lots of command changes
This commit is contained in:
parent
d81b02be47
commit
0723b5c6a4
19
.vscode/launch.json
vendored
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19
.vscode/launch.json
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@ -0,0 +1,19 @@
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{
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// Use IntelliSense to learn about possible attributes.
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// Hover to view descriptions of existing attributes.
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// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
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"version": "0.2.0",
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"configurations": [
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{
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"type": "lldb",
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"request": "launch",
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"name": "Launch robotrs",
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"program": "${workspaceFolder}/target/debug/robotrs",
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"env": {
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"RUST_BACKTRACE": "1"
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},
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"args": [],
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"cwd": "${workspaceFolder}"
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}
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]
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}
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216
Cargo.lock
generated
216
Cargo.lock
generated
@ -1,4 +1,220 @@
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[[package]]
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name = "aho-corasick"
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version = "0.6.9"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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dependencies = [
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"memchr 2.1.2 (registry+https://github.com/rust-lang/crates.io-index)",
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]
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[[package]]
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name = "atty"
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version = "0.2.11"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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dependencies = [
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"libc 0.2.47 (registry+https://github.com/rust-lang/crates.io-index)",
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"termion 1.5.1 (registry+https://github.com/rust-lang/crates.io-index)",
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"winapi 0.3.6 (registry+https://github.com/rust-lang/crates.io-index)",
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]
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[[package]]
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name = "cfg-if"
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version = "0.1.6"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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[[package]]
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name = "env_logger"
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version = "0.6.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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dependencies = [
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"atty 0.2.11 (registry+https://github.com/rust-lang/crates.io-index)",
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"humantime 1.2.0 (registry+https://github.com/rust-lang/crates.io-index)",
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"log 0.4.6 (registry+https://github.com/rust-lang/crates.io-index)",
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"regex 1.1.0 (registry+https://github.com/rust-lang/crates.io-index)",
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"termcolor 1.0.4 (registry+https://github.com/rust-lang/crates.io-index)",
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]
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[[package]]
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name = "humantime"
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version = "1.2.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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dependencies = [
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"quick-error 1.2.2 (registry+https://github.com/rust-lang/crates.io-index)",
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]
