handle robot disconnection

converter/src/main.rs

@@ -1,4 +1,4 @@
-use std::{f32::NAN, io::{BufRead, BufReader, BufWriter, Read, Write}, net::TcpListener, sync::{Arc, Mutex}, thread::sleep, time::Duration};
+use std::{io::{BufRead, BufReader, BufWriter, Read, Write}, net::TcpListener, sync::{Arc, Mutex}, thread::sleep, time::Duration};
 
 use common::{Command, Telemetry};
 use postcard::to_vec_cobs;
@@ -32,7 +32,10 @@ fn main() {
     loop {
         let command = command.lock().unwrap().clone();
         let encoded: Vec<u8, 20> = to_vec_cobs(&command).unwrap();
-        port.write(&encoded).expect("port write fail");
+        if port.write(&encoded).is_err() {
+            println!("disconnected from robot");
+            return;
+        };
 
         sleep(Duration::from_millis(200));
     }
@@ -73,6 +76,14 @@ 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();
@@ -86,7 +97,7 @@ 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(&[b'\r',b'\n'])?;
+        writer.write_all(b"\r\n")?;
         writer.flush()?;
     }
 }

serialization/src/main.rs

@@ -4,13 +4,18 @@ 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);