Base wireguard integration

WST-FC/include/Configuration.h

@@ -18,4 +18,14 @@ enum DroneStatus
     BROKEN
 };
 
+#define USE_WIREGUARD 1
+
+#if USE_WIREGUARD
+    #define WG_LOCAL_IP "10.0.0.2"
+    #define WG_PRIVATE_KEY "KLUCZ_PRYWATNY_ESP32="
+    #define WG_PEER_ADDRESS "198.51.100.1"
+    #define WG_PEER_PORT 51820
+    #define WG_PEER_PUBLIC_KEY "KLUCZ_PUBLICZNY_SERWERA="
+#endif
+
 #endif

WST-FC/include/DCMotor.h

@@ -8,14 +8,16 @@ class DCMotor : public IActuator
 private:
     int _pinIN1, _pinIN2, _pinEN;
     int _pwmChannel;
+    bool _revDir;
 
 public:
-    DCMotor(int pinIN1, int pinIN2, int pinEN, int pwmChannel)
+    DCMotor(int pinIN1, int pinIN2, int pinEN, int pwmChannel, bool revDir = false)
     {
         _pinIN1 = pinIN1;
         _pinIN2 = pinIN2;
         _pinEN = pinEN;
         _pwmChannel = pwmChannel;
+        _revDir = revDir;
     }
 
     void Init() override
@@ -32,6 +34,8 @@ class DCMotor : public IActuator
         int pwmValue = map(abs(speed), 0, 1000, 0, 255);
         if (pwmValue > 255)
             pwmValue = 255;
+
+        if(_revDir == true) speed = -speed;
 
         if (speed > 0)
         {

WST-FC/include/communicationModules/CommunicationWiFiUDPModule.h

@@ -6,6 +6,9 @@
 #include "DroneData.h"
 #include "ICommunicationInterface.h"
 #include "Configuration.h"
+#ifdef USE_WIREGUARD
+    #include <WireGuard-ESP32.h>
+#endif
 class CommunicationWiFiUDPModule : public ICommunicationInterface{
     private:
     DroneControlData *sharedData;
@@ -21,6 +24,13 @@ class CommunicationWiFiUDPModule : public ICommunicationInterface{
     IPAddress remoteIP;
     unsigned int remotePort {0};
 
+    #ifdef USE_WIREGUARD
+        WireGuard wg;
+        unsigned long lastKeepaliveTime = 0;
+        const unsigned long KEEPALIVE_INTERVAL = 20000;
+        const uint8_t KEEPALIVE_BYTE = 0xFF;
+    #endif
+
     public:
     CommunicationWiFiUDPModule(DroneControlData *dataPtr, unsigned int port, DroneStatus *status);
 

WST-FC/platformio.ini

@@ -21,6 +21,7 @@ lib_deps =
 	br3ttb/PID@^1.2.1
 	adafruit/Adafruit ADXL345@^1.3.4
 	adafruit/Adafruit Unified Sensor@^1.1.14
+	ciniml/WireGuard-ESP32 @ ^0.1.5
 
 [env:esp32-c3-super-mini]
 platform = espressif32
@@ -38,3 +39,4 @@ lib_deps =
 	br3ttb/PID@^1.2.1
 	adafruit/Adafruit ADXL345@^1.3.4
 	adafruit/Adafruit Unified Sensor@^1.1.14
+	ciniml/WireGuard-ESP32 @ ^0.1.5

WST-FC/src/communicationModules/CommunicationWiFiUDPModule.cpp

@@ -1,6 +1,7 @@
 #include "communicationModules\CommunicationWiFiUDPModule.h"
 #include "Configuration.h"
 
+
 CommunicationWiFiUDPModule::CommunicationWiFiUDPModule(DroneControlData *dataPtr, unsigned int port, DroneStatus *status)
 {
     sharedData = dataPtr;
@@ -19,6 +20,31 @@ void CommunicationWiFiUDPModule::Init()
         delay(500);
     }
     Serial.print("Connected!");
+
+    #if USE_WIREGUARD
+        configTime(0, 0, "pool.ntp.org", "time.nist.gov");
+        time_t now = time(nullptr);
+        while (now < 8 * 3600 * 2) 
+        {
+            delay(500);
+            Serial.print(".");
+            now = time(nullptr);
+        }
+        Serial.println("\nTime synchronized!");
+
+        IPAddress localIP;
+        localIP.fromString(WG_LOCAL_IP);
+
+        wg.begin(
+            localIP,
+            WG_PRIVATE_KEY,
+            WG_PEER_ADDRESS,
+            WG_PEER_PUBLIC_KEY,
+            WG_PEER_PORT
+        );
+        Serial.println("WireGuard initialized!");
+    #endif
+
     udp.begin(localPort);
 }
 void CommunicationWiFiUDPModule::Loop()
@@ -50,6 +76,17 @@ void CommunicationWiFiUDPModule::Loop()
     {
         *droneStatus = WORKS;
     }
+
+    #if USE_WIREGUARD
+        if (remotePort != 0 && (millis() - lastKeepaliveTime > KEEPALIVE_INTERVAL))
+        {
+            udp.beginPacket(remoteIP, remotePort);
+            udp.write(&KEEPALIVE_BYTE, 1);
+            udp.endPacket();
+
+            lastKeepaliveTime = millis();
+        }
+    #endif
 }
 
 void CommunicationWiFiUDPModule::SendData(SensorsData* data)
@@ -58,4 +95,7 @@ void CommunicationWiFiUDPModule::SendData(SensorsData* data)
     udp.beginPacket(remoteIP, remotePort);
     udp.write((const uint8_t*)data, sizeof(SensorsData));
     udp.endPacket();
+    #if USE_WIREGUARD
+        lastKeepaliveTime = millis();
+    #endif
 }