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[[package]]
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name = "lazy_static"
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version = "1.2.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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[[package]]
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name = "libc"
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version = "0.2.47"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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[[package]]
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name = "log"
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version = "0.4.6"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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dependencies = [
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"cfg-if 0.1.6 (registry+https://github.com/rust-lang/crates.io-index)",
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]
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[[package]]
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name = "memchr"
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version = "2.1.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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dependencies = [
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"cfg-if 0.1.6 (registry+https://github.com/rust-lang/crates.io-index)",
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"libc 0.2.47 (registry+https://github.com/rust-lang/crates.io-index)",
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"version_check 0.1.5 (registry+https://github.com/rust-lang/crates.io-index)",
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]
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[[package]]
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name = "quick-error"
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version = "1.2.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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[[package]]
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name = "redox_syscall"
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version = "0.1.50"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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[[package]]
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name = "redox_termios"
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version = "0.1.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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dependencies = [
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"redox_syscall 0.1.50 (registry+https://github.com/rust-lang/crates.io-index)",
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]
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[[package]]
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name = "regex"
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version = "1.1.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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dependencies = [
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"aho-corasick 0.6.9 (registry+https://github.com/rust-lang/crates.io-index)",
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"memchr 2.1.2 (registry+https://github.com/rust-lang/crates.io-index)",
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"regex-syntax 0.6.4 (registry+https://github.com/rust-lang/crates.io-index)",
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"thread_local 0.3.6 (registry+https://github.com/rust-lang/crates.io-index)",
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"utf8-ranges 1.0.2 (registry+https://github.com/rust-lang/crates.io-index)",
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]
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[[package]]
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name = "regex-syntax"
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version = "0.6.4"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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dependencies = [
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"ucd-util 0.1.3 (registry+https://github.com/rust-lang/crates.io-index)",
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]
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[[package]]
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[[package]]
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name = "robotrs"
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name = "robotrs"
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version = "0.1.0"
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version = "0.1.0"
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dependencies = [
