enable on start

common/src/lib.rs

@@ -27,7 +27,7 @@ pub struct Response {
     pub uptime_micros: u64,
 }
 
-#[derive(Serialize, Deserialize, Debug)]
+#[derive(Serialize, Deserialize, Debug, Clone)]
 pub enum SensorData {
     /// degrees per second
     Gyro(Vector3<f32>),

northbridge/src/main.rs

@@ -4,6 +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_serial::SerialPortBuilderExt;
 use tokio_util::codec::Framed;
 
@@ -13,6 +14,8 @@ mod framed_codec;
 async fn main() -> Result<()> {
     let mut serial = tokio_serial::new("/dev/ttyAMA0", BAUDRATE).open_native_async()?;
 
+    let (sensor_sender, sensor_data) = broadcast::channel(5);
+
     serial.set_exclusive(false)?;
 
     let (mut write, read) = Framed::new(serial, FramedCodec::new()).split();
@@ -21,11 +24,23 @@ async fn main() -> Result<()> {
         Ok(postcard::from_bytes::<Response>(&data.ok().context("decode err")?)?)
     });
 
+    println!("starting");
+    write.send(Command::Enable).await?;
 
-    while let Some(data) = read.next().await {
-        dbg!(data?);
+    while let Some(Ok(data)) = read.next().await {
+        if data.enabled {
+            write.send(Command::FeedWatchdog).await?;
 
-        write.send(Command::Enable).await?;
+        } else {
+            println!("enabled southbridge");
+            write.send(Command::Enable).await?;
+        }
+
+        dbg!(&data);
+
+        if let Some(data) = data.sensor_data {
+            let _ = sensor_sender.send(data);
+        }
     }
 
     Ok(())