Cleanup and comments
This commit is contained in:
Sebastian
parent
5935541ab2
commit
e7c9f5c5cc
63
src/usb.rs
63
src/usb.rs
|
|
@ -29,7 +29,6 @@ pub async fn usb_task(
|
|||
|
||||
// Create embassy-usb Config
|
||||
let config = embassy_usb::Config::new(0xc0de, 0xcafe);
|
||||
//config.max_packet_size_0 = 64;
|
||||
|
||||
// Create embassy-usb DeviceBuilder using the driver and config.
|
||||
// It needs some buffers for building the descriptors.
|
||||
|
|
@ -38,7 +37,7 @@ pub async fn usb_task(
|
|||
let mut bos_descriptor = [0; 256];
|
||||
let mut control_buf = [0; 7];
|
||||
|
||||
let mut state = State::new();
|
||||
let mut usb_state = State::new();
|
||||
|
||||
let mut builder = Builder::new(
|
||||
driver,
|
||||
|
|
@ -51,36 +50,47 @@ pub async fn usb_task(
|
|||
);
|
||||
|
||||
// Create classes on the builder.
|
||||
let mut class = CdcAcmClass::new(&mut builder, &mut state, 64);
|
||||
let mut class = CdcAcmClass::new(&mut builder, &mut usb_state, 64);
|
||||
|
||||
// Build the builder.
|
||||
let mut usb = builder.build();
|
||||
|
||||
// Do stuff with the class!
|
||||
// Create a future to handle incomming usb packets
|
||||
let usb_handler_fut = async {
|
||||
// Initialize the current position in case we get a B or C command,
|
||||
// before we get the first the update via pos_receiver
|
||||
let mut current_pos = AzElPair { az: 0, el: 0 };
|
||||
|
||||
loop {
|
||||
// No much used doing anything until we have a usb connection
|
||||
class.wait_connection().await;
|
||||
defmt::info!("USB connected");
|
||||
// Allocate a space for incomming usb data packets
|
||||
let mut packet = [0; 64];
|
||||
// Allocate a string to act as buffer to pares the packets linewise
|
||||
let mut buffer: String<64> = String::new();
|
||||
|
||||
loop {
|
||||
let n = match select(class.read_packet(&mut packet), pos_receiver.recv()).await {
|
||||
// The read_packet furture returned either usb data or an error.
|
||||
Either::First(res) => match res {
|
||||
// In case of an error break the loop and treat it like an usb disconnect
|
||||
Ok(n) => n,
|
||||
// In case of an error break the loop and treat it like an usb disconnect
|
||||
Err(err) => {
|
||||
defmt::error!("Unable to read packet: {}", err);
|
||||
break;
|
||||
}
|
||||
},
|
||||
// The pos_receiver future returned a position update from moment task.
|
||||
// Just update position and restart loop.
|
||||
Either::Second(pair) => {
|
||||
current_pos = pair;
|
||||
continue;
|
||||
}
|
||||
};
|
||||
|
||||
// Append the data in the packet buffer to the buffer string
|
||||
for byte in &packet[..n] {
|
||||
if buffer.len() == 64 {
|
||||
buffer.clear();
|
||||
|
|
@ -88,91 +98,113 @@ pub async fn usb_task(
|
|||
buffer.push(*byte as char).unwrap();
|
||||
}
|
||||
|
||||
// Check if the buffer string contains a '\r'
|
||||
let line_end = match buffer.rfind('\r') {
|
||||
// Carriage return found, keep the index
|
||||
Some(n) => n,
|
||||
// No carriage return, wait for the next package
|
||||
_ => continue,
|
||||
};
|
||||
|
||||
defmt::info!("Line buffer: {:x}", buffer.as_bytes());
|
||||
|
||||
// The is a non-zero amount of characters before the carriage return
|
||||
if line_end > 0 {
|
||||
// Try the parse the slice leading up to linend as a GS323 command
|
||||
let cmd = parse_command(&buffer.as_str()[..line_end]);
|
||||
defmt::info!("Command: {}", cmd);
|
||||
|
||||
// Reverse some space for a respose to the command
|
||||
let mut resp: String<16> = String::new();
|
||||
match cmd {
|
||||
Gs232Cmd::GetAl => {
|
||||
// Get Azimuth command. Respond with last known azimuth
|
||||
Gs232Cmd::GetAz => {
|
||||
uwrite!(&mut resp, "AZ={}\r", current_pos.az).unwrap();
|
||||
}
|
||||
Gs232Cmd::GetEz => {
|
||||
// Get Elevation comman. Respond with last known elevation
|
||||
Gs232Cmd::GetEl => {
|
||||
uwrite!(&mut resp, "EL={}\r", current_pos.el).unwrap();
|
||||
}
|
||||
Gs232Cmd::GetAlEz => {
|
||||
// Get Azimuth and Elevation. Respond with last known pair
|
||||
Gs232Cmd::GetAzEl => {
|
||||
uwrite!(&mut resp, "AZ={} EL={}\r", current_pos.az, current_pos.el)
|
||||
.unwrap();
|
||||
}
|
||||
// Move to command. Send to movement task. Respond with empty line.