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"env_logger 0.6.0 (registry+https://github.com/rust-lang/crates.io-index)",
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"log 0.4.6 (registry+https://github.com/rust-lang/crates.io-index)",
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]
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[[package]]
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name = "termcolor"
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version = "1.0.4"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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dependencies = [
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"wincolor 1.0.1 (registry+https://github.com/rust-lang/crates.io-index)",
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]
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[[package]]
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name = "termion"
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version = "1.5.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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dependencies = [
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"libc 0.2.47 (registry+https://github.com/rust-lang/crates.io-index)",
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"redox_syscall 0.1.50 (registry+https://github.com/rust-lang/crates.io-index)",
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"redox_termios 0.1.1 (registry+https://github.com/rust-lang/crates.io-index)",
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]
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[[package]]
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name = "thread_local"
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version = "0.3.6"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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dependencies = [
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"lazy_static 1.2.0 (registry+https://github.com/rust-lang/crates.io-index)",
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]
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[[package]]
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name = "ucd-util"
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version = "0.1.3"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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[[package]]
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name = "utf8-ranges"
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version = "1.0.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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[[package]]
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name = "version_check"
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version = "0.1.5"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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[[package]]
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name = "winapi"
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version = "0.3.6"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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dependencies = [
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"winapi-i686-pc-windows-gnu 0.4.0 (registry+https://github.com/rust-lang/crates.io-index)",
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"winapi-x86_64-pc-windows-gnu 0.4.0 (registry+https://github.com/rust-lang/crates.io-index)",
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]
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[[package]]
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name = "winapi-i686-pc-windows-gnu"
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version = "0.4.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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[[package]]
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name = "winapi-util"
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version = "0.1.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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dependencies = [
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"winapi 0.3.6 (registry+https://github.com/rust-lang/crates.io-index)",
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]
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[[package]]
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name = "winapi-x86_64-pc-windows-gnu"
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||||||
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version = "0.4.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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[[package]]
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name = "wincolor"
