sink converter (unpin woes)

northbridge/Cargo.lock

@@ -2,6 +2,21 @@
 # It is not intended for manual editing.
 version = 4
 
+[[package]]
+name = "addr2line"
+version = "0.24.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "dfbe277e56a376000877090da837660b4427aad530e3028d44e0bffe4f89a1c1"
+dependencies = [
+ "gimli",
+]
+
+[[package]]
+name = "adler2"
+version = "2.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "512761e0bb2578dd7380c6baaa0f4ce03e84f95e960231d1dec8bf4d7d6e2627"
+
 [[package]]
 name = "anyhow"
 version = "1.0.95"
@@ -32,6 +47,21 @@ version = "1.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ace50bade8e6234aa140d9a2f552bbee1db4d353f69b8217bc503490fc1a9f26"
 
+[[package]]
+name = "backtrace"
+version = "0.3.74"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8d82cb332cdfaed17ae235a638438ac4d4839913cc2af585c3c6746e8f8bee1a"
+dependencies = [
+ "addr2line",
+ "cfg-if",
+ "libc",
+ "miniz_oxide",
+ "object",
+ "rustc-demangle",
+ "windows-targets",
+]
+
 [[package]]
 name = "bitflags"
 version = "1.3.2"
@@ -50,12 +80,24 @@ version = "1.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
 
+[[package]]
+name = "bytes"
+version = "1.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "325918d6fe32f23b19878fe4b34794ae41fc19ddbe53b10571a4874d44ffd39b"
+
 [[package]]
 name = "cfg-if"
 version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
 
+[[package]]
+name = "cfg_aliases"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "613afe47fcd5fac7ccf1db93babcb082c5994d996f20b8b159f2ad1658eb5724"
+
 [[package]]
 name = "cobs"
 version = "0.1.4"
@@ -112,6 +154,18 @@ version = "1.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "790eea4361631c5e7d22598ecd5723ff611904e3344ce8720784c93e3d83d40b"
 
+[[package]]
+name = "embedded-io"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ef1a6892d9eef45c8fa6b9e0086428a2cca8491aca8f787c534a3d6d0bcb3ced"
+
+[[package]]
+name = "embedded-io"
+version = "0.6.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "edd0f118536f44f5ccd48bcb8b111bdc3de888b58c74639dfb034a357d0f206d"
+
 [[package]]
 name = "encode_unicode"
 version = "0.3.6"
@@ -150,6 +204,101 @@ version = "0.1.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a06f77d526c1a601b7c4cdd98f54b5eaabffc14d5f2f0296febdc7f357c6d3ba"
 
+[[package]]
+name = "futures"
+version = "0.3.31"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "65bc07b1a8bc7c85c5f2e110c476c7389b4554ba72af57d8445ea63a576b0876"
+dependencies = [
+ "futures-channel",
+ "futures-core",
+ "futures-executor",
+ "futures-io",
+ "futures-sink",
+ "futures-task",
+ "futures-util",
+]
+
+[[package]]
+name = "futures-channel"
+version = "0.3.31"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2dff15bf788c671c1934e366d07e30c1814a8ef514e1af724a602e8a2fbe1b10"
+dependencies = [
+ "futures-core",
+ "futures-sink",
+]
+
+[[package]]
+name = "futures-core"
+version = "0.3.31"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "05f29059c0c2090612e8d742178b0580d2dc940c837851ad723096f87af6663e"
+
+[[package]]
+name = "futures-executor"
+version = "0.3.31"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1e28d1d997f585e54aebc3f97d39e72338912123a67330d723fdbb564d646c9f"
+dependencies = [
+ "futures-core",
+ "futures-task",
+ "futures-util",
+]
+
+[[package]]
+name = "futures-io"
+version = "0.3.31"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9e5c1b78ca4aae1ac06c48a526a655760685149f0d465d21f37abfe57ce075c6"
+
+[[package]]
+name = "futures-macro"
+version = "0.3.31"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "162ee34ebcb7c64a8abebc059ce0fee27c2262618d7b60ed8faf72fef13c3650"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "futures-sink"
+version = "0.3.31"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e575fab7d1e0dcb8d0c7bcf9a63ee213816ab51902e6d244a95819acacf1d4f7"
+
+[[package]]
+name = "futures-task"
+version = "0.3.31"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f90f7dce0722e95104fcb095585910c0977252f286e354b5e3bd38902cd99988"
+
+[[package]]
+name = "futures-util"
+version = "0.3.31"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9fa08315bb612088cc391249efdc3bc77536f16c91f6cf495e6fbe85b20a4a81"
+dependencies = [
+ "futures-channel",
+ "futures-core",
+ "futures-io",
+ "futures-macro",
+ "futures-sink",
+ "futures-task",
+ "memchr",
+ "pin-project-lite",
+ "pin-utils",
+ "slab",
+]
+
+[[package]]
+name = "gimli"
+version = "0.31.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "07e28edb80900c19c28f1072f2e8aeca7fa06b23cd4169cefe1af5aa3260783f"
+
 [[package]]
 name = "hash32"
 version = "0.2.1"
@@ -195,26 +344,6 @@ version = "0.2.169"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b5aba8db14291edd000dfcc4d620c7ebfb122c613afb886ca8803fa4e128a20a"
 
