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extern crate libc;
use libc::{int32_t};
use std::ffi::{CStr, CString};
use std::os::raw::c_char;
#[repr(C)]
struct SweepDevice {}
#[repr(C)]
struct SweepError;
#[repr(C)]
struct SweepScan;
#[allow(improper_ctypes)]
#[link(name = "sweep")]
extern {
fn sweep_error_message(error: *const SweepError) -> *const c_char;
fn sweep_is_abi_compatible() -> bool;
fn sweep_get_version() -> int32_t;
fn sweep_device_construct_simple(port: *const c_char, error: *const *mut SweepError) -> *const SweepDevice;
fn sweep_device_start_scanning(device: *const SweepDevice, error: *const *mut SweepError);
fn sweep_device_stop_scanning(device: *const SweepDevice, error: *const *mut SweepError);
fn sweep_device_get_motor_ready(device: *const SweepDevice, error: *const *mut SweepError) -> bool;
fn sweep_device_set_motor_speed(device: *const SweepDevice, hz: int32_t, error: *const *mut SweepError);
fn sweep_device_get_motor_speed(device: *const SweepDevice, error: *const *mut SweepError) -> int32_t;
fn sweep_device_get_sample_rate(device: *const SweepDevice, error: *const *mut SweepError) -> int32_t;
fn sweep_device_get_scan(device: *const SweepDevice, error: *const *mut SweepError) -> *const SweepScan;
fn sweep_scan_get_number_of_samples(scan: *const SweepScan) -> int32_t;
fn sweep_scan_get_angle(scan: *const SweepScan, sample: int32_t) -> int32_t;
fn sweep_scan_get_distance(scan: *const SweepScan, sample: int32_t) -> int32_t;
fn sweep_scan_get_signal_strength(scan: *const SweepScan, sample: int32_t) -> int32_t;
}
fn get_error(err: *mut SweepError) -> String {
format!("{:?}", unsafe { CStr::from_ptr(sweep_error_message(err)) })
}
pub struct Sweep {
device: *const SweepDevice
}
pub struct Sample {
pub angle: i32,
pub distance: i32,
pub signal_strength: i32
}
impl Sweep {
pub fn new(device: String) -> Result<Self, String> {
unsafe {
let err : *mut SweepError = std::ptr::null_mut();
let device = sweep_device_construct_simple(CString::new(device).unwrap().as_ptr(), &err);
if err.is_null() {
Ok(Sweep { device: device })
} else {
Err(get_error(err))
}
}
}
pub fn get_version() -> int32_t {
unsafe {
sweep_get_version()
}
}
pub fn is_abi_compatible() -> bool {
unsafe {
sweep_is_abi_compatible()
}
}
pub fn set_motor_speed(&self, speed_hertz: int32_t) -> Result<(), String> {
unsafe {
let err : *mut SweepError = std::ptr::null_mut();
sweep_device_set_motor_speed(self.device, speed_hertz, &err);
if err.is_null() {
Ok(())
} else {
Err(get_error(err))
}
}
}
pub fn get_motor_speed(&self) -> Result<int32_t, String> {
unsafe {
let err : *mut SweepError = std::ptr::null_mut();
let speed = sweep_device_get_motor_speed(self.device, &err);
if err.is_null() {
Ok(speed)
} else {
Err(get_error(err))
}
}
}
pub fn get_sample_rate(&self) -> Result<int32_t, String> {
unsafe {
let err : *mut SweepError = std::ptr::null_mut();
let sample_rate = sweep_device_get_sample_rate(self.device, &err);
if err.is_null() {
Ok(sample_rate)
} else {
Err(get_error(err))
}
}
}
pub fn get_motor_ready(&self) -> Result<bool, String> {
unsafe {
let err : *mut SweepError = std::ptr::null_mut();
let motor_ready = sweep_device_get_motor_ready(self.device, &err);
if err.is_null() {
Ok(motor_ready)
} else {
Err(get_error(err))
}
}
}
pub fn start_scanning(&self) -> Result<(), String> {
unsafe {
let err : *mut SweepError = std::ptr::null_mut();
sweep_device_start_scanning(self.device, &err);
if err.is_null() {
Ok(())
} else {
Err(get_error(err))
}
}
}
pub fn stop_scanning(&self) -> Result<(), String> {
unsafe {
let err : *mut SweepError = std::ptr::null_mut();
sweep_device_stop_scanning(self.device, &err);
if err.is_null() {
Ok(())
} else {
Err(get_error(err))
}
}
}
pub fn scan(&self) -> Result<Vec<Sample>, String> {
unsafe {
let err : *mut SweepError = std::ptr::null_mut();
let scan = sweep_device_get_scan(self.device, &err);
if err.is_null() {
let sample_count = sweep_scan_get_number_of_samples(scan);
let mut points: Vec<Sample> = vec![];
for n in 0..sample_count {
let angle = sweep_scan_get_angle(scan, n);
let distance = sweep_scan_get_distance(scan, n);
let signal_strength = sweep_scan_get_signal_strength(scan, n);
points.push(Sample { angle: angle, distance: distance, signal_strength: signal_strength });
}
Ok(points)
} else {
Err(get_error(err))
}
}
}
}
#[cfg(test)]
mod tests {
use super::*;
#[test]
fn test_api() {
let port = String::from("/dev/tty.usbserial-DM00KC6Z");
let version = Sweep::get_version();
println!("Version {}.{}", version >> 16, version & 0x0F);
println!("ABI compatible: {}", Sweep::is_abi_compatible());
let sweep = Sweep::new(port).unwrap();
println!("Motor speed: {}", sweep.get_motor_speed().unwrap());
println!("Sample rate: {}", sweep.get_sample_rate().unwrap());
println!("Starting scan ...");
sweep.start_scanning().unwrap();
let scan = sweep.scan().unwrap();
for sample in &scan {
println!("Angle {}, Distance {}, Signal Strength: {}",
sample.angle, sample.distance, sample.signal_strength);
}
sweep.stop_scanning().unwrap();
}
}