[WIP] Scroll impl and it Compiles

AeroRust · May 1, 2020 · 211af57 · 211af57
1 parent 1c121ce
commit 211af57
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Showing 6 changed files with 171 additions and 4 deletions.
diff --git a/Cargo.lock b/Cargo.lock
diff --git a/arsdk-rs/Cargo.toml b/arsdk-rs/Cargo.toml
@@ -14,3 +14,5 @@ serde = {version = "1.0", features = ["derive"]}
 serde_json = "1.0"
 dashmap = "3.11"
 chrono = "0.4"
+scroll = "0.10"
+scroll_derive = "0.10"
diff --git a/arsdk-rs/src/ardrone3.rs b/arsdk-rs/src/ardrone3.rs
@@ -1,7 +1,6 @@
 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
@@ -29,17 +28,52 @@ pub enum ArDrone3 {
     /// ARCOMMANDS_ID_ARDRONE3_PILOTING_CMD_CANCELMOVETO = 11
     CancelMoveTo = 11,
     /// ARCOMMANDS_ID_ARDRONE3_PILOTING_CMD_STARTPILOTEDPOI = 12
-    StartPilotdPOI = 12,
+    StartPilotedPOI = 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()
     }
 }
+
+pub mod scroll_impl {
+    use super::*;
+    use scroll::{ctx, Endian, Pread, BE};
+
+    impl<'a> ctx::TryFromCtx<'a, Endian> for ArDrone3 {
+        type Error = scroll::Error;
+
+        // and the lifetime annotation on `&'a [u8]` here
+        fn try_from_ctx(src: &'a [u8], endian: Endian) -> Result<(Self, usize), Self::Error> {
+            use ArDrone3::*;
+
+            let offset = &mut 0;
+
+            let ardrone3 = match src.gread_with::<u16>(offset, endian)? {
+                0 => FlatTrim,
+                1 => TakeOff,
+                2 => PCMD,
+                3 => Landing,
+                4 => Emergency,
+                5 => NavigateHome,
+                6 => AutoTakeOffMode,
+                7 => MoveBy,
+                8 => UserTakeOff,
+                9 => Circle,
+                10 => MoveTo,
+                11 => CancelMoveTo,
+                12 => StartPilotedPOI,
+                13 => StopPilotedPOI,
+                _ => return Err(scroll::Error::Custom("Out of range".into()))
+            };
+
+            Ok((ardrone3, *offset))
+        }
+
+    }
+}
diff --git a/arsdk-rs/src/command.rs b/arsdk-rs/src/command.rs
@@ -72,6 +72,63 @@ impl Data for Feature {
     }
 }
 
+pub mod scroll_impl {
+    use super::*;
+    use scroll::{ctx, Endian, Pread, BE};
+
+    impl<'a> ctx::TryFromCtx<'a, Endian> for Feature {
+        type Error = scroll::Error;
+
+        // and the lifetime annotation on `&'a [u8]` here
+        fn try_from_ctx(src: &'a [u8], endian: Endian) -> Result<(Self, usize), Self::Error> {
+            let offset = &mut 0;
+
+            let feature: u8 = src.gread_with(offset, endian)?;
+
+            let feature = match feature {
+                0 => {
+                    todo!()
+                    // Self::Common()
+                },
+                1 => {
+                    let ardrone3 = src.gread_with(offset, endian)?;
+
+                    Self::ArDrone3(ardrone3)
+                },
+                2 => Self::Minidrone,
+                3 => {
+                    todo!()
+                    // Self::JumpingSumo(_)
+                },
+                4 => Self::SkyController,
+                8 => Self::PowerUp,
+                133 => Self::Generic,
+                134 => Self::FollowMe,
+                135 => Self::Wifi,
+                136 => Self::RC,
+                137 => Self::DroneManager,
+                138 => Self::Mapper,
+                139 => Self::Debug,
+                140 => Self::ControllerInfo,
+                141 => Self::MapperMini,
+                142 => Self::ThermalCam,
+                144 => Self::Animation,
+                147 => Self::SequoiaCam,
+                _ => return Err(scroll::Error::Custom("Out of range".into()))
+            };
+
+            Ok((feature, *offset))
+
+
+            // let buffer_id = src.gread_with(offset, endian)?;
+            // let sequence_id = src.gread_with(offset, endian)?;
+            // let feature_len: u32 = src.gread_with(offset, endian)?;
+            // let feature = src.gread_with(offset, endian)?;
+            // Ok((Feature { frame_type, buffer_id, sequence_id, feature }, *offset))
+        }
+    }
+}
+
 // --------------------- Tests --------------------- //
 