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||||||
|
version = "1.0.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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dependencies = [
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"winapi 0.3.6 (registry+https://github.com/rust-lang/crates.io-index)",
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||||||
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"winapi-util 0.1.1 (registry+https://github.com/rust-lang/crates.io-index)",
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]
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[metadata]
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||||||
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"checksum aho-corasick 0.6.9 (registry+https://github.com/rust-lang/crates.io-index)" = "1e9a933f4e58658d7b12defcf96dc5c720f20832deebe3e0a19efd3b6aaeeb9e"
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||||||
|
"checksum atty 0.2.11 (registry+https://github.com/rust-lang/crates.io-index)" = "9a7d5b8723950951411ee34d271d99dddcc2035a16ab25310ea2c8cfd4369652"
|
||||||
|
"checksum cfg-if 0.1.6 (registry+https://github.com/rust-lang/crates.io-index)" = "082bb9b28e00d3c9d39cc03e64ce4cea0f1bb9b3fde493f0cbc008472d22bdf4"
|
||||||
|
"checksum env_logger 0.6.0 (registry+https://github.com/rust-lang/crates.io-index)" = "afb070faf94c85d17d50ca44f6ad076bce18ae92f0037d350947240a36e9d42e"
|
||||||
|
"checksum humantime 1.2.0 (registry+https://github.com/rust-lang/crates.io-index)" = "3ca7e5f2e110db35f93b837c81797f3714500b81d517bf20c431b16d3ca4f114"
|
||||||
|
"checksum lazy_static 1.2.0 (registry+https://github.com/rust-lang/crates.io-index)" = "a374c89b9db55895453a74c1e38861d9deec0b01b405a82516e9d5de4820dea1"
|
||||||
|
"checksum libc 0.2.47 (registry+https://github.com/rust-lang/crates.io-index)" = "48450664a984b25d5b479554c29cc04e3150c97aa4c01da5604a2d4ed9151476"
|
||||||
|
"checksum log 0.4.6 (registry+https://github.com/rust-lang/crates.io-index)" = "c84ec4b527950aa83a329754b01dbe3f58361d1c5efacd1f6d68c494d08a17c6"
|
||||||
|
"checksum memchr 2.1.2 (registry+https://github.com/rust-lang/crates.io-index)" = "db4c41318937f6e76648f42826b1d9ade5c09cafb5aef7e351240a70f39206e9"
|
||||||
|
"checksum quick-error 1.2.2 (registry+https://github.com/rust-lang/crates.io-index)" = "9274b940887ce9addde99c4eee6b5c44cc494b182b97e73dc8ffdcb3397fd3f0"
|
||||||
|
"checksum redox_syscall 0.1.50 (registry+https://github.com/rust-lang/crates.io-index)" = "52ee9a534dc1301776eff45b4fa92d2c39b1d8c3d3357e6eb593e0d795506fc2"
|
||||||
|
"checksum redox_termios 0.1.1 (registry+https://github.com/rust-lang/crates.io-index)" = "7e891cfe48e9100a70a3b6eb652fef28920c117d366339687bd5576160db0f76"
|
||||||
|
"checksum regex 1.1.0 (registry+https://github.com/rust-lang/crates.io-index)" = "37e7cbbd370869ce2e8dff25c7018702d10b21a20ef7135316f8daecd6c25b7f"
|
||||||
|
"checksum regex-syntax 0.6.4 (registry+https://github.com/rust-lang/crates.io-index)" = "4e47a2ed29da7a9e1960e1639e7a982e6edc6d49be308a3b02daf511504a16d1"
|
||||||
|
"checksum termcolor 1.0.4 (registry+https://github.com/rust-lang/crates.io-index)" = "4096add70612622289f2fdcdbd5086dc81c1e2675e6ae58d6c4f62a16c6d7f2f"
|
||||||
|
"checksum termion 1.5.1 (registry+https://github.com/rust-lang/crates.io-index)" = "689a3bdfaab439fd92bc87df5c4c78417d3cbe537487274e9b0b2dce76e92096"
|
||||||
|
"checksum thread_local 0.3.6 (registry+https://github.com/rust-lang/crates.io-index)" = "c6b53e329000edc2b34dbe8545fd20e55a333362d0a321909685a19bd28c3f1b"
|
||||||
|
"checksum ucd-util 0.1.3 (registry+https://github.com/rust-lang/crates.io-index)" = "535c204ee4d8434478593480b8f86ab45ec9aae0e83c568ca81abf0fd0e88f86"
|
||||||
|
"checksum utf8-ranges 1.0.2 (registry+https://github.com/rust-lang/crates.io-index)" = "796f7e48bef87609f7ade7e06495a87d5cd06c7866e6a5cbfceffc558a243737"
|
||||||
|
"checksum version_check 0.1.5 (registry+https://github.com/rust-lang/crates.io-index)" = "914b1a6776c4c929a602fafd8bc742e06365d4bcbe48c30f9cca5824f70dc9dd"
|
||||||
|
"checksum winapi 0.3.6 (registry+https://github.com/rust-lang/crates.io-index)" = "92c1eb33641e276cfa214a0522acad57be5c56b10cb348b3c5117db75f3ac4b0"
|
||||||
|
"checksum winapi-i686-pc-windows-gnu 0.4.0 (registry+https://github.com/rust-lang/crates.io-index)" = "ac3b87c63620426dd9b991e5ce0329eff545bccbbb34f3be09ff6fb6ab51b7b6"
|
||||||
|
"checksum winapi-util 0.1.1 (registry+https://github.com/rust-lang/crates.io-index)" = "afc5508759c5bf4285e61feb862b6083c8480aec864fa17a81fdec6f69b461ab"
|
||||||
|
"checksum winapi-x86_64-pc-windows-gnu 0.4.0 (registry+https://github.com/rust-lang/crates.io-index)" = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f"
|
||||||
|
"checksum wincolor 1.0.1 (registry+https://github.com/rust-lang/crates.io-index)" = "561ed901ae465d6185fa7864d63fbd5720d0ef718366c9a4dc83cf6170d7e9ba"
