e_drone/
lib.rs

1// An attribute to hide warnings for unused code.
2#![allow(dead_code)]
3
4
5pub mod communication;
6pub mod file;
7pub mod protocol;
8pub mod system;
9
10
11use std::{thread};
12use std::time::{Duration, Instant};
13
14use communication::{*};
15use communication::receiver::{*};
16use system::{*};
17use protocol::{*};
18use protocol::display::{*};
19use protocol::command::{*};
20
21
22pub struct Drone
23{
24    pub time_start: Instant,        // 인스턴스 시작 시각
25    pub time_transfer: Instant,     // 데이터 전송 시각
26    pub time_receive: Instant,      // 데이터 수신 시각
27    pub receiver: Receiver,         // 데이터 수신 처리기
28    pub header: Header,             // 수신 받은 데이터의 헤더
29    pub vec_data: Vec<u8>,          // 수신 받은 데이터 배열
30    pub data: Data,                 // 수신 받은 데이터 파싱 결과물
31    pub flag_show_debug_message: bool,  // 디버깅 정보 표시
32}
33
34
35impl Drone {
36    pub fn new() -> Drone{
37        Drone{
38            time_start: Instant::now(),
39            time_transfer: Instant::now(),
40            time_receive: Instant::now(),
41            receiver: Receiver::new(),
42            header: Header::new(),
43            vec_data: Vec::new(),
44            data: Data::None,
45            flag_show_debug_message: false,
46        }
47    }
48
49
50    pub fn set_show_debug_message(&mut self, flag_show_debug_message: bool)
51    {
52        self.flag_show_debug_message = flag_show_debug_message;
53        
54        self.receiver.set_show_debug_message(flag_show_debug_message);
55    }
56
57
58    pub fn push(&mut self, b: u8)
59    {
60        if self.flag_show_debug_message 
61        {
62            println!("RX: {:X?}", b);
63        }
64
65        self.receiver.push(b);
66    }
67
68
69    pub fn push_slice(&mut self, slice_data: &[u8])
70    {
71        if slice_data.len() > 0
72        {
73            if self.flag_show_debug_message 
74            {
75                println!("RX: {:X?}", slice_data);
76            }
77
78            self.receiver.push_slice(slice_data);
79        }
80
81    }
82
83
84    pub fn check(&mut self) -> bool
85    {
86        if let messaging::State::Loaded = self.receiver.check()
87        {
88            self.receiver.clear();
89            self.time_receive = Instant::now();
90
91            self.header = self.receiver.get_header().clone();
92            self.vec_data = self.receiver.get_data().clone();
93            self.data = handler::check(&self.header, &self.vec_data);
94
95            return true;
96        }
97
98        return false;
99    }
100
101
102    pub fn get_time_passed_from_start(&self) -> u128
103    {
104        self.time_start.elapsed().as_millis()
105    }
106
107    pub fn get_time_passed_from_last_transfer(&self) -> u128
108    {
109        self.time_transfer.elapsed().as_millis()
110    }
111
112    pub fn get_time_passed_from_last_receive(&self) -> u128
113    {
114        self.time_receive.elapsed().as_millis()
115    }
116
117
118    pub fn sleep(&self, time_sleep_ms: u64)
119    {
120        let duration_time_sleep_ms = Duration::from_millis(time_sleep_ms);
121
122        thread::sleep(duration_time_sleep_ms);
123    }
124
125
126    // -- Request ----------------------------------------------------------------------------------------------
127    pub fn request(&mut self, target: DeviceType, data_type: DataType) -> Vec<u8>
128    {
129        transfer::transfer(DataType::Request, DeviceType::Base, target, &Request{data_type}.to_vec())
130    }
131
132
133    // -- Command ----------------------------------------------------------------------------------------------
134    pub fn command(&mut self, target: DeviceType, command_type: CommandType, option: u8) -> Vec<u8>
135    {
136        transfer::transfer(DataType::Command, DeviceType::Base, target, &Command{command_type, option}.to_vec())
