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lenn
2026-04-22 23:51:15 +08:00
commit 05accd3690
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1
.gitignore vendored Normal file
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/target

1053
Cargo.lock generated Normal file
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Cargo.toml Normal file
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[package]
name = "JE-Skin-Cli"
version = "0.1.0"
edition = "2024"
[dependencies]
anyhow = "1.0.102"
clap = "4.6.1"
fern = {version = "0.7.1", features=["colored", "date-based"]}
humantime = "2.3.0"
log = "0.4.29"
tokio = {version = "1.52.1", features=["full"]}
tokio-serial = "5.4.5"
tokio-util = "0.7.18"
csv = "1.4.0"
chrono = "0.4.44"
crc = "3.4.0"
async-trait = "0.1.89"
serde = { version = "1.0.228", features=["derive"]}
serde_json = "1.0.149"

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src/app.rs Normal file
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use std::{sync::{Arc, Mutex}, thread::JoinHandle};
use tokio_util::sync::CancellationToken;
use crate::serial_core::{TactileARecording, error::SerialError};
struct SerialSession {
port: String,
cancel: CancellationToken,
task: JoinHandle<()>,
current_record: Arc<Mutex<TactileARecording>>
}
pub struct SerialConnectionState {
session: Mutex<Option<SerialSession>>,
last_record: Mutex<Option<Arc<Mutex<TactileARecording>>>>
}
pub async fn serial_connect(
port: String,
state: Arc<SerialConnectionState>
) -> Result<(), SerialError> {
let port_name = port.trim().to_string();
if port_name.is_empty() {
return Err(SerialError::InvalidConfig);
}
{
let session = state.session.lock().map_err(|_| SerialError::StateError)?;
if session.is_some() {
return Err(SerialError::AlreadyConnected);
}
}
}

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src/flog.rs Normal file
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use fern::{Dispatch, colors::{ColoredLevelConfig, Color}, DateBased};
use log::{debug};
use std::time::SystemTime;
pub fn setup_logger() {
let colors_line = ColoredLevelConfig::new()
.error(Color::Red)
.warn(Color::Yellow)
.info(Color::Green)
.debug(Color::White)
.trace(Color::BrightBlack);
let colors_level = colors_line.info(Color::Green);
let level = if cfg!(debug_assertions) {
log::LevelFilter::Debug
} else {
log::LevelFilter::Info
};
let console_config = fern::Dispatch::new()
.format(move |out, message, record| {
out.finish(
format_args!(
"{colors_line}[{data} {level} {target} {colors_line}] {message}\x1B[0m",
colors_line = format_args!(
"\x1B[{}m",
colors_line.get_color(&record.level()).to_fg_str()
),
data = humantime::format_rfc3339_seconds(SystemTime::now()),
target = record.target(),
level = colors_level.color(record.level()),
message = message,
)
);
})
.level(level)
.chain(std::io::stdout());
let data_based_config = fern::Dispatch::new()
.format(move |out, message, record| {
out.finish(
format_args!(
"[{data} {level} {target}] {message}",
data = humantime::format_rfc3339_seconds(SystemTime::now()),
target = record.target(),
level = colors_level.color(record.level()),
message = message,
)
);
})
.level(level)
.chain(fern::DateBased::new("program.log", "%Y-%m-%d"));
Dispatch::new()
.level(log::LevelFilter::Debug)
.chain(console_config)
.chain(data_based_config)
.apply()
.unwrap();
}

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src/main.rs Normal file
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pub mod serial_core;
pub mod flog;
pub mod app;
fn main() {
println!("Hello, world!");
}

6