|
||||||
|
|||||||
@ -4,3 +4,5 @@ version = "0.1.0"
|
|||||||
authors = ["Alex Mikhalev <alexmikhalevalex@gmail.com>"]
|
authors = ["Alex Mikhalev <alexmikhalevalex@gmail.com>"]
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[dependencies]
|
[dependencies]
|
||||||
|
log = "0.4"
|
||||||
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env_logger = "0.6"
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290
src/command.rs
290
src/command.rs
@ -1,5 +1,5 @@
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use std::rc::Rc;
|
|
||||||
use std::cell::RefCell;
|
use std::cell::RefCell;
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use std::rc::Rc;
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pub trait CommandId {
|
pub trait CommandId {
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||||||
fn command_id(&self) -> u64;
|
fn command_id(&self) -> u64;
|
||||||
@ -11,7 +11,7 @@ impl CommandId for u64 {
|
|||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
#[derive(Debug, PartialEq)]
|
#[derive(Debug, PartialEq, Clone, Copy)]
|
||||||
pub enum CommandResult {
|
pub enum CommandResult {
|
||||||
Continue,
|
Continue,
|
||||||
Done,
|
Done,
|
||||||
@ -22,23 +22,94 @@ pub trait Command {
|
|||||||
fn init(&mut self);
|
fn init(&mut self);
|
||||||
fn step(&mut self) -> CommandResult;
|
fn step(&mut self) -> CommandResult;
|
||||||
fn finish(&mut self, result: CommandResult);
|
fn finish(&mut self, result: CommandResult);
|
||||||
|
fn command_data(&self) -> &CommandData;
|
||||||
fn command_data<'a>(&'a self) -> &'a CommandData;
|
|
||||||
|
|
||||||
fn command_name(&self) -> &str {
|
|
||||||
&self.command_data().name
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
|
|
||||||
impl<T: Command> CommandId for T {
|
macro_rules! command_impl {
|
||||||
fn command_id(&self) -> u64 {
|
(
|
||||||
self.command_data().id
|
$command_st:ident . $command_data:ident;
|
||||||
}
|
$init_self:ident => $init:block;
|
||||||
|
$step_self:ident => $step:block;
|
||||||
|
$finish_self:ident, $finish_result:ident => $finish:block
|
||||||
|
) => {
|
||||||
|
impl $crate::command::Command for $command_st {
|
||||||
|
fn init(&mut $init_self) {
|
||||||
|
debug!(
|
||||||
|
"{}({}) init",
|
||||||
|
stringify!($command_st),
|
||||||
|
$init_self.command_data().name()
|
||||||
|
);
|
||||||
|
$init;
|
||||||
|
}
|
||||||
|
|
||||||
|
fn step(&mut $step_self) -> $crate::command::CommandResult {
|
||||||
|
debug!(
|
||||||
|
"{}({}) step",
|
||||||
|
stringify!($command_st),
|
||||||
|
$step_self.command_data().name()
|
||||||
|
);
|
||||||
|
$step
|
||||||
|
}
|
||||||
|
|
||||||
|
fn finish(&mut $finish_self, $finish_result: $crate::command::CommandResult) {
|
||||||
|
debug!(
|
||||||
|
"{}({}) finish({:?}",
|
||||||
|
stringify!($command_st),
|
||||||
|
$finish_self.command_data().name(),
|
||||||
|
$finish_result,
|
||||||
|
);
|
||||||
|
$finish;
|
||||||
|
}
|
||||||
|
|
||||||
|
fn command_data(&self) -> &$crate::command::CommandData {
|
||||||
|
&self.command_data
|
||||||
|
}
|
||||||
|
}
|
||||||
|
};
|
||||||
|
(
|
||||||
|
$command_st:ident . $command_data:ident;
|
||||||
|
$init_self:ident => $init:block;
|
||||||
|
$step_self:ident => $step:block;
|
||||||
|
$finish_self:ident => $finish:block
|
||||||
|
) => {
|
||||||
|
command_impl! { $command_st.$command_data;
|
||||||
|
$init_self => $init; $step_self => $step; $finish_self, res => {} }
|
||||||
|
};
|
||||||
|
(
|
||||||
|
$command_st:ident . $command_data:ident;
|
||||||
|
$init_self:ident => $init:block
|
||||||
|
) => {
|
||||||
|
command_impl! { $command_st.$command_data;
|
||||||
|
$init_self => $init; self => { $crate::command::CommandResult::Done }; self => {} }
|
||||||
|
};
|
||||||
}
|
}
|
||||||
|
|
||||||
pub struct CommandData {
|
pub struct CommandData {
|
||||||
pub id: u64,
|
id: u64,
|
||||||
pub name: String,
|
name: String,
|
||||||
|
}
|
||||||
|
|
||||||
|
impl CommandData {
|
||||||
|
pub fn new<TName: Into<String>>(id: u64, name: TName) -> Self {
|
||||||
|
CommandData {
|
||||||
|
id,
|
||||||
|
name: name.into(),
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
pub fn id(&self) -> u64 {
|
||||||
|
self.id
|
||||||
|
}
|
||||||
|
|
||||||
|
pub fn name(&self) -> &str {
|
||||||
|
&self.name
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
impl CommandId for CommandData {
|
||||||
|
fn command_id(&self) -> u64 {
|
||||||
|
self.id
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
pub type CommandRef = Rc<RefCell<dyn Command>>;
|
pub type CommandRef = Rc<RefCell<dyn Command>>;
|
||||||
@ -49,6 +120,112 @@ impl CommandId for CommandRef {
|
|||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
pub struct CommandGroup {
|
||||||
|
commands: Vec<CommandRef>,
|
||||||
|
command_data: CommandData,
|