137    }
138
139
140    // -- FlightEvent ----------------------------------------------------------------------------------------------
141    pub fn flight_event(&mut self, event: FlightEvent) -> Vec<u8>
142    {
143        transfer::transfer(DataType::Command, DeviceType::Base, DeviceType::Drone, &Command{command_type: CommandType::FlightEvent, option: event.into()}.to_vec())
144    }
145
146    pub fn takeoff(&mut self) -> Vec<u8>
147    {
148        self.flight_event(FlightEvent::Takeoff)
149    }
150
151    pub fn landing(&mut self) -> Vec<u8>
152    {
153        self.flight_event(FlightEvent::Landing)
154    }
155
156    pub fn stop(&mut self) -> Vec<u8>
157    {
158        self.flight_event(FlightEvent::Stop)
159    }
160
161
162    // -- Setup ----------------------------------------------------------------------------------------------
163    pub fn set_default(&mut self) -> Vec<u8>
164    {
165        self.command(DeviceType::Drone, CommandType::SetDefault, 0)
166    }
167
168    pub fn set_mode_control_flight(&mut self) -> Vec<u8>
169    {
170        self.command(DeviceType::Drone, CommandType::SetDefault, 0)
171    }
172
173    pub fn headless(&mut self, headless: Headless) -> Vec<u8>
174    {
175        self.command(DeviceType::Drone, CommandType::Headless, headless.into())
176    }
177
178    pub fn clear_bias(&mut self) -> Vec<u8>
179    {
180        self.command(DeviceType::Drone, CommandType::ClearBias, 0)
181    }
182
183    pub fn clear_trim(&mut self) -> Vec<u8>
184    {
185        self.command(DeviceType::Drone, CommandType::ClearTrim, 0)
186    }
187
188    pub fn trim(&mut self, roll: i16, pitch: i16, yaw: i16, throttle: i16) -> Vec<u8>
189    {
190        transfer::transfer(DataType::Trim, DeviceType::Base, DeviceType::Drone, &sensor::Trim{roll, pitch, yaw, throttle}.to_vec())
191    }
192
193
194    // -- Control ----------------------------------------------------------------------------------------------
195    pub fn control(&mut self, roll: i8, pitch: i8, yaw: i8, throttle: i8) -> Vec<u8>
196    {
197        transfer::transfer(DataType::Control, DeviceType::Base, DeviceType::Drone, &control::Quad8{roll, pitch, yaw, throttle}.to_vec())
198    }
199
200    pub fn control_request(&mut self, roll: i8, pitch: i8, yaw: i8, throttle: i8, data_type: DataType) -> Vec<u8>
201    {
202        transfer::transfer(DataType::Control, DeviceType::Base, DeviceType::Drone, &control::Quad8AndRequestData{roll, pitch, yaw, throttle, data_type}.to_vec())
203    }
204
205    pub fn control_position(&mut self, x: f32, y: f32, z: f32, velocity: f32, heading: i16, rotational_velocity: i16) -> Vec<u8>
206    {
207        transfer::transfer(DataType::Control, DeviceType::Base, DeviceType::Drone, &control::Position{x, y, z, velocity, heading, rotational_velocity}.to_vec())
208    }
209
210
211    // -- Battle ----------------------------------------------------------------------------------------------
212    pub fn battle_ir_message(&mut self, ir_message: u8) -> Vec<u8>
213    {
214        transfer::transfer(DataType::Battle, DeviceType::Base, DeviceType::Drone, &battle::IrMessage{ir_message}.to_vec())
215    }
216
217    pub fn battle_light_event_command(&mut self, target:DeviceType, event: u8, interval: u16, repeat: u8, r: u8, g: u8, b: u8, command_type: command::CommandType, option: u8) -> Vec<u8>
218    {
219        transfer::transfer(DataType::Battle, DeviceType::Base, target, &battle::LightEventCommand{event:light::Event{event, interval, repeat}, color: light::Color{r, g, b}, command: command::Command{command_type, option}}.to_vec())
220    }
221
222    pub fn battle_ir_message_light_event_command(&mut self, target:DeviceType, ir_message: u8, event: u8, interval: u16, repeat: u8, r: u8, g: u8, b: u8, command_type: command::CommandType, option: u8) -> Vec<u8>
223    {
