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+version = "0.1.1" authors = ["Redrield "] edition = "2018" @@ -11,5 +11,5 @@ crate-type = ["cdylib", "staticlib"] [dependencies] ds = { path = "../" } -libc = "0.2.76" -lazy_static = "1.4.0" +libc = "0.2.155" +lazy_static = "1.5.0" diff --git a/src/ds.rs b/src/ds.rs index 904ac80..187dfa3 100644 --- a/src/ds.rs +++ b/src/ds.rs @@ -55,7 +55,7 @@ impl DriverStation { let sim_tx = tx.clone(); thread::spawn(move || { use tokio::runtime::Runtime; - let mut rt = Runtime::new().unwrap(); + let rt = Runtime::new().unwrap(); rt.spawn(sim_conn(sim_tx)); rt.block_on(udp_conn(udp_state, udp_ip, rx)) .expect("Error with udp connection"); diff --git a/src/ds/conn.rs b/src/ds/conn.rs index 70ebd86..778ee37 100644 --- a/src/ds/conn.rs +++ b/src/ds/conn.rs @@ -7,12 +7,14 @@ use futures_channel::mpsc::UnboundedReceiver; use futures_channel::mpsc::{unbounded, UnboundedSender}; use futures_util::sink::SinkExt; use futures_util::stream::StreamExt; +use tokio_stream::wrappers::IntervalStream; +use tokio_util::udp::UdpFramed; +use std::pin::pin; use std::sync::Arc; use std::time::Duration; use tokio::net::{TcpStream, UdpSocket}; use tokio::time; use tokio_util::codec::Decoder; -use tokio_util::udp::UdpFramed; use chrono::prelude::*; @@ -58,8 +60,7 @@ pub(crate) async fn udp_conn( .expect("Failed to connect to target"); let interval = time::interval(Duration::from_millis(20)); - - let mut stream = select(interval.map(Either::Left), fwd_rx.map(Either::Right)); + let mut stream = select(IntervalStream::new(interval).map(Either::Left), fwd_rx.map(Either::Right)); let mut backoff = ExponentialBackoff::new(Duration::new(5, 0)); loop { @@ -118,11 +119,15 @@ pub(crate) async fn udp_conn( // I need the tokio extension for this, the futures extension to split codecs, and I can't import them both // Thanks for coordinating trait names to make using both nicely impossible - let fut = tokio::stream::StreamExt::timeout(udp_rx, Duration::from_secs(2)).map(Either::Left); - let mut stream = select(fut, rx.map(Either::Right)); + // let fut = tokio::util::StreamExt::timeout(udp_rx, Duration::from_secs(2)).map(Either::Left); + // use tokio_stream::StreamExt; + // let fut = udp_rx.timeout(Duration::from_secs(2)); + let fut = tokio_stream::StreamExt::timeout(udp_rx, Duration::from_secs(2)).map(Either::Left); + let stream = select(fut, rx.map(Either::Right)); + let mut value = Box::pin(stream); let mut connected = true; - while let Some(item) = stream.next().await { + while let Some(item) = value.next().await { match item { Either::Left(packet) => match packet { Ok(timeout_result) => match timeout_result { @@ -135,13 +140,13 @@ pub(crate) async fn udp_conn( if packet.need_date { let local = Utc::now(); - let micros = local.naive_utc().timestamp_subsec_micros(); + let micros = local.to_utc().timestamp_subsec_micros(); let second = local.time().second() as u8; let minute = local.time().minute() as u8; let hour = local.time().hour() as u8; - let day = local.date().day() as u8; - let month = local.date().month0() as u8; - let year = (local.date().year() - 1900) as