From bdd68ce418dc35eb851c39c1fb4d405e4d98dd5a Mon Sep 17 00:00:00 2001
From: Robert Hedman <robert.hedman@mac.com>
Date: Sun, 26 Nov 2017 23:20:50 +0100
Subject: [PATCH] Small warning fixes
---
src/main.rs | 29 ++++++++++++-----------------
1 file changed, 12 insertions(+), 17 deletions(-)
diff --git a/src/main.rs b/src/main.rs
index 845340a..b5d6d46 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -11,10 +11,10 @@ use std::net::TcpListener;
extern crate serial;
use std::io;
use std::time::Duration;
-use std::io::prelude::*;
+//use std::io::prelude::*;
use serial::prelude::*;
-use std::str;
+//use std::str;
// should the map matrix be two dim array of const size, vecs of dynamic, or what?
@@ -34,7 +34,7 @@ fn main() {
thread::sleep(time::Duration::new(1,0));
loop {
match stream.read_exact(&mut message) {
- Ok(msg) => {println!("server got: {} {}", message[0], message[1]);
+ Ok(_) => {println!("server got: {} {}", message[0], message[1]);
let written_size = stream.write(&[69 as u8, 96 as u8]);
println!("server wrote {:?} to stream.", written_size);
},
@@ -59,25 +59,21 @@ fn main() {
let tracker = thread::spawn(move || {
println!("Tracker started.");
- let mut serialBuf: [u8; 8] = [0; 8];
+ let mut serial_buf: [u8; 8] = [0; 8];
let device = String::from("/dev/cu.usbmodem41");
let mut port = serial::open(&device).unwrap();
interact(&mut port).unwrap();
- let mut L: i32 = 0;
- let mut R: i32 = 0;
let mut pos: (i32, i32) = (0,0);
loop {
// get encoder data from arduino and update local variables
- match port.read_exact(&mut serialBuf){
+ match port.read_exact(&mut serial_buf){
Ok(_) => {
- L = freq_to_distance( ( ((serialBuf[0] as u32) << 24) + ((serialBuf[1] as u32) << 16) + ((serialBuf[2] as u32) << 8) + (serialBuf[3] as u32) ) as i32);
- R = freq_to_distance( ( ((serialBuf[4] as u32) << 24) + ((serialBuf[5] as u32) << 16) + ((serialBuf[6] as u32) << 8) + (serialBuf[7] as u32) ) as i32);
- print!("L: {}, ", L);
- println!("R: {}", R);
- pos.0 += L;
- pos.1 += R;
+ pos.0 = freq_to_distance( ( ((serial_buf[0] as u32) << 24) + ((serial_buf[1] as u32) << 16) + ((serial_buf[2] as u32) << 8) + (serial_buf[3] as u32) ) as i32);
+ pos.1 = freq_to_distance( ( ((serial_buf[4] as u32) << 24) + ((serial_buf[5] as u32) << 16) + ((serial_buf[6] as u32) << 8) + (serial_buf[7] as u32) ) as i32);
+ print!("L: {}, ", pos.0);
+ println!("R: {}", pos.1);
},
Err(e) => {
println!("Could not read all bytes: {:?}", e);
@@ -116,7 +112,7 @@ fn main() {
// set up connection to lidar
let mut stream = TcpStream::connect("127.0.0.1:8080").unwrap();
- let mut lidarBuf: [u8; 2] = [0; 2];
+ let mut lidar_buf: [u8; 2] = [0; 2];
// main loop for this thread
loop {
@@ -133,9 +129,9 @@ fn main() {
let stream_write_response = stream.write(&[65 as u8, 66 as u8]);
println!("mapper wrote {:?} to stream.", stream_write_response);
- match stream.read_exact(&mut lidarBuf){
+ match stream.read_exact(&mut lidar_buf){
Ok(_) => {
- println!("mapper got {}, {}, from lidar.", lidarBuf[0], lidarBuf[1]);
+ println!("mapper got {}, {}, from lidar.", lidar_buf[0], lidar_buf[1]);
},
Err(e) => {
println!("Could not read all bytes: {:?}", e);
@@ -169,7 +165,6 @@ fn main() {
// pathfinder, takes a map and returns a list of nodes to aim for when driving
// This will be a function for mapper to call.
- //
}
--
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