Fix warnings in rust and wire game data

Cargo.toml

@@ -12,7 +12,7 @@ lazy_static = "1.4.0"
 rust-embed = "5.1.0"
 serde = { version = "1.0.101", features = ["derive"] }
 serde_json = "1.0.41"
-ds = "0.3.4"
+ds = { path = "../ds-rs" }
 chrono = "0.4.9"
 gilrs = "0.7.2"
 spin = "0.5.2"
@@ -21,3 +21,4 @@ actix-web = "1.0.8"
 actix-rt = "0.2.5"
 mime_guess = "2.0.1"
 futures = "0.1.29"
+env_logger = "0.7.1"

src/input.rs

@@ -1,17 +1,11 @@
-use gilrs::{Gilrs, Button, Axis, Gamepad};
-use std::ops::{Deref, DerefMut};
-use std::sync::{Arc, Mutex, RwLock};
-use crate::state::State;
-use crate::util::map;
+use gilrs::{Gilrs, Gamepad};
+use std::sync::RwLock;
 use lazy_static::lazy_static;
 use std::thread;
 use ds::JoystickValue;
-use gilrs::ev::AxisOrBtn;
-use gilrs::ev::state::GamepadState;
 use spin::Once;
 use std::collections::HashMap;
 use std::time::Duration;
-use web_view::Handle;
 use crate::ipc::Message;
 
 mod mapping;
@@ -122,8 +116,6 @@ pub fn joystick_callback() -> Vec<Vec<JoystickValue>> {
     let mut sorted_joysticks = gil.gamepads().map(|(_, gp)| gp).collect::<Vec<Gamepad>>();
     sorted_joysticks.sort_by(|a, b| mappings.get(a.name()).unwrap_or(&0).cmp(mappings.get(b.name()).unwrap_or(&1)));
 
-    let mapped_numbers = mappings.values().collect::<Vec<&usize>>();
-
-    mapping::apply_mappings(min, mapped_numbers, sorted_joysticks)
+    mapping::apply_mappings(min, sorted_joysticks)
 }
 

src/input/mapping.rs

@@ -3,7 +3,7 @@ use ds::JoystickValue;
 use gilrs::ev::AxisOrBtn;
 use crate::util::map;
 
-pub fn apply_mappings(offset: usize, mappings: Vec<&usize>, gamepads: Vec<Gamepad>) -> Vec<Vec<JoystickValue>> {
+pub fn apply_mappings(offset: usize, gamepads: Vec<Gamepad>) -> Vec<Vec<JoystickValue>> {
     let mut all_values = vec![vec![]; 6];
 
     for (n, gamepad) in gamepads.iter().enumerate() {

src/ipc.rs

@@ -4,6 +4,9 @@ use ds::Mode as DsMode;
 #[derive(Serialize, Deserialize, Debug)]
 #[serde(tag = "type")]
 pub enum Message {
+    UpdateGSM {
+        gsm: String
+    },
     UpdateTeamNumber {
         team_number: u32,
     },
@@ -65,14 +68,6 @@ pub enum Mode {
 }
 
 impl Mode {
-    pub fn from_ds(mode: DsMode) -> Mode {
-        match mode {
-            DsMode::Autonomous => Mode::Autonomous,
-            DsMode::Teleoperated => Mode::Teleoperated,
-            DsMode::Test => Mode::Test
-        }
-    }
-
     pub fn to_ds(self) -> DsMode {
         match self {
             Mode::Autonomous => DsMode::Autonomous,

src/main.rs

@@ -1,16 +1,11 @@
 #![feature(decl_macro, proc_macro_hygiene)]
 use web_view::{Content, WVResult, Handle};
-use resources::Resources;
-use ds::{DriverStation, Alliance, TcpPacket};
 use ipc::*;
-use std::sync::{Arc, Mutex, RwLock};
+use std::sync::{Arc, RwLock};
 use std::thread;
 use std::time::Duration;
-use chrono::Local;
 use crate::state::State;
-use std::path::Path;
 use crate::input::MappingUpdate;
-use futures::future::Future;
 
 mod resources;
 mod ws;
@@ -26,11 +21,13 @@ static WV_HANDLE: Once<Handle<()>> = Once::new();
 static STDOUT_HANDLE: Once<Handle<()>> = Once::new();
 
 fn main() -> WVResult {
+    env_logger::init();
     let port = ws::launch_webserver();
     println!("Webserver launched on port {}", port);
 
