recv control input on northbridge

common/Cargo.lock

@@ -11,106 +11,20 @@ dependencies = [
  "num-traits",
 ]
 
-[[package]]
-name = "atomic-polyfill"
-version = "1.0.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8cf2bce30dfe09ef0bfaef228b9d414faaf7e563035494d7fe092dba54b300f4"
-dependencies = [
- "critical-section",
-]
-
 [[package]]
 name = "autocfg"
 version = "1.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ace50bade8e6234aa140d9a2f552bbee1db4d353f69b8217bc503490fc1a9f26"
 
-[[package]]
-name = "byteorder"
-version = "1.5.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
-
-[[package]]
-name = "cobs"
-version = "0.2.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "67ba02a97a2bd10f4b59b25c7973101c79642302776489e030cd13cdab09ed15"
-
 [[package]]
 name = "common"
 version = "0.1.0"
 dependencies = [
- "framed",
  "nalgebra",
- "postcard",
  "serde",
 ]
 
-[[package]]
-name = "crc16"
-version = "0.4.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "338089f42c427b86394a5ee60ff321da23a5c89c9d89514c829687b26359fcff"
-
-[[package]]
-name = "critical-section"
-version = "1.2.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "790eea4361631c5e7d22598ecd5723ff611904e3344ce8720784c93e3d83d40b"
-
-[[package]]
-name = "encode_unicode"
-version = "0.3.6"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a357d28ed41a50f9c765dbfe56cbc04a64e53e5fc58ba79fbc34c10ef3df831f"
-
-[[package]]
-name = "framed"
-version = "0.4.3"
-dependencies = [
- "byteorder",
- "cobs",
- "crc16",
- "ref_slice",
- "serde",
- "ssmarshal",
-]
-
-[[package]]
-name = "hash32"
-version = "0.2.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b0c35f58762feb77d74ebe43bdbc3210f09be9fe6742234d573bacc26ed92b67"
-dependencies = [
- "byteorder",
-]
-
-[[package]]
-name = "heapless"
-version = "0.7.17"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cdc6457c0eb62c71aac4bc17216026d8410337c4126773b9c5daba343f17964f"
-dependencies = [
- "atomic-polyfill",
- "hash32",
- "rustc_version",
- "serde",
- "spin",
- "stable_deref_trait",
-]
-
-[[package]]
-name = "lock_api"
-version = "0.4.12"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "07af8b9cdd281b7915f413fa73f29ebd5d55d0d3f0155584dade1ff18cea1b17"
-dependencies = [
- "autocfg",
- "scopeguard",
-]
-
 [[package]]
 name = "nalgebra"
 version = "0.31.4"
@@ -170,17 +84,6 @@ version = "1.0.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "57c0d7b74b563b49d38dae00a0c37d4d6de9b432382b2892f0574ddcae73fd0a"
 
-[[package]]
-name = "postcard"
-version = "1.1.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "170a2601f67cc9dba8edd8c4870b15f71a6a2dc196daec8c83f72b59dff628a8"
-dependencies = [
- "cobs",
- "heapless",
- "serde",
-]
-
 [[package]]
 name = "proc-macro2"
 version = "1.0.93"
@@ -199,33 +102,6 @@ dependencies = [
  "proc-macro2",
 ]
 
-[[package]]
-name = "ref_slice"
-version = "1.2.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f4ed1d73fb92eba9b841ba2aef69533a060ccc0d3ec71c90aeda5996d4afb7a9"
-
-[[package]]
-name = "rustc_version"
-version = "0.4.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cfcb3a22ef46e85b45de6ee7e79d063319ebb6594faafcf1c225ea92ab6e9b92"
-dependencies = [
- "semver",
-]
-
-[[package]]
-name = "scopeguard"
-version = "1.2.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "94143f37725109f92c262ed2cf5e59bce7498c01bcc1502d7b9afe439a4e9f49"
-
-[[package]]
-name = "semver"
-version = "1.0.25"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f79dfe2d285b0488816f30e700a7438c5a73d816b5b7d3ac72fbc48b0d185e03"
-
 [[package]]
 name = "serde"
 version = "1.0.217"
@@ -258,31 +134,6 @@ dependencies = [
  "paste",
 ]
 
-[[package]]
-name = "spin"
-version = "0.9.8"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6980e8d7511241f8acf4aebddbb1ff938df5eebe98691418c4468d0b72a96a67"
-dependencies = [
- "lock_api",
-]
-
-[[package]]
-name = "ssmarshal"
-version = "1.0.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f3e6ad23b128192ed337dfa4f1b8099ced0c2bf30d61e551b65fda5916dbb850"
-dependencies = [
- "encode_unicode",
- "serde",
-]
-
-[[package]]
-name = "stable_deref_trait"
-version = "1.2.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a8f112729512f8e442d81f95a8a7ddf2b7c6b8a1a6f509a95864142b30cab2d3"
-
 [[package]]
 name = "syn"
 version = "2.0.96"

common/Cargo.toml

@@ -6,5 +6,3 @@ edition = "2021"
 [dependencies]
 nalgebra = { version = "0.31.2", default-features=false, features = ["serde-serialize-no-std"] }
 serde = { version = "1.0.203", default-features = false, features = ["derive"] }
-postcard = "1.0.0"
-framed = {path='/home/andy/programming/framed-rs/framed', default-features=false, features = ["use_nightly"]}

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),

encoder/src/main.rs

@@ -61,9 +61,9 @@ async fn telemetry_server() -> Result<()>{
         tokio::spawn(async move {
             let mut reader = BufReader::new(receiver).lines();
             while let Some(line) = reader.next_line().await? {
-                println!("recv: {line}");
+                //println!("recv: {line}");
                 if let result::Result::Ok(control) = serde_json::from_str::<Control>(&line) {
-                    println!("deserialized: data is {}", control.data);
+                    //println!("deserialized: data is {}", control.data);
                 }
             }
 
