Kd-Ag/wdt mz

fsae-raspi/Cargo.toml

@@ -15,3 +15,7 @@ config = "0.15"
 rumqttc = "0.25"
 rumqttd = "0.20"
 tokio-socketcan-isotp = "0.2.0"
+
+[[bin]]
+name = "test"
+path = "src/test.rs"

fsae-raspi/src/can.rs

@@ -1,151 +1,151 @@
-use std::time::Duration;
-
-use crate::send::{send_message, Reading};
-// use rand::Rng;
-use serde::Serialize;
-use tokio::time::sleep;
-use tokio_socketcan_isotp::{IsoTpSocket, StandardId};
-
-const CAN_INTERFACE: &str = "can0";
-
-macro_rules! define_enum {
-    ($name:ident, $($variant:ident = $value:expr),*) => {
-        #[derive(Serialize)]
-        #[allow(clippy::enum_variant_names)]
-        enum $name {
-            $($variant = $value),*
-        }
-
-        impl $name {
-            fn from_byte(byte: u8) -> Self {
-                match byte {
-                    $($value => Self::$variant),*,
-                    _ => panic!("Invalid value for {}", stringify!($name)),
-                }
-            }
-        }
-    };
-}
-
-define_enum!(
-    MotorState,
-    MotorStateOff = 0,
-    MotorStatePrecharging = 1,
-    MotorStateIdle = 2,
-    MotorStateDriving = 3,
-    MotorStateFault = 4
-);
-
-define_enum!(
-    MotorRotateDirection,
-    DirectionStandby = 0,
-    DirectionForward = 1,
-    DirectionBackward = 2,
-    DirectionError = 3
-);
-
-define_enum!(
-    MCUMainState,
-    StateStandby = 0,
-    StatePrecharge = 1,
-    StatePowerReady = 2,
-    StateRun = 3,
-    StatePowerOff = 4
-);
-
-define_enum!(
-    MCUWorkMode,
-    WorkModeStandby = 0,
-    WorkModeTorque = 1,
-    WorkModeSpeed = 2
-);
-
-define_enum!(
-    MCUWarningLevel,
-    ErrorNone = 0,
-    ErrorLow = 1,
-    ErrorMedium = 2,
-    ErrorHigh = 3
-);
-
-#[derive(Serialize)]
-struct TelemetryData {
-    apps_travel: f32,
-    motor_speed: f32,
-    motor_torque: f32,
-    max_motor_torque: f32,
-    motor_direction: MotorRotateDirection,
-    motor_state: MotorState,
-    mcu_main_state: MCUMainState,
-    mcu_work_mode: MCUWorkMode,
-    mcu_voltage: f32,
-    mcu_current: f32,
-    motor_temp: i32,
-    mcu_temp: i32,
-    dc_main_wire_over_volt_fault: bool,
-    dc_main_wire_over_curr_fault: bool,
-    motor_over_spd_fault: bool,
-    motor_phase_curr_fault: bool,
-    motor_stall_fault: bool,
-    mcu_warning_level: MCUWarningLevel,
-    debug_0: f32,
-    debug_1: f32,
-    debug_2: f32,
-    debug_3: f32,
-}
-
-impl Reading for TelemetryData {
-    fn topic() -> &'static str {
-        "telemetry"
-    }
-}
-
-fn parse_bool(byte: u8) -> bool {
-    byte != 0
-}
-
-pub async fn read_can() {
-    loop {
-        let Ok(socket) = IsoTpSocket::open(
-            CAN_INTERFACE,
-            StandardId::new(0x666).expect("Invalid src id"),
-            StandardId::new(0x777).expect("Invalid src id"),
-        ) else {
-            println!("Failed to open socket");
-            sleep(Duration::from_secs(1)).await;
-            continue;
-        };
-
-        while let Ok(packet) = socket.read_packet().await {
-            if packet.len() != 58 {
-                println!("Invalid packet length {}: {:?}", packet.len(), packet);
-                continue;
-            }
-            send_message(TelemetryData {
-                apps_travel: f32::from_le_bytes(packet[0..4].try_into().unwrap()),
