adapt to windows audio quirks (virtualbox ones at least)

tried fltk, didn't like it, using egui

common/src/lib.rs

@@ -6,7 +6,7 @@ use serde::{Deserialize, Serialize};
 /// -1..1
 pub type Speed = f32;
 
-#[derive(Serialize, Deserialize, Debug)]
+#[derive(Serialize, Deserialize, Debug, Clone)]
 pub enum ControlPacket {
     /// Forward, Clockwise
     Twist(Speed, Speed),

interface/Cargo.toml

@@ -13,3 +13,7 @@ serde = "1.0.217"
 tokio = { version = "1.43.0", features = ["full"] }
 common = {path = "../common"}
 heapless = "0.7.0"
+
+eframe = "0.30"
+egui_extras = { version = "0.30", features = ["default", "image"] }
+egui-toast = "0.16.0"

interface/src/gui.rs

@@ -0,0 +1,78 @@
+
+use std::cell::OnceCell;
+
+use common::{ControlPacket, TelemetryPacket};
+use eframe::egui::{self, containers, Align2, Checkbox, Context, Label};
+use tokio::sync::{mpsc, watch::Receiver};
+use egui_toast::{Toast, Toasts};
+
+pub const GUI: OnceCell<Context> = OnceCell::new();
+
+pub fn gui(data: Receiver<GUIData>, toasts: mpsc::Receiver<Toast>) -> eframe::Result {
+    let options = eframe::NativeOptions {
+        viewport: egui::ViewportBuilder::default().with_inner_size([320.0, 240.0]),
+        ..Default::default()
+    };
+    eframe::run_native(
+        "Cruise Control Dashboard",
+        options,
+        Box::new(|cc| {
+            // This gives us image support:
+            egui_extras::install_image_loaders(&cc.egui_ctx);
+
+            Ok(Box::new(GUI::with_receivers(data, toasts)))
+        }),
+    )
+}
+
+#[derive(Default)]
+pub struct GUIData {
+    pub telemetry: Option<TelemetryPacket>,
+    pub last_command: Option<ControlPacket>,
+}
+
+struct GUI {
+    data: Receiver<GUIData>,
+    toasts: mpsc::Receiver<Toast>,
+}
+
+impl GUI {
+    fn with_receivers(data: Receiver<GUIData>, toasts: mpsc::Receiver<Toast>) -> Self {
+        Self {
+            data,
+            toasts,
+        }
+    }
+}
+
+impl eframe::App for GUI {
+    fn update(&mut self, ctx: &egui::Context, _frame: &mut eframe::Frame) {
+        let _ = GUI.set(ctx.clone());
+        egui::CentralPanel::default().show(ctx, |ui| {
+            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 {"❌"}));
+
+                    ui.label(format!("Cam: {:?}", telem.cam_state));
+            } else {
+                ui.label("disconnected");
+            }
+        });
+        let mut toasts = Toasts::new()
+            .anchor(Align2::RIGHT_BOTTOM, (-10.0, -10.0)) // 10 units from the bottom right corner
+            .direction(egui::Direction::BottomUp);
+
+        while let Ok(toast) = self.toasts.try_recv() {
+            toasts.add(toast);
+        }
+
+        toasts.show(ctx);
+    }
+}

interface/src/main.rs

@@ -1,19 +1,29 @@
 #![feature(iter_collect_into)]
-use std::{ops::ControlFlow, result, sync::Arc, thread::sleep, time::Duration};
+use std::{ops::ControlFlow, result, sync::Arc, thread::{self, sleep}, time::Duration};
 
 use anyhow::{Context, Ok, Result};
 use common::{ControlPacket, TelemetryPacket};
 use cpal::traits::{DeviceTrait, HostTrait, StreamTrait};
+use egui_toast::{Toast, ToastKind};
+use gui::{gui, GUIData, GUI};
 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}, spawn, sync::{self, mpsc, RwLock}, time::timeout};
+use tokio::{io::{AsyncReadExt, AsyncWriteExt, BufWriter, WriteHalf}, net::{tcp::{OwnedReadHalf, OwnedWriteHalf}, TcpStream}, spawn, sync::{self, mpsc, watch, RwLock}, time::timeout};
+
+mod gui;
 
 fn main() -> Result<()> {
     // assumes pulseaudio system with f32 samples and 2204 sample packets
     dbg!(cpal::available_hosts());
     let host = cpal::default_host();
+    #[cfg(target_os = "windows")]
+    let Some(device) = host.devices().unwrap().filter(|device| device.supported_input_configs().unwrap().count() != 0).next() else {
+        panic!("no input devices")
+    };
+    #[cfg(target_os = "linux")]
     let device = host.devices().unwrap().find(|d|d.name().unwrap() == "pulse").context("no pulse")?;
 
+
     let config = device.default_input_config()?;
 
     dbg!(config.sample_format());
@@ -23,7 +33,10 @@ fn main() -> Result<()> {
 
     const POWER_THRESHOLD: f32 = 5.0;
     const CLARITY_THRESHOLD: f32 = 0.85;
+    #[cfg(target_os = "linux")]
     const PACKET_LEN: usize = 2204;
+    #[cfg(target_os = "windows")]
+    const PACKET_LEN: usize = 512;
 
     let stream = device.build_input_stream(&config.into(), 
         move | data: &[f32], _: &_| {
@@ -45,26 +58,36 @@ fn main() -> Result<()> {
 
     //let latest_telem = Arc::new(RwLock::new(None));
 
-    let control = executor.block_on(async {
-        let cruisecontrol = TcpStream::connect("192.168.1.2:1234").await?;
-        println!("connected");
-        cruisecontrol.set_nodelay(true)?;
-        let (telem, control) = cruisecontrol.into_split();
-
-        tokio::spawn(telemetry_handler(telem));
-
-        Ok(control)
-    })?;
+    let (toast_sender, toasts) = mpsc::channel(5);
+    let (data_sender, gui_data) =watch::channel(GUIData::default());
 
 
-    executor.block_on(controller(notes, control)).unwrap();
+    thread::spawn(move || {
+        let control = executor.block_on(async {
+            toast_sender.send(Toast::new().text("connecting to bot").kind(ToastKind::Info)).await.unwrap();
+            let cruisecontrol = TcpStream::connect("192.168.1.2:1234").await?;
+            println!("connected");
+            toast_sender.send(Toast::new().text("connected").kind(ToastKind::Success)).await.unwrap();
+            cruisecontrol.set_nodelay(true)?;
+            let (telem, control) = cruisecontrol.into_split();
+
+            tokio::spawn(telemetry_handler(telem, data_sender.clone()));
+
+            Ok(control)
+        }).unwrap();
+
+        executor.block_on(controller(notes, control, data_sender.clone())).unwrap()
+    });
+
+    println!("launching gui");
+    gui(gui_data, toasts).unwrap();
 
     drop(stream);
 
     Ok(())
 }
 
-async fn telemetry_handler(mut telem: OwnedReadHalf) -> Result<()> {
+async fn telemetry_handler(mut telem: OwnedReadHalf, gui: watch::Sender<GUIData>) -> Result<()> {
     let mut buf = vec![0; 2048];
     loop {
         let len = telem.read_u32().await.context("bad length")? as usize;
@@ -74,10 +97,14 @@ async fn telemetry_handler(mut telem: OwnedReadHalf) -> Result<()> {
 
         println!("telem: {telem:?}");
 
+        gui.send_modify(|gui| {
+            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);
     //send_packet(&mut controller, ControlPacket::Arm(true)).await?;
     //println!("armed flipper");
@@ -105,10 +132,13 @@ 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 {
             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());
     }
 }