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#![allow(dead_code)]
extern crate rppal;
extern crate e_drone;
use std::time::{Duration, Instant};
use rppal::uart::{Parity, Uart, Error};
use e_drone::communication::{*};
use e_drone::communication::receiver::{*};
use e_drone::base::system::{*};
use e_drone::protocol::{*};
pub struct Drone
{
pub time_start: Instant,
pub time_transfer: Instant,
pub time_receive: Instant,
pub receiver: Receiver,
pub buffer: [u8; 1024],
pub port: Result<Uart, Error>,
}
impl Drone {
pub fn new() -> Drone{
let mut drone = Drone{
time_start: Instant::now(),
time_transfer: Instant::now(),
time_receive: Instant::now(),
receiver: Receiver::new(),
buffer: [0u8; 1024],
port: Uart::new(57_600, Parity::None, 8, 1),
};
match &mut drone.port {
Ok(port) => { match port.set_read_mode(0, Duration::from_millis(0)) {
Ok(_value) => {},
_ => {},
} },
_ => {},
}
drone
}
pub fn new_path(port_name: &str) -> Drone{
let mut drone = Drone{
time_start: Instant::now(),
time_transfer: Instant::now(),
time_receive: Instant::now(),
receiver: Receiver::new(),
buffer: [0u8; 1024],
port: Uart::with_path(port_name, 57_600, Parity::None, 8, 1)
};
match &mut drone.port {
Ok(port) => { match port.set_read_mode(0, Duration::from_millis(0)) {
Ok(_value) => {},
_ => {},
} },
_ => {},
}
drone
}
pub fn is_connected(&mut self) -> bool
{
match &mut self.port {
Ok(_port) => { true },
_ => { false },
}
}
pub fn check(&mut self) -> Data
{
match &mut self.port {
Ok(port) => {
let length_read = &port.read(&mut self.buffer);
match length_read {
Ok(len) => {
if *len > 0 {
self.receiver.push_slice(&self.buffer[..*len]);
}
if let messaging::State::Loaded = self.receiver.check()
{
self.receiver.clear();
self.time_receive = Instant::now();
return handler::check(self.receiver.get_header(), self.receiver.get_data())
}
},
_ => {},
}
},
_ => {},
}
Data::None
}
pub fn get_time_passed_from_start(&self) -> u128
{
self.time_start.elapsed().as_millis()
}
pub fn get_time_passed_from_last_transfer(&self) -> u128
{
self.time_transfer.elapsed().as_millis()
}
pub fn get_time_passed_from_last_receive(&self) -> u128
{
self.time_receive.elapsed().as_millis()
}
pub fn request(&mut self, device_type: DeviceType, data_type: DataType)
{
match &mut self.port {
Ok(port) => { match port.write(&transfer::request(device_type, data_type)) {
Ok(_len) => { self.time_transfer = Instant::now(); },
_ => {},
} },
_ => {},
}
}
}
#[cfg(test)]
mod tests {
#[test]
fn it_works() {
assert_eq!(2 + 2, 4);
}
}