src/serial_core/codec.rs Normal file
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use crate::serial_core::error::CodecError;
use std::time::Instant;
pub trait Codec<F> {
fn decode(&mut self, input: &[u8], session_started_at: Instant) -> Result<Vec<F>, CodecError>;
fn encode(&self, frame: &F) -> Result<Vec<u8>, CodecError>;
}

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src/serial_core/codecs/mod.rs Normal file
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use crate::serial_core::{frame::TestFrame, record::Recording};
pub mod test;
pub mod tactile_a;
pub type TestRecording = Recording<TestFrame>;

382
src/serial_core/codecs/tactile_a.rs Normal file
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use crate::serial_core::error::CodecError;
use crate::serial_core::frame::{
FrameHandler, TactileAFrameMetaData, TactileARepFrame, TactileAReqFrame,
};
use crate::serial_core::record::{write_csv, CsvExporter, CsvImporter, RecordedFrame, Recording};
use crate::serial_core::utils::{calc_crc8_itu, elapsed_millis};
use crate::serial_core::{
codec::Codec,
frame::{TactileAFrame, TactileAFrameStatusCode},
};
use async_trait::async_trait;
use csv::StringRecord;
use anyhow::anyhow;
use std::io::Read;
use log::debug;
const FRAME_BUFFER_MIN_LENGTH: usize = 15;
pub struct TactileACodec {
buffer: Vec<u8>,
expected_data_len: usize,
}
pub struct TactileACsvExporter {
channels: usize,
}
pub struct TactileACsvImporter {
channels: usize,
data_row: usize,
packets: Vec<TactileADataPacket>,
}
pub struct TactileAHandler;
#[derive(Clone)]
pub struct TactileADataPacket {
pub data: Vec<i32>,
pub dts_ms: u64,
}
impl From<u8> for TactileAFrameStatusCode {
fn from(value: u8) -> Self {
match value {
0 => TactileAFrameStatusCode::Success,
_ => TactileAFrameStatusCode::Failure,
}
}
}
impl TryFrom<&TactileARepFrame> for TactileADataPacket {
type Error = CodecError;
fn try_from(value: &TactileARepFrame) -> Result<TactileADataPacket, Self::Error> {
let data = TactileACodec::parse_data_frame(&value.payload)?;
let dts_ms = value.dts_ms;
Ok(TactileADataPacket {
data: data,
dts_ms: dts_ms,
})
}
}
impl TactileACodec {
pub fn new(cols: usize, rows: usize) -> TactileACodec {
Self {
buffer: Vec::new(),
expected_data_len: cols * rows * 2,
}
}
pub fn parse_data_frame(data: &[u8]) -> Result<Vec<i32>, CodecError> {
if data.len() % 2 != 0 {
return Err(CodecError::InvalidLength);
}
let vals: Vec<i32> = data
.chunks_exact(2)
.map(|chunk| {
let raw = u16::from_le_bytes([chunk[0], chunk[1]]) as i32;
if raw < 15 {
0
} else {
raw
}
})
.collect::<Vec<i32>>();
Ok(vals)
}
pub fn build_req_frame(cols: usize, rows: usize) -> anyhow::Result<TactileAFrame> {
let header = [0x55, 0xAA];
let payload_len: usize = 9;
let device_addr: u8 = 0x34;
let extend_code: u8 = 0x00;
let func_code: u8 = 0xFB;
let start_addr: u32 = 7168;
let except_data_len: usize = cols * rows * 2;
let checksum: u8 = 0;
Ok(TactileAFrame::Req(TactileAReqFrame {
meta: TactileAFrameMetaData {
header,
payload_len,
device_addr,
extend_code,
func_code,
start_addr,
except_data_len,
checksum,
},
}))
}
}
impl Codec<TactileAFrame> for TactileACodec {
fn decode(
&mut self,
input: &[u8],
session_started_at: std::time::Instant,
) -> Result<Vec<TactileAFrame>, CodecError> {
self.buffer.extend_from_slice(input);
let mut frames: Vec<TactileAFrame> = Vec::new();
loop {
if self.buffer.len() < FRAME_BUFFER_MIN_LENGTH {
break;
}
let header_pos = self.buffer.windows(2).position(|w| w == [0xAA, 0x55]);
let Some(pos) = header_pos else {
self.buffer.clear();
break;
};
if pos > 0 {
self.buffer.drain(0..pos);
}
