From bf3179ecefc6d85b70b71a76bdb24dd694e3e03e Mon Sep 17 00:00:00 2001
From: Frederik Menke <frederik.menke@rwth-aachen.de>
Date: Wed, 19 Oct 2022 23:32:50 +0200
Subject: [PATCH] Spawn task for serial communication
---
red/src/lib.rs | 2 +-
red/src/main.rs | 9 ++--
red/src/printer/mod.rs | 105 ++++++++++++++++++++++++++---------------
3 files changed, 73 insertions(+), 43 deletions(-)
diff --git a/red/src/lib.rs b/red/src/lib.rs
index 568ce22..3f31bdf 100644
--- a/red/src/lib.rs
+++ b/red/src/lib.rs
@@ -1 +1 @@
-pub mod printer;
\ No newline at end of file
+pub mod printer;
diff --git a/red/src/main.rs b/red/src/main.rs
index 7ed9230..2839b5f 100644
--- a/red/src/main.rs
+++ b/red/src/main.rs
@@ -1,10 +1,11 @@
#![warn(rust_2018_idioms)]
-use red::printer;
+use red::printer::Printer;
#[tokio::main]
async fn main() -> tokio_serial::Result<()> {
- printer::communicate().await?;
-
+ let printer = Printer::connect("").await.unwrap();
+ printer.printer_in.send("M114\n".to_string()).await;
+ tokio::time::sleep(std::time::Duration::from_secs(15)).await;
Ok(())
-}
\ No newline at end of file
+}
diff --git a/red/src/printer/mod.rs b/red/src/printer/mod.rs
index ca65361..41da1f7 100644
--- a/red/src/printer/mod.rs
+++ b/red/src/printer/mod.rs
@@ -1,13 +1,69 @@
-use futures::stream::StreamExt;
+use bytes::BytesMut;
use futures::sink::SinkExt;
-use std::{env, io, str, fmt::Write};
+use futures::stream::StreamExt;
+use std::{fmt::Write, io, rc::Rc, str};
+use tokio;
+use tokio_serial::{SerialPortBuilderExt};
use tokio_util::codec::{Decoder, Encoder};
-use bytes::BytesMut;
-use tokio_serial::SerialPortBuilderExt;
-
const DEFAULT_TTY: &str = "/dev/ttyUSB0";
+#[derive(Debug)]
+pub enum PrinterError {
+ IO(std::io::Error),
+}
+
+pub struct State {
+ position: (f64, f64),
+}
+
+pub struct Printer {
+ pub printer_in: tokio::sync::mpsc::Sender<String>,
+ pub state: Rc<State>,
+}
+
+impl Printer {
+ pub async fn connect(port_path: &str) -> Result<Self, PrinterError> {
+ let mut port = tokio_serial::new(DEFAULT_TTY, 115200)
+ .open_native_async()
+ .expect("Unable to open serial port");
+
+ port.set_exclusive(false)
+ .expect("Unable to set serial port exclusive to false");
+
+ let connection = LineCodec.framed(port);
+ let (tx, mut rx) = tokio::sync::mpsc::channel(32);
+ tokio::spawn(async move {
+ let (mut printer_tx, mut printer_rx) = connection.split();
+ while let Some(stuff) = printer_rx.next().await {
+ if stuff.map(|s| s.contains("Loaded")).unwrap_or(false) {
+ break;
+ }
+ }
+
+ while let Some(command) = rx.recv().await {
+ printer_tx.send(command).await.unwrap();
+ while let Some(reply) = printer_rx.next().await {
+ let reply = reply.unwrap();
+ if reply.contains("Ok") {
+ break;
+ }
+ else {
+ println!("got reply: {}", reply);
+ }
+ }
+ }
+ });
+
+ Ok(Printer {
+ printer_in: tx,
+ state: Rc::new(State {
+ position: (0.0, 0.0),
+ }),
+ })
+ }
+}
+
struct LineCodec;
impl Decoder for LineCodec {
@@ -19,7 +75,10 @@ impl Decoder for LineCodec {
if let Some(n) = newline {
let line = src.split_to(n + 1);
return match str::from_utf8(line.as_ref()) {
- Ok(s) => Ok(Some(s.to_string())),
+ Ok(s) => {
+ println!(">>{}", s);
+ Ok(Some(s.to_string()))
+ }
Err(_) => Err(io::Error::new(io::ErrorKind::Other, "Invalid String")),
};
}
@@ -31,39 +90,9 @@ impl Encoder<String> for LineCodec {
type Error = io::Error;
fn encode(&mut self, item: String, dst: &mut BytesMut) -> Result<(), Self::Error> {
+ println!("<<{}", item);
dst.write_str(&item)
- .map_err(|e| {io::Error::new(io::ErrorKind::InvalidData, e.to_string())})?;
+ .map_err(|e| io::Error::new(io::ErrorKind::InvalidData, e.to_string()))?;
Ok(())
}
-}
-
-pub async fn communicate() -> tokio_serial::Result<()> {
- let mut args = env::args();
- let tty_path = args.nth(1).unwrap_or_else(|| DEFAULT_TTY.into());
-
- let mut port = tokio_serial::new(tty_path, 115200).open_native_async()
- .expect("Unable to open serial port");
-
- port.set_exclusive(false)
- .expect("Unable to set serial port exclusive to false");
-
- let (mut writer, mut reader) = LineCodec.framed(port).split();
- println!("Starting read.");
- let reader_task = async move {
- let mut counter = 0;
- while let Some(line_result) = reader.next().await {
- let line = line_result.expect("Failed to read line");
- if line.contains("ok") || line.contains("Loaded") {
- if let Err(e) = writer.send("M114\n".into()).await {
- println!("{:?}", e);
- break;
- }
- }
- counter += 1;
- println!("updates received: {}", counter);
- }
- };
- reader_task.await;
-
- Ok(())
}
\ No newline at end of file