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"core-graphics 0.22.3", + "core-video-sys", + "dispatch", + "instant", + "lazy_static", + "libc", + "log", + "mio", + "mio-misc", + "ndk", + "ndk-glue", + "ndk-sys", + "objc", + "parking_lot", + "percent-encoding", + "raw-window-handle 0.3.4", + "scopeguard", + "smithay-client-toolkit", + "wayland-client", + "winapi", + "x11-dl", +] + +[[package]] +name = "winnow" +version = "0.5.40" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "f593a95398737aeed53e489c785df13f3618e41dbcd6718c6addbf1395aa6876" +dependencies = [ + "memchr", +] + +[[package]] +name = "x11" +version = "2.21.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "502da5464ccd04011667b11c435cb992822c2c0dbde1770c988480d312a0db2e" +dependencies = [ + "libc", + "pkg-config", +] + +[[package]] +name = "x11-dl" +version = "2.21.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "38735924fedd5314a6e548792904ed8c6de6636285cb9fec04d5b1db85c1516f" +dependencies = [ + "libc", + "once_cell", + "pkg-config", +] + +[[package]] +name = "xcursor" +version = "0.3.8" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "0ef33da6b1660b4ddbfb3aef0ade110c8b8a781a3b6382fa5f2b5b040fd55f61" + +[[package]] +name = "xdg" +version = "2.5.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "213b7324336b53d2414b2db8537e56544d981803139155afa84f76eeebb7a546" + +[[package]] +name = "xml-rs" +version = "0.8.24" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "ea8b391c9a790b496184c29f7f93b9ed5b16abb306c05415b68bcc16e4d06432" diff --git a/Cargo.toml b/Cargo.toml index 113e474..f504b14 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -3,5 +3,5 @@ members = [ "arsdk-rs", "jumpingsumo-rs", "bebop2", - # "anafi-rs", + "anafi-rs", ] diff --git a/anafi-rs/Cargo.toml b/anafi-rs/Cargo.toml index 8038141..76e4ca3 100644 --- a/anafi-rs/Cargo.toml +++ b/anafi-rs/Cargo.toml @@ -7,6 +7,9 @@ edition = "2018" # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html [dependencies] arsdk-rs = { path = "../arsdk-rs" } +glutin = "=0.27" +rdev = {version = "0.5.3", features = ["unstable_grab"] } +scroll = "0.10.1" [dev-dependencies] # Used for examples diff --git a/anafi-rs/examples/liftoff.rs b/anafi-rs/examples/liftoff.rs index 0d89a31..60e0993 100644 --- a/anafi-rs/examples/liftoff.rs +++ b/anafi-rs/examples/liftoff.rs @@ -4,24 +4,61 @@ use std::error::Error; use anafi_rs::prelude::*; use std::time::Duration; +// https://www.dema.ch/media/catalog/product/pdf/1976008063/pdf_file_3/en_US/white-paper-anafi-usa-v1.5.2_en.pdf +// https://github.com/RIAEvangelist/node-parrot-drone/blob/master/docs/ardrone3.md + fn main() -> Result<(), Box> { env_logger::init(); let drone_ip: std::net::IpAddr = "192.168.42.1".parse()?; let drone = Anafi::connect(drone_ip.into())?; - info!("Takeoff!"); + drone.take_off()?; - for i in 0..50 { - drone.take_off()?; - } + std::thread::sleep(Duration::from_secs(2)); + log::warn!("UP!"); + drone.up()?; + std::thread::sleep(Duration::from_secs(2)); - info!("Wait 5 seconds and fly UP"); - std::thread::sleep(Duration::from_secs(5)); + log::warn!