diff options
| -rw-r--r-- | Android.bp | 2 | ||||
| -rw-r--r-- | Cargo.lock | 10 | ||||
| -rw-r--r-- | Cargo.toml | 6 | ||||
| -rw-r--r-- | METADATA | 4 | ||||
| -rw-r--r-- | build.rs | 2 | ||||
| -rw-r--r-- | src/bin/http-server/main.rs | 19 | ||||
| -rw-r--r-- | src/bin/main.rs | 4 | ||||
| -rw-r--r-- | src/device.rs | 24 | ||||
| -rw-r--r-- | src/lib.rs | 23 | ||||
| -rw-r--r-- | src/session.rs | 4 |
10 files changed, 56 insertions, 42 deletions
@@ -17,7 +17,7 @@ license { genrule { name: "libpica_uci_packets", - defaults: ["pdl_rust_generator_defaults"], + defaults: ["pdl_rust_legacy_generator_defaults"], srcs: ["src/uci_packets.pdl"], out: ["uci_packets.rs"], } @@ -491,9 +491,9 @@ checksum = "9b7820b9daea5457c9f21c69448905d723fbd21136ccf521748f23fd49e723ee" [[package]] name = "pdl-compiler" -version = "0.2.3" +version = "0.3.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "d277c9e6a1869e95522f9bd532bc225f85c03434b48cd914524235910f9ccdbe" +checksum = "6853e3b47aa4a5be1287e9115d6fae9b3118971eba855f4d60323d19a66c07cf" dependencies = [ "argh", "codespan-reporting", @@ -510,9 +510,9 @@ dependencies = [ [[package]] name = "pdl-runtime" -version = "0.2.3" +version = "0.3.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "ce05e0a116b0250bb41732e2858eada706aebdf311d7f832898c9256bb442abe" +checksum = "a8684812e36689336c83de6033669573b33b6e59c831145ee496c38a71ed0d7c" dependencies = [ "bytes", "thiserror", @@ -565,7 +565,7 @@ dependencies = [ [[package]] name = "pica" -version = "0.1.9" +version = "0.1.11" dependencies = [ "anyhow", "bytes", @@ -1,6 +1,6 @@ [package] name = "pica" -version = "0.1.9" +version = "0.1.11" edition = "2021" description = "Pica is a virtual UWB Controller implementing the FiRa UCI specification." repository = "https://github.com/google/pica" @@ -41,7 +41,7 @@ default = ["web"] web = ["hyper", "tokio/rt-multi-thread"] [build-dependencies] -pdl-compiler = "0.2.3" +pdl-compiler = "0.3.0" [dependencies] anyhow = "1.0.56" @@ -55,7 +55,7 @@ log = "0.4.17" env_logger = { version = "0.10.0", default-features = false } num-derive = "0.3.3" num-traits = "0.2.17" -pdl-runtime = "0.2.2" +pdl-runtime = "0.3.0" serde = { version = "1.0", features = ["derive"] } serde_json = "1.0" thiserror = "1.0.49" @@ -12,7 +12,7 @@ third_party { type: GIT value: "https://github.com/google/pica.git" } - version: "v0.1.9" + version: "v0.1.11" license_type: NOTICE - last_upgrade_date { year: 2024 month: 4 day: 5 } + last_upgrade_date { year: 2024 month: 6 day: 3 } } @@ -39,7 +39,7 @@ fn generate_module(in_file: &Path) { ) .expect("PDL parse failed"); let analyzed_file = pdl_compiler::analyzer::analyze(&parsed_file).expect("PDL analysis failed"); - let rust_source = pdl_compiler::backends::rust::generate(&sources, &analyzed_file); + let rust_source = pdl_compiler::backends::rust_legacy::generate(&sources, &analyzed_file); out_file .write_all(rust_source.as_bytes()) .expect("Could not write to output file"); diff --git a/src/bin/http-server/main.rs b/src/bin/http-server/main.rs index 0882661..e248040 100644 --- a/src/bin/http-server/main.rs +++ b/src/bin/http-server/main.rs @@ -356,21 +356,12 @@ impl pica::RangingEstimator for Context { &self, left: &pica::Handle, right: &pica::Handle, - ) -> anyhow::Result<pica::RangingMeasurement> { - let devices = self - .devices - .lock() - .map_err(|_| anyhow::anyhow!("cannot take lock"))?; - let left_pos = devices - .get(left) - .ok_or(anyhow::anyhow!("unknown position"))? - .position; - let right_pos = devices - .get(right) - .ok_or(anyhow::anyhow!