-                motor_speed: f32::from_le_bytes(packet[4..8].try_into().unwrap()),
-                motor_torque: f32::from_le_bytes(packet[8..12].try_into().unwrap()),
-                max_motor_torque: f32::from_le_bytes(packet[12..16].try_into().unwrap()),
-                motor_direction: MotorRotateDirection::from_byte(packet[16]),
-                motor_state: MotorState::from_byte(packet[17]),
-                mcu_main_state: MCUMainState::from_byte(packet[18]),
-                mcu_work_mode: MCUWorkMode::from_byte(packet[19]),
-                mcu_voltage: f32::from_le_bytes(packet[20..24].try_into().unwrap()),
-                mcu_current: f32::from_le_bytes(packet[24..28].try_into().unwrap()),
-                motor_temp: i32::from_le_bytes(packet[28..32].try_into().unwrap()),
-                mcu_temp: i32::from_le_bytes(packet[32..36].try_into().unwrap()),
-                dc_main_wire_over_volt_fault: parse_bool(packet[36]),
-                dc_main_wire_over_curr_fault: parse_bool(packet[37]),
-                motor_over_spd_fault: parse_bool(packet[38]),
-                motor_phase_curr_fault: parse_bool(packet[39]),
-                motor_stall_fault: parse_bool(packet[40]),
-                mcu_warning_level: MCUWarningLevel::from_byte(packet[41]),
-                debug_0: f32::from_le_bytes(packet[42..46].try_into().unwrap()),
-                debug_1: f32::from_le_bytes(packet[46..50].try_into().unwrap()),
-                debug_2: f32::from_le_bytes(packet[50..54].try_into().unwrap()),
-                debug_3: f32::from_le_bytes(packet[54..58].try_into().unwrap()),
-            })
-            .await;
-        }
-    }
-}
+use std::time::Duration;
+
+use crate::send::{send_message, Reading};
+// use rand::Rng;
+use serde::Serialize;
+use tokio::time::sleep;
+use tokio_socketcan_isotp::{IsoTpSocket, StandardId};
+
+const CAN_INTERFACE: &str = "can0";
+
+macro_rules! define_enum {
+    (pub $name:ident, $($variant:ident = $value:expr),*) => {
+        #[derive(Serialize, Clone)]
+        #[allow(clippy::enum_variant_names)]
+        pub enum $name {
+            $($variant = $value),*
+        }
+
+        impl $name {
+            fn from_byte(byte: u8) -> Self {
+                match byte {
+                    $($value => Self::$variant),*,
+                    _ => panic!("Invalid value for {}", stringify!($name)),
+                }
+            }
+        }
+    };
+}
+
+define_enum!(
+    pub MotorState,
+    MotorStateOff = 0,
+    MotorStatePrecharging = 1,
+    MotorStateIdle = 2,
+    MotorStateDriving = 3,
+    MotorStateFault = 4
+);
+
+define_enum!(
+    pub MotorRotateDirection,
+    DirectionStandby = 0,
+    DirectionForward = 1,
+    DirectionBackward = 2,
+    DirectionError = 3
+);
+
+define_enum!(
+    pub MCUMainState,
+    StateStandby = 0,
+    StatePrecharge = 1,
+    StatePowerReady = 2,
+    StateRun = 3,
+    StatePowerOff = 4
+);
+
+define_enum!(
+    pub MCUWorkMode,
+    WorkModeStandby = 0,
+    WorkModeTorque = 1,
+    WorkModeSpeed = 2
+);
+
+define_enum!(
+    pub MCUWarningLevel,
+    ErrorNone = 0,
+    ErrorLow = 1,
+    ErrorMedium = 2,
+    ErrorHigh = 3
+);
+
+#[derive(Serialize, Clone)]
+pub struct TelemetryData {
+    pub apps_travel: f32,
+    pub motor_speed: f32,
+    pub motor_torque: f32,
+    pub max_motor_torque: f32,