("forward!"); + drone.forward()?; + std::thread::sleep(Duration::from_secs(1)); + drone.stop()?; + + log::warn!("backward!"); + drone.backward()?; + std::thread::sleep(Duration::from_secs(1)); + drone.stop()?; + + log::warn!("left!"); + drone.strafe_left()?; + std::thread::sleep(Duration::from_secs(1)); + + log::warn!("right!"); + drone.strafe_right()?; + std::thread::sleep(Duration::from_secs(1)); - for i in 0..50 { - drone.landing()?; + log::warn!("turn left!"); + for _ in 0..30 { + drone.turn_left()?; + std::thread::sleep(Duration::from_millis(300)); } + log::warn!("turn right!"); + for _ in 0..30 { + drone.turn_right()?; + std::thread::sleep(Duration::from_millis(300)); + } + + log::warn!("DOWN!"); + drone.down()?; + std::thread::sleep(Duration::from_secs(2)); + + std::thread::sleep(Duration::from_secs(2)); + log::warn!("LAND!"); + drone.landing()?; + + std::thread::sleep(Duration::from_secs(5)); + Ok(()) } diff --git a/anafi-rs/src/lib.rs b/anafi-rs/src/lib.rs index 1c989ae..0d9c610 100644 --- a/anafi-rs/src/lib.rs +++ b/anafi-rs/src/lib.rs @@ -17,6 +17,10 @@ pub mod prelude { } pub struct Anafi { + // roll: 0, + // pitch: forward / backward, + // yaw: strafe left / right, + // gaz: up / down drone: Drone, } @@ -31,17 +35,12 @@ impl Anafi { pub fn take_off(&self) -> Result<(), Error> { let feature = Feature::ArDrone3(Some(ArDrone3::Piloting(Piloting::TakeOff))); - let frame = Frame::for_drone( - &self.drone, - Type::DataWithAck, - BufferID::CDAck, - Some(feature), - ); + let frame = Frame::for_drone(&self.drone, Type::Data, BufferID::CDNonAck, Some(feature)); self.drone.send_frame(frame) } - pub fn up(&self, sequence_id: u8) -> Result<(), Error> { + pub fn up(&self) -> Result<(), Error> { let feature = Feature::ArDrone3(Some(ArDrone3::Piloting(Piloting::PCMD(PCMD { flag: true, roll: 0, @@ -49,7 +48,7 @@ impl Anafi { yaw: 0, gaz: 100, timestamp: Utc::now(), - sequence_id, + sequence_id: self.drone.piloting_id(), })))); let frame = Frame::for_drone(&self.drone, Type::Data, BufferID::CDNonAck, Some(feature)); @@ -57,7 +56,7 @@ impl Anafi { self.drone.send_frame(frame) } - pub fn down(&self, sequence_id: u8) -> Result<(), Error> { + pub fn down(&self) -> Result<(), Error> { let feature = Feature::ArDrone3(Some(ArDrone3::Piloting(Piloting::PCMD(PCMD { flag: true, roll: 0, @@ -65,7 +64,119 @@ impl Anafi { yaw: 0, gaz: -100, timestamp: Utc::now(), - sequence_id, + sequence_id: self.drone.piloting_id(), + })))); + + let frame = Frame::for_drone(&self.drone, Type::Data, BufferID::CDNonAck, Some(feature)); + + self.drone.send_frame(frame) + } + + pub fn backward(&self) -> Result<(), Error> { + let feature = Feature::ArDrone3(Some(ArDrone3::Piloting(Piloting::PCMD(PCMD { + flag: true, + roll: 0, + pitch: -100, + yaw: 0, + gaz: 0, + timestamp: Utc::now(), + sequence_id: self.drone.piloting_id(), + })))); + + let frame = Frame::for_drone(&self.drone, Type::Data, BufferID::CDNonAck, Some(feature)); + + self.drone.send_frame(frame) + } + + pub fn forward(&self) -> Result<(), Error> { + let feature = Feature::ArDrone3(Some(ArDrone3::Piloting(Piloting::PCMD(PCMD { + flag: true, + roll: 0, + pitch: 100, + yaw: 0, + gaz: 0, + timestamp: Utc::now(), + sequence_id: self.drone.piloting_id(), + })))); + + let frame = Frame::for_drone(&self.drone, Type::Data, BufferID::CDNonAck, Some(feature)); + + self.drone.send_frame(frame) + } + + pub fn strafe_left(&self) -> Result<(), Error> { + let feature = Feature::ArDrone3(Some(ArDrone3::Piloting(Piloting::PCMD(PCMD { + flag: true, + roll: -100, + pitch: 0, + yaw: 0, + gaz: 0, + timestamp: Utc::now(), + sequence_id: self.drone.piloting_id(), + })))); + + let frame = Frame::for_drone(&self.drone, Type::Data, BufferID::CDNonAck, Some(feature)); + + self.drone.send_frame(frame) + } + + pub fn strafe_right(&self) -> Result<(), Error> { + let feature = Feature::ArDrone3(Some(ArDrone3::Piloting(Piloting::PCMD(PCMD { + flag: true, + roll: 100, + pitch: 0, + yaw: 0, + gaz: 0, + timestamp: Utc::now(), + sequence_id: self.drone.piloting_id(), + })))); + + let frame = Frame::for_drone(&self.drone, Type::Data, BufferID::CDNonAck, Some(feature)); + + self.drone.send_frame(frame) + } + + pub fn turn_left(&self) -> Result<(), Error> { + let feature = Feature::ArDrone3(Some(ArDrone3::Piloting(Piloting::PCMD(PCMD { + flag: false, + roll: 0, + pitch: 0, + yaw: -128, + gaz: 0, + timestamp: Utc::now(), + sequence_id: self.drone.piloting_id(), + })))); + + let frame = Frame::for_drone(&self.drone, Type::Data, BufferID::CDNonAck, Some(feature)); + + self.drone.send_frame(frame) + } + + pub fn turn_right(&self) -> Result<(), Error> { + let feature = Feature::ArDrone3(Some(ArDrone3::Piloting(Piloting::PCMD(PCMD { + flag: false, + roll: 0, + pitch: 0, + yaw: 127, + gaz: 0, + timestamp: Utc::now(), + sequence_id: self.drone.piloting_id(), + })))); + + let frame = Frame::for_drone(&self.drone, Type::Data, BufferID::CDNonAck, Some(feature)); + + self.drone.send_frame(frame) + } + + pub fn stop(&self) -> Result<(), Error> { + let feature = Feature::ArDrone3(Some(ArDrone3::Piloting(Piloting::PCMD(PCMD { + flag: true, + roll: 0, + pitch: 0, + yaw: 0, + gaz: 0, + timestamp: Utc::now(), + sequence_id: self.drone.piloting_id(), })))); let frame = Frame::for_drone(&self.drone, Type::Data, BufferID::CDNonAck, Some(feature)); @@ -76,12 +187,7 @@ impl Anafi { pub fn landing(&self) -> Result<(), Error> { let feature = Feature::ArDrone3(Some(ArDrone3::Piloting(Piloting::Landing))); - let frame = Frame::for_drone( - &self.drone, - Type::DataWithAck, - BufferID::CDAck, - Some(feature), - ); + let frame = Frame::for_drone(&self.drone, Type::Data, BufferID::CDNonAck, Some(feature)); self.drone.send_frame(frame) } diff --git a/arsdk-rs/Cargo.toml b/arsdk-rs/Cargo.toml index 42ba9c1..4ab3fc7 100644 --- a/arsdk-rs/Cargo.toml +++ b/arsdk-rs/Cargo.toml @@ -1,7 +1,10 @@ [package] name = "arsdk-rs" version = "0.0.5" -authors = ["o0Ignition0o ", "Lachezar Lechev "] +authors = [ + "o0Ignition0o ", + "Lachezar Lechev ", +] edition = "2018" description = "Parrot drones SDK in Rust (AeroRust)" license = "MIT/Apache-2.0" @@ -9,11 +12,11 @@ keywords = ["AeroRust", "drone", "parrot", "sdk"] [dependencies] thiserror = "1.0" -pnet = "0.25" -serde = {version = "1.0", features = ["derive"]} +serde = { version = "1.0", features = ["derive"] } serde_json = "1.0" serde_with = "1" dashmap = "3.11" chrono = "0.4" scroll = "0.10" log = "0.4" +pnet = "0.35.0" diff --git a/arsdk-rs/src/ardrone3/piloting.rs b/arsdk-rs/src/ardrone3/piloting.rs index 9283fcf..049d0e0 100644 --- a/arsdk-rs/src/ardrone3/piloting.rs +++ b/arsdk-rs/src/ardrone3/piloting.rs @@ -120,7 +120,7 @@ mod scroll_impl { Piloting::PCMD(pcmd) => { this.gwrite_with(pcmd, &mut offset, ctx)?; } - // Piloting::Landing => {} + Piloting::Landing => {} // Piloting::Emergency => {} // Piloting::NavigateHome => {} // Piloting::AutoTakeOffMode => {} diff --git a/arsdk-rs/src/ardrone3/piloting/pcmd.rs b/arsdk-rs/src/ardrone3/piloting/pcmd.rs index 8bbb9e2..0bd41d2 100644 --- a/arsdk-rs/src/ardrone3/piloting/pcmd.rs +++ b/arsdk-rs/src/ardrone3/piloting/pcmd.rs @@ -10,7 +10,6 @@ pub struct PCMD { pub yaw: i8, pub gaz: i8, pub timestamp: DateTime, - // TODO: How should we handle the `sequence_id` in order not to show it to the user? pub sequence_id: u8, } diff --git a/arsdk-rs/src/ardrone3/piloting_state.rs b/arsdk-rs/src/ardrone3/piloting_state.rs index a538c04..eec74cb 100644 --- a/arsdk-rs/src/ardrone3/piloting_state.rs +++ b/arsdk-rs/src/ardrone3/piloting_state.rs @@ -43,7 +43,7 @@ pub enum PilotingState { SpeedChanged, /// ARCOMMANDS_ID_ARDRONE3_PILOTINGSTATE_CMD_ATTITUDECHANGED = 6, /// Frame { frame_type: Data, buffer_id: DCNavdata, sequence_id: 40, feature: Some(ArDrone3(Some(PilotingState { data: [6, 0, 44, 49, 49, 55, 153, 38, 7, 185, 107, 25, 201, 63] }))) } - AttitudeChanged, + AttitudeChanged(AttitudeChanged), /// ARCOMMANDS_ID_ARDRONE3_PILOTINGSTATE_CMD_AUTOTAKEOFFMODECHANGED = 7, AutoTakeOffModeChanged, /// ARCOMMANDS_ID_ARDRONE3_PILOTINGSTATE_CMD_ALTITUDECHANGED = 8, @@ -91,7 +91,7 @@ impl Into for &PilotingState { NavigateHomeStateChanged => 3, PositionChanged => 4, SpeedChanged => 5, - AttitudeChanged => 6, + AttitudeChanged(_) => 6, AutoTakeOffModeChanged => 7, AltitudeChanged => 8, GpsLocationChanged => 9, @@ -106,6 +106,11 @@ impl Into for &PilotingState { } } +// ------------------------------------------------------------ + +#[derive(Debug, Clone, Eq, PartialEq)] +pub struct AttitudeChanged(Vec); + pub mod scroll_impl { use super::*; use crate::{frame::Error, parse::read_unknown}; @@ -118,8 +123,8 @@ pub mod scroll_impl { fn try_from_ctx(src: &'a [u8], ctx: Endian) -> Result<(Self, usize), Self::Error> { let mut offset = 0; - #[allow(clippy::match_single_binding)] let piloting_state = match src.gread_with::(&mut offset, ctx)? { + 6 => Self::AttitudeChanged(AttitudeChanged::try_from_ctx(&src[offset..], ctx)?.0), unknown => Self::Unknown { piloting_state: unknown, data: read_unknown(src, &mut offset)?, @@ -148,4 +153,21 @@ pub mod scroll_impl { Ok(offset) } } + + impl<'a> ctx::TryFromCtx<'a, Endian> for AttitudeChanged { + type Error = Error; + + // and the lifetime annotation on `&'a [u8]` here + fn try_from_ctx(src: &'a [u8], ctx: