From 47238a29c1f65955024885feed62faed636cb9bb Mon Sep 17 00:00:00 2001
From: Robert Hedman <robert.hedman@mac.com>
Date: Wed, 13 Dec 2017 12:47:45 +0100
Subject: [PATCH] Fixed missing endOfMessage case in controller
---
src/main.rs | 13 ++++++++++---
1 file changed, 10 insertions(+), 3 deletions(-)
diff --git a/src/main.rs b/src/main.rs
index 01ee19c..39f787d 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -23,9 +23,12 @@ use serial::prelude::*;
//lidar
const LIDAR_ADDRESS: &str = "127.0.0.1:8080";
-const COUNTER_SERIAL_PORT: &str = "/dev/cu.usbmodem1422";
const LIDAR_BUF_SIZE: usize = 4096;
+//Arduinos
+const COUNTER_SERIAL_PORT: &str = "/dev/cu.usbmodem1422";
+const DRIVER_SERIAL_PORT: &str = "/dev/cu.usbmodem1423";
+
//controller
const REMOTE_OPERATOR_ADDRESS: &str = "10.9.0.3:30000"; // remember to double check port!
const CONTROLLER_SAMPLING_TIME: u32 = 200; //ms
@@ -89,7 +92,7 @@ fn main() {
// get controller input (We expect to set soloMode here.)
for r in stream.try_clone().expect("stream clone failed").bytes() {
match r {
- Ok(b) => { // TODO Add case if EOM is missing
+ Ok(b) => {
if b == 250 && !recording {
//println!("Server found start of message");
message[received_bytes] = b;
@@ -117,7 +120,11 @@ fn main() {
},
Err(_) => {}, //TODO
- }
+ }
+ if received_bytes > message_len && recording { // EOM is missing!
+ received_bytes = 0;
+ recording = false;
+ }
}
--
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