tip_prep_demo/
tip_prep_demo.rs

1use std::{
2    fs,
3    path::PathBuf,
4    sync::{
5        atomic::{AtomicBool, Ordering},
6        Arc, Mutex,
7    },
8    time::Duration,
9};
10
11use chrono::Utc;
12use log::info;
13use rusty_tip::{ActionDriver, Job, Logger, SignalIndex, TipController};
14
15/// Tip control demo with pulse voltage stepping
16fn main() -> Result<(), Box<dyn std::error::Error>> {
17    env_logger::init();
18
19    // Create ActionDriver
20    let driver = ActionDriver::new("127.0.0.1", 6501)?;
21
22    // Create controller with custom pulse stepping parameters
23    let mut custom_controller = TipController::new(driver, SignalIndex(76), 2.0, (-2.0, 0.0));
24
25    let file_path = create_log_file_path()?;
26    println!("{file_path:?}");
27
28    // Configure custom pulse stepping parameters with dynamic threshold
29    custom_controller
30        //.set_pulse_stepping(1.5, Box::new(|signal| signal.abs() / 10.0), 4, 8.0)
31        .set_pulse_stepping_fixed(1.5, 2.0, 4, 10.0)
32        .set_stability_threshold(5)
33        .with_logger(Logger::new(file_path, 5));
34
35    // Create atomic flag for graceful shutdown
36    let running = Arc::new(AtomicBool::new(true));
37    let running_clone = Arc::clone(&running);
38
39    // Wrap controller in Arc<Mutex<>> for signal handler
40    let controller = Arc::new(Mutex::new(custom_controller));
41    let controller_clone = Arc::clone(&controller);
42
43    // Set up Ctrl-C handler to flush logger and signal stop
44    ctrlc::set_handler(move || {
45        info!("Received Ctrl-C, signaling stop and flushing logger...");
46        running_clone.store(false, Ordering::SeqCst);
47
48        if let Ok(mut ctrl) = controller_clone.lock() {
49            // Force flush the logger
50            match ctrl.flush_logger() {
51                Ok(()) => info!("Logger flushed successfully on exit"),
52                Err(e) => info!("Failed to flush logger on exit: {}", e),
53            }
54        }
55    })?;
56
57    // Run control loop with periodic checks for the stop signal
58    let result: Result<(), Box<dyn std::error::Error>> = {
59        let mut ctrl = controller.lock().unwrap();
60
61        // Run in shorter intervals so we can check the stop signal
62        let mut total_elapsed = Duration::from_secs(0);
63        let max_duration = Duration::from_secs(1000);
64        let check_interval = Duration::from_secs(5);
65
66        while total_elapsed < max_duration && running.load(Ordering::SeqCst) {
67            let remaining = max_duration - total_elapsed;
68            let run_duration = check_interval.min(remaining);
69
70            match ctrl.run(run_duration) {
71                Ok(final_state) => {
72                    info!("Controller finished with state: {:?}", final_state);
73                    break;
74                }
75                Err(e) if e.to_string().contains("Loop timeout") => {
76                    // Expected timeout, continue if still running
77                    total_elapsed += run_duration;
78                    if !running.load(Ordering::SeqCst) {
79                        info!("Stop signal received, exiting gracefully");
80                        break;
81                    }
82                }
83                Err(e) => {
84                    info!("Controller failed: {}", e);
85                    break;
86                }
87            }
88        }
89
90        Ok(())
91    };
92
93    match result {
94        Ok(()) => {
95            info!("Controller loop completed");
96        }
97        Err(e) => {
98            info!("Controller loop failed: {}", e);
99        }
100    }
101
102    Ok(())
103}
104
105fn create_log_file_path() -> Result<PathBuf, Box<dyn std::error::Error>> {
106    let root_dir = std::env::current_dir()?;
107    let history_dir = root_dir.join("examples").join("history");
108
109    // Ensure directory exists
110    fs::create_dir_all(&history_dir)?;
111
112    // Create timestamped filename
113    let filename = format!("log_{}.jsonl", Utc::now().format("%Y%m%d_%H%M%S"));
114    let file_path = history_dir.join(filename);
115
116    Ok(file_path)
117}
tip_prep_demo/tip_prep_demo.rs

tip_prep_demo/
tip_prep_demo.rs