Endian) -> Result<(Self, usize), Self::Error> { + let mut offset = 0; + + let mut buffer = Vec::new(); + + while let Ok(b) = src.gread_with::(&mut offset, ctx) { + buffer.push(b); + } + + Ok((Self(buffer), offset)) + } + } } diff --git a/arsdk-rs/src/command.rs b/arsdk-rs/src/command.rs index 65578fb..cfa821d 100644 --- a/arsdk-rs/src/command.rs +++ b/arsdk-rs/src/command.rs @@ -19,17 +19,17 @@ pub enum Feature { /// 3. `ARCOMMANDS_Generic_DroneSettings_t` in `libARCommands/libARCommands/ARCOMMANDS_Types.h` /// 4. `ARCOMMANDS_Generic_DroneSettingsChanged_t` in `libARCommands/libARCommands/ARCOMMANDS_Types.h` Generic, - FollowMe, // ARCOMMANDS_ID_FEATURE_FOLLOW_ME = 134, - Wifi, // ARCOMMANDS_ID_FEATURE_WIFI = 135, - RC, // ARCOMMANDS_ID_FEATURE_RC = 136, - DroneManager, // ARCOMMANDS_ID_FEATURE_DRONE_MANAGER = 137, - Mapper, // ARCOMMANDS_ID_FEATURE_MAPPER = 138, - Debug, // ARCOMMANDS_ID_FEATURE_DEBUG = 139, - ControllerInfo, // ARCOMMANDS_ID_FEATURE_CONTROLLER_INFO = 140, - MapperMini, // ARCOMMANDS_ID_FEATURE_MAPPER_MINI = 141, - ThermalCam, // ARCOMMANDS_ID_FEATURE_THERMAL_CAM = 142, - Animation, // ARCOMMANDS_ID_FEATURE_ANIMATION = 144, - SequoiaCam, // ARCOMMANDS_ID_FEATURE_SEQUOIA_CAM = 147, + FollowMe, // ARCOMMANDS_ID_FEATURE_FOLLOW_ME = 134, + Wifi, // ARCOMMANDS_ID_FEATURE_WIFI = 135, + RC, // ARCOMMANDS_ID_FEATURE_RC = 136, + DroneManager, // ARCOMMANDS_ID_FEATURE_DRONE_MANAGER = 137, + Mapper, // ARCOMMANDS_ID_FEATURE_MAPPER = 138, + Debug, // ARCOMMANDS_ID_FEATURE_DEBUG = 139, + ControllerInfo, // ARCOMMANDS_ID_FEATURE_CONTROLLER_INFO = 140, + MapperMini, // ARCOMMANDS_ID_FEATURE_MAPPER_MINI = 141, + ThermalCam, // ARCOMMANDS_ID_FEATURE_THERMAL_CAM = 142, + Animation, // ARCOMMANDS_ID_FEATURE_ANIMATION = 144, + SequoiaCam, // ARCOMMANDS_ID_FEATURE_SEQUOIA_CAM = 147, /// Unknown 149 from anafi4k /// Frame { frame_type: Data, buffer_id: DCNavdata, sequence_id: 14, feature: Some(Unknown { feature: 149, data: [0, 3, 0, 91, 33] }) } /// Unknown 148 from anafi4k diff --git a/arsdk-rs/src/frame.rs b/arsdk-rs/src/frame.rs index 15f80d8..758c4fa 100644 --- a/arsdk-rs/src/frame.rs +++ b/arsdk-rs/src/frame.rs @@ -359,19 +359,26 @@ pub mod impl_scroll { fn try_into_ctx(self, this: &mut [u8], ctx: Endian) -> Result { let mut offset = 0; + // A frame contains the following information: + + // Data type (1 byte) this.gwrite_with::(self.frame_type.into(), &mut offset, ctx)?; + // Target buffer ID (1 byte) this.gwrite_with::(self.buffer_id.into(), &mut offset, ctx)?; + // Sequence number (1 byte) this.gwrite_with::(self.sequence_id, &mut offset, ctx)?; - - let buf_length_offset = offset; + // Total size of the frame (4 bytes, Little endian) // reserve bytes for the buffer length (u32) + let buf_length_offset = offset; + this.gwrite_with::(0, &mut offset, ctx)?; + // Actual data if let Some(feature) = self.feature { this.gwrite_with::(feature, &mut offset, ctx)?; }; - // 7 bytes + feature_length bytes = buf.length + // we can now write the actual length this.pwrite_with::(offset as u32, buf_length_offset, ctx)?; Ok(offset) diff --git a/arsdk-rs/src/handshake.rs