Simple ds in examples that doesn't work.

grebneerg · Nov 22, 2018 · 86592d6 · 86592d6
1 parent 41399d7
commit 86592d6
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Showing 5 changed files with 46 additions and 26 deletions.
diff --git a/examples/simple.rs b/examples/simple.rs
@@ -1,7 +1,20 @@
 extern crate libds;
 
+use std::thread;
+use std::time;
+
 use libds::DriverStation;
 
 fn main() {
-    // let mut ds = DriverStation::new();
+    let mut ds = DriverStation::new();
+    ds.connect([169, 254, 204, 207].into()).unwrap();
+	println!("we connected");
+	thread::sleep(time::Duration::from_millis(2000));
+	ds.state.lock().unwrap().enabled = true;
+	println!("we enabled");
+	thread::sleep(time::Duration::from_millis(2000));
+	ds.state.lock().unwrap().enabled = false;
+	println!("we disabled");
+	thread::sleep(time::Duration::from_millis(2000));
+	println!("we done");
 }
diff --git a/src/connection.rs b/src/connection.rs
@@ -19,24 +19,23 @@ pub struct DSConnection {
 }
 
 impl DSConnection {
-    pub fn release(self) {
-        drop(self);
-    }
-
     pub fn new(addr: IpAddr, state: Arc<Mutex<DriverStationState>>) -> io::Result<Self> {
         let (sender_signal, receiver_signal) = mpsc::channel::<Signal>();
 
         let (sender_res, receiver_res) = mpsc::channel::<io::Result<()>>();
 
-        let mut tcp = TcpStream::connect(SocketAddr::new(addr, 1740))?;
+        // TODO: Create sockets within other thread and add mechanism to detect status of connections
+        // (connecting, failed, connected, error, etc)
+
+        let mut tcp = TcpStream::connect(SocketAddr::new(addr.clone(), 1740))?;
         tcp.set_nonblocking(true)?;
 
-        let udp_recv = UdpSocket::bind(SocketAddr::new(addr, 1150))?;
+        let udp_recv = UdpSocket::bind(SocketAddr::new(addr.clone(), 1150))?;
         udp_recv.set_nonblocking(true)?;
 
-		let udp_send = UdpSocket::bind(SocketAddr::new(addr, 1110))?;
+        let udp_send = UdpSocket::bind(SocketAddr::new(addr.clone(), 1110))?;
 
-		let mut last = Instant::now();
+        let mut last = Instant::now();
 
         let t = thread::spawn(move || loop {
             match receiver_signal.try_recv() {
@@ -77,17 +76,17 @@ impl DSConnection {
                 }
             }
 
-			if last.elapsed() >= Duration::from_millis(20) {
-				last = Instant::now();
-				match udp_send.send(state.lock().unwrap().udp_packet().as_ref()) {
-					Ok(s) => {},
-					Err(e) => {
-						if e.kind() != io::ErrorKind::WouldBlock {
-							sender_res.send(Err(e)).unwrap();
-						}
-					}
-				}
-			}
+            if last.elapsed() >= Duration::from_millis(20) {
+                last = Instant::now();
+                match udp_send.send(state.lock().unwrap().udp_packet().as_ref()) {
+                    Ok(s) => {}
+                    Err(e) => {
+                        if e.kind() != io::ErrorKind::WouldBlock {
+                            sender_res.send(Err(e)).unwrap();
+                        }
+                    }
+                }
+            }
         });
 
         Ok(DSConnection {

diff --git a/src/ds.rs b/src/ds.rs
@@ -10,7 +10,7 @@ const TIMEZONE: &'static str = "UTC";
 pub struct DriverStationState {
     joysticks: Vec<Option<Joystick>>,
     estop: bool,
-    enabled: bool,
+    pub enabled: bool,
     mode: RobotMode,
     alliance: Alliance,
     game_data: String,

diff --git a/src/lib.rs b/src/lib.rs
@@ -27,20 +27,27 @@ use packet::PacketWriter;
 use states::{Alliance, RobotMode};
 
 pub struct DriverStation {
-    state: Arc<Mutex<DriverStationState>>,
+    pub state: Arc<Mutex<DriverStationState>>,
     connection: Option<DSConnection>,
 }
 
 impl DriverStation {
-    fn connect(&mut self, addr: IpAddr) -> io::Result<()> {
+    pub fn new() -> Self {
+        DriverStation {
+            state: Arc::new(Mutex::new(Default::default())),
+            connection: None,
+        }
+    }
+
+    pub fn connect(&mut self, addr: IpAddr) -> io::Result<()> {
         if let Some(conn) = self.connection.take() {
-            conn.release();
+            drop(conn);
         }
         self.connection = Some(DSConnection::new(addr, self.state.clone())?);
         Ok(())
     }
 
-    fn is_connected(&self) -> bool {
+    pub fn is_connected(&self) -> bool {
         match self.connection {
             None => false,
             Some(ref conn) => match conn.status() {

diff --git a/testrobots/v2018/build.gradle b/testrobots/v2018/build.gradle
@@ -5,7 +5,7 @@ plugins {
     id "jaci.openrio.gradle.GradleRIO" version "2018.02.17"
 }
 
-def TEAM = 639
+def TEAM = 9639
 def ROBOT_CLASS = "org.team639.robot.Robot"
 
 sourceCompatibility = 1.8
@@ -17,6 +17,7 @@ deploy {
     targets {
         target("roborio", jaci.openrio.gradle.frc.RoboRIO) {
             team = TEAM
+            addresses << "169.254.204.207"
         }
     }
     artifacts {