recv control input on northbridge

common/src/lib.rs

@@ -6,7 +6,7 @@ use serde::{Deserialize, Serialize};
 
 pub const BAUDRATE: u32 = 115200;
 
-#[derive(Serialize, Deserialize, Debug)]
+#[derive(Serialize, Deserialize, Debug, Clone)]
 pub enum Command {
     /// Forward, clockwise
     Twist(f32,f32),

northbridge/src/main.rs

@@ -4,7 +4,7 @@ use anyhow::{Context, Result};
 use common::{Command, Response, BAUDRATE};
 use framed_codec::FramedCodec;
 use futures::{SinkExt, StreamExt};
-use tokio::sync::broadcast;
+use tokio::{io::AsyncReadExt, net::{TcpListener, TcpSocket}, sync::{broadcast, watch::{self, Sender}}};
 use tokio_serial::SerialPortBuilderExt;
 use tokio_util::codec::Framed;
 
@@ -24,6 +24,10 @@ async fn main() -> Result<()> {
         Ok(postcard::from_bytes::<Response>(&data.ok().context("decode err")?)?)
     });
 
+    let (send, commands) = watch::channel(Command::Stop);
+
+    tokio::spawn(control(send));
+
     println!("starting");
     write.send(Command::Enable).await?;
 
@@ -41,7 +45,29 @@ async fn main() -> Result<()> {
         if let Some(data) = data.sensor_data {
             let _ = sensor_sender.send(data);
         }
+
+        write.send(commands.borrow().clone()).await?;
     }
 
     Ok(())
 }
+
+async fn control(sender: Sender<Command>) -> Result<()> {
+    let listener = TcpListener::bind("0.0.0.0:3322").await?;
+
+    let (mut stream, addr) = listener.accept().await?;
+
+    println!("connected to {addr:?}");
+
+    loop {
+        let len = stream.read_u32().await?;
+        let mut buf = vec![0; len as usize];
+        stream.read_exact(&mut buf).await?;
+
+        let cmd: Command = postcard::from_bytes(&buf)?;
+
+        println!("recv {cmd:?}");
+
+        sender.send(cmd)?;
+    }
+}