@@ -95,7 +95,7 @@ async fn telemetry_server() -> Result<()>{
 async fn camera_manager(await_frame: Arc<Notify>, latest_frame: Arc<RwLock<Vec<u8>>>) -> Result<()>{
     let cameras = nokhwa::query(ApiBackend::Auto)?;
 
-    let camera = cameras.get(0).context("no cameras")?;
+    let camera = cameras.get(2).context("no cameras")?;
     println!("using: {}",camera.human_name());
 
     let requested = RequestedFormat::new::<RgbFormat>(RequestedFormatType::HighestResolution(Resolution::new(320, 240)));

interface/Cargo.toml

@@ -0,0 +1,13 @@
+[package]
+name = "interface"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+common = { path = "../common" }
+tokio = { version = "1.43.0", features = ["full"] }
+anyhow = "1.0.95"
+gilrs = "0.11.0"
+futures = "0.3.31"
+serde = { version = "1.0.217", features = ["alloc"] }
+postcard = { version = "1.0.0", features = ["alloc", "use-std"] }

interface/src/main.rs

@@ -0,0 +1,42 @@
+use std::time::Duration;
+
+use anyhow::Context;
+use common::Command;
+use gilrs::{Axis, Gilrs};
+use tokio::{io::{AsyncWriteExt, BufWriter}, net::TcpStream, time::sleep};
+
+#[tokio::main]
+async fn main() -> anyhow::Result<()> {
+    println!("Hello, world!");
+
+    let gamepads = Gilrs::new().unwrap();
+    let (_, gamepad) = gamepads.gamepads().nth(0).context("no gamepads")?;
+    let ly = gamepad.axis_code(Axis::LeftStickY).context("no left joystick")?;
+    let rx = gamepad.axis_code(Axis::RightStickX).context("no right joystick")?;
+
+    let mut robot = TcpStream::connect("pelican.dyn.wpi.edu:3322").await?;
+    robot.set_nodelay(true)?;
+
+
+    let (_telem, robot_controller) = robot.split();
+
+    let mut robot_controller = BufWriter::new(robot_controller);
+
+    loop {
+        let values = gamepad.state();
+
+        let ly = values.axis_data(ly).context("no left")?.value();
+        let rx = values.axis_data(rx).context("no left")?.value();
+
+        let cmd = Command::Twist(ly, rx);
+
+        let encoded = postcard::to_stdvec(&cmd)?;
+
+        robot_controller.write_u32(encoded.len() as u32).await?;
+        robot_controller.write_all(&encoded).await?;
+
+        robot_controller.flush().await?;
+
+        sleep(Duration::from_micros(3500)).await;
+    }
+}

northbridge/Cargo.lock

@@ -114,9 +114,7 @@ checksum = "67ba02a97a2bd10f4b59b25c7973101c79642302776489e030cd13cdab09ed15"
 name = "common"
 version = "0.1.0"
 dependencies = [
- "framed 0.4.3",
  "nalgebra",
- "postcard",
  "serde",
 ]
 
@@ -142,12 +140,6 @@ version = "0.3.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "11a65c4797332f3e3a5945e0377875afc79b1bdc87082a4f98ac1ef15b47e2dd"
 
-[[package]]
-name = "crc16"
-version = "0.4.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "338089f42c427b86394a5ee60ff321da23a5c89c9d89514c829687b26359fcff"
-
 [[package]]
 name = "critical-section"
 version = "1.2.0"
@@ -172,18 +164,6 @@ version = "0.3.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a357d28ed41a50f9c765dbfe56cbc04a64e53e5fc58ba79fbc34c10ef3df831f"
 
-[[package]]
-name = "framed"
-version = "0.4.3"
-dependencies = [
- "byteorder",
- "cobs 0.2.3",
- "crc16 0.4.0",
- "ref_slice",
- "serde",
- "ssmarshal",
-]
-
 [[package]]
 name = "framed"
 version = "0.4.3"
@@ -192,7 +172,7 @@ checksum = "5d939d56a82ce8751cd473e2e399f8d60f0a7f78cd0746fef857bd176c5b8612"
 dependencies = [
  "byteorder",
  "cobs 0.1.4",
- "crc16 0.3.4",
+ "crc16",
  "ref_slice",
  "serde",
  "ssmarshal",
@@ -463,7 +443,7 @@ version = "0.1.0"
 dependencies = [
  "anyhow",
  "common",
- "framed 0.4.3 (registry+https://github.com/rust-lang/crates.io-index)",
+ "framed",
  "futures",
  "futures-core",
  "n",

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)?;
+    }
+}

southbridge/Cargo.lock

@@ -148,9 +148,7 @@ dependencies = [
 name = "common"
 version = "0.1.0"
 dependencies = [
- "framed 0.4.3",
  "nalgebra",
- "postcard",
  "serde",
 ]
 
@@ -603,18 +601,6 @@ version = "1.0.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "3f9eec918d3f24069decb9af1554cad7c880e2da24a9afd88aca000531ab82c1"
 
-[[package]]
-name = "framed"
-version = "0.4.3"
-dependencies = [
- "byteorder",
- "cobs",
- "crc16",
- "ref_slice",
- "serde",
- "ssmarshal",
-]
-
 [[package]]
 name = "framed"
 version = "0.4.3"
@@ -1374,7 +1360,7 @@ dependencies = [
  "embedded-io",
  "embedded-io-async",
  "embedded-storage",
- "framed 0.4.3 (git+https://git.ank.dev/ank/framed-rs)",
+ "framed",
  "heapless 0.8.0",
  "log",
  "mpu6050",