||||||
|
current_idx: Option<usize>,
|
||||||
|
has_initialized: bool,
|
||||||
|
has_cancelled: bool,
|
||||||
|
}
|
||||||
|
|
||||||
|
impl CommandGroup {
|
||||||
|
pub fn new<TCommands>(data: CommandData, commands: TCommands) -> Self
|
||||||
|
where
|
||||||
|
TCommands: IntoIterator<Item = CommandRef>,
|
||||||
|
{
|
||||||
|
CommandGroup {
|
||||||
|
commands: commands.into_iter().collect(),
|
||||||
|
command_data: data,
|
||||||
|
current_idx: None,
|
||||||
|
has_initialized: false,
|
||||||
|
has_cancelled: false,
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
impl Command for CommandGroup {
|
||||||
|
fn init(&mut self) {
|
||||||
|
if self.current_idx.is_some() {
|
||||||
|
error!("CommandGroup init called twice");
|
||||||
|
}
|
||||||
|
self.current_idx = Some(0);
|
||||||
|
self.has_initialized = false;
|
||||||
|
self.has_cancelled = false;
|
||||||
|
debug!("CommandGroup {} init", self.command_data().name());
|
||||||
|
}
|
||||||
|
|
||||||
|
fn step(&mut self) -> CommandResult {
|
||||||
|
use self::CommandResult::*;
|
||||||
|
if self.has_cancelled {
|
||||||
|
debug!("CommandGroup step called after cancelled");
|
||||||
|
return CommandResult::Cancel;
|
||||||
|
}
|
||||||
|
let mut current_idx = if let Some(c) = self.current_idx {
|
||||||
|
c
|
||||||
|
} else {
|
||||||
|
error!("CommandGroup step called before init");
|
||||||
|
self.has_cancelled = true;
|
||||||
|
return CommandResult::Cancel;
|
||||||
|
};
|
||||||
|
let mut result: CommandResult;
|
||||||
|
loop {
|
||||||
|
if current_idx >= self.commands.len() {
|
||||||
|
debug!("CommandGroup out of commands");
|
||||||
|
return CommandResult::Done;
|
||||||
|
}
|
||||||
|
let mut command = self.commands[current_idx].borrow_mut();
|
||||||
|
if !self.has_initialized {
|
||||||
|
debug!(
|
||||||
|
"CommandGroup init {0} ({1})",
|
||||||
|
current_idx,
|
||||||
|
command.command_data().name()
|
||||||
|
);
|
||||||
|
command.init();
|
||||||
|
self.has_initialized = true;
|
||||||
|
}
|
||||||
|
result = command.step();
|
||||||
|
if result != Continue {
|
||||||
|
debug!(
|
||||||
|
"CommandGroup {2:?} {0} ({1}) ",
|
||||||
|
current_idx,
|
||||||
|
command.command_data().name(),
|
||||||
|
result
|
||||||
|
);
|
||||||
|
command.finish(result)
|
||||||
|
}
|
||||||
|
match result {
|
||||||
|
Done => {
|
||||||
|
current_idx += 1;
|
||||||
|
self.has_initialized = false;
|
||||||
|
}
|
||||||
|
Cancel => {
|
||||||
|
self.has_cancelled = true;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
_ => break,
|
||||||
|
}
|
||||||
|
}
|
||||||
|
self.current_idx = Some(current_idx);
|
||||||
|
CommandResult::Continue
|
||||||
|
}
|
||||||
|
|
||||||
|
fn finish(&mut self, result: CommandResult) {
|
||||||
|
if result == CommandResult::Cancel {
|
||||||
|
if let Some(command) = self
|
||||||
|
.current_idx
|
||||||
|
.and_then(|current_idx| self.commands.get(current_idx))
|
||||||
|
{
|
||||||
|
command.borrow_mut().finish(result);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
self.current_idx = None;
|
||||||
|
}
|
||||||
|
|
||||||
|
fn command_data(&self) -> &CommandData {
|
||||||
|
&self.command_data
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
pub struct CommandRun {
|
pub struct CommandRun {
|
||||||
initialized: bool,
|
initialized: bool,
|
||||||
cancelled: bool,
|
cancelled: bool,
|
||||||
@ -81,18 +258,30 @@ impl CommandRun {
|
|||||||
}
|
}
|
||||||
|
|
||||||
pub struct CommandScheduler {
|
pub struct CommandScheduler {
|
||||||
running_commands: Vec<RefCell<CommandRun>>,
|
running_commands: Vec<CommandRun>,
|
||||||
}
|
}
|
||||||
|
|
||||||
impl CommandScheduler {
|
impl CommandScheduler {
|
||||||
pub fn new() -> Self {
|
pub fn new() -> Self {
|
||||||
CommandScheduler{ running_commands: Vec::new() }
|
CommandScheduler {
|
||||||
|
running_commands: Vec::new(),
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
pub fn get_command_run<T: CommandId>(&self, id: T) -> Option<&RefCell<CommandRun>> {
|
pub fn get_command_run<T: CommandId>(&self, id: T) -> Option<&CommandRun> {
|
||||||
let id = id.command_id();
|
let id = id.command_id();
|
||||||
for command_run in &self.running_commands {
|
for command_run in &self.running_commands {
|
||||||
if command_run.borrow().command_id() == id {
|
if command_run.command_id() == id {
|
||||||
|
return Some(command_run);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
None
|
||||||
|
}
|
||||||
|
|
||||||
|
fn get_command_run_mut<T: CommandId>(&mut self, id: T) -> Option<&mut CommandRun> {
|
||||||
|
let id = id.command_id();
|
||||||
|
for command_run in &mut self.running_commands {
|
||||||
|
if command_run.command_id() == id {
|
||||||
return Some(command_run);
|
return Some(command_run);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
@ -111,40 +300,47 @@ impl CommandScheduler {