-    let log_file_path = format!("stdout-{}.log", Local::now());
-    let mut state = Arc::new(RwLock::new(State::new(log_file_path)));
+    input::input_thread();
+
+    let state = Arc::new(RwLock::new(State::new()));
 
     let wv_state = state.clone();
     let mut webview = web_view::builder()
@@ -40,12 +37,18 @@ fn main() -> WVResult {
         //.resizable(false)
         .debug(true)
         .user_data(())
-        .invoke_handler(move |wv, arg| {
+        .invoke_handler(move |_wv, arg| {
             let mut state = wv_state.write().unwrap();
             match serde_json::from_str::<Message>(arg).unwrap() {
                 Message::UpdateTeamNumber { team_number } => {
-                    println!("Update to {}", team_number);
-                    state.update_ds(team_number);
+                    if team_number != state.ds.team_number() {
+                        state.update_ds(team_number);
+                    }
+                }
+                Message::UpdateGSM { gsm } => {
+                    if gsm.len() == 3 {
+                        let _ = state.ds.set_game_specific_message(&gsm);
+                    }
                 }
                 Message::UpdateMode { mode } => {
                     println!("Update mode to {:?}", mode);
@@ -102,6 +105,7 @@ fn main() -> WVResult {
     let stdout_handle = stdout_wv.handle();
     STDOUT_HANDLE.call_once(move || stdout_handle);
 
+
     let ticker_state = state.clone();
     let handle = webview.handle();
     thread::spawn(move || {
@@ -123,7 +127,6 @@ fn main() -> WVResult {
         }
     });
 
-    input::input_thread();
 
     loop {
         match webview.step() {

src/state.rs

@@ -1,51 +1,41 @@
 use ds::{DriverStation, Mode, Alliance, TcpPacket};
-use web_view::{Handle, Error, Content, WebView};
 use crate::ipc::Message;
-use std::thread;
-use std::sync::mpsc;
-use std::path::Path;
-use std::fs::{self, File, OpenOptions};
-use std::io::Write;
 
 pub struct State {
     pub ds: DriverStation,
     mode: Mode,
     pub has_joysticks: bool,
-    log_file: String
 }
 
 impl State {
-    pub fn new(log_file: String) -> State {
-//        if !Path::new(&log_file).exists() {
-//            File::create(log_file.clone()).unwrap();
-//        }
-        State {
-            ds: DriverStation::new_team(0, Alliance::new_red(1)),
-            mode: Mode::Autonomous,
-            has_joysticks: false,
-            log_file,
-        }
-    }
+    pub fn new() -> State {
+        let mut ds = DriverStation::new_team(0, Alliance::new_red(1));
 
-    fn update_consumer(&mut self) {
-//        let mut log_file = OpenOptions::new().write(true).open(&self.log_file).unwrap();
-        self.ds.set_tcp_consumer(move |packet| {
+        ds.set_tcp_consumer(move |packet| {
             let handle = crate::WV_HANDLE.wait().unwrap();
             let stdout_handle = crate::STDOUT_HANDLE.wait().unwrap();
-            let TcpPacket::Stdout(msg) = packet;
-//            log_file.write_all(format!("[{:.4}] {}\n", msg.timestamp, msg.message).as_bytes()).unwrap();
-            let msg = serde_json::to_string(&Message::NewStdout { message: msg.message }).unwrap();
-            let msg2 = msg.clone();
-            let _ = handle.dispatch(move |wv| wv.eval(&format!("update({})", msg)));
-            let _ = stdout_handle.dispatch(move |wv| wv.eval(&format!("update({})", msg2)));
+            match packet {
+                TcpPacket::Stdout(msg) => {
+                    let msg = serde_json::to_string(&Message::NewStdout { message: msg.message }).unwrap();
+                    let msg2 = msg.clone();
+                    let _ = handle.dispatch(move |wv| wv.eval(&format!("update({})", msg)));
+                    let _ = stdout_handle.dispatch(move |wv| wv.eval(&format!("update({})", msg2)));
+                }
+                TcpPacket::Dummy => {}
+            }
         });
+
+        ds.set_joystick_supplier(crate::input::joystick_callback);
+
+        State {
+            ds,
+            mode: Mode::Autonomous,
+            has_joysticks: false,
+        }
     }
 
     pub fn update_ds(&mut self, team_number: u32) {
-        self.ds = DriverStation::new_team(team_number, Alliance::new_red(1));
-        self.update_consumer();
-        self.ds.set_mode(self.mode);
-        self.ds.set_joystick_supplier(crate::input::joystick_callback);
+        self.ds.set_team_number(team_number);
     }
 
     pub fn set_mode(&mut self, mode: Mode) {

src/ws.rs

@@ -1,12 +1,10 @@
 use std::thread;
-use std::path::PathBuf;
 use crate::resources;
 use std::sync::mpsc;
 use actix_web::{HttpServer, web, HttpRequest, Responder, HttpResponse, App};
 use actix_web::body::Body;
 use resources::Resources;
 use std::borrow::Cow;
-use actix_web::dev::Server;
 
 fn assets(path: web::Path<String>) -> impl Responder {
     let path = path.into_inner();
@@ -48,7 +46,6 @@ pub fn launch_webserver() -> u16 {
     let (port_tx, port_rx) = mpsc::channel();
 
