From 090b7d8df6b9f9c4fd0e2feec5a5ccbbfdc03500 Mon Sep 17 00:00:00 2001
From: Federico Lolli <federico.lolli@skywarder.eu>
Date: Mon, 22 Jan 2024 16:04:50 +0100
Subject: [PATCH] fixed workflow and implemented RTC and CTS control over
communication availability
---
src/main.rs | 61 +++++++++++++++++++++++++++++++++++------------------
1 file changed, 40 insertions(+), 21 deletions(-)
diff --git a/src/main.rs b/src/main.rs
index 3b1706e..47d4b0c 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -2,17 +2,17 @@ mod ffi;
use std::fs::File;
use std::io;
-use std::io::{Read, Write};
+use std::io::Read;
use std::path::PathBuf;
use std::time::{Duration, Instant};
use clap::Parser;
-use log::{debug, error, info, trace};
+use log::{debug, error, info, warn};
use serialport::SerialPort;
use ffi::MavlinkPayloadFlightTM;
-const EOT: u8 = 0x04;
+const ACK: u8 = 0x06;
#[derive(Debug, Parser)]
struct Cli {
@@ -72,29 +72,48 @@ fn main() {
let mut buffer = [0u8; 1000];
let mut start: Option<Instant> = None;
let mut times = Vec::new();
+
loop {
- match port.read(&mut buffer) {
- Ok(t) => {
- // check if we got the signal to start sending data
- let eot_f = buffer[..t].contains(&EOT);
-
- // if we got the signal to start sending data, send it
- if eot_f {
- trace!("got EOT, sending data");
- if let Some(packet) = packets.wait_next() {
- if let Some(t) = start {
- times.push(t.elapsed().as_millis());
- }
- start = Some(Instant::now());
- write_port.write_packet(packet.to_owned());
- debug!("sent packet ({}/{})", packets.index, packets.packets.len());
- } else {
+ // wait clear to send
+ port.write_request_to_send(true).expect("Unable to set RTS");
+ while !port.read_clear_to_send().expect("Unable to read CTS") {
+ std::thread::sleep(Duration::from_millis(100));
+ debug!("waiting for CTS");
+ }
+
+ // send packet if there is one
+ if let Some(packet) = packets.wait_next() {
+ if let Some(t) = start {
+ times.push(t.elapsed().as_millis());
+ }
+ start = Some(Instant::now());
+ write_port.write_packet(packet.to_owned());
+ debug!("sent packet ({}/{})", packets.index, packets.packets.len());
+ port.write_request_to_send(false)
+ .expect("Unable to set RTS");
+ } else {
+ break;
+ }
+
+ // wait ACK
+ loop {
+ match port.read(&mut buffer) {
+ Ok(t) => {
+ // if didn't get the signal then print the buffer and exit with error
+ if buffer[..t].contains(&ACK) {
break;
+ } else {
+ warn!("didn't get the signal");
+ std::thread::sleep(Duration::from_millis(100));
+ // eprintln!("{}", String::from_utf8_lossy(&buffer[..t]));
}
}
+ Err(ref e) if e.kind() == io::ErrorKind::TimedOut => (),
+ Err(e) => {
+ error!("FATAL: {:?}", e);
+ std::process::exit(1);
+ }
}
- Err(ref e) if e.kind() == io::ErrorKind::TimedOut => (),
- Err(e) => error!("{:?}", e),
}
}
--
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