224        transfer::transfer(DataType::Battle, DeviceType::Base, target, &battle::IrMessageLightEventCommand{ir_message, event:light::Event{event, interval, repeat}, color: light::Color{r, g, b}, command: command::Command{command_type, option}}.to_vec())
225    }
226
227
228    // -- Light ----------------------------------------------------------------------------------------------
229    pub fn light_manual(&mut self, target:DeviceType, flags: u16, brightness: u8) -> Vec<u8>
230    {
231        transfer::transfer(DataType::LightManual, DeviceType::Base, target, &light::Manual{flags, brightness}.to_vec())
232    }
233
234    pub fn light_mode(&mut self, target:DeviceType, mode: u8, interval: u16) -> Vec<u8>
235    {
236        transfer::transfer(DataType::LightMode, DeviceType::Base, target, &light::Mode{mode, interval}.to_vec())
237    }
238
239    pub fn light_event(&mut self, target:DeviceType, event: u8, interval: u16, repeat: u8) -> Vec<u8>
240    {
241        transfer::transfer(DataType::LightEvent, DeviceType::Base, target, &light::Event{event, interval, repeat}.to_vec())
242    }
243
244    pub fn light_mode_color(&mut self, target:DeviceType, mode: u8, interval: u16, r: u8, g: u8, b: u8) -> Vec<u8>
245    {
246        transfer::transfer(DataType::LightMode, DeviceType::Base, target, &light::ModeColor{mode:light::Mode{mode, interval}, color: light::Color{r, g, b}}.to_vec())
247    }
248
249    pub fn light_event_color(&mut self, target:DeviceType, event: u8, interval: u16, repeat: u8, r: u8, g: u8, b: u8) -> Vec<u8>
250    {
251        transfer::transfer(DataType::LightEvent, DeviceType::Base, target, &light::EventColor{event:light::Event{event, interval, repeat}, color: light::Color{r, g, b}}.to_vec())
252    }
253
254    pub fn light_default(&mut self, target:DeviceType, mode: u8, interval: u16, r: u8, g: u8, b: u8) -> Vec<u8>
255    {
256        transfer::transfer(DataType::LightDefault, DeviceType::Base, target, &light::ModeColor{mode:light::Mode{mode, interval}, color: light::Color{r, g, b}}.to_vec())
257    }
258
259
260    // -- Buzzer ----------------------------------------------------------------------------------------------
261    pub fn buzzer_stop(&mut self, target: DeviceType) -> Vec<u8>
262    {
263        transfer::transfer(DataType::Buzzer, DeviceType::Base, target, &buzzer::BuzzerHz{mode: buzzer::Mode::Stop, hz:0, time:0}.to_vec())
264    }
265
266    pub fn buzzer_scale(&mut self, target: DeviceType, scale: buzzer::Scale, time: u16) -> Vec<u8>
267    {
268        transfer::transfer(DataType::Buzzer, DeviceType::Base, target, &buzzer::BuzzerScale{mode: buzzer::Mode::ScaleInstantly, scale, time}.to_vec())
269    }
270
271    pub fn buzzer_scale_reserve(&mut self, target: DeviceType, scale: buzzer::Scale, time: u16) -> Vec<u8>
272    {
273        transfer::transfer(DataType::Buzzer, DeviceType::Base, target, &buzzer::BuzzerScale{mode: buzzer::Mode::ScaleContinually, scale, time}.to_vec())
274    }
275
276    pub fn buzzer_hz(&mut self, target: DeviceType, hz: u16, time: u16) -> Vec<u8>
277    {
278        transfer::transfer(DataType::Buzzer, DeviceType::Base, target, &buzzer::BuzzerHz{mode: buzzer::Mode::HzInstantly, hz, time}.to_vec())
279    }
280
281    pub fn buzzer_hz_reserve(&mut self, target: DeviceType, hz: u16, time: u16) -> Vec<u8>
282    {
283        transfer::transfer(DataType::Buzzer, DeviceType::Base, target, &buzzer::BuzzerHz{mode: buzzer::Mode::HzContinually, hz, time}.to_vec())
284    }
285
286    pub fn buzzer_mute(&mut self, target: DeviceType, time: u16) -> Vec<u8>
287    {
288        transfer::transfer(DataType::Buzzer, DeviceType::Base, target, &buzzer::BuzzerHz{mode: buzzer::Mode::MuteInstantly, hz: 0, time}.to_vec())
289    }
290
291    pub fn buzzer_mute_reserve(&mut self, target: DeviceType, time: u16) -> Vec<u8>