if self.buffer.len() < FRAME_BUFFER_MIN_LENGTH {
break;
}
let header = [self.buffer[0], self.buffer[1]];
let payload_len = u16::from_le_bytes([self.buffer[2], self.buffer[3]]) as usize;
let device_addr = self.buffer[4];
let extend_code = self.buffer[5];
let func_code = self.buffer[6];
let start_addr = u32::from_le_bytes([
self.buffer[7],
self.buffer[8],
self.buffer[9],
self.buffer[10],
]);
let except_data_len = u16::from_le_bytes([self.buffer[11], self.buffer[12]]) as usize;
let status = TactileAFrameStatusCode::from(self.buffer[13]);
if except_data_len != self.expected_data_len {
debug!(
"unexpected payload length: expected {}, got {}, buffer_len={}",
self.expected_data_len,
except_data_len,
self.buffer.len()
);
self.buffer.drain(0..1);
continue;
}
let frame_length = except_data_len + FRAME_BUFFER_MIN_LENGTH;
if self.buffer.len() < frame_length {
break;
}
let need_check_data = self.buffer[0..14 + except_data_len].to_vec();
let payload = self.buffer[14..14 + except_data_len].to_vec();
let crc8_itu_alg = crc::Crc::<u8>::new(&crc::CRC_8_I_432_1);
let checksum = crc8_itu_alg.checksum(&need_check_data.as_slice());
if self.buffer[frame_length - 1] != checksum {
debug!(
"checksum mismatch: expected {:02X}, got {:02X}, frame_len={}",
checksum,
self.buffer[frame_length - 1],
frame_length
);
self.buffer.drain(0..1);
continue;
}
let dts_ms = elapsed_millis(session_started_at);
let meta: TactileAFrameMetaData = TactileAFrameMetaData {
header,
payload_len,
device_addr,
extend_code,
func_code,
start_addr,
except_data_len,
checksum,
};
frames.push(TactileAFrame::Rep({
TactileARepFrame {
meta,
status,
payload,
dts_ms,
}
}));
self.buffer.drain(0..frame_length);
}
Ok(frames)
}
fn encode(
&self,
frame: &TactileAFrame,
) -> Result<Vec<u8>, crate::serial_core::error::CodecError> {
match frame {
TactileAFrame::Req(f) => {
let mut req_bytes: Vec<u8> = Vec::new();
req_bytes.extend_from_slice(f.meta.header.as_slice());
req_bytes.extend_from_slice((f.meta.payload_len as u16).to_le_bytes().as_slice());
req_bytes.push(f.meta.device_addr);
req_bytes.push(f.meta.extend_code);
req_bytes.push(f.meta.func_code);
req_bytes.extend_from_slice(f.meta.start_addr.to_le_bytes().as_slice());
req_bytes.extend_from_slice((f.meta.except_data_len as u16).to_le_bytes().as_slice());
let checksum = calc_crc8_itu(req_bytes.as_slice());
req_bytes.push(checksum);
Ok(req_bytes)
}
_ => {
Err(CodecError::InvalidFrameType)
}
}
}
}
#[async_trait]
impl FrameHandler<TactileAFrame, i32> for TactileAHandler {
async fn on_frame(&mut self, frame: &TactileAFrame) -> anyhow::Result<Option<Vec<i32>>> {
match frame {
TactileAFrame::Rep(rep) => {
let vals = TactileACodec::parse_data_frame(&rep.payload)?;
Ok(Some(vals))
}
_ => Ok(None),
}
}
}
impl TactileACsvExporter {
fn new(channels: usize) -> Self {
TactileACsvExporter { channels }
}
}
impl CsvExporter<TactileARepFrame> for TactileACsvExporter {
type Error = CodecError;
fn csv_header(&self, _recording: &Recording<TactileARepFrame>) -> Vec<String> {
let mut header: Vec<String> = Vec::new();
for i in 0..self.channels {
header.push(format!("channel{}", i + 1));
}
header.push("dts".to_string());
header.push("summary".to_string());
header
}
fn csv_row(
&self,
item: &RecordedFrame<TactileARepFrame>,
) -> anyhow::Result<Vec<String>> {
let packet = TactileADataPacket::try_from(&item.frame)?;
let summary: i32 = packet.data.iter().sum();
let mut row: Vec<String> = packet.data.iter().map(|x| x.to_string()).collect();
row.push(packet.dts_ms.to_string());
row.push(summary.to_string());
Ok(row)
}
}
impl CsvExporter<TactileAFrame> for TactileACsvExporter {