u8; + let day = local.date_naive().day() as u8; + let month = local.date_naive().month0() as u8; + let year = (local.date_naive().year() - 1900) as u8; let tag = DTTag::new(micros, second, minute, hour, day, month, year); state.send().lock().await.queue_udp(UdpTag::DateTime(tag)); } @@ -258,7 +263,7 @@ pub(crate) async fn sim_conn(tx: UnboundedSender) -> Result<()> { use tokio::time::timeout; const SOCK_TIMEOUT: Duration = Duration::from_millis(250); - let mut sock = UdpSocket::bind("127.0.0.1:1135").await?; + let sock = UdpSocket::bind("127.0.0.1:1135").await?; let mut buf = [0]; let mut opmode = DsMode::Normal; loop { diff --git a/src/ds/conn/backoff.rs b/src/ds/conn/backoff.rs index 9bfddcc..13d2ae4 100644 --- a/src/ds/conn/backoff.rs +++ b/src/ds/conn/backoff.rs @@ -25,7 +25,7 @@ impl ExponentialBackoff { ) -> Result { if let Some(timeout) = self.timeout { println!("Backoff: waiting {:?}", timeout); - time::delay_for(timeout).await; + time::sleep(timeout).await; } match fut.await { Ok(out) => { @@ -53,7 +53,7 @@ impl ExponentialBackoff { return; } - let random_delay = Duration::from_millis(thread_rng().gen_range(1, 1000)); + let random_delay = Duration::from_millis(thread_rng().gen_range(1..1000)); let backoff_seconds = 2u64.pow(self.attempt as u32); diff --git a/src/lib.rs b/src/lib.rs index e0b1234..290c80a 100644 --- a/src/lib.rs +++ b/src/lib.rs @@ -12,7 +12,6 @@ #[macro_use] extern crate bitflags; -#[macro_use] extern crate smallvec; mod ds; diff --git a/src/proto/tcp.rs b/src/proto/tcp.rs index 27b6277..a6d94c1 100644 --- a/src/proto/tcp.rs +++ b/src/proto/tcp.rs @@ -11,11 +11,10 @@ pub mod outbound; /// The tokio codec for TCP traffic to and from the roboRIO pub struct DsTcpCodec; -impl Encoder for DsTcpCodec { - type Item = TcpTag; +impl Encoder for DsTcpCodec { type Error = failure::Error; - fn encode(&mut self, item: Self::Item, dst: &mut BytesMut) -> Result<(), Self::Error> { + fn encode(&mut self, item: TcpTag, dst: &mut BytesMut) -> Result<(), Self::Error> { match item { TcpTag::GameData(gd) => { dst.extend(gd.construct().iter()); diff --git a/src/proto/udp.rs b/src/proto/udp.rs index 9a796a6..82a0bcd 100644 --- a/src/proto/udp.rs +++ b/src/proto/udp.rs @@ -30,11 +30,10 @@ impl Decoder for DsUdpCodec { } } -impl Encoder for DsUdpCodec { - type Item = UdpControlPacket; +impl Encoder for DsUdpCodec { type Error = failure::Error; - fn encode(&mut self, item: Self::Item, dst: &mut BytesMut) -> Result<(), Self::Error> { + fn encode(&mut self, item: UdpControlPacket, dst: &mut BytesMut) -> Result<(), Self::Error> { dst.extend(item.encode().iter()); Ok(()) diff --git a/src/proto/udp/inbound/types.rs b/src/proto/udp/inbound/types.rs index 1493193..adb7d4a 100644 --- a/src/proto/udp/inbound/types.rs +++ b/src/proto/udp/inbound/types.rs @@ -1,6 +1,7 @@ pub mod tags; bitflags! { + #[derive(Clone, Copy, Debug, PartialEq)] pub struct Status: u8 { const ESTOP = 0b1000_0000; const BROWNOUT = 0b0001_0000; @@ -25,6 +26,7 @@ impl Status { } bitflags! { + #[derive(Clone, Copy, Debug)] pub struct Trace: u8 { const ROBOT_CODE = 0b0010_0000; const IS_ROBORIO = 0b0001_0000;