50 lines
1.4 KiB
Rust
50 lines
1.4 KiB
Rust
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use log::{debug, error, info, warn};
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use tokio::{
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self,
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io::{AsyncBufReadExt, AsyncWriteExt, BufStream},
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net::{TcpListener, TcpStream},
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sync::{self, mpsc, watch},
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time,
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};
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use crate::rotctlprotocol::{parse_command, Command};
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pub async fn control_rotor(mut rx_cmd: mpsc::Receiver<Command>, pos_tx: watch::Sender<(f32, f32)>) {
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let mut actual_az = 0.0;
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let mut actual_el = 0.0;
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let mut target_az = 0.0;
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let mut target_el = 0.0;
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loop {
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tokio::select! {
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Some(command) = rx_cmd.recv() => {
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match command {
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Command::SetPos(az, el) => {
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info!("Received set pos {} {}", az, el);
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target_az = az;
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target_el = el;
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}
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_ => {}
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}
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},
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_ = time::sleep(time::Duration::from_millis(100)) => {
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if target_az < actual_az {
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actual_az -= 1.0;
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} else if target_az > actual_az {
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actual_az += 1.0;
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}
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if target_el < actual_el {
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actual_el -= 1.0;
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} else if target_el > actual_el {
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actual_el += 1.0;
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}
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pos_tx.send((actual_az, actual_el)).unwrap();
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},
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else => return
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};
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}
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}
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