First end-to-end movement
This commit is contained in:
Sebastian
parent
f7483fe42a
commit
1498fd27ff
267
Cargo.lock
generated
267
Cargo.lock
generated
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@ -53,7 +53,7 @@ version = "1.1.1"
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@ -63,7 +63,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
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@ -230,9 +230,9 @@ checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
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@ -319,7 +319,7 @@ dependencies = [
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@ -612,42 +612,92 @@ dependencies = [
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[[package]]
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@ -872,7 +922,7 @@ checksum = "f23ff5ef2b80d608d61efee834934d862cd92461afc0560dedf493e4c033738b"
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[[package]]
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@ -980,6 +1030,15 @@ version = "2.7.4"
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@ -1011,6 +1070,18 @@ dependencies = [
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[[package]]
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@ -1020,7 +1091,20 @@ dependencies = [
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"wasi",
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"windows-sys",
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[[package]]
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[[package]]
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@ -1047,6 +1131,8 @@ dependencies = [
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"bitflags 1.3.2",
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[[package]]
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@ -1194,7 +1280,7 @@ dependencies = [
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"libc",
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[[package]]
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@ -1365,9 +1451,12 @@ version = "0.1.0"
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[[package]]
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@ -2117,13 +2234,37 @@ version = "0.4.0"
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@ -2132,28 +2273,46 @@ version = "0.52.6"
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|
||||
checksum = "09ec2a7bb152e2252b53fa7803150007879548bc709c039df7627cabbd05d469"
|
||||
|
||||
[[package]]
|
||||
name = "windows_i686_gnu"
|
||||
version = "0.48.5"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "a75915e7def60c94dcef72200b9a8e58e5091744960da64ec734a6c6e9b3743e"
|
||||
|
||||
[[package]]
|
||||
name = "windows_i686_gnu"
|
||||
version = "0.52.6"
|
||||
|
|
@ -2166,24 +2325,48 @@ version = "0.52.6"
|
|||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "0eee52d38c090b3caa76c563b86c3a4bd71ef1a819287c19d586d7334ae8ed66"
|
||||
|
||||
[[package]]
|
||||
name = "windows_i686_msvc"
|
||||
version = "0.48.5"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "8f55c233f70c4b27f66c523580f78f1004e8b5a8b659e05a4eb49d4166cca406"
|
||||
|
||||
[[package]]
|
||||
name = "windows_i686_msvc"
|
||||
version = "0.52.6"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "240948bc05c5e7c6dabba28bf89d89ffce3e303022809e73deaefe4f6ec56c66"
|
||||
|
||||
[[package]]
|
||||
name = "windows_x86_64_gnu"
|
||||
version = "0.48.5"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "53d40abd2583d23e4718fddf1ebec84dbff8381c07cae67ff7768bbf19c6718e"
|
||||
|
||||
[[package]]
|
||||
name = "windows_x86_64_gnu"