     thread::spawn(move || {
-        let sys = actix_rt::System::new("http-server");
         let server = HttpServer::new(|| {
             App::new().route("/", web::get().to(index))
                 .route("/stdout", web::get().to(stdout))

test.rs

@@ -0,0 +1,7 @@
+use std::net::UdpSocket;
+
+fn main() {
+    let sock = UdpSocket::bind("0.0.0.0:1150").unwrap();
+    println!("Connected! {}", sock.local_addr().unwrap());
+    loop {}
+}

ui/src/Lib/Ipc.elm

@@ -61,6 +61,7 @@ type Request
 
 type IpcMsg
     = UpdateTeamNumber { team_number : Int }
+    | UpdateGSM { gsm : String }
     | UpdateMode { mode : Mode }
     | UpdateEnableStatus { enabled : Bool }
     | JoystickUpdate { removed : Bool, name : String }
@@ -135,6 +136,11 @@ encodeRequest req =
 encodeMsg : IpcMsg -> E.Value
 encodeMsg msg =
     case msg of
+        UpdateGSM { gsm } ->
+            object
+                [ ("type", E.string "UpdateGSM")
+                , ("gsm", E.string gsm)
+                ]
         UpdateTeamNumber { team_number } ->
             object
                 [ ( "type", E.string "UpdateTeamNumber" )

ui/src/Lib/Model.elm

@@ -12,6 +12,7 @@ import Lib.Ipc as Ipc exposing (AllianceStation, Mode, Request, RobotState, robo
 
 type alias Model =
     { teamNumber : String -- Current contents of the team number text field, 0 if empty
+    , gsm : String -- Current contents of the game data field
     , enabled : Bool -- Whether the robot is enabled
     , mode : Mode -- The currently selected mode
     , alliance : AllianceStation -- The currently selected team station
@@ -33,6 +34,7 @@ type alias Model =
 initModel : Model
 initModel =
     { teamNumber = ""
+    , gsm = ""
     , enabled = False
     , estopped = False
     , mode = Ipc.Autonomous
@@ -73,6 +75,7 @@ type Msg
     | AllianceStationChange AllianceStation
     | RequestClick Request
     | TeamNumberChange String
+    | GSMChange String
     | BackendMessage Ipc.IpcMsg
     | InfiniteListMsg InfiniteList.Model
     | ChangePage ActivePage

ui/src/Lib/Ui.elm

@@ -210,7 +210,7 @@ controlTab model =
                 ]
             , div [ class "col-2" ]
                 [ p [ class "lead mt-4" ] [ text <| "Team # " ++ model.teamNumber ]
-                , p [ class "text-center mt-4", class <| voltageColour model.robotState.voltage ] [ b [] [ text <| Round.round 1 model.robotState.voltage ++ "V" ] ]
+                , p [ class "text-center mt-4", class <| voltageColour model.robotState.voltage ] [ b [] [ text <| Round.round 2 model.robotState.voltage ++ "V" ] ]
                 ]
             , div [ class "col" ]
                 [ div
@@ -322,7 +322,7 @@ configTab model =
                     ]
                 , label [ for "gameDataInput" ] [ text "Game Data" ]
                 , div [ class "input-group", class "mb-3" ]
-                    [ input [ type_ "text", class "form-control disabled", id "gameDataInput" ] []
+                    [ input [ type_ "text", class "form-control disabled", id "gameDataInput", value model.gsm, onInput GSMChange] []
                     ]
                 ]
             , div [ class "col" ] []

ui/src/Main.elm

@@ -30,6 +30,9 @@ updateTeamNumber : Int -> Cmd msg
 updateTeamNumber teamNumber =
     updateBackend <| Ipc.encodeMsg <| Ipc.UpdateTeamNumber { team_number = teamNumber }
 
+updateGSM : String -> Cmd msg
+updateGSM gsm =
+    updateBackend <| Ipc.encodeMsg <| Ipc.UpdateGSM { gsm = gsm }
 
 update : Msg -> Model -> ( Model, Cmd Msg )
 update msg model =
@@ -127,7 +130,7 @@ update msg model =
                                 ( model, Cmd.none )
 
                         Config ->
-                            ( model, updateTeamNumber <| (model.teamNumber |> String.toInt |> Maybe.withDefault 0) )
+                            ( model, Cmd.batch [ updateTeamNumber <| (model.teamNumber |> String.toInt |> Maybe.withDefault 0), updateGSM <| model.gsm ] )
 
                         JoysticksPage ->
                             ( model, Cmd.none )
@@ -168,6 +171,11 @@ update msg model =
             in
             ( { model | joystickMappings = updatedJoysticks }, updateBackend <| Ipc.encodeMsg <| Ipc.UpdateJoystickMapping { name = name, pos = n } )
 
+        GSMChange gsm ->
+            if String.length gsm <= 3 then
+                ({model | gsm = gsm }, Cmd.none)
+            else (model, Cmd.none)
+
         TeamNumberChange team ->
             if String.length team <= 4 then
                 case String.toInt team of