skeleton of auxillary event loops set up
This commit is contained in:
Nickiel12
parent
8993750feb
commit
571d784347
6 changed files with 275 additions and 108 deletions
190
Cargo.lock
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190
Cargo.lock
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@ -4,18 +4,18 @@ version = 3
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@ -118,7 +118,7 @@ checksum = "965c2d33e53cb6b267e148a4cb0760bc01f4904c1cd4bb4002a085bb016d1490"
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@ -141,7 +141,7 @@ checksum = "7b18050c2cd6fe86c3a76584ef5e0baf286d038cda203eb6223df2cc413565f7"
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@ -158,13 +158,13 @@ dependencies = [
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@ -187,17 +187,17 @@ checksum = "0c4b4d0bd25bd0b74681c0ad21497610ce1b7c91b1022cd21c80c6fbdd9476b0"
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@ -289,9 +289,9 @@ dependencies = [
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@ -489,7 +489,7 @@ checksum = "f46882e17999c6cc590af592290432be3bce0428cb0d5f8b6715e4dc7b383eb3"
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@ -565,7 +565,7 @@ checksum = "97369cbbc041bc366949bc74d34658d6cda5621039731c6310521892a3a20ae0"
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@ -732,7 +732,7 @@ checksum = "87750cf4b7a4c0625b1529e4c543c2182106e4dedc60a2a6455e00d212c489ac"
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@ -799,9 +799,9 @@ dependencies = [
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|
||||
checksum = "84678086bd54edf2b415183ed7a94d0efb049f1b646a33e22a36f3794be6ae56"
|
||||
dependencies = [
|
||||
"ring",
|
||||
"rustls-pki-types",
|
||||
|
|
@ -1832,29 +1832,29 @@ checksum = "61697e0a1c7e512e84a621326239844a24d8207b4669b41bc18b32ea5cbf988b"
|
|||
|
||||
[[package]]
|
||||
name = "serde"
|
||||
version = "1.0.209"
|
||||
version = "1.0.210"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "99fce0ffe7310761ca6bf9faf5115afbc19688edd00171d81b1bb1b116c63e09"
|
||||
checksum = "c8e3592472072e6e22e0a54d5904d9febf8508f65fb8552499a1abc7d1078c3a"
|
||||
dependencies = [
|
||||
"serde_derive",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "serde_derive"
|
||||
version = "1.0.209"
|
||||
version = "1.0.210"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "a5831b979fd7b5439637af1752d535ff49f4860c0f341d1baeb6faf0f4242170"
|
||||
checksum = "243902eda00fad750862fc144cea25caca5e20d615af0a81bee94ca738f1df1f"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.76",
|
||||
"syn 2.0.77",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "serde_json"
|
||||
version = "1.0.127"
|
||||
version = "1.0.128"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "8043c06d9f82bd7271361ed64f415fe5e12a77fdb52e573e7f06a516dea329ad"
|
||||
checksum = "6ff5456707a1de34e7e37f2a6fd3d3f808c318259cbd01ab6377795054b483d8"
|
||||
dependencies = [
|
||||
"itoa",
|
||||
"memchr",
|
||||
|
|
@ -1969,7 +1969,7 @@ dependencies = [
|
|||
"heck",
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.76",
|
||||
"syn 2.0.77",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
|
|
@ -2045,9 +2045,9 @@ dependencies = [
|
|||
|
||||
[[package]]
|
||||
name = "syn"
|
||||
version = "2.0.76"
|
||||
version = "2.0.77"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "578e081a14e0cefc3279b0472138c513f37b41a08d5a3cca9b6e4e8ceb6cd525"
|
||||
checksum = "9f35bcdf61fd8e7be6caf75f429fdca8beb3ed76584befb503b1569faee373ed"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
|
|
@ -2074,7 +2074,7 @@ checksum = "c8af7666ab7b6390ab78131fb5b0fce11d6b7a6951602017c35fa82800708971"
|
|||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.76",
|
||||
"syn 2.0.77",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
|
|
@ -2113,7 +2113,7 @@ checksum = "a4558b58466b9ad7ca0f102865eccc95938dca1a74a856f2b57b6629050da261"
|
|||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.76",
|
||||
"syn 2.0.77",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
|
|
@ -2183,9 +2183,9 @@ checksum = "1f3ccbac311fea05f86f61904b462b55fb3df8837a366dfc601a0161d0532f20"
|
|||
|
||||
[[package]]
|
||||
name = "tokio"
|
||||
version = "1.39.3"
|
||||
version = "1.40.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "9babc99b9923bfa4804bd74722ff02c0381021eafa4db9949217e3be8e84fff5"
|
||||
checksum = "e2b070231665d27ad9ec9b8df639893f46727666c6767db40317fbe920a5d998"
|
||||
dependencies = [
|
||||
"backtrace",
|
||||
"bytes",
|
||||
|
|
@ -2207,7 +2207,7 @@ checksum = "693d596312e88961bc67d7f1f97af8a70227d9f90c31bba5806eec004978d752"
|
|||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.76",
|
||||
"syn 2.0.77",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
