Added firmware

daemon/src/rotor.rs

@@ -0,0 +1,53 @@
+use anyhow::Result;
+use log::{debug, error, info, warn};
+use tokio::{
+    self,
+    io::{AsyncBufReadExt, AsyncWriteExt, BufStream},
+    net::{TcpListener, TcpStream},
+    sync::{self, mpsc, watch},
+    time,
+};
+
+use crate::rotctlprotocol::{parse_command, Command};
+
+pub async fn control_rotor(
+    mut rx_cmd: mpsc::Receiver<Command>,
+    pos_tx: watch::Sender<(f32, f32)>,
+) -> Result<()> {
+    let mut actual_az = 0.0;
+    let mut actual_el = 0.0;
+
+    let mut target_az = 0.0;
+    let mut target_el = 0.0;
+
+    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;
+                    }
+                    _ => {}
+                }
+            },
+            _ = 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();
+            },
+            else => return Ok(())
+        };
+    }
+}