|
|||||||
if self.is_running(command.command_id()) {
|
if self.is_running(command.command_id()) {
|
||||||
false
|
false
|
||||||
} else {
|
} else {
|
||||||
self.running_commands.push(RefCell::new(CommandRun{
|
self.running_commands.push(CommandRun {
|
||||||
initialized: false, cancelled: false, command: command,
|
initialized: false,
|
||||||
}));
|
cancelled: false,
|
||||||
|
command,
|
||||||
|
});
|
||||||
true
|
true
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
pub fn cancel<T: CommandId>(&mut self, id: T) -> bool {
|
pub fn cancel<T: CommandId>(&mut self, id: T) -> bool {
|
||||||
self.get_command_run(id)
|
self.get_command_run_mut(id).map_or(false, |command_run| {
|
||||||
.map_or(false, |command_run| {
|
command_run.cancelled = true;
|
||||||
command_run.borrow_mut().cancelled = true;
|
true
|
||||||
true
|
|
||||||
})
|
|
||||||
}
|
|
||||||
|
|
||||||
pub fn execute(&mut self) {
|
|
||||||
self.running_commands.retain(|command_run| {
|
|
||||||
let mut command_run = command_run.borrow_mut();
|
|
||||||
if !command_run.initialized && !command_run.cancelled {
|
|
||||||
command_run.command.borrow_mut().init();
|
|
||||||
command_run.initialized = true;
|
|
||||||
}
|
|
||||||
let result =
|
|
||||||
if command_run.initialized {
|
|
||||||
command_run.command.borrow_mut().step()
|
|
||||||
} else {
|
|
||||||
CommandResult::Cancel
|
|
||||||
};
|
|
||||||
if result != CommandResult::Continue {
|
|
||||||
command_run.command.borrow_mut().finish(result);
|
|
||||||
false
|
|
||||||
} else {
|
|
||||||
true
|
|
||||||
}
|
|
||||||
})
|
})
|
||||||
}
|
}
|
||||||
|
|
||||||
|
pub fn execute(&mut self) {
|
||||||
|
self.running_commands.drain_filter(|command_run| {
|
||||||
|
let mut command = command_run.command.borrow_mut();
|
||||||
|
if !command_run.initialized && !command_run.cancelled {
|
||||||
|
{
|
||||||
|
let command_data = command.command_data();
|
||||||
|
info!(
|
||||||
|
"initialzing command {} (id {})",
|
||||||
|
command_data.name, command_data.id
|
||||||
|
);
|
||||||
|
}
|
||||||
|
command.init();
|
||||||
|
command_run.initialized = true;
|
||||||
|
}
|
||||||
|
let result = if command_run.initialized {
|
||||||
|
command.step()
|
||||||
|
} else {
|
||||||
|
CommandResult::Cancel
|
||||||
|
};
|
||||||
|
if result != CommandResult::Continue {
|
||||||
|
command.finish(result);
|
||||||
|
true
|
||||||
|
} else {
|
||||||
|
false
|
||||||
|
}
|
||||||
|
});
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|||||||
10
src/drive.rs
10
src/drive.rs
@ -1,9 +1,9 @@
|
|||||||
use std::rc::Rc;
|
|
||||||
use std::cell::RefCell;
|
use std::cell::RefCell;
|
||||||
|
use std::rc::Rc;
|
||||||
|
|
||||||
|
use motor_controller::MockMotorController;
|
||||||
use motor_controller::MotorControllerBox;
|
use motor_controller::MotorControllerBox;
|
||||||
use motor_controller::MotorControllerBoxed;
|
use motor_controller::MotorControllerBoxed;
|
||||||
use motor_controller::MockMotorController;
|
|
||||||
|
|
||||||
pub struct Drive {
|
pub struct Drive {
|
||||||
left_motors: Vec<MotorControllerBox>,
|
left_motors: Vec<MotorControllerBox>,
|
||||||
@ -20,7 +20,10 @@ impl Drive {
|
|||||||
pub fn new() -> Self {
|
pub fn new() -> Self {
|
||||||
let left_motors = create_motor_controllers(0u16..4);
|
let left_motors = create_motor_controllers(0u16..4);
|
||||||
let right_motors = create_motor_controllers(4u16..8);
|
let right_motors = create_motor_controllers(4u16..8);
|
||||||
Drive { left_motors, right_motors }
|
Drive {
|
||||||
|
left_motors,
|
||||||
|
right_motors,
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
pub fn new_ref() -> DriveRef {
|
pub fn new_ref() -> DriveRef {
|
||||||
@ -36,4 +39,3 @@ impl Drive {
|
|||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|||||||
15
src/main.rs
15
src/main.rs
@ -1,12 +1,21 @@
|
|||||||
mod robot;
|
#![feature(drain_filter)]
|
||||||
|
|
||||||
|
#[macro_use]
|
||||||
|
extern crate log;
|
||||||
|
extern crate env_logger;
|
||||||
|
|
||||||
|
#[macro_use]
|
||||||
|
mod command;
|
||||||
mod drive;
|
mod drive;
|
||||||
mod motor_controller;
|
mod motor_controller;
|
||||||
mod command;
|
mod robot;
|
||||||
|
|
||||||
use robot::Robot;
|
use robot::Robot;
|
||||||
|
|
||||||
fn main() {
|
fn main() {
|
||||||
let mut robot = Robot::new();
|
env_logger::init();
|
||||||
|
|
||||||
|
let robot = Robot::new();
|
||||||
|
|
||||||
robot.run();
|
robot.run();
|
||||||
}
|
}
|
||||||
|
|||||||
@ -27,7 +27,7 @@ pub struct MockMotorController {
|
|||||||
|
|
||||||
impl MotorControllerId for MockMotorController {
|
impl MotorControllerId for MockMotorController {
|
||||||
fn new(id: u16) -> Self {
|
fn new(id: u16) -> Self {
|
||||||
MockMotorController{ id: id, value: 0.0 }
|
MockMotorController { id, value: 0.0 }
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