|
||||
Gs232Cmd::MoveTo(_) => {
|
||||
cmd_sender.send(cmd).await;
|
||||
resp.push_str("\r").unwrap();
|
||||
}
|
||||
// Stop command. Send to movement task. Respond with empty line.
|
||||
Gs232Cmd::Stop => {
|
||||
cmd_sender.send(cmd).await;
|
||||
resp.push_str("\r").unwrap();
|
||||
}
|
||||
// Unknown command or parser error. Complain and do nothing.
|
||||
_ => {
|
||||
defmt::error!("Uknown command: {}", &buffer.as_str()[..line_end]);
|
||||
resp.push_str("Unkown command!\r").unwrap();
|
||||
}
|
||||
}
|
||||
|
||||
// Write the response back via USB
|
||||
match class.write_packet(resp.as_bytes()).await {
|
||||
Ok(_) => {}
|
||||
// Error treat like broken usb connection
|
||||
Err(err) => {
|
||||
defmt::error!("Unable to write packet: {}", err);
|
||||
break;
|
||||
}
|
||||
};
|
||||
}
|
||||
// Drop the processed line from the buffer
|
||||
buffer = String::from(&buffer.as_str()[line_end + 1..]);
|
||||
}
|
||||
defmt::info!("USB disconnected");
|
||||
}
|
||||
};
|
||||
|
||||
// Run the ubs and handler future both to completion.
|
||||
// None of the ever completes, but they will still be polled continously.
|
||||
join(usb.run(), usb_handler_fut).await;
|
||||
}
|
||||
|
||||
// Enum for the GS232 commands
|
||||
#[derive(Format, PartialEq)]
|
||||
pub enum Gs232Cmd {
|
||||
Unkown,
|
||||
GetAl,
|
||||
GetEz,
|
||||
GetAlEz,
|
||||
GetAz,
|
||||
GetEl,
|
||||
GetAzEl,
|
||||
MoveTo(AzElPair),
|
||||
Stop,
|
||||
}
|
||||
|
||||
// Parse a GS232 commmand from a string slice
|
||||
fn parse_command(data: &str) -> Gs232Cmd {
|
||||
match data.chars().nth(0).unwrap() {
|
||||
'B' => {
|
||||
// Get Az command. Format 'B\r'
|
||||
if data.len() == 1 {
|
||||
Gs232Cmd::GetAl
|
||||
Gs232Cmd::GetAz
|
||||
} else {
|
||||
Gs232Cmd::Unkown
|
||||
}
|
||||
}
|
||||
|
||||
'C' => {
|
||||
// Get AZ and EL. Format 'C2\r'
|
||||
if data.len() == 2 && data.chars().nth(1).unwrap() as char == '2' {
|
||||
Gs232Cmd::GetAlEz
|
||||
Gs232Cmd::GetAzEl
|
||||
// Get EL only 'C\r'
|
||||
} else if data.len() == 1 {
|
||||
Gs232Cmd::GetEz
|
||||
Gs232Cmd::GetEl
|
||||
} else {
|
||||
Gs232Cmd::Unkown
|
||||
}
|
||||
}
|
||||
|
||||
'W' => {
|
||||
// Set position 'Waaa eee\r' with azimuth aaa and elevation eee.
|
||||
// Fortunately rotcld will prepend zeros, so there will always be 3 digits per number.
|
||||
if data.len() == 8 {
|
||||
if let Ok(az) = data[1..4].parse::<u16>() {
|
||||
if let Ok(el) = data[5..].parse::<u16>() {
|
||||
|
|
@ -189,6 +221,7 @@ fn parse_command(data: &str) -> Gs232Cmd {
|
|||
}
|
||||
|
||||
'S' => {
|
||||
// Stop command. Format 'S\r'
|
||||
if data.len() == 1 {
|
||||
Gs232Cmd::Stop
|
||||
} else {
|
||||
|
|
|
|||
Loading…
Reference in a new issue