-[[package]]
-name = "libudev"
-version = "0.3.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "78b324152da65df7bb95acfcaab55e3097ceaab02fb19b228a9eb74d55f135e0"
-dependencies = [
- "libc",
- "libudev-sys",
-]
-
-[[package]]
-name = "libudev-sys"
-version = "0.1.4"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3c8469b4a23b962c1396b9b451dda50ef5b283e8dd309d69033475fa9b334324"
-dependencies = [
- "libc",
- "pkg-config",
-]
-
 [[package]]
 name = "lock_api"
 version = "0.4.12"
@@ -225,6 +354,12 @@ dependencies = [
  "scopeguard",
 ]
 
+[[package]]
+name = "log"
+version = "0.4.25"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "04cbf5b083de1c7e0222a7a51dbfdba1cbe1c6ab0b15e29fff3f6c077fd9cd9f"
+
 [[package]]
 name = "mach2"
 version = "0.4.2"
@@ -234,6 +369,46 @@ dependencies = [
  "libc",
 ]
 
+[[package]]
+name = "memchr"
+version = "2.7.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "78ca9ab1a0babb1e7d5695e3530886289c18cf2f87ec19a575a0abdce112e3a3"
+
+[[package]]
+name = "miniz_oxide"
+version = "0.8.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b8402cab7aefae129c6977bb0ff1b8fd9a04eb5b51efc50a70bea51cda0c7924"
+dependencies = [
+ "adler2",
+]
+
+[[package]]
+name = "mio"
+version = "1.0.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2886843bf800fba2e3377cff24abf6379b4c4d5c6681eaf9ea5b0d15090450bd"
+dependencies = [
+ "libc",
+ "log",
+ "wasi",
+ "windows-sys",
+]
+
+[[package]]
+name = "mio-serial"
+version = "5.0.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "029e1f407e261176a983a6599c084efd322d9301028055c87174beac71397ba3"
+dependencies = [
+ "log",
+ "mio",
+ "nix 0.29.0",
+ "serialport",
+ "winapi",
+]
+
 [[package]]
 name = "n"
 version = "0.2.0"
@@ -270,6 +445,18 @@ dependencies = [
  "libc",
 ]
 
+[[package]]
+name = "nix"
+version = "0.29.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "71e2746dc3a24dd78b3cfcb7be93368c6de9963d30f43a6a73998a9cf4b17b46"
+dependencies = [
+ "bitflags 2.8.0",
+ "cfg-if",
+ "cfg_aliases",
+ "libc",
+]
+
 [[package]]
 name = "northbridge"
 version = "0.1.0"
@@ -277,8 +464,14 @@ dependencies = [
  "anyhow",
  "common",
  "framed 0.4.3 (registry+https://github.com/rust-lang/crates.io-index)",
+ "futures",
+ "futures-core",
  "n",
- "serialport",
+ "nalgebra",
+ "postcard",
+ "tokio",
+ "tokio-serial",
+ "tokio-util",
 ]
 
 [[package]]
@@ -319,6 +512,38 @@ dependencies = [
  "autocfg",
 ]
 
+[[package]]
+name = "object"
+version = "0.36.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "62948e14d923ea95ea2c7c86c71013138b66525b86bdc08d2dcc262bdb497b87"
+dependencies = [
+ "memchr",
+]
+
+[[package]]
+name = "parking_lot"
+version = "0.12.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f1bf18183cf54e8d6059647fc3063646a1801cf30896933ec2311622cc4b9a27"
+dependencies = [
+ "lock_api",
+ "parking_lot_core",
+]
+
+[[package]]
+name = "parking_lot_core"
+version = "0.9.10"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1e401f977ab385c9e4e3ab30627d6f26d00e2c73eef317493c4ec6d468726cf8"
+dependencies = [
+ "cfg-if",
+ "libc",
+ "redox_syscall",
+ "smallvec",
+ "windows-targets",
+]
+
 [[package]]
 name = "paste"
 version = "1.0.15"
@@ -326,10 +551,16 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "57c0d7b74b563b49d38dae00a0c37d4d6de9b432382b2892f0574ddcae73fd0a"
 
