From cc255b77ab2c7104379767e0347fc9e49305e002 Mon Sep 17 00:00:00 2001
From: Andy Killorin <andy@ank.dev>
Date: Sat, 12 Jul 2025 16:30:47 -0500
Subject: [PATCH] receive json

---
 common/Cargo.lock     |  65 +++++++
 common/src/lib.rs     |   2 +-
 converter/Cargo.lock  | 388 ++++++++++++++++++++++++++++++++++++++++++
 converter/Cargo.toml  |   1 +
 converter/src/main.rs |  30 +++-
 5 files changed, 481 insertions(+), 5 deletions(-)
 create mode 100644 common/Cargo.lock
 create mode 100644 converter/Cargo.lock

diff --git a/common/Cargo.lock b/common/Cargo.lock
new file mode 100644
index 0000000..2d2fec6
--- /dev/null
+++ b/common/Cargo.lock
@@ -0,0 +1,65 @@
+# This file is automatically @generated by Cargo.
+# It is not intended for manual editing.
+version = 4
+
+[[package]]
+name = "common"
+version = "0.1.0"
+dependencies = [
+ "serde",
+]
+
+[[package]]
+name = "proc-macro2"
+version = "1.0.95"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "02b3e5e68a3a1a02aad3ec490a98007cbc13c37cbe84a3cd7b8e406d76e7f778"
+dependencies = [
+ "unicode-ident",
+]
+
+[[package]]
+name = "quote"
+version = "1.0.40"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1885c039570dc00dcb4ff087a89e185fd56bae234ddc7f056a945bf36467248d"
+dependencies = [
+ "proc-macro2",
+]
+
+[[package]]
+name = "serde"
+version = "1.0.219"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5f0e2c6ed6606019b4e29e69dbaba95b11854410e5347d525002456dbbb786b6"
+dependencies = [
+ "serde_derive",
+]
+
+[[package]]
+name = "serde_derive"
+version = "1.0.219"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5b0276cf7f2c73365f7157c8123c21cd9a50fbbd844757af28ca1f5925fc2a00"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "syn"
+version = "2.0.104"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "17b6f705963418cdb9927482fa304bc562ece2fdd4f616084c50b7023b435a40"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "unicode-ident",
+]
+
+[[package]]
+name = "unicode-ident"
+version = "1.0.18"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5a5f39404a5da50712a4c1eecf25e90dd62b613502b7e925fd4e4d19b5c96512"
diff --git a/common/src/lib.rs b/common/src/lib.rs
index 4f4c70d..a09f070 100644
--- a/common/src/lib.rs
+++ b/common/src/lib.rs
@@ -2,7 +2,7 @@
 use serde::Serialize;
 use serde::Deserialize;
 