|
||||
version = "0.52.6"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "147a5c80aabfbf0c7d901cb5895d1de30ef2907eb21fbbab29ca94c5b08b1a78"
|
||||
|
||||
[[package]]
|
||||
name = "windows_x86_64_gnullvm"
|
||||
version = "0.48.5"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "0b7b52767868a23d5bab768e390dc5f5c55825b6d30b86c844ff2dc7414044cc"
|
||||
|
||||
[[package]]
|
||||
name = "windows_x86_64_gnullvm"
|
||||
version = "0.52.6"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "24d5b23dc417412679681396f2b49f3de8c1473deb516bd34410872eff51ed0d"
|
||||
|
||||
[[package]]
|
||||
name = "windows_x86_64_msvc"
|
||||
version = "0.48.5"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "ed94fce61571a4006852b7389a063ab983c02eb1bb37b47f8272ce92d06d9538"
|
||||
|
||||
[[package]]
|
||||
name = "windows_x86_64_msvc"
|
||||
version = "0.52.6"
|
||||
|
|
|
|||
|
|
@ -24,3 +24,8 @@ libusb1-sys = "0.6"
|
|||
rusb = "0.9"
|
||||
clap = { version = "4.5.19", features = ["derive"] }
|
||||
indicatif = "0.17.8"
|
||||
tokio-serial = {version = "5.4.4", features = ["codec", "rt"] }
|
||||
tokio-util = { version = "0.7.13", features = ["codec", "rt"] }
|
||||
bytes = "1.9.0"
|
||||
futures-util = "0.3.31"
|
||||
futures = "0.3.31"
|
||||
|
|
|
|||
|
|
@ -1,7 +1,16 @@
|
|||
use anyhow::Result;
|
||||
use anyhow::{anyhow, Context};
|
||||
use axum::{
|
||||
extract::State,
|
||||
http::StatusCode,
|
||||
routing::{get, post},
|
||||
Json, Router,
|
||||
};
|
||||
use clap::Parser;
|
||||
use fern::colors::{Color, ColoredLevelConfig};
|
||||
use log::{debug, error, info, warn, Level};
|
||||
use serde_json::{json, Value};
|
||||
use std::time::Duration;
|
||||
use std::{borrow::Borrow, io};
|
||||
use tokio::{
|
||||
self,
|
||||
|
|
@ -10,13 +19,7 @@ use tokio::{
|
|||
sync::{mpsc, watch},
|
||||
task::JoinSet,
|
||||
};
|
||||
|
||||
use axum::{
|
||||
extract::State,
|
||||
http::StatusCode,
|
||||
routing::{get, post},
|
||||
Json, Router,
|
||||
};
|
||||
use tokio_serial;
|
||||
use tower_http::{
|
||||
services::{ServeDir, ServeFile},
|
||||
trace::TraceLayer,
|
||||
|
|
@ -86,16 +89,61 @@ struct AxumAppState {
|
|||
pos_rx: watch::Receiver<(f32, f32)>,
|
||||
}
|
||||
|
||||
#[derive(Parser)]
|
||||
struct Cli {
|
||||
/// The usb serial number of the radom-controller
|
||||
#[arg(short, long)]
|
||||
serialnumber: String,
|
||||
|
||||
/// Listen address for the webserver
|
||||
#[arg(short, long, default_value = "0.0.0.0:8000")]
|
||||
web_listen_address: String,
|
||||
|
||||
/// Listen address for rotctl
|
||||
#[arg(short, long, default_value = "0.0.0.0:1337")]
|
||||
rotctl_listen_address: String,
|
||||
}
|
||||
|
||||
#[tokio::main]
|
||||
async fn main() -> Result<()> {
|
||||
setup_logger()?;
|
||||
|
||||
let args = Cli::parse();
|
||||
|
||||
let ports = tokio_serial::available_ports().unwrap_or(Vec::<serialport::SerialPortInfo>::new());
|
||||
|
||||
let mut radom_port: Option<String> = None;
|
||||
for port in ports {
|
||||
match port.port_type {
|
||||
serialport::SerialPortType::UsbPort(usb_port_info) => {
|
||||
match usb_port_info.serial_number {
|
||||
Some(serial) => {
|
||||
debug!("Found a serial port with: {}", serial);
|
||||
if serial == args.serialnumber {
|
||||
radom_port = Some(port.port_name.to_owned());
|
||||
info!("Found radom-controller as {}", port.port_name)
|
||||
}
|
||||
}
|
||||
None => continue,
|
||||
}
|
||||
}
|
||||
_ => continue,
|
||||
}
|
||||
}
|
||||
|
||||
let radom_port = match radom_port {
|
||||
Some(port) => port,
|
||||
_ => {
|
||||
return Err(anyhow!("No matching port found."));
|
||||
}
|
||||