+    pub motor_direction: MotorRotateDirection,
+    pub motor_state: MotorState,
+    pub mcu_main_state: MCUMainState,
+    pub mcu_work_mode: MCUWorkMode,
+    pub mcu_voltage: f32,
+    pub mcu_current: f32,
+    pub motor_temp: i32,
+    pub mcu_temp: i32,
+    pub dc_main_wire_over_volt_fault: bool,
+    pub dc_main_wire_over_curr_fault: bool,
+    pub motor_over_spd_fault: bool,
+    pub motor_phase_curr_fault: bool,
+    pub motor_stall_fault: bool,
+    pub mcu_warning_level: MCUWarningLevel,
+    pub debug_0: f32,
+    pub debug_1: f32,
+    pub debug_2: f32,
+    pub debug_3: f32,
+}
+
+impl Reading for TelemetryData {
+    fn topic() -> &'static str {
+        "telemetry"
+    }
+}
+
+fn parse_bool(byte: u8) -> bool {
+    byte != 0
+}
+
+pub async fn read_can() {
+    loop {
+        let Ok(socket) = IsoTpSocket::open(
+            CAN_INTERFACE,
+            StandardId::new(0x666).expect("Invalid src id"),
+            StandardId::new(0x777).expect("Invalid src id"),
+        ) else {
+            println!("Failed to open socket");
+            sleep(Duration::from_secs(1)).await;
+            continue;
+        };
+
+        while let Ok(packet) = socket.read_packet().await {
+            if packet.len() != 58 {
+                println!("Invalid packet length {}: {:?}", packet.len(), packet);
+                continue;
+            }
+            send_message(TelemetryData {
+                apps_travel: f32::from_le_bytes(packet[0..4].try_into().unwrap()),
+                motor_speed: f32::from_le_bytes(packet[4..8].try_into().unwrap()),
+                motor_torque: f32::from_le_bytes(packet[8..12].try_into().unwrap()),
+                max_motor_torque: f32::from_le_bytes(packet[12..16].try_into().unwrap()),
+                motor_direction: MotorRotateDirection::from_byte(packet[16]),
+                motor_state: MotorState::from_byte(packet[17]),
+                mcu_main_state: MCUMainState::from_byte(packet[18]),
+                mcu_work_mode: MCUWorkMode::from_byte(packet[19]),
+                mcu_voltage: f32::from_le_bytes(packet[20..24].try_into().unwrap()),
+                mcu_current: f32::from_le_bytes(packet[24..28].try_into().unwrap()),
+                motor_temp: i32::from_le_bytes(packet[28..32].try_into().unwrap()),
+                mcu_temp: i32::from_le_bytes(packet[32..36].try_into().unwrap()),
+                dc_main_wire_over_volt_fault: parse_bool(packet[36]),
+                dc_main_wire_over_curr_fault: parse_bool(packet[37]),
+                motor_over_spd_fault: parse_bool(packet[38]),
+                motor_phase_curr_fault: parse_bool(packet[39]),
+                motor_stall_fault: parse_bool(packet[40]),
+                mcu_warning_level: MCUWarningLevel::from_byte(packet[41]),
+                debug_0: f32::from_le_bytes(packet[42..46].try_into().unwrap()),
+                debug_1: f32::from_le_bytes(packet[46..50].try_into().unwrap()),
+                debug_2: f32::from_le_bytes(packet[50..54].try_into().unwrap()),
+                debug_3: f32::from_le_bytes(packet[54..58].try_into().unwrap()),
+            })
+            .await;
+        }
+    }
+}

fsae-raspi/src/lib.rs

@@ -0,0 +1,5 @@
+pub mod can;
+pub mod send;
+pub mod mqtt;
+pub mod influxdb;
+pub mod utils;