b/arsdk-rs/src/handshake.rs index 0dbaa98..6de3bab 100644 --- a/arsdk-rs/src/handshake.rs +++ b/arsdk-rs/src/handshake.rs @@ -1,4 +1,4 @@ -use log::{error, info}; +use log::{debug, error, info}; use serde::{Deserialize, Serialize}; use serde_with::with_prefix; use std::{ @@ -17,7 +17,7 @@ pub(crate) struct Request { pub arstream2: Option, } -#[derive(Deserialize, Debug)] +#[derive(Deserialize, Serialize, Debug)] /// Request: "{\"controller_name\":\"arsdk-rs\",\"controller_type\":\"computer\",\"d2c_port\":43210}" /// Response: "{ \"status\": 0, \"c2d_port\": 54321, \"c2d_update_port\": 51, \"c2d_user_port\": 21, \"qos_mode\": 0, \"arstream2_server_stream_port\": 5004, \"arstream2_server_control_port\": 5005 }\u{0}" /// `\u{0}` causes issues, but for now we `trim_end_matches` @@ -72,7 +72,7 @@ pub(crate) fn perform_handshake( d2c_port: u16, ) -> Result { let request = Request { - controller_name: "arsdk-rs".to_string(), + controller_name: "desktop".to_string(), controller_type: "computer".to_string(), d2c_port, // Anafi4k: @@ -92,18 +92,18 @@ pub(crate) fn perform_handshake( let mut handshake_stream = retry(10, init_address)?; - info!("Request: {}", serde_json::to_string(&request)?); + debug!("Request: {}", serde_json::to_string(&request)?); let request_string = serde_json::to_vec(&request)?; handshake_stream.write_all(&request_string)?; - let mut buf = [0_u8; 256]; + let mut buf = [0_u8; 1024]; let read = handshake_stream.read(&mut buf)?; - info!("Read {} bytes!", read); + debug!("Read {} bytes!", read); let response_string = String::from_utf8(buf[..read].to_vec())?; - info!("Response: {}", response_string); + debug!("Response: {}", response_string); handshake_stream.shutdown(Shutdown::Both)?; diff --git a/arsdk-rs/src/lib.rs b/arsdk-rs/src/lib.rs index ebd5f59..56f45a7 100644 --- a/arsdk-rs/src/lib.rs +++ b/arsdk-rs/src/lib.rs @@ -1,7 +1,7 @@ use crate::frame::{Frame, FrameType}; use chrono::{DateTime, Utc}; use dashmap::DashMap; -use log::{error, info}; +use log::{debug, error, info, trace}; use pnet::datalink; use scroll::{ctx::TryIntoCtx, Pread, LE}; use std::net::{IpAddr, Ipv4Addr, SocketAddr, UdpSocket}; @@ -15,7 +15,6 @@ use thiserror::Error; pub use chrono; pub const INIT_PORT: u16 = 44444; -pub const LISTEN_PORT: u16 = 43210; pub const PARROT_SPHINX_IP: IpAddr = IpAddr::V4(Ipv4Addr::new(10, 202, 0, 1)); pub const PARROT_SPHINX_CONFIG: Config = Config { drone_addr: PARROT_SPHINX_IP, @@ -94,6 +93,13 @@ where #[derive(Clone, Debug)] pub struct Drone { inner: Arc, + shutdown_sender: SyncSender<()>, +} + +impl Drop for Drone { + fn drop(&mut self) { + let _ = self.shutdown_sender.send(()); + } } #[derive(Debug)] @@ -116,26 +122,36 @@ impl Drone { // @TODO: Check if we're going to miss any messages between spawning the listener and the receiver of commands let (tx_cmd, rx_cmd) = sync_channel(200); + let (shutdown_sender, shutdown_receiver) = sync_channel(1); + let drone = Self { inner: Arc::new(DroneInner { sequence_ids: DashMap::new(), sender: tx_cmd, }), + shutdown_sender, }; - let local_listener = SocketAddr::new(local_ip, LISTEN_PORT); - info!