|
|
@ -2224,9 +2224,9 @@ dependencies = [
|
|||
|
||||
[[package]]
|
||||
name = "tokio-util"
|
||||
version = "0.7.11"
|
||||
version = "0.7.12"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "9cf6b47b3771c49ac75ad09a6162f53ad4b8088b76ac60e8ec1455b31a189fe1"
|
||||
checksum = "61e7c3654c13bcd040d4a03abee2c75b1d14a37b423cf5a813ceae1cc903ec6a"
|
||||
dependencies = [
|
||||
"bytes",
|
||||
"futures-core",
|
||||
|
|
@ -2244,7 +2244,7 @@ dependencies = [
|
|||
"serde",
|
||||
"serde_spanned",
|
||||
"toml_datetime",
|
||||
"toml_edit 0.22.20",
|
||||
"toml_edit",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
|
|
@ -2256,17 +2256,6 @@ dependencies = [
|
|||
"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]]
|
||||
name = "toml_edit"
|
||||
version = "0.22.20"
|
||||
|
|
@ -2277,7 +2266,7 @@ dependencies = [
|
|||
"serde",
|
||||
"serde_spanned",
|
||||
"toml_datetime",
|
||||
"winnow 0.6.18",
|
||||
"winnow",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
|
|
@ -2299,7 +2288,7 @@ checksum = "34704c8d6ebcbc939824180af020566b01a7c01f80641264eba0999f6c2b6be7"
|
|||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.76",
|
||||
"syn 2.0.77",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
|
|
@ -2494,7 +2483,7 @@ dependencies = [
|
|||
[[package]]
|
||||
name = "vcs-common"
|
||||
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 = [
|
||||
"async-channel",
|
||||
"bincode",
|
||||
|
|
@ -2838,15 +2827,6 @@ version = "0.52.6"
|
|||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "589f6da84c646204747d1270a2a5661ea66ed1cced2631d546fdfb155959f9ec"
|
||||
|
||||
[[package]]
|
||||
name = "winnow"
|
||||
version = "0.5.40"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "f593a95398737aeed53e489c785df13f3618e41dbcd6718c6addbf1395aa6876"
|
||||
dependencies = [
|
||||
"memchr",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "winnow"
|
||||
version = "0.6.18"
|
||||
|
|
@ -2922,7 +2902,7 @@ checksum = "fa4f8080344d4671fb4e831a13ad1e68092748387dfc4f55e356242fae12ce3e"
|
|||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.76",
|
||||
"syn 2.0.77",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
|
|
@ -2942,5 +2922,5 @@ checksum = "ce36e65b0d2999d2aafac989fb249189a141aee1f53c612c1f37d72631959f69"
|
|||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.76",
|
||||
"syn 2.0.77",
|
||||
]
|
||||
|
|
|
|||
50
src/main.rs
50
src/main.rs
|
|
@ -18,8 +18,15 @@ use vcs_common::{AppReceiver, AppSender, ApplicationMessage};
|
|||
|
||||
mod config;
|
||||
mod gst;
|
||||
mod rig;
|
||||
mod tracker;
|
||||
mod web_rtc;
|
||||
|
||||
use rig::{start_event_loop, ApplicationEvent};
|
||||
use tracker::{tracker_loop, TrackerEvent};
|
||||
|
||||
const SATELLITE_NAME: &str = "CameraSatellite_1";
|
||||
|
||||
#[tokio::main]
|
||||
async fn main() {
|
||||
let uuid = uuid::Uuid::new_v4().to_string();
|
||||
|
|
@ -59,7 +66,7 @@ async fn main() {
|
|||
.await
|
||||
{
|
||||
Err(e) => panic!("There was an error connecting to the remote: {e}"),
|
||||
Ok((sender, recvr)) => {
|
||||
Ok((sender, recvr, _ws_open)) => {
|
||||
app_sender = sender;
|
||||
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.
|
||||
while let Ok(msg) = app_receiver.recv().await {
|
||||
match msg {
|
||||
ApplicationMessage::WebRTCPacket(pkt) => {
|
||||
ApplicationMessage::WebRTCPacket(_pkt) => {
|
||||
error!("don't know what to do with this packet!");
|
||||
}
|
||||
ApplicationMessage::WebRTCIceCandidateInit(pkt) => {
|
||||
|
|
@ -178,9 +196,35 @@ async fn main() {
|
|||
error!("There was an error adding the trickle ICE candidate! {e}");
|
||||
}
|
||||
}
|
||||
ApplicationMessage::WebRTCIceCandidate(pkg) => {
|
||||
ApplicationMessage::WebRTCIceCandidate(_pkg) => {
|
||||
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
16
src/rig/mod.rs
Normal 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
39
src/rig/state_machine.rs
Normal 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
70
src/tracker/mod.rs
Normal 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");
|
||||
}
|
||||
|
|
@ -26,6 +26,8 @@ use webrtc::{
|
|||
Error,
|
||||
};
|
||||
|
||||
use crate::SATELLITE_NAME;
|
||||
|
||||
/// Boilerplate for creating the initial Peer Connection
|
||||
/// Takes a unique ID representing this instance to name the tracks and streams
|
||||
#[instrument]
|
||||
|
|
@ -199,6 +201,22 @@ pub async fn kickoff_connection(
|
|||
Ok(ApplicationMessage::WebRTCIceCandidate(_pkt)) => {
|
||||
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) => {
|
||||
panic!("WC channel was closed?! {e}");
|
||||
}
|
||||
|
|
|
|||
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Reference in a new issue