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skeleton of auxillary event loops set up

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Nickiel12 2024-09-10 01:35:30 +00:00
parent 8993750feb
commit 571d784347
6 changed files with 275 additions and 108 deletions
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Cargo.lock generated
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@ -4,18 +4,18 @@ version = 3
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"backtrace", "backtrace",
"bytes", "bytes",
@ -2207,7 +2207,7 @@ checksum = "693d596312e88961bc67d7f1f97af8a70227d9f90c31bba5806eec004978d752"
dependencies = [ dependencies = [
"proc-macro2", "proc-macro2",
"quote", "quote",
"syn 2.0.76", "syn 2.0.77",
] ]
[[package]] [[package]]
@ -2224,9 +2224,9 @@ dependencies = [
[[package]] [[package]]
name = "tokio-util" name = "tokio-util"
version = "0.7.11" version = "0.7.12"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "9cf6b47b3771c49ac75ad09a6162f53ad4b8088b76ac60e8ec1455b31a189fe1" checksum = "61e7c3654c13bcd040d4a03abee2c75b1d14a37b423cf5a813ceae1cc903ec6a"
dependencies = [ dependencies = [
"bytes", "bytes",
"futures-core", "futures-core",
@ -2244,7 +2244,7 @@ dependencies = [
"serde", "serde",
"serde_spanned", "serde_spanned",
"toml_datetime", "toml_datetime",
"toml_edit 0.22.20", "toml_edit",
] ]
[[package]] [[package]]
@ -2256,17 +2256,6 @@ dependencies = [
"serde", "serde",
] ]
[[package]]
name = "toml_edit"
version = "0.21.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "6a8534fd7f78b5405e860340ad6575217ce99f38d4d5c8f2442cb5ecb50090e1"
dependencies = [
"indexmap",
"toml_datetime",
"winnow 0.5.40",
]
[[package]] [[package]]
name = "toml_edit" name = "toml_edit"
version = "0.22.20" version = "0.22.20"
@ -2277,7 +2266,7 @@ dependencies = [
"serde", "serde",
"serde_spanned", "serde_spanned",
"toml_datetime", "toml_datetime",
"winnow 0.6.18", "winnow",
] ]
[[package]] [[package]]
@ -2299,7 +2288,7 @@ checksum = "34704c8d6ebcbc939824180af020566b01a7c01f80641264eba0999f6c2b6be7"
dependencies = [ dependencies = [
"proc-macro2", "proc-macro2",
"quote", "quote",
"syn 2.0.76", "syn 2.0.77",
] ]
[[package]] [[package]]
@ -2494,7 +2483,7 @@ dependencies = [
[[package]] [[package]]
name = "vcs-common" name = "vcs-common"
version = "0.1.0" version = "0.1.0"
source = "git+https://git.nickiel.net/VCC/vcs-common.git?branch=main#a89e970be35e01eb8a59c368e7b817e93984c137" source = "git+https://git.nickiel.net/VCC/vcs-common.git?branch=main#01495ff1d8d105de485f0c746251cd471176d1cc"
dependencies = [ dependencies = [
"async-channel", "async-channel",
"bincode", "bincode",
@ -2838,15 +2827,6 @@ version = "0.52.6"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "589f6da84c646204747d1270a2a5661ea66ed1cced2631d546fdfb155959f9ec" checksum = "589f6da84c646204747d1270a2a5661ea66ed1cced2631d546fdfb155959f9ec"
[[package]]
name = "winnow"
version = "0.5.40"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "f593a95398737aeed53e489c785df13f3618e41dbcd6718c6addbf1395aa6876"
dependencies = [
"memchr",
]
[[package]] [[package]]
name = "winnow" name = "winnow"
version = "0.6.18" version = "0.6.18"
@ -2922,7 +2902,7 @@ checksum = "fa4f8080344d4671fb4e831a13ad1e68092748387dfc4f55e356242fae12ce3e"
dependencies = [ dependencies = [
"proc-macro2", "proc-macro2",
"quote", "quote",
"syn 2.0.76", "syn 2.0.77",
] ]
[[package]] [[package]]
@ -2942,5 +2922,5 @@ checksum = "ce36e65b0d2999d2aafac989fb249189a141aee1f53c612c1f37d72631959f69"
dependencies = [ dependencies = [
"proc-macro2", "proc-macro2",
"quote", "quote",
"syn 2.0.76", "syn 2.0.77",
] ]

