converter/src/main.rs

@@ -1,4 +1,4 @@
-use std::{io::{BufRead, BufReader, BufWriter, Read, Write}, net::TcpListener, sync::{Arc, Mutex}, thread::sleep, time::Duration};
+use std::{f32::NAN, io::{BufRead, BufReader, BufWriter, Read, Write}, net::TcpListener, sync::{Arc, Mutex}, thread::sleep, time::Duration};
 
 use common::{Command, Telemetry};
 use postcard::to_vec_cobs;
@@ -32,10 +32,7 @@ fn main() {
     loop {
         let command = command.lock().unwrap().clone();
         let encoded: Vec<u8, 20> = to_vec_cobs(&command).unwrap();
-        if port.write(&encoded).is_err() {
+        port.write(&encoded).expect("port write fail");
-            println!("disconnected from robot");
-            return;
-        };
 
         sleep(Duration::from_millis(200));
     }
@@ -76,14 +73,6 @@ fn handle_connection(command: Arc<Mutex<Command>>, telemetry: Arc<Mutex<Telemetr
         let mut data_buf = std::vec::Vec::new();
         let len = reader.read_until(b'\n', &mut data_buf)?;
 
-        // eof
-        if len == 0 {
-            *command.lock().unwrap() = Command::default(); // stop motors
-            println!("disconnected from LabVIEW");
-            return anyhow::Ok(());
-        }
-
-
         let Ok(new_command) = serde_json::from_slice::<Command>(&data_buf[0..len]) else {continue;};
 
         *command.lock().unwrap() = new_command.clone();
@@ -97,7 +86,7 @@ fn handle_connection(command: Arc<Mutex<Command>>, telemetry: Arc<Mutex<Telemetr
         println!("sent d{}", telem.distance);
 
         serde_json::to_writer(&mut writer, &telem).unwrap();
-        writer.write_all(b"\r\n")?;
+        writer.write(&[b'\r',b'\n'])?;
         writer.flush()?;
     }
 }

serialization/src/main.rs

@@ -4,18 +4,13 @@ use anyhow::Result;
 fn main() -> Result<()> {
     #[derive(Serialize, Deserialize, Debug)]
     struct Data {
-        boolean: bool,
         string: String,
         number: u8,
-        #[serde(rename = "numbers")]
-        array: [u8; 4],
     }
 
     let data = Data {
-        boolean: false,
         string: String::from("data"),
         number: 42,
-        array: [0,1,2,3],
     };
 
     println!("debug: {:?}", data);