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|
use tokio::time::Duration;
use windlass::{mcu_command, mcu_reply, Connection};
mcu_command!(DebugNop, "debug_nop");
mcu_command!(GetClock, "get_clock");
mcu_reply!(Clock, "clock", clock: u32);
mcu_command!(GetUptime, "get_uptime");
mcu_reply!(Uptime, "uptime", high: u32, clock: u32);
mcu_reply!(
AdxlStatus,
"adxl345_status",
oid: u8,
sequence: u16,
data: Vec<u8>,
);
mcu_reply!(Stats, "stats", count: u32, sum: u32, sumsq: u32);
mcu_command!(
ConfigEndstop,
"config_endstop",
oid: u8,
pin: u8,
pull_up: u8
);
#[tokio::main]
async fn main() {
tracing_subscriber::fmt::init();
let target = std::env::args().nth(1).expect("Missing path");
let builder = tokio_serial::new(target, 96_000);
let port = tokio_serial::SerialStream::open(&builder).expect("USB open");
let mut mcu = Connection::connect(port).await.expect("MCU connect");
let mut resp = mcu.register_response(Stats).expect("Register");
let clock = mcu.send_receive(GetClock::encode(), Clock);
let uptime = mcu.send_receive(GetUptime::encode(), Uptime).await;
println!("Uptime: {uptime:?}");
let clock = clock.await;
println!("Clock: {clock:?}");
let timeout = tokio::time::sleep(Duration::from_secs(10));
tokio::pin!(timeout);
loop {
tokio::select! {
_ = &mut timeout => break,
s = resp.recv() => {
println!("Stats: {s:?}");
}
err = mcu.closed() => {
println!("MCU connection lost: {err:?}");
break;
}
}
}
mcu.close().await;
}
|