};
|
||||
|
||||
let (cmd_tx, cmd_rx) = mpsc::channel::<Command>(16);
|
||||
let (pos_tx, pos_rx) = watch::channel::<(f32, f32)>((0.0, 0.0));
|
||||
|
||||
let mut tasks = JoinSet::new();
|
||||
|
||||
tasks.spawn(async move { control_rotor(cmd_rx, pos_tx).await });
|
||||
tasks.spawn(async move { control_rotor(cmd_rx, pos_tx, radom_port).await });
|
||||
|
||||
let state = AxumAppState {
|
||||
pos_rx: pos_rx.clone(),
|
||||
|
|
@ -108,14 +156,14 @@ async fn main() -> Result<()> {
|
|||
.with_state(state)
|
||||
.layer(TraceLayer::new_for_http());
|
||||
|
||||
let listener = tokio::net::TcpListener::bind("0.0.0.0:8000").await?;
|
||||
let listener = tokio::net::TcpListener::bind(args.web_listen_address).await?;
|
||||
axum::serve(listener, app).await?;
|
||||
|
||||
Ok(())
|
||||
});
|
||||
|
||||
tasks.spawn(async move {
|
||||
let listener = TcpListener::bind("127.0.0.1:1337").await?;
|
||||
let listener = TcpListener::bind(args.rotctl_listen_address).await?;
|
||||
|
||||
loop {
|
||||
let (socket, _) = listener.accept().await?;
|
||||
|
|
|
|||
|
|
@ -1,5 +1,11 @@
|
|||
use anyhow::Result;
|
||||
use bytes::{BufMut, BytesMut};
|
||||
use futures::{stream::StreamExt, SinkExt};
|
||||
use log::{debug, error, info, warn};
|
||||
use postcard::{from_bytes_cobs, to_stdvec_cobs};
|
||||
use radomctl_protocol::{HostMessage, PositionTarget, RadomMessage};
|
||||
use std::{env, io, str, time::Duration};
|
||||
use tokio::time::sleep;
|
||||
use tokio::{
|
||||
self,
|
||||
io::{AsyncBufReadExt, AsyncWriteExt, BufStream},
|
||||
|
|
@ -7,46 +13,82 @@ use tokio::{
|
|||
sync::{self, mpsc, watch},
|
||||
time,
|
||||
};
|
||||
use tokio_serial::SerialPortBuilderExt;
|
||||
use tokio_util::codec::{Decoder, Encoder};
|
||||
|
||||
use crate::rotctlprotocol::{parse_command, Command};
|
||||
|
||||
struct ProtocolCodec;
|
||||
|
||||
impl Decoder for ProtocolCodec {
|
||||
type Item = RadomMessage;
|
||||
type Error = io::Error;
|
||||
|
||||
fn decode(&mut self, src: &mut BytesMut) -> Result<Option<Self::Item>, Self::Error> {
|
||||
let frame_end = src.as_ref().iter().position(|b| *b == 0);
|
||||
if let Some(n) = frame_end {
|
||||
let mut frame = src.split_to(n + 1);
|
||||
let host_msg = from_bytes_cobs::<RadomMessage>(&mut frame).unwrap();
|
||||
return Ok(Some(host_msg));
|
||||
}
|
||||
Ok(None)
|
||||
}
|
||||
}
|
||||
|
||||
impl Encoder<HostMessage> for ProtocolCodec {
|
||||
type Error = io::Error;
|
||||
|
||||
fn encode(&mut self, item: HostMessage, dst: &mut BytesMut) -> Result<(), Self::Error> {
|
||||
let msg_bytes = to_stdvec_cobs(&item).unwrap();
|
||||
dst.put(msg_bytes.as_slice());
|
||||
dst.put_u8(0);
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
pub async fn control_rotor(
|
||||
mut rx_cmd: mpsc::Receiver<Command>,
|
||||
pos_tx: watch::Sender<(f32, f32)>,
|
||||
radom_port: String,
|
||||
) -> Result<()> {
|
||||
let mut actual_az = 0.0;
|
||||
let mut actual_el = 0.0;
|
||||
let port = tokio_serial::new(radom_port, 115_200)
|
||||
.timeout(Duration::from_millis(10))
|
||||
.open_native_async()
|
||||
.expect("Failed to open port");
|
||||
|
||||
let mut target_az = 0.0;
|
||||
let mut target_el = 0.0;
|
||||
let (mut port_writer, mut port_reader) = ProtocolCodec.framed(port).split();
|
||||
|
||||
loop {
|
||||
tokio::select! {
|
||||
Some(command) = rx_cmd.recv() => {
|
||||
match command {
|
||||
Command::SetPos(az, el) => {
|
||||
info!("Received set pos {} {}", az, el);
|
||||
target_az = az;
|
||||
target_el = el;
|
||||
//info!("Received set pos {} {}", az, el);
|
||||
port_writer.send(HostMessage::SetTarget(PositionTarget { az, el })).await?;