type Error = CodecError;
fn csv_header(&self, _recording: &Recording<TactileAFrame>) -> Vec<String> {
let mut header: Vec<String> = Vec::new();
for i in 0..self.channels {
header.push(format!("channel{}", i + 1));
}
header.push("dts".to_string());
header
}
fn csv_row(
&self,
item: &RecordedFrame<TactileAFrame>,
) -> anyhow::Result<Vec<String>> {
let rep = match &item.frame {
TactileAFrame::Rep(rep) => rep,
TactileAFrame::Req(_) => return Err(anyhow!("request frame cannot be exported to csv row")),
};
let packet = TactileADataPacket::try_from(rep)?;
let mut row: Vec<String> = packet.data.iter().map(|x| x.to_string()).collect();
row.push(packet.dts_ms.to_string());
Ok(row)
}
}
impl TactileACsvImporter {
pub fn new(_path: &str) -> TactileACsvImporter {
Self {
channels: 0,
data_row: 0,
packets: Vec::new(),
}
}
fn parse_record(&mut self, record: StringRecord) -> anyhow::Result<TactileADataPacket> {
if self.channels == 0 {
return Err(anyhow!("csv header is missing channel columns"));
}
if record.len() < self.channels + 1 {
return Err(anyhow!("csv row has insufficient columns"));
}
let mut data = Vec::with_capacity(self.channels);
for index in 0..self.channels {
let cell = record.get(index).ok_or_else(|| anyhow!("missing channel cell"))?;
data.push(cell.parse::<i32>()?);
}
let dts_cell = record
.get(self.channels)
.ok_or_else(|| anyhow!("missing dts cell"))?;
let dts_ms = dts_cell.parse::<u64>()?;
Ok(TactileADataPacket {
data: data,
dts_ms: dts_ms,
})
}
}
impl CsvImporter<TactileADataPacket> for TactileACsvImporter {
fn load<R: Read>(&mut self, reader: R) -> anyhow::Result<Vec<TactileADataPacket>> {
let mut rdr = csv::Reader::from_reader(reader);
let headers = rdr.headers()?.clone();
self.channels = headers.len().saturating_sub(1);
self.data_row = 0;
self.packets.clear();
for record in rdr.records() {
let record = record?;
let packet = self.parse_record(record)?;
self.packets.push(packet);
self.data_row += 1;
}
Ok(self.packets.clone())
}
}
pub fn export_recording_csv<W>(recording: &Recording<TactileAFrame>, writer: W) -> anyhow::Result<()>
where
W: std::io::Write,
{
let channel_nb = recording
.frames
.iter()
.find_map(|frame| match &frame.frame {
TactileAFrame::Rep(rep) => Some(rep.payload.len() / 2),
TactileAFrame::Req(_) => None,
})
.unwrap_or(0);
let exporter = TactileACsvExporter::new(channel_nb);
write_csv(recording, &exporter, writer)
}

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src/serial_core/codecs/test.rs Normal file
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use std::io::Read;
use std::time::Instant;
use crate::serial_core::frame::{FrameHandler};
use crate::serial_core::{codec::Codec, error::CodecError, frame::TestFrame};
use anyhow::anyhow;
use async_trait::async_trait;
use csv::StringRecord;
use crate::serial_core::record::{write_csv, CsvExporter, CsvImporter, RecordedFrame, Recording};
use crate::serial_core::utils::{
elapsed_millis,
usize_to_u16_be_bytes
};
pub struct TestCodec {
buffer: Vec<u8>,
}
pub struct TestHandler;
impl TestCodec {
pub fn new() -> TestCodec {
Self { buffer: Vec::new() }
}
}
impl Codec<TestFrame> for TestCodec {
fn decode(&mut self, input: &[u8], session_started_at: Instant) -> Result<Vec<TestFrame>, CodecError> {
self.buffer.extend_from_slice(input);
let mut frames = Vec::new();
loop {
if self.buffer.len() < 6 {
break;
}
let header_pos = self.buffer.windows(2).position(|w| w == [0xAA, 0x55]);
let Some(pos) = header_pos else {
self.buffer.clear();
break;
};
if pos > 0 {
self.buffer.drain(0..pos);
}
if self.buffer.len() < 6 {