@ -38,7 +38,7 @@ impl MotorController for MockMotorController {
|
|||||||
|
|
||||||
fn set(&mut self, value: f64) {
|
fn set(&mut self, value: f64) {
|
||||||
self.value = value;
|
self.value = value;
|
||||||
println!("MotorController id {} value={}", self.id, self.value);
|
debug!("MotorController id {} value={}", self.id, self.value);
|
||||||
}
|
}
|
||||||
|
|
||||||
fn get(&self) -> f64 {
|
fn get(&self) -> f64 {
|
||||||
|
|||||||
87
src/robot.rs
87
src/robot.rs
@ -1,42 +1,54 @@
|
|||||||
use std::time::Duration;
|
|
||||||
use std::thread;
|
|
||||||
use std::cell::RefCell;
|
use std::cell::RefCell;
|
||||||
use std::rc::Rc;
|
use std::rc::Rc;
|
||||||
|
use std::thread;
|
||||||
|
use std::time::Duration;
|
||||||
|
|
||||||
|
use command::{CommandData, CommandGroup, CommandRef, CommandScheduler};
|
||||||
use drive::{Drive, DriveRef};
|
use drive::{Drive, DriveRef};
|
||||||
use command::{Command, CommandData, CommandScheduler, CommandResult};
|
|
||||||
|
|
||||||
struct DriveCommand {
|
mod cmds {
|
||||||
iterations: u64,
|
use command::{CommandData, CommandResult};
|
||||||
data: CommandData,
|
use drive::DriveRef;
|
||||||
drive: DriveRef,
|
|
||||||
}
|
|
||||||
|
|
||||||
impl DriveCommand {
|
pub struct DriveCommand {
|
||||||
fn new(data: CommandData, drive: DriveRef) -> Self {
|
command_data: CommandData,
|
||||||
Self { iterations: 0, data: data, drive: drive }
|
iterations: u64,
|
||||||
}
|
drive: DriveRef,
|
||||||
}
|
|
||||||
|
|
||||||
impl Command for DriveCommand {
|
|
||||||
fn init(&mut self) {
|
|
||||||
self.iterations = 0;
|
|
||||||
println!("DriveCommand init");
|
|
||||||
}
|
}
|
||||||
|
|
||||||
fn step(&mut self) -> CommandResult {
|
impl DriveCommand {
|
||||||
println!("DriveCommand step");
|
pub fn new(command_data: CommandData, drive: DriveRef) -> Self {
|
||||||
self.drive.borrow_mut().drive_powers(1.0, 1.0);
|
Self {
|
||||||
self.iterations += 1;
|
command_data,
|
||||||
if self.iterations >= 10 { CommandResult::Done } else { CommandResult::Continue }
|
iterations: 0,
|
||||||
|
drive,
|
||||||
|
}
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
fn finish(&mut self, result: CommandResult) {
|
command_impl! { DriveCommand.command_data;
|
||||||
println!("DriveCommand finish interrupted: {:?}", result);
|
self => {
|
||||||
|
self.iterations = 0;
|
||||||
|
|
||||||
|
}; self =>{
|
||||||
|
self.drive.borrow_mut().drive_powers(1.0, 1.0);
|
||||||
|
self.iterations += 1;
|
||||||
|
if self.iterations >= 10 {
|
||||||
|
CommandResult::Done
|
||||||
|
} else {
|
||||||
|
CommandResult::Continue
|
||||||
|
}
|
||||||
|
|
||||||
|
}; self, res => {
|
||||||
|
self.drive.borrow_mut().drive_powers(0.0,0.0);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
pub struct LogCmd {
|
||||||
|
pub command_data: crate::command::CommandData,
|
||||||
}
|
}
|
||||||
|
|
||||||
fn command_data(&self) -> &CommandData {
|
command_impl! {
|
||||||
&self.data
|
LogCmd.command_data; self => { info!("{}", "LogCmd") }
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
@ -45,23 +57,32 @@ pub struct Robot {
|
|||||||
command_scheduler: CommandScheduler,
|
command_scheduler: CommandScheduler,
|
||||||
}
|
}
|
||||||
|
|
||||||
const ITER_PERIOD: Duration = Duration::from_nanos(1000000000 / 50);
|
const ITER_PERIOD: Duration = Duration::from_nanos(1_000_000_000 / 50);
|
||||||
|
|
||||||
impl Robot {
|
impl Robot {
|
||||||
pub fn new() -> Self {
|
pub fn new() -> Self {
|
||||||
Robot{
|
Robot {
|
||||||
drive: Drive::new_ref(),
|
drive: Drive::new_ref(),
|
||||||
command_scheduler: CommandScheduler::new(),
|
command_scheduler: CommandScheduler::new(),
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
pub fn run(mut self) {
|
pub fn run(mut self) {
|
||||||
println!("Starting RobotRS");
|
warn!("Starting RobotRS");
|
||||||
|
|
||||||
let command_data = CommandData { id: 0, name: "DriveCommand".into() };
|
let command = cmds::DriveCommand::new(CommandData::new(0, "DriveCommand"), self.drive.clone());
|
||||||
let command = Rc::new(RefCell::new(DriveCommand::new(command_data, self.drive.clone())));
|
let command_ref: CommandRef = Rc::new(RefCell::new(command));
|
||||||
|
let log_command = cmds::LogCmd {
|
||||||
|
command_data: CommandData::new(2, "LogCommand"),
|
||||||
|
};
|
||||||
|
let log_command_ref: CommandRef = Rc::new(RefCell::new(log_command));
|
||||||
|
let command_group = CommandGroup::new(
|
||||||
|
CommandData::new(1, "Group"),
|
||||||
|
vec![command_ref, log_command_ref],
|
||||||
|
);
|
||||||
|
let command_ref: CommandRef = Rc::new(RefCell::new(command_group));
|
||||||
|
|
||||||
self.command_scheduler.start(command);
|
self.command_scheduler.start(command_ref);
|
||||||
|
|
||||||
loop {
|
loop {
|
||||||
self.execute();
|
self.execute();
|
||||||
|
|||||||
Loading…
x
Reference in New Issue
Block a user