManager::clearCommand() {
+    const output_message idle = makeOutputMessage(CMD_IDLE);
+    portENTER_CRITICAL(&_recvMux);
+    _received = idle;
+    portEXIT_CRITICAL(&_recvMux);
+}
+
 // ---------------------------------------------------------------------------
 bool CommsManager::sendMessage(const char* message, uint32_t timeoutMs) {
     strncpy(status_to_send.message, message, sizeof(status_to_send.message) - 1);
+    status_to_send.message[sizeof(status_to_send.message) - 1] = '\0';
 
     _sendResult = -1;
     esp_err_t err = esp_now_send(
@@ -175,6 +192,8 @@ void CommsManager::_onDataSent(const uint8_t* /*mac*/, esp_now_send_status_t sta
 
 void CommsManager::_onDataRecv(const uint8_t* /*mac*/, const uint8_t* data, int len) {
     if (_instance && len == sizeof(output_message)) {
+        portENTER_CRITICAL(&_instance->_recvMux);
         memcpy(&_instance->_received, data, sizeof(output_message));
+        portEXIT_CRITICAL(&_instance->_recvMux);
     }
 }

lib/espb_bridge_core/include/espb_bridge_core.h

@@ -37,7 +37,7 @@ struct EspbBridgeState {
 
 struct EspbProtocolCommand {
     const char* commandText;
-    uint8_t commandCode;
+    FloatCommand commandCode;
     const char* expectedAck;
 };