Use gilrs for controller

red/Cargo.toml

@@ -9,6 +9,7 @@ edition = "2021"
 bytes = "1.2.1"
 euclid = "0.22.7"
 futures = "0.3.24"
+gilrs = "0.10.1"
 lazy_static = "1.4.0"
 regex = "1.6.0"
 tokio = { version = "1.21.0", features = ["full"] }

red/src/jogger.rs

@@ -0,0 +1,31 @@
+use gilrs::Gilrs;
+use tokio::sync::{oneshot, Mutex};
+use std::time::Duration;
+use std::thread::sleep;
+
+pub struct Jogger {
+    speed_setpoint: Mutex<(f64, f64, f64)>,
+    terminator: oneshot::Sender<()>,
+}
+
+impl Jogger {
+    pub async fn new() -> Result<Self, gilrs::Error> {
+        let (terminate_tx, mut terminate_rx) = oneshot::channel();
+        tokio::task::spawn_blocking(move || {
+            let mut gilrs = Gilrs::new().unwrap();
+            for (_id, gamepad) in gilrs.gamepads() {
+                println!("{} is {:?}", gamepad.name(), gamepad.power_info());
+            }
+            while let Err(oneshot::error::TryRecvError::Empty) = terminate_rx.try_recv() {
+                sleep(Duration::from_millis(1));
+                if let Some(event) = gilrs.next_event() {
+                    println!("{}", event.id);
+                }
+            }
+        });
+        Ok(Jogger {
+            speed_setpoint: Mutex::new((0.0, 0.0, 0.0)),
+            terminator: terminate_tx,
+        })
+    }
+}

red/src/lib.rs

@@ -1 +1,2 @@
 pub mod printer;
+pub mod jogger;

red/src/main.rs

@@ -1,44 +1,49 @@
 #![warn(rust_2018_idioms)]
-
+use futures::never::Never;
+use red::controller;
 use red::printer::gcode::*;
 use red::printer::Printer;
+use std::time::Duration;
 
 const DEFAULT_TTY: &str = "/dev/ttyUSB0";
 
 #[tokio::main]
-async fn main() -> tokio_serial::Result<()> {
+async fn main() -> Never {
-    let mut printer = Printer::connect(DEFAULT_TTY).await.unwrap();
+    let jogger = controller::Jogger::new().await;
-    printer
-        .send_gcode(Box::new(M114Command::new()))
-        .await
-        .unwrap();
-    printer
-        .send_gcode(Box::new(G28Command::new(true, true, true)))
-        .await
-        .unwrap();
     loop {
-        tokio::time::sleep(std::time::Duration::from_secs(5)).await;
+        tokio::time::sleep(Duration::from_secs(2)).await;
-        printer
-            .send_gcode(Box::new(G0Command {
-                x: Some(50.0),
-                y: Some(50.0),
-                z: Some(5.0),
-                e: None,
-                velocity: None,
-            }))
-            .await
-            .unwrap();
-        tokio::time::sleep(std::time::Duration::from_secs(5)).await;
-        printer
-            .send_gcode(Box::new(G0Command {
-                x: Some(25.0),
-                y: Some(25.0),
-                z: Some(5.0),
-                e: None,
-                velocity: None,
-            }))
-            .await
-            .unwrap();
     }
-    Ok(())
+    // let mut printer = Printer::connect(DEFAULT_TTY).await.unwrap();
+    // printer
+    //     .send_gcode(Box::new(M114Command::new()))
+    //     .await
+    //     .unwrap();
+    // printer
+    //     .send_gcode(Box::new(G28Command::new(true, true, true)))
+    //     .await
+    //     .unwrap();
+    // loop {
+    //     tokio::time::sleep(std::time::Duration::from_secs(5)).await;
+    //     printer
+    //         .send_gcode(Box::new(G0Command {
+    //             x: Some(50.0),
+    //             y: Some(50.0),
+    //             z: Some(5.0),
+    //             e: None,
+    //             velocity: None,
+    //         }))
+    //         .await
+    //         .unwrap();
+    //     tokio::time::sleep(std::time::Duration::from_secs(5)).await;
+    //     printer
+    //         .send_gcode(Box::new(G0Command {
+    //             x: Some(25.0),
+    //             y: Some(25.0),
+    //             z: Some(5.0),
+    //             e: None,
+    //             velocity: None,
+    //         }))
+    //         .await
+    //         .unwrap();
+    // }
 }