 [[package]]
-name = "pkg-config"
+name = "pin-project-lite"
-version = "0.3.31"
+version = "0.2.16"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "953ec861398dccce10c670dfeaf3ec4911ca479e9c02154b3a215178c5f566f2"
+checksum = "3b3cff922bd51709b605d9ead9aa71031d81447142d828eb4a6eba76fe619f9b"
+
+[[package]]
+name = "pin-utils"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8b870d8c151b6f2fb93e84a13146138f05d02ed11c7e7c54f8826aaaf7c9f184"
 
 [[package]]
 name = "postcard"
@@ -338,6 +569,8 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "170a2601f67cc9dba8edd8c4870b15f71a6a2dc196daec8c83f72b59dff628a8"
 dependencies = [
  "cobs 0.2.3",
+ "embedded-io 0.4.0",
+ "embedded-io 0.6.1",
  "heapless",
  "serde",
 ]
@@ -397,12 +630,27 @@ dependencies = [
  "rand_core 0.3.1",
 ]
 
+[[package]]
+name = "redox_syscall"
+version = "0.5.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "03a862b389f93e68874fbf580b9de08dd02facb9a788ebadaf4a3fd33cf58834"
+dependencies = [
+ "bitflags 2.8.0",
+]
+
 [[package]]
 name = "ref_slice"
 version = "1.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "f4ed1d73fb92eba9b841ba2aef69533a060ccc0d3ec71c90aeda5996d4afb7a9"
 
+[[package]]
+name = "rustc-demangle"
+version = "0.1.24"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "719b953e2095829ee67db738b3bfa9fa368c94900df327b3f07fe6e794d2fe1f"
+
 [[package]]
 name = "rustc_version"
 version = "0.4.1"
@@ -455,14 +703,22 @@ dependencies = [
  "core-foundation",
  "core-foundation-sys",
  "io-kit-sys",
- "libudev",
  "mach2",
- "nix",
+ "nix 0.26.4",
  "scopeguard",
  "unescaper",
  "winapi",
 ]
 
+[[package]]
+name = "signal-hook-registry"
+version = "1.4.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a9e9e0b4211b72e7b8b6e85c807d36c212bdb33ea8587f7569562a84df5465b1"
+dependencies = [
+ "libc",
+]
+
 [[package]]
 name = "simba"
 version = "0.7.3"
@@ -475,6 +731,31 @@ dependencies = [
  "paste",
 ]
 
+[[package]]
+name = "slab"
+version = "0.4.9"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8f92a496fb766b417c996b9c5e57daf2f7ad3b0bebe1ccfca4856390e3d3bb67"
+dependencies = [
+ "autocfg",
+]
+
+[[package]]
+name = "smallvec"
+version = "1.13.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3c5e1a9a646d36c3599cd173a41282daf47c44583ad367b8e6837255952e5c67"
+
+[[package]]
+name = "socket2"
+version = "0.5.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c970269d99b64e60ec3bd6ad27270092a5394c4e309314b18ae3fe575695fbe8"
+dependencies = [
+ "libc",
+ "windows-sys",
+]
+
 [[package]]
 name = "spin"
 version = "0.9.8"
@@ -531,6 +812,62 @@ dependencies = [
  "syn",
 ]
 
+[[package]]
+name = "tokio"
+version = "1.43.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3d61fa4ffa3de412bfea335c6ecff681de2b609ba3c77ef3e00e521813a9ed9e"
+dependencies = [
+ "backtrace",
+ "bytes",
+ "libc",
+ "mio",
+ "parking_lot",
+ "pin-project-lite",
+ "signal-hook-registry",
+ "socket2",
+ "tokio-macros",
+ "windows-sys",
+]
+
+[[package]]
+name = "tokio-macros"
+version = "2.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6e06d43f1345a3bcd39f6a56dbb7dcab2ba47e68e8ac134855e7e2bdbaf8cab8"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "tokio-serial"
+version = "5.4.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "aa1d5427f11ba7c5e6384521cfd76f2d64572ff29f3f4f7aa0f496282923fdc8"
+dependencies = [
+ "cfg-if",
+ "futures",
+ "log",
+ "mio-serial",
+ "serialport",
+ "tokio",
+]
+
+[[package]]
+name = "tokio-util"
+version = "0.7.13"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d7fcaa8d55a2bdd6b83ace262b016eca0d79ee02818c5c1bcdf0305114081078"
+dependencies = [
+ "bytes",
+ "futures-core",
+ "futures-sink",
+ "pin-project-lite",
+ "tokio",
+]
+
 [[package]]
 name = "typenum"
 version = "1.17.0"
@@ -552,6 +889,12 @@ version = "1.0.16"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a210d160f08b701c8721ba1c726c11662f877ea6b7094007e1ca9a1041945034"
 
