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pub mod tags;
use self::tags::Tag;
use crate::Result;
use byteorder::NetworkEndian;
use byteorder::{ReadBytesExt, WriteBytesExt};
use std::fmt;
pub struct UdpInPacket {
pub sequence: u16,
pub comm_version: u8,
pub status: Status,
pub trace: Trace,
pub battery: Battery,
pub req: u8,
pub tags: Vec<Box<Tag>>,
}
bitflags! {
pub struct Status : u8 {
const E_STOP = 0b1000_0000;
const BROWNOUT = 0b0001_0000;
const CODE_START = 0b0000_1000;
const ENABLED = 0b0000_0100;
const AUTONOMOUS = 0b0010;
const TEST = 0b0001;
const TELEOP = 0b0000;
}
}
bitflags! {
pub struct Trace : u8 {
const ROBOT_CODE = 0b0010_0000;
const IS_ROBORIO = 0b0001_0000;
const TEST_MODE = 0b1000;
const AUTONOMOUS_MODE = 0b0100;
const TELEOP_MODE = 0b0010;
const DISABLED = 0b0001;
}
}
#[derive(Copy, Clone)]
pub struct Battery(pub u16);
impl UdpInPacket {
pub fn decode(mut buf: &[u8]) -> Result<UdpInPacket> {
let sequence = buf.read_u16::<NetworkEndian>()?;
let comm_version = buf.read_u8()?;
let status = Status::from_bits(buf.read_u8()?).expect("status was None!");
let trace = Trace::from_bits(buf.read_u8()?).expect("trace was None!");
let battery = Battery(buf.read_u16::<NetworkEndian>()?);
let req = buf.read_u8()?;
Ok(UdpInPacket {
sequence,
comm_version,
status,
trace,
battery,
req,
tags: Vec::new(),
})
}
}
impl fmt::Debug for UdpInPacket {
fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
write!(f, "UdpInPacket {{\n\tseq:{},\n\tcomm_vers:{},\n\tbattery:{},\n\tstatus: {},\n\ttrace: {},\n\treq: {},\n\ttags: {:#?}\n}}", self.sequence, self.comm_version, self.battery, self.status, self.trace, self.req, self.tags)
}
}
impl fmt::Display for Status {
fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
write!(
f,
"{}{}{}{}{}{}{}",
if self.contains(Status::E_STOP) {
"E_STOP | "
} else {
""
},
if self.contains(Status::BROWNOUT) {
"BROWNOUT | "
} else {
""
},
if self.contains(Status::CODE_START) {
"CODE_START | "
} else {
""
},
if self.contains(Status::ENABLED) {
"ENABLED | "
} else {
""
},
if self.contains(Status::AUTONOMOUS) {
"AUTON | "
} else {
""
},
if self.contains(Status::TEST) {
"TEST | "
} else {
""
},
if self.contains(Status::TELEOP) {
"TELEOP"
} else {
""
}
)
}
}
impl fmt::Display for Trace {
fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
write!(
f,
"{}{}{}{}{}{}",
if self.contains(Trace::ROBOT_CODE) {
"ROBOT_CODE | "
} else {
""
},
if self.contains(Trace::IS_ROBORIO) {
"IS_ROBORIO | "
} else {
""
},
if self.contains(Trace::TEST_MODE) {
"TEST_MODE"
} else {
""
},
if self.contains(Trace::AUTONOMOUS_MODE) {
"AUTONOMOUS_MODE"
} else {
""
},
if self.contains(Trace::TELEOP_MODE) {
"TELEOP_MODE"
} else {
""
},
if self.contains(Trace::DISABLED) {
"DISABLED"
} else {
""
}
)
}
}
impl Battery {
pub fn to_voltage(&self) -> f32 {
let mut buf = vec![];
buf.write_u16::<NetworkEndian>(self.0).unwrap();
*buf.get(0).unwrap() as f32 + *buf.get(1).unwrap() as f32 / 256.0
}
}
impl fmt::Debug for Battery {
fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
write!(f, "{}", self.to_voltage())
}
}
impl fmt::Display for Battery {
fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
write!(f, "{:?}V", self)
}
}