ank/cruisecontrol
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stop robot on music end

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This commit is contained in:
Andy Killorin 2025-01-18 22:45:23 -05:00
parent 2af0807abd
commit 978a3fe213
Signed by: ank
GPG key ID: 23F9463ECB67FE8C
1 changed files with 19 additions and 7 deletions
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22
interface/src/main.rs
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@ -1,12 +1,12 @@
#![feature(iter_collect_into)]
use std::{thread::sleep, time::Duration};
use std::{result, thread::sleep, time::Duration};
use anyhow::{Context, Ok, Result};
use common::{ControlPacket, TelemetryPacket};
use cpal::traits::{DeviceTrait, HostTrait, StreamTrait};
use pitch_detection::{detector::{mcleod::McLeodDetector, PitchDetector}, utils};
use rust_music_theory::note::{Note, NoteLetter, Pitch, Tuning};
use tokio::{io::{AsyncReadExt, AsyncWriteExt, BufWriter, WriteHalf}, net::{tcp::{OwnedReadHalf, OwnedWriteHalf}, TcpStream}, sync::mpsc};
use tokio::{io::{AsyncReadExt, AsyncWriteExt, BufWriter, WriteHalf}, net::{tcp::{OwnedReadHalf, OwnedWriteHalf}, TcpStream}, sync::mpsc, time::timeout};
fn main() -> Result<()> {
// assumes pulseaudio system with f32 samples and 2204 sample packets
@ -77,10 +77,17 @@ async fn telemetry_handler(mut telem: OwnedReadHalf) -> Result<()> {
async fn controller(mut notes: mpsc::Receiver<(Option<pitch_detection::Pitch<f32>>, f32)>, controller: OwnedWriteHalf) -> Result<()> {
let mut controller = BufWriter::new(controller);
send_packet(&mut controller, ControlPacket::Arm(true)).await?;
println!("armed flipper");
loop {
let mut control = ControlPacket::Stop;
let (note,vol) = notes.recv().await.context("channel closed")?;
let result::Result::Ok(note) = timeout(Duration::from_millis(95), notes.recv()).await else {
send_packet(&mut controller, ControlPacket::Stop).await?;
continue;
};
let (note,vol) = note.context("channel closed")?;
if let Some(note) = note {
//dbg!(note.frequency);
//dbg!(note.clarity);
@ -122,10 +129,15 @@ async fn controller(mut notes: mpsc::Receiver<(Option<pitch_detection::Pitch<f32
}
send_packet(&mut controller, control).await?;
}
}
}
async fn send_packet(controller: &mut BufWriter<OwnedWriteHalf>, control: ControlPacket) -> Result<(), anyhow::Error> {
let control: heapless::Vec<u8, 2048> = postcard::to_vec(&control)?;
controller.write_u32(control.len() as u32).await?;
controller.write_all(&control).await?;
controller.flush().await?;
}
}
Ok(())
}