("{}: Spawning Listener", &&local_listener); - - spawn_listener(drone.clone(), local_listener)?; + let local_listener = spawn_listener( + drone.clone(), + SocketAddr::new(local_ip, 0), // let kernel decide which port is available + shutdown_receiver, + )?; + info!("{}: Spawned Listener", &local_listener); let init_addr = SocketAddr::new(config.drone_addr, INIT_PORT); info!("Init address {}", &init_addr); let handshake_response = perform_handshake(init_addr, local_listener.port())?; + + log::debug!( + "handshake_response: \n{}", + serde_json::to_string_pretty(&handshake_response).unwrap() + ); let cmd_sender_target = SocketAddr::new(config.drone_addr, handshake_response.c2d_port); - info!("{}: Spawning CMD Sender", cmd_sender_target); + debug!("{}: Spawning CMD Sender", cmd_sender_target); spawn_cmd_sender(rx_cmd, local_ip, cmd_sender_target)?; @@ -147,7 +163,7 @@ impl Drone { } pub fn send_frame(&self, frame: frame::Frame) -> Result<(), Error> { - let mut raw_message = [0_u8; 2048]; + let mut raw_message = [0_u8; 128]; let written = frame.try_into_ctx(&mut raw_message, LE)?; self.send_raw_message(&raw_message[0..written]) @@ -193,10 +209,16 @@ impl Drone { self.send_frame(pong) } + + pub fn piloting_id(&self) -> u8 { + self.inner.sequence_id(frame::BufferID::CDNonAck) + } } impl DroneInner { pub(crate) fn sequence_id(&self, buffer_id: frame::BufferID) -> u8 { + // each buffer has its own independant sequence number, + // which should be increased on new data send, but not on retries if let Some(mut sequence_id) = self.sequence_ids.get_mut(&buffer_id) { let command_id = *sequence_id; *sequence_id = sequence_id.overflowing_add(1).0; @@ -218,20 +240,28 @@ fn local_ip(target: IpAddr) -> Option { .next() } -fn spawn_listener(drone: Drone, addr: SocketAddr) -> Result<(), ConnectionError> { +fn spawn_listener( + drone: Drone, + addr: SocketAddr, + shutdown_receiver: Receiver<()>, +) -> Result { let listener_socket = UdpSocket::bind(addr).map_err(|error| ConnectionError::Io { error, addr })?; + let addr = listener_socket + .local_addr() + .map_err(|error| ConnectionError::Io { error, addr })?; + std::thread::spawn(move || { let listener = Listener { drone: drone.clone(), socket: listener_socket, }; - listener.listen(); + listener.listen(shutdown_receiver); }); - Ok(()) + Ok(addr) } pub(crate) fn print_buf(buf: &[u8]) -> String { @@ -262,11 +292,24 @@ fn spawn_cmd_sender( } }; - info!("Frame to sent: {:?}", &frame_to_send); + // ACK + if frame_to_send[0] == 1 { + trace!("Frame to send: {:?}", &frame_to_send); + } else { + log::debug!( + "Frame to send: {}: {:?}", + &frame_to_send + .iter() + .map(|n| format!("{:#b}", n)) + .collect::>() + .join(" "), + &frame_to_send + ); + } let frame = frame_to_send.pread_with::(0, LE); - info!( + debug!( "Sent Frame (length: {}) => {:?