From d494cd75aa68a391802fcc28a58d6a353584cc04 Mon Sep 17 00:00:00 2001 From: Hubald Verzijl Date: Mon, 4 Aug 2025 16:59:17 +0200 Subject: [PATCH] Initial commit, copied examples from postcard-rpc repo. --- .gitignore | 1 + .vscode/tasks.json | 59 ++ Cargo.lock | 1420 ++++++++++++++++++++++++++++++++++++++++++++ Cargo.toml | 29 + src/client.rs | 130 ++++ src/lib.rs | 14 + src/main.rs | 157 +++++ 7 files changed, 1810 insertions(+) create mode 100644 .gitignore create mode 100644 .vscode/tasks.json create mode 100644 Cargo.lock create mode 100644 Cargo.toml create mode 100644 src/client.rs create mode 100644 src/lib.rs create mode 100644 src/main.rs diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..ea8c4bf --- /dev/null +++ b/.gitignore @@ -0,0 +1 @@ +/target diff --git a/.vscode/tasks.json b/.vscode/tasks.json new file mode 100644 index 0000000..9a50689 --- /dev/null +++ b/.vscode/tasks.json @@ -0,0 +1,59 @@ +{ + // See 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"0.1.0" +edition = "2024" + +[dependencies] + +[dependencies.bioz-icd] +path = "../bioz-icd-rs" +features = ["use-std"] + +[dependencies.postcard-rpc] +version = "0.11" +features = [ + "use-std", + "raw-nusb", + "cobs-serial", +] + +[dependencies.tokio] +version = "1.37.0" +features = [ + "rt-multi-thread", + "macros", + "time", +] + +[dependencies.tokio-serial] +version = "5.4.4" diff --git a/src/client.rs b/src/client.rs new file mode 100644 index 0000000..2189d4c --- /dev/null +++ b/src/client.rs @@ -0,0 +1,130 @@ +use postcard_rpc::{ + header::VarSeqKind, + host_client::{HostClient, HostErr}, + standard_icd::{PingEndpoint, WireError, ERROR_PATH}, +}; +use std::convert::Infallible; +use bioz_icd::{ + AccelRange, BadPositionError, GetUniqueIdEndpoint, Rgb8, SetAllLedEndpoint, + SetSingleLedEndpoint, SingleLed, StartAccel, StartAccelerationEndpoint, + StopAccelerationEndpoint, +}; + +#[derive(Debug)] +pub struct WorkbookClient { + pub client: HostClient, +} + +#[derive(Debug)] +pub enum WorkbookError { + Comms(HostErr), + Endpoint(E), +} + +impl From> for WorkbookError { + fn from(value: HostErr) -> Self { + Self::Comms(value) + } +} + +trait FlattenErr { + type Good; + type Bad; + fn flatten(self) -> Result>; +} + +impl FlattenErr for Result { + type Good = T; + type Bad = E; + fn flatten(self) -> Result> { + self.map_err(WorkbookError::Endpoint) + } +} + +// --- + +impl WorkbookClient { + pub fn new() -> Self { + let client = HostClient::new_raw_nusb( + |d| d.product_string() == Some("bioz-amplifier"), + ERROR_PATH, + 8, + VarSeqKind::Seq2, + ); + Self { client } + } + + pub fn new_serial(port: &str) -> Self { + let client = HostClient::new_serial_cobs(port, ERROR_PATH, 8, 9600, VarSeqKind::Seq2); + Self { client } + } + + pub async fn wait_closed(&self) { + self.client.wait_closed().await; + } + + pub async fn ping(&self, id: u32) -> Result> { + let val = self.client.send_resp::(&id).await?; + Ok(val) + } + + pub async fn get_id(&self) -> Result> { + let id = self.client.send_resp::(&()).await?; + Ok(id) + } + + pub async fn set_rgb_single( + &self, + position: u32, + r: u8, + g: u8, + b: u8, + ) -> Result<(), WorkbookError> { + self.client + .send_resp::(&SingleLed { + position, + rgb: Rgb8 { r, g, b }, + }) + .await? + .flatten() + } + + pub async fn set_all_rgb_single( + &self, + r: u8, + g: u8, + b: u8, + ) -> Result<(), WorkbookError> { + self.client + .send_resp::(&[Rgb8 { r, g, b }; 24]) + .await?; + Ok(()) + } + + pub async fn start_accelerometer( + &self, + interval_ms: u32, + range: AccelRange, + ) -> Result<(), WorkbookError> { + self.client + .send_resp::(&StartAccel { interval_ms, range }) + .await?; + + Ok(()) + } + + pub async fn stop_accelerometer(&self) -> Result> { + let res = self + .client + .send_resp::(&()) + .await?; + + Ok(res) + } +} + +impl Default for WorkbookClient { + fn default() -> Self { + Self::new() + } +} diff --git a/src/lib.rs b/src/lib.rs new file mode 100644 index 0000000..e565e64 --- /dev/null +++ b/src/lib.rs @@ -0,0 +1,14 @@ +#![deny(missing_debug_implementations)] + +pub mod client; +pub use bioz_icd as icd; + +pub async fn read_line() -> String { + tokio::task::spawn_blocking(|| { + let mut line = String::new(); + std::io::stdin().read_line(&mut line).unwrap(); + line + }) + .await + .unwrap() +} diff --git a/src/main.rs b/src/main.rs new file mode 100644 index 0000000..716b85b --- /dev/null +++ b/src/main.rs @@ -0,0 +1,157 @@ +use std::{ + io::{stdout, Write}, + time::{Duration, Instant}, +}; + +use bioz_host_rs::{client::WorkbookClient, icd, read_line}; + +#[tokio::main] +async fn main() { + println!