|
||||
}
|
||||
_ => {}
|
||||
}
|
||||
},
|
||||
|
||||
_ = time::sleep(time::Duration::from_millis(100)) => {
|
||||
if target_az < actual_az {
|
||||
actual_az -= 1.0;
|
||||
} else if target_az > actual_az {
|
||||
actual_az += 1.0;
|
||||
}
|
||||
|
||||
if target_el < actual_el {
|
||||
actual_el -= 1.0;
|
||||
} else if target_el > actual_el {
|
||||
actual_el += 1.0;
|
||||
}
|
||||
|
||||
pos_tx.send((actual_az, actual_el)).unwrap();
|
||||
//info!("Requesting status");
|
||||
port_writer.send(HostMessage::RequestStatus).await?;
|
||||
},
|
||||
|
||||
msg = port_reader.next() => {
|
||||
match msg {
|
||||
Some(Ok(msg)) => {
|
||||
match msg {
|
||||
RadomMessage::Status(status) => {
|
||||
//info!("Received status {:?}", status);
|
||||
pos_tx.send((status.position.az, status.position.el)).unwrap();
|
||||
}
|
||||
_ => {}
|
||||
}
|
||||
}
|
||||
_ => {}
|
||||
}
|
||||
}
|
||||
else => return Ok(())
|
||||
};
|
||||
}
|
||||
|
|
|
|||
|
|
@ -43,7 +43,7 @@ mod app {
|
|||
|
||||
use qmc5883l::{self, QMC5883L};
|
||||
|
||||
use radomctl_protocol::*;
|
||||
use radomctl_protocol::{HostMessage, *};
|
||||
|
||||
use crate::bootloader;
|
||||
use rtic_monotonics::systick::prelude::*;
|
||||
|
|
@ -57,6 +57,10 @@ mod app {
|
|||
struct Shared {
|
||||
az_angle: i32,
|
||||
az_compass: i32,
|
||||
az_target: i32,
|
||||
|
||||
el_angle: i32,
|
||||
el_target: i32,
|
||||
}
|
||||
|
||||
// Local resources go here
|
||||
|
|
@ -223,10 +227,14 @@ mod app {
|
|||
poll_i2c::spawn().ok();
|
||||
poll_spi::spawn().ok();
|
||||
move_az::spawn().ok();
|
||||
move_el::spawn().ok();
|
||||
|
||||
(
|
||||
Shared {
|
||||
az_angle: 0,
|
||||
az_target: 0,
|
||||
el_angle: 0,
|
||||
el_target: 0,
|
||||
az_compass: 0,
|
||||
},
|
||||
Local {
|
||||
|
|
@ -332,16 +340,18 @@ mod app {
|
|||
}
|
||||
}
|
||||
|
||||
#[task(local = [spi1, encoder_az, encoder_el, spi_cs2, spi_cs3], shared = [az_angle])]
|
||||
#[task(local = [spi1, encoder_az, encoder_el, spi_cs2, spi_cs3], shared = [az_angle, el_angle])]
|
||||
async fn poll_spi(mut cx: poll_spi::Context) {
|
||||
let spi1 = cx.local.spi1;
|
||||
let encoder_az = cx.local.encoder_az;
|
||||
let encoder_el = cx.local.encoder_el;
|
||||
|
||||
loop {
|
||||
/*
|
||||
let (diag, gain) = encoder_az.diag_gain(spi1).unwrap();
|
||||
defmt::info!("diag: {:08b} gain: {}", diag, gain);
|
||||
defmt::info!("magnitude: {:?}", encoder_az.magnitude(spi1).unwrap());
|
||||
|
||||
*/
|
||||
let raw_angle = encoder_az.angle(spi1).unwrap();
|
||||
let angle_deg = raw_angle as i32 * 3600 / 16384;
|
||||
|
||||
|
|
@ -349,24 +359,29 @@ mod app {
|
|||
*az_angle = angle_deg;
|
||||
});
|
||||
|
||||
defmt::info!("angle: {:?}", angle_deg);
|
||||
defmt::info!("az angle: {:?}", angle_deg);
|
||||
|
||||
let raw_angle = encoder_el.angle(spi1).unwrap();
|
||||
let angle_deg = raw_angle as i32 * 3600 / 16384;
|
||||
|
||||
cx.shared.el_angle.lock(|el_angle| {
|
||||
*el_angle = angle_deg;
|
||||
});
|
||||
|
||||
defmt::info!("el angle: {:?}", angle_deg);
|
||||
|
||||
Mono::delay(1.millis()).await;
|
||||
}
|
||||
}
|
||||
|
||||
#[task(local = [az_enable, az_dir, az_step], shared = [az_angle, az_compass])]
|
||||
#[task(local = [az_enable, az_dir, az_step], shared = [az_angle, az_target])]
|
||||
async fn move_az(mut cx: move_az::Context) {
|
||||
let az_enable = cx.local.az_enable;
|
||||
let az_dir = cx.local.az_dir;
|
||||
let az_step = cx.local.az_step;
|
||||
|
||||
let mut counter = 0;
|
||||
let mut az_target = 0;
|
||||
|
||||
loop {
|
||||
//let az_target = 1800; //cx.shared.az_compass.lock(|az_compass| *az_compass);