-#[derive(Serialize, Deserialize, Default)]
+#[derive(Serialize, Deserialize, Default, Clone)]
 pub struct Command {
     pub left: f32,
     pub right: f32,
diff --git a/converter/Cargo.lock b/converter/Cargo.lock
new file mode 100644
index 0000000..3fd71a6
--- /dev/null
+++ b/converter/Cargo.lock
@@ -0,0 +1,388 @@
+# This file is automatically @generated by Cargo.
+# It is not intended for manual editing.
+version = 4
+
+[[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 = "1.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c08606f8c3cbf4ce6ec8e28fb0014a2c086708fe954eaa885384a6165172e7e8"
+
+[[package]]
+name = "bitflags"
+version = "1.3.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
+
+[[package]]
+name = "bitflags"
+version = "2.9.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1b8e56985ec62d17e9c1001dc89c88ecd7dc08e47eba5ec7c29c7b5eeecde967"
+
+[[package]]
+name = "byteorder"
+version = "1.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
+
+[[package]]
+name = "cfg-if"
+version = "1.0.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9555578bc9e57714c812a1f84e4fc5b4d21fcb063490c624de019f7464c91268"
+
+[[package]]
+name = "cobs"
+version = "0.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0fa961b519f0b462e3a3b4a34b64d119eeaca1d59af726fe450bbba07a9fc0a1"
+dependencies = [
+ "thiserror",
+]
+
+[[package]]
+name = "common"
+version = "0.1.0"
+dependencies = [
+ "serde",
+]
+
+[[package]]
+name = "converter"
+version = "0.1.0"
+dependencies = [
+ "common",
+ "heapless",
+ "postcard",
+ "serde_json",
+ "serialport",
+]
+
+[[package]]
+name = "core-foundation"
+version = "0.10.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b2a6cd9ae233e7f62ba4e9353e81a88df7fc8a5987b8d445b4d90c879bd156f6"
+dependencies = [
+ "core-foundation-sys",
+ "libc",
+]
+
+[[package]]
+name = "core-foundation-sys"
+version = "0.8.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "773648b94d0e5d620f64f280777445740e61fe701025087ec8b57f45c791888b"
+
+[[package]]
+name = "critical-section"
+version = "1.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "790eea4361631c5e7d22598ecd5723ff611904e3344ce8720784c93e3d83d40b"
+
+[[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 = "io-kit-sys"
+version = "0.4.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "617ee6cf8e3f66f3b4ea67a4058564628cde41901316e19f559e14c7c72c5e7b"
+dependencies = [
+ "core-foundation-sys",
+ "mach2",
+]
+
+[[package]]
+name = "itoa"
+version = "1.0.15"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4a5f13b858c8d314ee3e8f639011f7ccefe71f97f96e50151fb991f267928e2c"
+
+[[package]]
+name = "libc"
+version = "0.2.174"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1171693293099992e19cddea4e8b849964e9846f4acee11b3948bcc337be8776"
+
+[[package]]
+name = "libudev"
+version = "0.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "78b324152da65df7bb95acfcaab55e3097ceaab02fb19b228a9eb74d55f135e0"
+dependencies = [
+ "libc",
+ "libudev-sys",
+]
+
+[[package]]
+name = "libudev-sys"
+version = "0.1.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3c8469b4a23b962c1396b9b451dda50ef5b283e8dd309d69033475fa9b334324"
+dependencies = [
+ "libc",
+ "pkg-config",
+]
+
+[[package]]
+name = "lock_api"
+version = "0.4.13"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "96936507f153605bddfcda068dd804796c84324ed2510809e5b2a624c81da765"
+dependencies = [
+ "autocfg",
+ "scopeguard",
+]
+
+[[package]]
+name = "mach2"
+version = "0.4.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d640282b302c0bb0a2a8e0233ead9035e3bed871f0b7e81fe4a1ec829765db44"
+dependencies = [
+ "libc",
+]
+
+[[package]]
+name = "memchr"
+version = "2.7.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "32a282da65faaf38286cf3be983213fcf1d2e2a58700e808f83f4ea9a4804bc0"
+
+[[package]]
+name = "nix"
+version = "0.26.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "598beaf3cc6fdd9a5dfb1630c2800c7acd31df7aaf0f565796fba2b53ca1af1b"
+dependencies = [
+ "bitflags 1.3.2",
+ "cfg-if",
+ "libc",
+]
+
+[[package]]
+name = "pkg-config"
+version = "0.3.32"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7edddbd0b52d732b21ad9a5fab5c704c14cd949e5e9a1ec5929a24fded1b904c"
+
+[[package]]
+name = "postcard"
+version = "1.1.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6c1de96e20f51df24ca73cafcc4690e044854d803259db27a00a461cb3b9d17a"
+dependencies = [
+ "cobs",
+ "heapless",
+ "serde",
+]
+
+[[package]]
+name = "proc-macro2"
+version = "1.0.95"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "02b3e5e68a3a1a02aad3ec490a98007cbc13c37cbe84a3cd7b8e406d76e7f778"
+dependencies = [
+ "unicode-ident",
+]
+
+[[package]]
+name = "quote"
+version = "1.0.40"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1885c039570dc00dcb4ff087a89e185fd56bae234ddc7f056a945bf36467248d"
+dependencies = [
+ "proc-macro2",
+]
+
+[[package]]
+name = "rustc_version"
+version = "0.4.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cfcb3a22ef46e85b45de6ee7e79d063319ebb6594faafcf1c225ea92ab6e9b92"
+dependencies = [
+ "semver",
+]
+
+[[package]]
+name = "ryu"
+version = "1.0.20"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "28d3b2b1366ec20994f1fd18c3c594f05c5dd4bc44d8bb0c1c632c8d6829481f"
+
+[[package]]
+name = "scopeguard"
+version = "1.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "94143f37725109f92c262ed2cf5e59bce7498c01bcc1502d7b9afe439a4e9f49"
+
+[[package]]
+name = "semver"
+version = "1.0.26"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "56e6fa9c48d24d85fb3de5ad847117517440f6beceb7798af16b4a87d616b8d0"
+
+[[package]]
+name = "serde"
+version = "1.0.219"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5f0e2c6ed6606019b4e29e69dbaba95b11854410e5347d525002456dbbb786b6"
+dependencies = [
+ "serde_derive",
+]
+
+[[package]]
+name = "serde_derive"
+version = "1.0.219"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5b0276cf7f2c73365f7157c8123c21cd9a50fbbd844757af28ca1f5925fc2a00"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "serde_json"
+version = "1.0.140"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "20068b6e96dc6c9bd23e01df8827e6c7e1f2fddd43c21810382803c136b99373"
+dependencies = [
+ "itoa",
+ "memchr",
+ "ryu",
+ "serde",
+]
+
+[[package]]
+name = "serialport"
+version = "4.7.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cdb0bc984f6af6ef8bab54e6cf2071579ee75b9286aa9f2319a0d220c28b0a2b"
+dependencies = [
+ "bitflags 2.9.1",
+ "cfg-if",
+ "core-foundation",
+ "core-foundation-sys",
+ "io-kit-sys",
+ "libudev",
+ "mach2",
+ "nix",
+ "scopeguard",
+ "unescaper",
+ "winapi",
+]
+
+[[package]]
+name = "spin"
+version = "0.9.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6980e8d7511241f8acf4aebddbb1ff938df5eebe98691418c4468d0b72a96a67"
+dependencies = [
+ "lock_api",
+]
+
+[[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 = "2.0.104"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "17b6f705963418cdb9927482fa304bc562ece2fdd4f616084c50b7023b435a40"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "unicode-ident",
+]
+
+[[package]]
+name = "thiserror"
+version = "2.0.12"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "567b8a2dae586314f7be2a752ec7474332959c6460e02bde30d702a66d488708"
+dependencies = [
+ "thiserror-impl",
+]
+
+[[package]]
+name = "thiserror-impl"
+version = "2.0.12"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7f7cf42b4507d8ea322120659672cf1b9dbb93f8f2d4ecfd6e51350ff5b17a1d"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "unescaper"
+version = "0.1.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c01d12e3a56a4432a8b436f293c25f4808bdf9e9f9f98f9260bba1f1bc5a1f26"
+dependencies = [
+ "thiserror",
+]
+
+[[package]]
+name = "unicode-ident"
+version = "1.0.18"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5a5f39404a5da50712a4c1eecf25e90dd62b613502b7e925fd4e4d19b5c96512"
+
+[[package]]
+name = "winapi"
+version = "0.3.9"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5c839a674fcd7a98952e593242ea400abe93992746761e38641405d28b00f419"
+dependencies = [
+ "winapi-i686-pc-windows-gnu",
+ "winapi-x86_64-pc-windows-gnu",
+]
+
+[[package]]
+name = "winapi-i686-pc-windows-gnu"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ac3b87c63620426dd9b991e5ce0329eff545bccbbb34f3be09ff6fb6ab51b7b6"
+
+[[package]]
+name = "winapi-x86_64-pc-windows-gnu"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f"
diff --git a/converter/Cargo.toml b/converter/Cargo.toml
index 4720303..df104d2 100644
--- a/converter/Cargo.toml
+++ b/converter/Cargo.toml
@@ -8,3 +8,4 @@ serialport = "4.7.2"
 postcard = "1.1.2"
 common = { path = "../common" }
 heapless = "0.7.17"
+serde_json = "1.0.140"
diff --git a/converter/src/main.rs b/converter/src/main.rs
index 5955cab..1774e68 100644
--- a/converter/src/main.rs
+++ b/converter/src/main.rs
@@ -1,4 +1,4 @@
-use std::{thread::sleep, time::Duration};
+use std::{io::{BufRead, BufReader}, net::TcpListener, sync::{Arc, Mutex}, thread::sleep, time::Duration};
 