50
src/main.rs
View file

@ -18,8 +18,15 @@ use vcs_common::{AppReceiver, AppSender, ApplicationMessage};
mod config; mod config;
mod gst; mod gst;
mod rig;
mod tracker;
mod web_rtc; mod web_rtc;
use rig::{start_event_loop, ApplicationEvent};
use tracker::{tracker_loop, TrackerEvent};
const SATELLITE_NAME: &str = "CameraSatellite_1";
#[tokio::main] #[tokio::main]
async fn main() { async fn main() {
let uuid = uuid::Uuid::new_v4().to_string(); let uuid = uuid::Uuid::new_v4().to_string();
@ -59,7 +66,7 @@ async fn main() {
.await .await
{ {
Err(e) => panic!("There was an error connecting to the remote: {e}"), Err(e) => panic!("There was an error connecting to the remote: {e}"),
Ok((sender, recvr)) => { Ok((sender, recvr, _ws_open)) => {
app_sender = sender; app_sender = sender;
app_receiver = recvr; app_receiver = recvr;
} }
@ -167,10 +174,21 @@ async fn main() {
} }
}); });
let (to_mec, mec) = async_channel::bounded::<ApplicationEvent>(20);
tokio::spawn(start_event_loop(mec, to_mec.clone()));
let (to_tec, tec) = async_channel::bounded::<TrackerEvent>(20);
tokio::spawn(tracker_loop(
to_tec.clone(),
tec,
to_mec.clone(),
app_sender.clone(),
));
// loop through messages coming from the remote. // loop through messages coming from the remote.
while let Ok(msg) = app_receiver.recv().await { while let Ok(msg) = app_receiver.recv().await {
match msg { match msg {
ApplicationMessage::WebRTCPacket(pkt) => { ApplicationMessage::WebRTCPacket(_pkt) => {
error!("don't know what to do with this packet!"); error!("don't know what to do with this packet!");
} }
ApplicationMessage::WebRTCIceCandidateInit(pkt) => { ApplicationMessage::WebRTCIceCandidateInit(pkt) => {
@ -178,9 +196,35 @@ async fn main() {
error!("There was an error adding the trickle ICE candidate! {e}"); error!("There was an error adding the trickle ICE candidate! {e}");
} }
} }
ApplicationMessage::WebRTCIceCandidate(pkg) => { ApplicationMessage::WebRTCIceCandidate(_pkg) => {
error!("Unhandled ice candidate!"); error!("Unhandled ice candidate!");
} }
ApplicationMessage::NameRequest(Some(name)) => info!("Got a message about '{}'", name),
ApplicationMessage::NameRequest(None) => {
if let Err(e) = app_sender
.send(ApplicationMessage::NameRequest(Some(
SATELLITE_NAME.to_owned(),
)))
.await
{
error!("Could not let the remote know my name! {e}");
}
}
ApplicationMessage::ChangeTrackingID(id) => {
if let Err(e) = to_tec.send(TrackerEvent::ChangeID(id)).await {
error!("Could not send message to tracker state! Closing down. {e}");
break;
}
}
ApplicationMessage::TrackingBoxes(_) => {
error!("I got a tracking boxes message?");
}
ApplicationMessage::ManualMovementOverride((x, y)) => {
if let Err(e) = to_mec.send(ApplicationEvent::ManualMoveEvent((x, y))).await {
error!("Could not send manual override to state machine! {e}");
break;
}
}
} }
} }
} }

16
src/rig/mod.rs Normal file
View file

@ -0,0 +1,16 @@
mod state_machine;
use std::time::Instant;
pub use state_machine::{start_event_loop, ApplicationEvent};
struct Position {
x: i32,
y: i32,
}
struct RigState {
last_update: Instant,
}
impl RigState {}