+[[package]]
+name = "wasi"
+version = "0.11.0+wasi-snapshot-preview1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9c8d87e72b64a3b4db28d11ce29237c246188f4f51057d65a7eab63b7987e423"
+
 [[package]]
 name = "winapi"
 version = "0.3.9"
@@ -573,3 +916,76 @@ name = "winapi-x86_64-pc-windows-gnu"
 version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f"
+
+[[package]]
+name = "windows-sys"
+version = "0.52.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "282be5f36a8ce781fad8c8ae18fa3f9beff57ec1b52cb3de0789201425d9a33d"
+dependencies = [
+ "windows-targets",
+]
+
+[[package]]
+name = "windows-targets"
+version = "0.52.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9b724f72796e036ab90c1021d4780d4d3d648aca59e491e6b98e725b84e99973"
+dependencies = [
+ "windows_aarch64_gnullvm",
+ "windows_aarch64_msvc",
+ "windows_i686_gnu",
+ "windows_i686_gnullvm",
+ "windows_i686_msvc",
+ "windows_x86_64_gnu",
+ "windows_x86_64_gnullvm",
+ "windows_x86_64_msvc",
+]
+
+[[package]]
+name = "windows_aarch64_gnullvm"
+version = "0.52.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "32a4622180e7a0ec044bb555404c800bc9fd9ec262ec147edd5989ccd0c02cd3"
+
+[[package]]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "09ec2a7bb152e2252b53fa7803150007879548bc709c039df7627cabbd05d469"
+
+[[package]]
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+
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+
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+
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+
+[[package]]
+name = "windows_x86_64_gnullvm"
+version = "0.52.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "24d5b23dc417412679681396f2b49f3de8c1473deb516bd34410872eff51ed0d"
+
+[[package]]
+name = "windows_x86_64_msvc"
+version = "0.52.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "589f6da84c646204747d1270a2a5661ea66ed1cced2631d546fdfb155959f9ec"

northbridge/Cargo.toml

@@ -7,5 +7,11 @@ edition = "2021"
 anyhow = "1.0.95"
 framed = "0.4.3"
 n = "0.2.0"
-serialport = "4.7.0"
 common = { path = "../common" }
+tokio = { version = "1.43.0", features = ["full"] }
+tokio-serial = "5.4.5"
+postcard = { version = "1.0.0", features = ["alloc", "use-std"] }
+nalgebra = { version = "0.31.2", default-features=false, features = ["serde-serialize-no-std"] }
+tokio-util = { version = "0.7.13", features = ["codec"] }
+futures-core = "0.3.31"
+futures = "0.3.31"

northbridge/src/main.rs

@@ -1,15 +1,42 @@
-use anyhow::{anyhow, Context, Result};
+#![feature(async_closure)]
-use common::BAUDRATE;
 
-fn main() -> Result<()> {
+use std::pin::{pin, Pin};
-    let ports = serialport::available_ports()?;
 
-    let serial = ports.get(0).context("no ports")?;
+use anyhow::{Context, Result};
+use common::{Command, Response, BAUDRATE};
+use framed::BoxPayload;
+use framed_codec::FramedCodec;
+use futures::{SinkExt, StreamExt};
+use tokio::io::AsyncBufReadExt;
+use tokio_serial::SerialPortBuilderExt;
+use tokio_util::codec::Framed;
 
-    let serial = serialport::new(&serial.port_name, BAUDRATE).open_native()?;
+mod framed_codec;
 
-    dbg!(ports);
+#[tokio::main]
-    println!("Hello, world!");
+async fn main() -> Result<()> {
+    let mut serial = tokio_serial::new("/dev/ttyAMA0", BAUDRATE).open_native_async()?;
+
+    serial.set_exclusive(false)?;
+
+    let (mut write, read) = Framed::new(serial, FramedCodec::new()).split();
+
+    let mut read = read.map(|data| -> Result<Response> {
+        Ok(postcard::from_bytes::<Response>(&data.ok().context("decode err")?)?)
+    });
+
+    let mut write = write.with(move |data: Command| {
+        let data = postcard::to_stdvec(&data).unwrap();
+        async move {Ok(data)}
+    });
+
+
+    while let Some(data) = read.next().await {
+        dbg!(data?);
+
+
+        write.send(Command::Enable).await;
+    }
 
     Ok(())
 }