("unknown position"))? - .position; + ) -> Option<pica::RangingMeasurement> { + let devices = self.devices.lock().ok()?; + let left_pos = devices.get(left)?.position; + let right_pos = devices.get(right)?.position; let (range, azimuth, elevation) = left_pos.compute_range_azimuth_elevation(&right_pos); - Ok(pica::RangingMeasurement { + Some(pica::RangingMeasurement { range, azimuth, elevation, diff --git a/src/bin/main.rs b/src/bin/main.rs index 205550e..96ffe6c 100644 --- a/src/bin/main.rs +++ b/src/bin/main.rs @@ -67,8 +67,8 @@ impl pica::RangingEstimator for MockRangingEstimator { &self, _left: &pica::Handle, _right: &pica::Handle, - ) -> Result<pica::RangingMeasurement> { - Err(anyhow::anyhow!("position not available")) + ) -> Option<pica::RangingMeasurement> { + Some(Default::default()) } } diff --git a/src/device.rs b/src/device.rs index eec1c7f..62f3ffc 100644 --- a/src/device.rs +++ b/src/device.rs @@ -19,6 +19,7 @@ use crate::PicaCommand; use std::collections::HashMap; use std::time::Duration; +use pdl_runtime::Packet; use tokio::sync::mpsc; use tokio::time; @@ -142,8 +143,13 @@ impl Device { let tx = self.tx.clone(); tokio::spawn(async move { time::sleep(Duration::from_millis(5)).await; - tx.send(CoreDeviceStatusNtfBuilder { device_state }.build().into()) - .unwrap() + tx.send( + CoreDeviceStatusNtfBuilder { device_state } + .build() + .encode_to_vec() + .unwrap(), + ) + .unwrap() }); } @@ -194,8 +200,13 @@ impl Device { } // Send a response or notification to the Host. - fn send_control(&mut self, packet: impl Into<Vec<u8>>) { - let _ = self.tx.send(packet.into()); + fn send_raw_control(&mut self, packet: Vec<u8>) { + let _ = self.tx.send(packet); + } + + // Send a response or notification to the Host. + fn send_control(&mut self, packet: impl Packet) { + self.send_raw_control(packet.encode_to_vec().unwrap()); } // The fira norm specify to send a response, then reset, then @@ -753,7 +764,8 @@ impl Device { session_token: session_handle, } .build() - .into(), + .encode_to_vec() + .unwrap(), ) .unwrap() }); @@ -1050,7 +1062,7 @@ impl Device { 1, status.into(), ]; - self.send_control(response) + self.send_raw_control(response) } // Parsing success, ignore non command packets. @@ -13,6 +13,7 @@ // limitations under the License. use anyhow::Result; +use pdl_runtime::Packet; use serde::{Deserialize, Serialize}; use std::collections::HashMap; use std::fmt::Display; @@ -62,7 +63,9 @@ pub trait RangingEstimator: Send + Sync { /// identified by their respective handle. The result is a triplet /// containing the range, azimuth, and elevation of the right device /// relative to the left device. - fn estimate(&self, left: &Handle, right: &Handle) -> Result<RangingMeasurement>; + /// Return `None` if the measurement could not be estimated, e.g. because + /// the devices are out of range. + fn estimate(&self, left: &Handle, right: &Handle) -> Option<RangingMeasurement>; } /// Pica emulation environment. @@ -413,14 +416,18 @@ impl Pica { // Look for compatible anchors. for mac_address in session.get_dst_mac_address() { if let Some(other) = self.anchors.get(mac_address) { - let local = self + let Some(local) = self .ranging_estimator .estimate(&device.handle, &other.handle) - .unwrap_or(Default::default()); - let remote = self + else { + continue; + }; + let Some(remote) = self .ranging_estimator .estimate(&other.handle, &device.handle) - .unwrap_or(Default::default()); + else { + continue; + }; measurements.push(make_measurement(mac_address, local, remote)); } } @@ -471,7 +478,8 @@ impl Pica { status: uci::Status::Ok, } .build() - .into(), + .encode_to_vec() + .unwrap(), ) .unwrap(); } @@ -489,7 +497,8 @@ impl Pica { vendor_data: vec![], } .build() - .into(), + .encode_to_vec() + .unwrap(), ) .unwrap(); diff --git a/src/session.rs b/src/session.rs index 2ee656a..e31a262 100644 --- a/src/session.rs +++ b/src/session.rs @@ -19,6 +19,7 @@ use crate::packets::uci::{self, *}; use crate::{AppConfig, MacAddress}; use bytes::BytesMut; +use pdl_runtime::Packet; use std::time::Duration; use tokio::sync::mpsc; use tokio::task::JoinHandle; @@ -80,7 +81,8 @@ impl Session { reason_code: reason_code.into(), } .build() - .into(), + .encode_to_vec() + .unwrap(), ) .unwrap() }); |