break;
}
let cmd = self.buffer[2];
let length_bytes = [self.buffer[3], self.buffer[4]];
let length = u16::from_be_bytes(length_bytes) as usize;
let frame_length = (length + 6) as usize;
if self.buffer.len() < frame_length {
break;
}
let payload = self.buffer[5..5 + length].to_vec();
// let checksum = crc8(payload.as_slice());
let crc8_alg = crc::Crc::<u8>::new(&crc::CRC_8_SMBUS);
let checksum = crc8_alg.checksum(payload.as_slice());
if self.buffer[frame_length - 1] != checksum {
self.buffer.drain(0..1);
continue;
}
let dts = elapsed_millis(session_started_at);
println!("dts_ms: {dts}");
frames.push(TestFrame {
header: [0xAA, 0x55],
cmd: cmd,
length: length,
payload: payload,
checksum: checksum,
dts_ms: dts,
});
self.buffer.drain(0..frame_length);
}
Ok(frames)
}
fn encode(&self, frame: &TestFrame) -> Result<Vec<u8>, CodecError> {
let _ = u16::try_from(frame.payload.len()).map_err(|_| CodecError::PayloadTooLarge)?;
let mut out = Vec::with_capacity(6 + frame.length);
out.extend_from_slice(&frame.header);
out.push(frame.cmd);
out.extend_from_slice(&usize_to_u16_be_bytes(frame.length));
out.extend_from_slice(&frame.payload);
out.push(frame.checksum);
Ok(out)
}
}
#[async_trait]
impl FrameHandler<TestFrame, i32> for TestHandler {
async fn on_frame(&mut self, frame: &TestFrame) -> anyhow::Result<Option<Vec<i32>>> {
match frame.cmd {
0x01 => {
let vals = parse_data_frame(&frame.payload)?;
Ok(Some(vals))
}
_ => Ok(None),
}
}
}
fn parse_data_frame(data: &[u8]) -> Result<Vec<i32>, CodecError> {
if data.len() % 2 != 0 {
return Err(CodecError::InvalidLength);
}
let vals: Vec<i32> = data
.chunks_exact(2)
.map(|chunk| u16::from_be_bytes([chunk[0], chunk[1]]) as i32)
.collect::<Vec<i32>>();
Ok(vals)
}
pub struct TestCsvExporter;
pub struct TestCsvImporter {
channels: usize,
data_row: usize,
packets: Vec<TestDataPacket>,
}
#[derive(Clone)]
pub struct TestDataPacket {
pub data: Vec<i32>,
pub dts_ms: u64
}
impl TryFrom<&TestFrame> for TestDataPacket {
type Error = CodecError;
fn try_from(frame: &TestFrame) -> Result<TestDataPacket, Self::Error> {
let data = parse_data_frame(&frame.payload)?;
let dts = frame.dts_ms;
Ok(TestDataPacket { data: data, dts_ms: dts })
}
}
// impl From<TestFrame> for TestDataPacket {
// fn from(frame: TestFrame) -> Self {
// let data = parse_data_frame(&frame.payload)?;
// let dts = frame.dts_ms;
// TestDataPacket { data: data, dts_ms: dts }
// }
// }
impl CsvExporter<TestFrame> for TestCsvExporter {
type Error = CodecError;
fn csv_header(&self, recording: &Recording<TestFrame>) -> Vec<String> {
let channel_nb = recording
.frames
.iter()
.find_map(|frame| parse_data_frame(&frame.frame.payload).ok().map(|vals| vals.len()))
.unwrap_or(0);
let mut header: Vec<String> = Vec::new();
for i in 0..channel_nb {
header.push(format!("channel{}", i + 1));
}
header.push("dts".to_string());
header
}
fn csv_row(&self, item: &RecordedFrame<TestFrame>) -> anyhow::Result<Vec<String>> {
let packet: TestDataPacket = TestDataPacket::try_from(&item.frame)?;
let mut row: Vec<String> = packet.data.iter().map(|&x| x.to_string()).collect();
row.push(packet.dts_ms.to_string());
Ok(row)
}
}
impl TestCsvImporter {
pub fn new(_path: &str) -> TestCsvImporter {
Self {
channels: 0,
data_row: 0,
packets: Vec::new(),
}
}
fn parse_record(&mut self, record: StringRecord) -> anyhow::Result<TestDataPacket>{
if self.channels == 0 {
return Err(anyhow!("csv header is missing channel columns"));
}
if record.len() < self.channels + 1 {
return Err(anyhow!("csv row has insufficient columns"));
}
let mut data = Vec::with_capacity(self.channels);
