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This commit is contained in:
Andy Killorin 2025-07-12 16:30:47 -05:00
parent e440b2f72f
commit cc255b77ab
Signed by: ank
GPG key ID: 80BA307A6BD7A7E4
5 changed files with 481 additions and 5 deletions
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65
common/Cargo.lock generated Normal file
View file

@ -0,0 +1,65 @@
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2
common/src/lib.rs
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@ -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,

388
converter/Cargo.lock generated Normal file
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1
converter/Cargo.toml
View file

@ -8,3 +8,4 @@ serialport = "4.7.2"
postcard = "1.1.2"
common = { path = "../common" }
heapless = "0.7.17"
serde_json = "1.0.140"

28
converter/src/main.rs
View file

@ -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");
}
}