39
src/rig/state_machine.rs Normal file
View file

@ -0,0 +1,39 @@
use async_channel::{Receiver, Sender};
use tracing::{error, info};
pub enum ApplicationEvent {
ManualMoveEvent((i32, i32)),
TrackerUpdate(vcs_common::types::TrackingUpdate),
}
pub async fn start_event_loop(mec: Receiver<ApplicationEvent>, to_mec: Sender<ApplicationEvent>) {
while let Ok(msg) = mec.recv().await {
match msg {
ApplicationEvent::ManualMoveEvent((x, y)) => {
info!("State machine manual override! ({}, {})", x, y);
}
ApplicationEvent::TrackerUpdate(update) => {
if update.target_id.is_some() {
let target = update
.boxes
.iter()
.filter(|x| x.id == *update.target_id.as_ref().unwrap())
.cloned()
.collect::<Vec<vcs_common::types::NormalizedBoxCoords>>();
match target.len() {
0 => error!("Target not found, add handling code for this case"),
1 => info!("Target was found"),
_ => error!(
"MOre than one of the target was found, that should be impossible"
),
}
} else {
info!("No tracking target found. Should this be handled differently?");
}
}
}
}
info!("Shutting down state machine listener!");
}

70
src/tracker/mod.rs Normal file
View file

@ -0,0 +1,70 @@
use async_channel::{Receiver, Sender};
use tracing::{error, info};
use vcs_common::{AppSender, ApplicationMessage};
use crate::rig::ApplicationEvent;
pub enum TrackerEvent {
ChangeID(u16),
}
pub struct TrackerState {
pub target_id: Option<u16>,
pub app_sender: AppSender,
}
impl TrackerState {}
pub async fn tracker_loop(
to_tec: Sender<TrackerEvent>,
tec: Receiver<TrackerEvent>,
to_mec: Sender<ApplicationEvent>,
app_sender: AppSender,
) {
let mut state = TrackerState {
target_id: None,
app_sender,
};
while let Ok(msg) = tec.recv().await {
match msg {
TrackerEvent::ChangeID(new_id) => {
state.target_id = Some(new_id);
}
}
// Pretend we processed a video frame!
if let Err(e) = to_mec
.send(ApplicationEvent::TrackerUpdate(
vcs_common::types::TrackingUpdate {
target_id: None,
boxes: vec![],
},
))
.await
{
error!("Could not send tracking update to MEC! {e}");
}
if let Err(e) = state
.app_sender
.send(ApplicationMessage::TrackingBoxes(
vcs_common::types::TrackingUpdate {
target_id: None,
boxes: vec![vcs_common::types::NormalizedBoxCoords {
id: 1,
x1: 0.25,
y1: 0.25,
x2: 0.75,
y2: 0.75,
}],
},
))
.await
{
error!("Could not send message to remote core! {e}");
break;
}
}
info!("Tracking loop is shutting down");
}

18
src/web_rtc.rs
View file

@ -26,6 +26,8 @@ use webrtc::{
Error, Error,
}; };
use crate::SATELLITE_NAME;
/// Boilerplate for creating the initial Peer Connection /// Boilerplate for creating the initial Peer Connection
/// Takes a unique ID representing this instance to name the tracks and streams /// Takes a unique ID representing this instance to name the tracks and streams
#[instrument] #[instrument]
@ -199,6 +201,22 @@ pub async fn kickoff_connection(
Ok(ApplicationMessage::WebRTCIceCandidate(_pkt)) => { Ok(ApplicationMessage::WebRTCIceCandidate(_pkt)) => {
error!("Got a non init ice candidate. Now what?"); error!("Got a non init ice candidate. Now what?");
} }
Ok(ApplicationMessage::NameRequest(Some(name))) => {
info!("Got a message about '{}'", name)
}
Ok(ApplicationMessage::NameRequest(None)) => {
if let Err(e) = app_sender
.send(ApplicationMessage::NameRequest(Some(
SATELLITE_NAME.to_owned(),
)))
.await
{
error!("Could not let the remote know my name! {e}");
}
}
Ok(ApplicationMessage::ChangeTrackingID(_))
| Ok(ApplicationMessage::TrackingBoxes(_))
| Ok(ApplicationMessage::ManualMovementOverride(_)) => {}
Err(e) => { Err(e) => {
panic!("WC channel was closed?! {e}"); panic!("WC channel was closed?! {e}");
} }