|
||||
|
||||
let az_target = cx.shared.az_target.lock(|az_target| *az_target);
|
||||
let az_angle = cx.shared.az_angle.lock(|az_angle| *az_angle);
|
||||
let diff = az_angle - az_target;
|
||||
|
||||
|
|
@ -385,7 +400,7 @@ mod app {
|
|||
1.millis()
|
||||
};
|
||||
|
||||
if diff.abs() > 5 {
|
||||
if diff.abs() > 50 {
|
||||
az_enable.set_low();
|
||||
if diff < 0 {
|
||||
az_dir.set_high();
|
||||
|
|
@ -401,16 +416,56 @@ mod app {
|
|||
az_enable.set_high();
|
||||
Mono::delay(delay).await;
|
||||
}
|
||||
|
||||
counter = (counter + 1) % 1000;
|
||||
if counter == 0 {
|
||||
az_target = (az_target + 450) % 3600;
|
||||
};
|
||||
}
|
||||
}
|
||||
|
||||
#[task(binds=OTG_FS, local=[usb_dev, usb_serial, usb_buffer])]
|
||||
fn usb_fs(cx: usb_fs::Context) {
|
||||
#[task(local = [el_enable, el_dir, el_step], shared = [el_angle, el_target])]
|
||||
async fn move_el(mut cx: move_el::Context) {
|
||||
let el_enable = cx.local.el_enable;
|
||||
let el_dir = cx.local.el_dir;
|
||||
let el_step = cx.local.el_step;
|
||||
|
||||
loop {
|
||||
let el_target = cx.shared.el_target.lock(|el_target| *el_target);
|
||||
let el_angle = cx.shared.el_angle.lock(|el_angle| *el_angle);
|
||||
let diff = el_angle - el_target;
|
||||
|
||||
defmt::info!(
|
||||
"angle diff/target/actual: {:?}/{:?}/{:?}",
|
||||
diff,
|
||||
el_target,
|
||||
el_angle
|
||||
);
|
||||
|
||||
let delay = if diff.abs() < 10 {
|
||||
10.millis()
|
||||
} else if diff < 100 {
|
||||
5.millis()
|
||||
} else {
|
||||
1.millis()
|
||||
};
|
||||
|
||||
if diff.abs() > 50 {
|
||||
el_enable.set_low();
|
||||
if diff < 0 {
|
||||
el_dir.set_high();
|
||||
} else {
|
||||
el_dir.set_low();
|
||||
}
|
||||
|
||||
el_step.set_low();
|
||||
Mono::delay(delay / 2).await;
|
||||
el_step.set_high();
|
||||
Mono::delay(delay / 2).await;
|
||||
} else {
|
||||
el_enable.set_high();
|
||||
Mono::delay(delay).await;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[task(binds=OTG_FS, local=[usb_dev, usb_serial, usb_buffer], shared=[az_target, el_target, az_angle, el_angle])]
|
||||
fn usb_fs(mut cx: usb_fs::Context) {
|
||||
let usb_dev = cx.local.usb_dev;
|
||||
let serial = cx.local.usb_serial;
|
||||
let buffer = cx.local.usb_buffer;
|
||||
|
|
@ -443,8 +498,8 @@ mod app {
|
|||
HostMessage::RequestStatus => {
|
||||
let status = StatusMessage {
|
||||
position: Position {
|
||||
az: 42.0,
|
||||
el: 23.0,
|
||||
az: cx.shared.az_angle.lock(|az| (*az / 10) as f32),
|
||||
el: cx.shared.el_angle.lock(|el| (*el / 10) as f32),
|
||||
az_endcoder: 0.0,
|
||||
el_encoder: 0.0,
|
||||
az_magnetic: 0.0,
|
||||
|
|
@ -457,6 +512,10 @@ mod app {
|
|||
to_vec_cobs::<RadomMessage, USB_BUFFER_SIZE>(&device_msg).unwrap();
|
||||
serial.write(bytes.as_slice()).unwrap();
|
||||
}
|
||||
HostMessage::SetTarget(pos) => {
|
||||
cx.shared.az_target.lock(|az| *az = (pos.az * 10.0) as i32);
|
||||
cx.shared.el_target.lock(|el| *el = (pos.el * 10.0) as i32);
|
||||
}
|
||||
HostMessage::TriggerDFUBootloader => {
|
||||
bootloader::reboot_to_bootloader();
|
||||
}
|
||||
|
|
|
|||
|
|
@ -11,6 +11,7 @@ pub enum RadomMessage {
|
|||
#[derive(Serialize, Deserialize, Debug, PartialEq)]
|
||||
pub enum HostMessage {
|
||||
RequestStatus,
|
||||
SetTarget(PositionTarget),
|
||||
TriggerDFUBootloader,
|
||||
}
|
||||
|
||||
|
|
@ -35,3 +36,9 @@ pub enum Alarm {
|
|||
AZEncoderFault,
|
||||
ELEncoderFault,
|
||||
}
|
||||
|
||||
#[derive(Serialize, Deserialize, Debug, PartialEq)]
|
||||
pub struct PositionTarget {
|
||||
pub az: f32,
|
||||
pub el: f32,
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in a new issue