Working version for RaaS

Cargo.lock

@@ -657,9 +657,9 @@ dependencies = [
 
 [[package]]
 name = "raas_types"
-version = "0.0.2"
+version = "0.0.5"
 source = "registry+https://git.jojodev.com/joeyahines/_cargo-index.git"
-checksum = "6104c0c441473bc9c0817f9958a1c1e0db9ea7c72a7fee826b84a1d9d1baea62"
+checksum = "7d0a6f7cba2fbba29bee36deb3880dcb3a5022e898a2f71a7a4e377f816aced1"
 dependencies = [
  "bytes",
  "prost",
@@ -697,7 +697,7 @@ checksum = "adad44e29e4c806119491a7f06f03de4d1af22c3a680dd47f1e6e179439d1f56"
 
 [[package]]
 name = "roll_bot"
-version = "0.1.0"
+version = "0.2.0"
 dependencies = [
  "config",
  "env_logger",

Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "roll_bot"
-version = "0.1.0"
+version = "0.2.0"
 edition = "2021"
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
@@ -9,7 +9,7 @@ edition = "2021"
 structopt = "0.3.26"
 config = "0.14.0"
 rppal = "0.18.0"
-raas_types = { version = "0.0.2", registry = "jojo-dev"}
+raas_types = { version = "0.0.5", registry = "jojo-dev"}
 log = "0.4.21"
 env_logger = "0.11.3"
 thiserror = "1.0.61"

src/client.rs

@@ -3,14 +3,13 @@ use crate::roll_bot::RollBot;
 use log::{error, info, warn};
 use prost::Message;
 use raas_types::raas::bot::roll::{roll_cmd, Roll, RollCmd, RollImage, RollResponse};
-use raas_types::raas::cmd::command::Cmd;
+use raas_types::raas::cmd::request::Cmd;
 use raas_types::raas::cmd::Command;
 use raas_types::raas::ping::{Ping, Pong};
 use raas_types::raas::register::{BotTypes, Register, RegisterResponse};
 use raas_types::raas::resp::response::Resp;
 use raas_types::raas::resp::Response;
-use raas_types::raas::RaasMessage;
+use raas_types::raas::{recv_raas_msg, send_raas_msg};
-use std::io::{Read, Write};
 use std::net::TcpStream;
 use std::time::{SystemTime, UNIX_EPOCH};
 use thiserror::Error;
@@ -73,9 +72,9 @@ impl Client {
         let mut message = Vec::new();
         register_msg.encode(&mut message)?;
 
-        Self::send_packet(socket, message)?;
+        send_raas_msg(socket, message)?;
 
-        let resp = Self::receive_packet(socket)?;
+        let resp = recv_raas_msg(socket)?;
 
         let register_msg = RegisterResponse::decode(&*resp.msg)?;
 
@@ -89,34 +88,15 @@ impl Client {
         Ok(())
     }
 
-    fn receive_packet(socket: &mut TcpStream) -> Result<RaasMessage, Error> {
-        let mut message_len_bytes = [0u8; 4];
-        socket.read_exact(&mut message_len_bytes)?;
-
-        let len = u32::from_be_bytes(message_len_bytes);
-
-        let mut message = vec![0u8; len as usize];
-
-        socket.read_exact(&mut message)?;
-
-        Ok(RaasMessage { len, msg: message })
-    }
-
-    fn send_packet(socket: &mut TcpStream, data: Vec<u8>) -> Result<(), Error> {
-        let msg = RaasMessage::new(data);
-
-        socket.write_all(&msg.into_bytes())?;
-        Ok(())
-    }
-
     fn get_next_command(&mut self, socket: &mut TcpStream) -> Result<RollCmd, Error> {
-        let msg = Self::receive_packet(socket)?;
+        let msg = recv_raas_msg(socket)?;
 
         let command = Command::decode(&*msg.msg)?;
 
         info!(
             "Received command for id={} timestamp={}",
-            command.id, command.timestamp
+            command.id,
+            &command.request.as_ref().unwrap().timestamp
         );
 
         if command.id != self.id.unwrap() {
@@ -124,7 +104,7 @@ impl Client {
             return Err(Error::InvalidCommandID);
         }
 
-        match command.cmd.unwrap() {
+        match command.request.unwrap().cmd.unwrap() {
             Cmd::RollCmd(cmd) => Ok(cmd),
             #[allow(unreachable_patterns)]
             _ => {
@@ -155,10 +135,23 @@ impl Client {
         info!("Doing roll...");
         self.roll_bot.roll(roll.rotations)?;
 
+        let capture_exit = std::process::Command::new("libcamera-still")
+            .arg("--output")
+            .arg("/tmp/out.jpg")
+            .status()
+            .unwrap();
+
+        let img_data = if !capture_exit.success() {
+            error!("Failed to capture image ret={}", capture_exit);
+            vec![]
+        } else {
+            std::fs::read("/tmp/out.jpg")?
+        };
+
         let resp = RollResponse {
             response: Some(
                 raas_types::raas::bot::roll::roll_response::Response::RollImage(RollImage {
-                    img: vec![],
+                    img: img_data,
                 }),
             ),
         };
@@ -183,11 +176,11 @@ impl Client {
             resp: Some(Resp::RollResp(roll_resp)),
         };
 
-        let mut message = vec![0u8; 1024];
+        let mut message = Vec::new();
 
         resp.encode(&mut message)?;
 
-        Self::send_packet(socket, message)?;
+        send_raas_msg(socket, message)?;
 
         Ok(())
     }

src/config.rs

@@ -7,6 +7,8 @@ use structopt::StructOpt;
 #[derive(StructOpt)]
 pub struct Args {
     pub config_file: PathBuf,
+    #[structopt(short, long)]
+    pub test: bool,
 }
 
 #[derive(Debug, Clone, Serialize, Deserialize)]

src/main.rs

@@ -37,15 +37,23 @@ fn main() -> Result<(), Box<dyn Error>> {
 
     roll_bot.set_pwm_output(Duration::from_micros(config.pwm_config.pulse_min_us))?;
 
-    let mut client = Client::new(config, roll_bot);
+    if args.test {
+        let res = roll_bot.roll(3);
 
-    let res = client.run_client();
+        match res {
+            Ok(_) => info!("Test completed, exiting..."),
+            Err(err) => error!("Error rolling die: {}", err),
+        }
+    } else {
+        let mut client = Client::new(config, roll_bot);
+        let res = client.run_client();
 
-    if let Err(err) = res {
+        if let Err(err) = res {
-        error!("Error in client: {}", err);
+            error!("Error in client: {}", err);
+        }
+
+        info!("Roll Bot shutting down...");
     }
 
-    info!("Roll Bot shutting down...");
-
     Ok(())
 }