292    {
293        transfer::transfer(DataType::Buzzer, DeviceType::Base, target, &buzzer::BuzzerHz{mode: buzzer::Mode::MuteContinually, hz: 0, time}.to_vec())
294    }
295
296
297    // -- Vibrator ----------------------------------------------------------------------------------------------
298    pub fn vibrator(&mut self, on: u16, off: u16, time: u16) -> Vec<u8>
299    {
300        transfer::transfer(DataType::Vibrator, DeviceType::Base, DeviceType::Controller, &vibrator::Vibrator{mode: vibrator::Mode::Instantly, on, off, time}.to_vec())
301    }
302
303    pub fn vibrator_reserve(&mut self, on: u16, off: u16, time: u16) -> Vec<u8>
304    {
305        transfer::transfer(DataType::Vibrator, DeviceType::Base, DeviceType::Controller, &vibrator::Vibrator{mode: vibrator::Mode::Continually, on, off, time}.to_vec())
306    }
307
308
309    // -- Display ----------------------------------------------------------------------------------------------
310    pub fn draw_clear_all(&mut self, pixel: Pixel) -> Vec<u8>
311    {
312        transfer::transfer(DataType::DisplayClear, DeviceType::Base, DeviceType::Controller, &ClearAll{pixel}.to_vec())
313    }
314
315    pub fn draw_clear(&mut self, x: i16, y: i16, width: i16, height: i16, pixel: Pixel) -> Vec<u8>
316    {
317        transfer::transfer(DataType::DisplayClear, DeviceType::Base, DeviceType::Controller, &Clear{x, y, width, height, pixel}.to_vec())
318    }
319
320    pub fn draw_invert(&mut self, x: i16, y: i16, width: i16, height: i16) -> Vec<u8>
321    {
322        transfer::transfer(DataType::DisplayInvert, DeviceType::Base, DeviceType::Controller, &Invert{x, y, width, height}.to_vec())
323    }
324
325    pub fn draw_point(&mut self, x: i16, y: i16, pixel: Pixel) -> Vec<u8>
326    {
327        transfer::transfer(DataType::DisplayDrawPoint, DeviceType::Base, DeviceType::Controller, &DrawPoint{x, y, pixel}.to_vec())
328    }
329
330    pub fn draw_line(&mut self, x1: i16, y1: i16, x2: i16, y2: i16, pixel: Pixel, line: Line) -> Vec<u8>
331    {
332        transfer::transfer(DataType::DisplayDrawLine, DeviceType::Base, DeviceType::Controller, &DrawLine{x1, y1, x2, y2, pixel, line}.to_vec())
333    }
334
335    pub fn draw_rect(&mut self, x: i16, y: i16, width: i16, height: i16, pixel: Pixel, fill: bool, line: Line) -> Vec<u8>
336    {
337        transfer::transfer(DataType::DisplayDrawRect, DeviceType::Base, DeviceType::Controller, &DrawRect{x, y, width, height, pixel, fill, line}.to_vec())
338    }
339
340    pub fn draw_circle(&mut self, x: i16, y: i16, radius: i16, pixel: Pixel, fill: bool) -> Vec<u8>
341    {
342        transfer::transfer(DataType::DisplayDrawCircle, DeviceType::Base, DeviceType::Controller, &DrawCircle{x, y, radius, pixel, fill}.to_vec())
343    }
344
345    pub fn draw_string(&mut self, x: i16, y: i16, font: Font, pixel: Pixel, string: String) -> Vec<u8>
346    {
347        transfer::transfer(DataType::DisplayDrawString, DeviceType::Base, DeviceType::Controller, &DrawString{x, y, font, pixel, string}.to_vec())
348    }
349
350    pub fn draw_string_align(&mut self, x_start: i16, x_end: i16, y: i16, align: Align, font: Font, pixel: Pixel, string: String) -> Vec<u8>
351    {
352        transfer::transfer(DataType::DisplayDrawStringAlign, DeviceType::Base, DeviceType::Controller, &DrawStringAlign{x_start, x_end, y, align, font, pixel, string}.to_vec())
353    }
354
355    pub fn draw_image(&mut self, x: i16, y: i16, width: i16, height: i16, vec_image: Vec<u8>) -> Vec<u8>
356    {
357        transfer::transfer(DataType::DisplayDrawImage, DeviceType::Base, DeviceType::Controller, &DrawImage{x, y, width, height, vec_image}.to_vec())
358    }
359}
360
361
362
363#[cfg(test)]
364mod tests {
365    #[test]
366    fn it_works() {
367        assert_eq!(2 + 2, 4);
368    }
369}
e_drone/lib.rs

e_drone/
lib.rs