 #[cfg(test)]

diff --git a/arsdk-rs/src/frame.rs b/arsdk-rs/src/frame.rs
@@ -1,6 +1,7 @@
 use crate::{command, Drone};
 use anyhow::{anyhow, Error as AnyError, Result as AnyResult};
 use std::convert::TryFrom;
+use scroll_derive::{Pread, Pwrite};
 
 pub trait IntoRawFrame {
     fn into_raw(self) -> RawFrame;
@@ -191,6 +192,57 @@ impl Into<u8> for BufferID {
     }
 }
 
+pub mod impl_scroll {
+    use super::*;
+
+    use scroll::{ctx, Endian, Pread, LE};
+
+    impl<'a> ctx::TryFromCtx<'a, Endian> for Frame {
+        type Error = scroll::Error;
+
+        // and the lifetime annotation on `&'a [u8]` here
+        fn try_from_ctx(src: &'a [u8], endian: Endian) -> Result<(Self, usize), Self::Error> {
+            let offset = &mut 0;
+
+            let frame_type = src.gread_with(offset, endian)?;
+            let buffer_id = src.gread_with(offset, endian)?;
+            let sequence_id = src.gread_with(offset, endian)?;
+            let feature_len: u32 = src.gread_with(offset, endian)?;
+            let feature = src.gread_with(offset, endian)?;
+
+            Ok((Frame { frame_type, buffer_id, sequence_id, feature }, *offset))
+        }
+    }
+
+    impl<'a> ctx::TryFromCtx<'a, Endian> for Type {
+        type Error = scroll::Error;
+
+        // and the lifetime annotation on `&'a [u8]` here
+        fn try_from_ctx(src: &'a [u8], _endian: Endian) -> Result<(Self, usize), Self::Error> {
+            let offset = &mut 0;
+            let frame_value = src.gread::<u8>(offset)?;
+
+            Type::try_from(frame_value)
+            .map(|frame_type| (frame_type, *offset))
+            .map_err(|err| scroll::Error::Custom(err.to_string()))
+        }
+    }
+
+    impl<'a> ctx::TryFromCtx<'a, Endian> for BufferID {
+        type Error = scroll::Error;
+
+        // and the lifetime annotation on `&'a [u8]` here
+        fn try_from_ctx(src: &'a [u8], _endian: Endian) -> Result<(Self, usize), Self::Error> {
+            let offset = &mut 0;
+            let id_value = src.gread::<u8>(offset)?;
+
+            BufferID::try_from(id_value)
+            .map(|buffer_id| (buffer_id, *offset))
+            .map_err(|err| scroll::Error::Custom(err.to_string()))
+        }
+    }
+}
+
 // --------------------- Tests --------------------- //
 
 #[cfg(test)]

diff --git a/bebop2/src/lib.rs b/bebop2/src/lib.rs
@@ -22,6 +22,9 @@ impl Bebop2 {
         Ok(Self { drone })
     }
 
+    // ARCOMMANDS_ID_ARDRONE3_PILOTING_CMD_NAVIGATEHOME
+    // ARCOMMANDS_ID_ARDRONE3_PILOTING_CMD_AUTOTAKEOFFMODE
+
     pub fn take_off(&self) -> AnyResult<()> {
         // Ardrone3
         // ARCOMMANDS_ID_ARDRONE3_CLASS_PILOTING