}", frame_to_send.len(), &frame @@ -287,7 +330,7 @@ fn spawn_cmd_sender( #[cfg(test)] mod test { use super::*; - use crate::parse::parse_message_frames; + use crate::{ardrone3::Piloting, parse::parse_message_frames}; use ardrone3::ArDrone3; use command::Feature; use frame::{BufferID, Type}; @@ -365,4 +408,26 @@ mod test { 185, ]; } + + #[test] + fn send_takeoff_command() { + let feature = Feature::ArDrone3(Some(ArDrone3::Piloting(Piloting::TakeOff))); + + let frame = Frame::new(Type::Data, BufferID::CDNonAck, 42, Some(feature)); + + let mut raw_message = [0_u8; 128]; + let written = frame.try_into_ctx(&mut raw_message, LE).unwrap(); + + let expected: [u8; 11] = [ + 2, // frametype data + 10, // buffer id cdnonack + 42, // sequence number, + 11, 0, 0, 0, // size, (4 bytes, little endian) + 1, // feature Ardrone3 + 0, // piloting + 1, 0, // takeoff, two bytes + ]; + + assert_eq!(&expected, &raw_message[..written]); + } } diff --git a/arsdk-rs/src/listener.rs b/arsdk-rs/src/listener.rs index fb09eea..1856e9c 100644 --- a/arsdk-rs/src/listener.rs +++ b/arsdk-rs/src/listener.rs @@ -1,6 +1,7 @@ use crate::{parse::handle_bytes, print_buf, Drone}; use log::debug; use std::net::UdpSocket; +use std::sync::mpsc::{Receiver, TryRecvError}; pub struct Listener { pub drone: Drone, @@ -9,9 +10,9 @@ pub struct Listener { impl Listener { /// Blocking listener in a infinite loop - pub fn listen(&self) { - loop { - let mut buf = [0_u8; 256]; + pub fn listen(&self, shutdown_receiver: Receiver<()>) { + while shutdown_receiver.try_recv() == Err(TryRecvError::Empty) { + let mut buf = [0_u8; 40960]; if let Ok((bytes_read, origin)) = self.socket.recv_from(&mut buf) { debug!("Received: {} bytes from {}", bytes_read, origin); debug!("Bytes: {}", print_buf(&buf[..bytes_read])); @@ -19,5 +20,7 @@ impl Listener { handle_bytes(&self.drone, &buf[..bytes_read]); } } + + log::error!("listener shutting down"); } } diff --git a/arsdk-rs/src/parse.rs b/arsdk-rs/src/parse.rs index f27a532..389cfc3 100644 --- a/arsdk-rs/src/parse.rs +++ b/arsdk-rs/src/parse.rs @@ -3,7 +3,7 @@ use crate::{ frame::{BufferID, Error, Frame, Type}, print_buf, Drone, FrameType, }; -use log::{error, info}; +use log::{debug, error, info}; use scroll::{Pread, Pwrite, LE}; /// - Parses Frames @@ -14,12 +14,16 @@ pub(crate) fn handle_bytes(drone: &Drone, raw_frames: &[u8]) { for result in frames.iter() { match result { - Ok(FrameType::Known(frame)) => info!("Frame: {:?}", frame), + Ok(FrameType::Known(Frame { + feature: Some(Feature::ArDrone3(Some(ardrone_3))), + .. + })) => info!("Ardrone3 Frame: {:?}", ardrone_3), + Ok(FrameType::Known(frame)) => debug!("Frame: {:?}", frame), Ok(FrameType::Unknown(unknown)) => { - info!("Unknown Frame: {:?}", unknown); - info!("Bytes: {}", print_buf(raw_frames)); + error!("Unknown Frame: {:?}", unknown); + error!("Bytes: {}", print_buf(raw_frames)); } - Err(err) => error!("Receiving Frame: {:?}", err), + Err(err) => debug!("Receiving Frame: {:?}", err), } } @@ -66,7 +70,7 @@ pub(crate) fn parse_message_frames(buf: &[u8]) -> Vec> let mut offset = 0; // TODO: Check how many frames can we receive at once // reasonable given that we receive at most (MAYBE?!) 2 frames - let mut frames = Vec::with_capacity(3); + let mut frames = Vec::with_capacity(10); let mut tried = 1; // try to read all the buf length & limit to 3 Frames of read