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Merge pull request #5 from o0Ignition0o/bebop2
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
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@@ -2,4 +2,5 @@ | |
| members = [ | ||
| "arsdk-rs", | ||
| "jumpingsumo-rs", | ||
| ] | ||
| "bebop2", | ||
| ] | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,45 @@ | ||
| use crate::frame::Data; | ||
|
|
||
| /// eARCOMMANDS_ID_ARDRONE3_PILOTING_CMD | ||
| #[repr(u8)] | ||
| #[derive(Debug, Clone, Copy, Eq, PartialEq)] | ||
| pub enum ArDrone3 { | ||
| /// ARCOMMANDS_ID_ARDRONE3_PILOTING_CMD_FLATTRIM = 0 | ||
| FlatTrim = 0, | ||
| /// ARCOMMANDS_ID_ARDRONE3_PILOTING_CMD_TAKEOFF = 1 | ||
| TakeOff = 1, | ||
| /// ARCOMMANDS_ID_ARDRONE3_PILOTING_CMD_PCMD = 2 | ||
| PCMD = 2, | ||
| /// ARCOMMANDS_ID_ARDRONE3_PILOTING_CMD_LANDING = 3 | ||
| Landing = 3, | ||
| /// ARCOMMANDS_ID_ARDRONE3_PILOTING_CMD_EMERGENCY = 4 | ||
| Emergency = 4, | ||
| /// ARCOMMANDS_ID_ARDRONE3_PILOTING_CMD_NAVIGATEHOME = 5 | ||
| NavigateHome = 5, | ||
| /// ARCOMMANDS_ID_ARDRONE3_PILOTING_CMD_AUTOTAKEOFFMODE = 6 | ||
| AutoTakeOffMode = 6, | ||
| /// ARCOMMANDS_ID_ARDRONE3_PILOTING_CMD_MOVEBY = 7 | ||
| MoveBy = 7, | ||
| /// ARCOMMANDS_ID_ARDRONE3_PILOTING_CMD_USERTAKEOFF = 8 | ||
| UserTakeOff = 8, | ||
| /// ARCOMMANDS_ID_ARDRONE3_PILOTING_CMD_CIRCLE = 9 | ||
| Circle = 9, | ||
| /// ARCOMMANDS_ID_ARDRONE3_PILOTING_CMD_MOVETO = 10 | ||
| MoveTo = 10, | ||
| /// ARCOMMANDS_ID_ARDRONE3_PILOTING_CMD_CANCELMOVETO = 11 | ||
| CancelMoveTo = 11, | ||
| /// ARCOMMANDS_ID_ARDRONE3_PILOTING_CMD_STARTPILOTEDPOI = 12 | ||
| StartPilotdPOI = 12, | ||
| /// ARCOMMANDS_ID_ARDRONE3_PILOTING_CMD_STOPPILOTEDPOI = 13 | ||
| StopPilotedPOI = 13, | ||
| } | ||
|
|
||
| impl Data for ArDrone3 { | ||
| fn serialize(&self) -> Vec<u8> { | ||
| // todo: Fix this hardcoded value | ||
|
|
||
| let take_off: u16 = 1; | ||
|
|
||
| take_off.to_le_bytes().to_vec() | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,83 @@ | ||
| use anyhow::{anyhow, Result}; | ||
| use serde::{Deserialize, Serialize}; | ||
| use std::{ | ||
| io::{Read, Write}, | ||
| net::{SocketAddr, TcpStream}, | ||
| }; | ||
|
|
||
| #[derive(Serialize)] | ||
| pub(crate) struct Request { | ||
| controller_name: String, | ||
| controller_type: String, | ||
| d2c_port: u16, | ||
| #[serde(skip_serializing_if = "Option::is_some")] | ||
| arstream2_client_stream_port: Option<u16>, | ||
| #[serde(skip_serializing_if = "Option::is_some")] | ||
| arstream2_client_control_port: Option<u16>, | ||
| } | ||
|
|
||
| #[derive(Deserialize, Debug)] | ||
| /// Request: "{\"controller_name\":\"arsdk-rs\",\"controller_type\":\"computer\",\"d2c_port\":43210}" | ||
| /// Response: "{ \"status\": 0, \"c2d_port\": 54321, \"c2d_update_port\": 51, \"c2d_user_port\": 21, \"qos_mode\": 0, \"arstream2_server_stream_port\": 5004, \"arstream2_server_control_port\": 5005 }\u{0}" | ||
| /// `\u{0}` causes issues, but for now we `trim_end_matches` | ||
| /// Error: trailing characters at line 1 column 171 | ||
| pub(crate) struct Response { | ||
| #[serde(default)] | ||
| pub arstream_fragment_maximum_number: Option<u8>, | ||
| #[serde(default)] | ||
| pub arstream_fragment_size: Option<u16>, | ||
| #[serde(default)] | ||
| pub arstream_max_ack_interval: Option<i8>, | ||
| pub arstream2_server_stream_port: u16, | ||
| pub arstream2_server_control_port: u16, | ||
| pub c2d_port: u16, | ||
| pub c2d_update_port: u16, | ||
| pub c2d_user_port: u16, | ||
| pub status: i8, | ||
| // @TODO: qos_mode: bool maybe?! | ||
| } | ||
|
|
||
| pub(crate) fn perform_handshake(target: SocketAddr, d2c_port: u16) -> Result<Response> { | ||
| let request = Request { | ||
| controller_name: "arsdk-rs".to_string(), | ||
| controller_type: "computer".to_string(), | ||
| d2c_port, | ||
| arstream2_client_stream_port: Some(44445), | ||
| arstream2_client_control_port: Some(44446), | ||
| }; | ||
|
|
||
| println!( | ||
| "connecting controller {}", | ||
| request.controller_name, | ||
| ); | ||
|
|
||
| let mut handshake_stream = | ||
| retry(10, target).ok_or_else(|| anyhow!("Couldn't connect for handshake {}", target))?; | ||
|
|
||
| let request_string = serde_json::to_string(&request)?; | ||
|
|
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| handshake_stream.write_all(&request_string.as_bytes())?; | ||
|
|
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| let mut response_string = String::new(); | ||
| handshake_stream.read_to_string(&mut response_string)?; | ||
| let response_string = response_string.trim_end_matches("\u{0}"); | ||
|
|
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| let response: Response = serde_json::from_str(&response_string)?; | ||
|
|
||
| if response.status != 0 { | ||
| anyhow!("connection refused - {:?}", response); | ||
| } | ||
| Ok(response) | ||
| } | ||
|
|
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| fn retry(times: usize, target: SocketAddr) -> Option<TcpStream> { | ||
| let timeout = std::time::Duration::from_secs(2); | ||
| for retry_time in 0..times { | ||
| match TcpStream::connect_timeout(&target, timeout) { | ||
| Ok(stream) => return Some(stream), | ||
| Err(err) => eprintln!("Error connecting to Tcp ({}): {}", retry_time, err), | ||
| }; | ||
| } | ||
|
|
||
| None | ||
| } |
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