From d4efdb945572f3b29059be6e261dce5d8b8b07be Mon Sep 17 00:00:00 2001
From: Robert Hedman <robert.hedman@mac.com>
Date: Mon, 20 Nov 2017 20:09:14 +0100
Subject: [PATCH] Sync, before ip stuff
---
Cargo.lock | 14 +++++++-------
Cargo.toml | 2 +-
src/main.rs | 45 +++++++++++++++++++++++++++++++++------------
3 files changed, 41 insertions(+), 20 deletions(-)
diff --git a/Cargo.lock b/Cargo.lock
index 1958371..0b7acd1 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -1,10 +1,3 @@
-[[package]]
-name = "Rorientation"
-version = "0.1.0"
-dependencies = [
- "image 0.17.0 (registry+https://github.com/rust-lang/crates.io-index)",
-]
-
[[package]]
name = "adler32"
version = "1.0.2"
@@ -213,6 +206,13 @@ dependencies = [
"rand 0.3.18 (registry+https://github.com/rust-lang/crates.io-index)",
]
+[[package]]
+name = "rorientation"
+version = "0.1.0"
+dependencies = [
+ "image 0.17.0 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
[[package]]
name = "scoped_threadpool"
version = "0.1.8"
diff --git a/Cargo.toml b/Cargo.toml
index 1568cc1..c8e2825 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -1,5 +1,5 @@
[package]
-name = "Rorientation"
+name = "rorientation"
version = "0.1.0"
authors = ["Robert Hedman <robert.hedman@mac.com>"]
diff --git a/src/main.rs b/src/main.rs
index c7a91fb..fe5e69d 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -1,14 +1,22 @@
use std::thread;
use std::sync::mpsc;
+use std::time;
+
+
+// should the map matrix be two dim array of const size, vecs of dynamic, or what?
+
const ROWS: usize = 50;
const COLS: usize = 100;
fn main() {
- let map = [[0u32; ROWS]; COLS];
+ let mut map = [[0u32; ROWS]; COLS];
+ map[0][0] = 3;
+
+ println!("{}, {}", map[0][0], map[0][1]);
- let (requestLocationTX, requestLocationRX): (mpsc::Sender<bool>, mpsc::Receiver<bool>) = mpsc::channel();
- let (sendLocationTX, sendLocationRX): (mpsc::Sender<(i32, i32)>, mpsc::Receiver<(i32, i32)>) = mpsc::channel();
+ let (request_location_tx, request_location_rx): (mpsc::Sender<bool>, mpsc::Receiver<bool>) = mpsc::channel();
+ let (send_location_tx, send_location_rx): (mpsc::Sender<(i32, i32)>, mpsc::Receiver<(i32, i32)>) = mpsc::channel();
// location tracker
let tracker = thread::spawn(move || {
@@ -16,47 +24,60 @@ fn main() {
let mut pos: (i32, i32) = (0,0);
loop {
// get encoder data from arduino
+ let mut t: i32 = 0;
+ for _ in 0..1000 {
+ t = t+1;
+ };
+ for _ in 0..1000 {
+ t = t-1;
+ };
// update local variables
// check if position is requested
- match requestLocationRX.try_recv() {
+ match request_location_rx.try_recv() {
Ok(msg) => {
if msg == false {
println!("tracker got stop signal.");
break;
};
- sendLocationTX.send(pos).unwrap();
+ send_location_tx.send(pos).unwrap();
pos.0 += 1;
},
- Err(e) => {
+ Err(_) => {
//println!("Error: {}, on recieving side.", e);
//thread::sleep_ms(100);
+ pos.1 += 1;
},
};
};
+ println!("tracker exiting with local pos: {:?}", pos);
});
// mapper (gets lidar data, requests position and updates its map.)
let mapper = thread::spawn(move || {
println!("mapper started.");
// create empty map
- let mut pos: (i32, i32) = (0,0);
+ let mut pos: (i32, i32); //= (0,0);
loop {
// request position data
- requestLocationTX.send(true).unwrap();
- pos = sendLocationRX.recv().unwrap();
- println!("mapper pos: {:?} ",pos);
+ request_location_tx.send(true).unwrap();
+ pos = send_location_rx.recv().unwrap();
+ if pos.0 % 1000 == 0 {
+ println!("mapper pos: {:?} ",pos);
+ };
+
// request lidar data
// update map
- if pos.0 == 100 {
+ if pos.0 == 1000000 {
println!("mapper done.");
- requestLocationTX.send(false).unwrap();
+ request_location_tx.send(false).unwrap();
break;
}
+ //thread::sleep(time::Duration::new(0,50*1000000)); // from ms to ns
};
--
GitLab