("Connecting to USB device..."); + let client = WorkbookClient::new(); + + + for i in 0..10 { + print!("Pinging with {i}... "); + let res = client.ping(i).await.unwrap(); + println!("got {res}!"); + assert_eq!(res, i); + } + + + println!("Connected! Pinging 42"); + let ping = client.ping(42).await.unwrap(); + println!("Got: {ping}."); + let uid = client.get_id().await.unwrap(); + println!("ID: {uid:016X}"); + println!("Connected! Pinging 42"); + let ping = client.ping(42).await.unwrap(); + println!("Got: {ping}."); + println!(); + + // Begin repl... + loop { + print!("> "); + stdout().flush().unwrap(); + let line = read_line().await; + let parts: Vec<&str> = line.split_whitespace().collect(); + match parts.as_slice() { + ["ping"] => { + let ping = client.ping(42).await.unwrap(); + println!("Got: {ping}."); + } + ["ping", n] => { + let Ok(idx) = n.parse::() else { + println!("Bad u32: '{n}'"); + continue; + }; + let ping = client.ping(idx).await.unwrap(); + println!("Got: {ping}."); + } + ["rgb", pos, r, g, b] => { + let (Ok(pos), Ok(r), Ok(g), Ok(b)) = (pos.parse(), r.parse(), g.parse(), b.parse()) + else { + panic!(); + }; + client.set_rgb_single(pos, r, g, b).await.unwrap(); + } + ["rgball", r, g, b] => { + let (Ok(r), Ok(g), Ok(b)) = (r.parse(), g.parse(), b.parse()) else { + panic!(); + }; + client.set_all_rgb_single(r, g, b).await.unwrap(); + } + ["accel", "listen", ms, range, dur] => { + let Ok(ms) = ms.parse::() else { + println!("Bad ms: {ms}"); + continue; + }; + let Ok(dur) = dur.parse::() else { + println!("Bad dur: {dur}"); + continue; + }; + let range = match *range { + "2" => icd::AccelRange::G2, + "4" => icd::AccelRange::G4, + "8" => icd::AccelRange::G8, + "16" => icd::AccelRange::G16, + _ => { + println!("Bad range: {range}"); + continue; + } + }; + + let mut sub = client + .client + .subscribe_multi::(8) + .await + .unwrap(); + client.start_accelerometer(ms, range).await.unwrap(); + println!("Started!"); + let dur = Duration::from_millis(dur.into()); + let start = Instant::now(); + while start.elapsed() < dur { + let val = sub.recv().await.unwrap(); + println!("acc: {val:?}"); + } + client.stop_accelerometer().await.unwrap(); + println!("Stopped!"); + } + ["accel", "start", ms, range] => { + let Ok(ms) = ms.parse::() else { + println!("Bad ms: {ms}"); + continue; + }; + let range = match *range { + "2" => icd::AccelRange::G2, + "4" => icd::AccelRange::G4, + "8" => icd::AccelRange::G8, + "16" => icd::AccelRange::G16, + _ => { + println!("Bad range: {range}"); + continue; + } + }; + + client.start_accelerometer(ms, range).await.unwrap(); + println!("Started!"); + } + ["accel", "stop"] => { + let res = client.stop_accelerometer().await.unwrap(); + println!("Stopped: {res}"); + } + ["schema"] => { + let schema = client.client.get_schema_report().await.unwrap(); + + println!(); + println!("# Endpoints"); + println!(); + for ep in &schema.endpoints { + println!("* '{}'", ep.path); + println!(" * Request: {}", ep.req_ty); + println!(" * Response: {}", ep.resp_ty); + } + + println!(); + println!("# Topics Client -> Server"); + println!(); + for tp in &schema.topics_in { + println!("* '{}'", tp.path); + println!(" * Message: {}", tp.ty); + } + + println!(); + println!("# Topics Client <- Server"); + println!(); + for tp in &schema.topics_out { + println!("* '{}'", tp.path); + println!(" * Message: {}", tp.ty); + } + println!(); + } + other => { + println!("Error, didn't understand '{other:?};"); + } + } + } +}