ank/cruisecontrol
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send tof status to gui

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This commit is contained in:
Andy Killorin 2025-03-06 12:17:13 -05:00
parent 79b22b3cb7
commit bb974c2015
Signed by: ank
GPG key ID: 23F9463ECB67FE8C
3 changed files with 27 additions and 6 deletions
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2
common/src/lib.rs
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@ -6,7 +6,7 @@ use serde::{Deserialize, Serialize};
/// -1..1 /// -1..1
pub type Speed = f32; pub type Speed = f32;
#[derive(Serialize, Deserialize, Debug)] #[derive(Serialize, Deserialize, Debug, Clone)]
pub enum ControlPacket { pub enum ControlPacket {
/// Forward, Clockwise /// Forward, Clockwise
Twist(Speed, Speed), Twist(Speed, Speed),

19
interface/src/gui.rs
View file

@ -1,9 +1,13 @@
use std::cell::OnceCell;
use common::{ControlPacket, TelemetryPacket}; use common::{ControlPacket, TelemetryPacket};
use eframe::egui::{self, Align2}; use eframe::egui::{self, containers, Align2, Checkbox, Context, Label};
use tokio::sync::{mpsc, watch::Receiver}; use tokio::sync::{mpsc, watch::Receiver};
use egui_toast::{Toast, Toasts}; use egui_toast::{Toast, Toasts};
pub const GUI: OnceCell<Context> = OnceCell::new();
pub fn gui(data: Receiver<GUIData>, toasts: mpsc::Receiver<Toast>) -> eframe::Result { pub fn gui(data: Receiver<GUIData>, toasts: mpsc::Receiver<Toast>) -> eframe::Result {
let options = eframe::NativeOptions { let options = eframe::NativeOptions {
viewport: egui::ViewportBuilder::default().with_inner_size([320.0, 240.0]), viewport: egui::ViewportBuilder::default().with_inner_size([320.0, 240.0]),
@ -43,8 +47,21 @@ impl GUI {
impl eframe::App for GUI { impl eframe::App for GUI {
fn update(&mut self, ctx: &egui::Context, _frame: &mut eframe::Frame) { fn update(&mut self, ctx: &egui::Context, _frame: &mut eframe::Frame) {
let _ = GUI.set(ctx.clone());
egui::CentralPanel::default().show(ctx, |ui| { egui::CentralPanel::default().show(ctx, |ui| {
ui.heading("Cruise Control"); ui.heading("Cruise Control");
if let Some(ref command) = self.data.borrow().last_command {
ui.label(format!("sending {command:?}"));
}
if let Some(ref telem) = self.data.borrow().telemetry {
ui.label(format!("Left tof: {}", if let Some(tof) = telem.sensors.tof_l {format!("✅ {tof}mm")} else {"❌".into()}));
ui.label(format!("Right tof: {}", if let Some(tof) = telem.sensors.tof_r {format!("✅ {tof}mm")} else {"❌".into()}));
ui.label(format!("Side tof: {}", if let Some(tof) = telem.sensors.tof_s {format!("✅ {tof}mm")} else {"❌".into()}));
ui.label(format!("Gyro: {}", if telem.sensors.gyro.is_some() {"✅"} else {"❌"}));
} else {
ui.label("disconnected");
}
}); });
let mut toasts = Toasts::new() let mut toasts = Toasts::new()
.anchor(Align2::RIGHT_BOTTOM, (-10.0, -10.0)) // 10 units from the bottom right corner .anchor(Align2::RIGHT_BOTTOM, (-10.0, -10.0)) // 10 units from the bottom right corner

12
interface/src/main.rs
View file

@ -6,7 +6,7 @@ use anyhow::{Context, Ok, Result};
use common::{ControlPacket, TelemetryPacket}; use common::{ControlPacket, TelemetryPacket};
use cpal::traits::{DeviceTrait, HostTrait, StreamTrait}; use cpal::traits::{DeviceTrait, HostTrait, StreamTrait};
use egui_toast::{Toast, ToastKind}; use egui_toast::{Toast, ToastKind};
use gui::{gui, GUIData}; use gui::{gui, GUIData, GUI};
use pitch_detection::{detector::{mcleod::McLeodDetector, PitchDetector}, utils}; use pitch_detection::{detector::{mcleod::McLeodDetector, PitchDetector}, utils};
use rust_music_theory::note::{Note, NoteLetter, Pitch, Tuning}; use rust_music_theory::note::{Note, NoteLetter, Pitch, Tuning};
use tokio::{io::{AsyncReadExt, AsyncWriteExt, BufWriter, WriteHalf}, net::{tcp::{OwnedReadHalf, OwnedWriteHalf}, TcpStream}, spawn, sync::{self, mpsc, watch, RwLock}, time::timeout}; use tokio::{io::{AsyncReadExt, AsyncWriteExt, BufWriter, WriteHalf}, net::{tcp::{OwnedReadHalf, OwnedWriteHalf}, TcpStream}, spawn, sync::{self, mpsc, watch, RwLock}, time::timeout};
@ -68,7 +68,7 @@ fn main() -> Result<()> {
Ok(control) Ok(control)
}).unwrap(); }).unwrap();
executor.block_on(controller(notes, control)).unwrap() executor.block_on(controller(notes, control, data_sender.clone())).unwrap()
}); });
println!("launching gui"); println!("launching gui");
@ -92,10 +92,11 @@ async fn telemetry_handler(mut telem: OwnedReadHalf, gui: watch::Sender<GUIData>
gui.send_modify(|gui| { gui.send_modify(|gui| {
gui.telemetry = Some(telem); gui.telemetry = Some(telem);
}); });
GUI.get().map(|c| c.request_repaint());
} }
} }
async fn controller(mut notes: mpsc::Receiver<(Option<pitch_detection::Pitch<f32>>, f32)>, controller: OwnedWriteHalf) -> Result<()> { async fn controller(mut notes: mpsc::Receiver<(Option<pitch_detection::Pitch<f32>>, f32)>, controller: OwnedWriteHalf, gui: watch::Sender<GUIData>) -> Result<()> {
let mut controller = BufWriter::new(controller); let mut controller = BufWriter::new(controller);
//send_packet(&mut controller, ControlPacket::Arm(true)).await?; //send_packet(&mut controller, ControlPacket::Arm(true)).await?;
//println!("armed flipper"); //println!("armed flipper");
@ -123,10 +124,13 @@ async fn controller(mut notes: mpsc::Receiver<(Option<pitch_detection::Pitch<f32
} }
} }
send_packet(&mut controller, control).await?; send_packet(&mut controller, control.clone()).await?;
gui.send_modify(|gui| gui.last_command = Some(control));
} else { } else {
send_packet(&mut controller, ControlPacket::Twist(0.0, 0.0)).await?; send_packet(&mut controller, ControlPacket::Twist(0.0, 0.0)).await?;
gui.send_modify(|gui| gui.last_command = Some(ControlPacket::Stop));
} }
GUI.get().map(|c| c.request_repaint());
} }
} }