 use common::Command;
 use postcard::to_vec_cobs;
@@ -9,15 +9,37 @@ fn main() {
         .open().expect("port missing");
     println!("port open");
 
-    let command = Command { left: 0.0, right: 0.7 };
+    let command: Arc<Mutex<Command>> = Arc::new(Mutex::new(Command { left: 0.0, right: 0.0}));
 
-    let encoded: Vec<u8, 20> = to_vec_cobs(&command).unwrap();
+    {
+        let command = command.clone();
+        std::thread::spawn(move || server(command));
+    }
 
     loop {
+        let command = command.lock().unwrap().clone();
+        let encoded: Vec<u8, 20> = to_vec_cobs(&command).unwrap();
         port.write(&encoded).expect("port write fail");
         println!("sending");
 
         sleep(Duration::from_millis(200));
-        
+    }
+}
+
+fn server(command: Arc<Mutex<Command>>) {
+    let listener = TcpListener::bind("0.0.0.0:4242").unwrap();
+
+    while let Ok((stream, _)) = listener.accept() {
+        let mut reader = BufReader::new(stream);
+
+        let mut data_buf = std::vec::Vec::new();
+        let len = reader.read_until(b'\n', &mut data_buf).unwrap();
+
+        let Ok(new_command) = serde_json::from_slice(&data_buf[0..len]) else {continue;};
+
+        *command.lock().unwrap() = new_command;
+        println!("received");
+
+
     }
 }