for index in 0..self.channels {
let cell = record.get(index).ok_or_else(|| anyhow!("missing channel cell"))?;
data.push(cell.parse::<i32>()?);
}
let dts_cell = record
.get(self.channels)
.ok_or_else(|| anyhow!("missing dts cell"))?;
let dts_ms = dts_cell.parse::<u64>()?;
Ok(TestDataPacket {
data: data,
dts_ms: dts_ms,
})
}
}
impl CsvImporter<TestDataPacket> for TestCsvImporter {
fn load<R: Read>(&mut self, reader: R) -> anyhow::Result<Vec<TestDataPacket>> {
let mut rdr = csv::Reader::from_reader(reader);
let headers = rdr.headers()?.clone();
self.channels = headers.len().saturating_sub(1);
self.data_row = 0;
self.packets.clear();
for record in rdr.records() {
let record = record?;
let packet = self.parse_record(record)?;
self.packets.push(packet);
self.data_row += 1;
}
Ok(self.packets.clone())
}
}
pub fn export_recording_csv<W>(recording: &Recording<TestFrame>, writer: W) -> anyhow::Result<()>
where
W: std::io::Write,
{
write_csv(recording, &TestCsvExporter, writer)
}
#[cfg(test)]
mod tests {
use super::*;
use csv::Reader;
use std::io::Cursor;
#[test]
fn test_read_csv_basic() -> anyhow::Result<()> {
let mut rdr = Reader::from_path("recording_20260329_125238.csv")?;
let headers = rdr.headers()?;
println!("headers: {:?}", headers);
for result in rdr.records() {
let record = result?;
println!("record: {:?}", record);
}
Ok(())
}
}

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src/serial_core/error.rs Normal file
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use serde::Serialize;
use std::fmt;
#[derive(Debug, Serialize)]
pub enum SerialError {
OpenError,
CloseError,
ScanError,
InvalidConfig,
AlreadyConnected,
StateError,
NoRecordedData,
ExportError,
ImportError,
}
impl fmt::Display for SerialError {
fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
match self {
SerialError::OpenError => write!(f, "Opening Error"),
SerialError::CloseError => write!(f, "Closing Error"),
SerialError::ScanError => write!(f, "Scan Error"),
SerialError::InvalidConfig => write!(f, "Invalid Config"),
SerialError::AlreadyConnected => write!(f, "Already Connected"),
SerialError::StateError => write!(f, "State Error"),
SerialError::NoRecordedData => write!(f, "No Recorded Data"),
SerialError::ExportError => write!(f, "Export Error"),
SerialError::ImportError => write!(f, "Import Error"),
}
}
}
#[derive(Debug)]
pub enum CodecError {
InvalidHeader,
InvalidTail,
InvalidLength,
InvalidFrameType,
PayloadTooLarge,
}
impl fmt::Display for CodecError {
fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
match self {
CodecError::InvalidHeader => write!(f, "Invalid Header"),
CodecError::InvalidTail => write!(f, "Invalid Tail"),
CodecError::InvalidLength => write!(f, "Invalid Length"),
CodecError::InvalidFrameType => write!(f, "Invalid Frame Type"),
CodecError::PayloadTooLarge => write!(f, "Payload too large"),
}
}
}
impl std::error::Error for CodecError {}

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use anyhow::Result;
use async_trait::async_trait;
#[derive(Debug, Clone, PartialEq, Eq)]
pub struct TestFrame {
pub header: [u8; 2],
pub cmd: u8,
pub length: usize,
pub payload: Vec<u8>,
pub checksum: u8,
pub dts_ms: u64
}
#[derive(Debug, Clone, PartialEq, Eq)]
pub struct TactileAFrameMetaData {
pub header: [u8; 2],
pub payload_len: usize,
pub device_addr: u8,
pub extend_code: u8,
pub func_code: u8,
pub start_addr: u32,
pub except_data_len: usize,
// pub status: u8,
// pub payload_data: Vec<u8>,
pub checksum: u8,
// pub dts_ms: u64,
}
#[derive(Debug, Clone, PartialEq, Eq)]
pub struct TactileAReqFrame {
pub meta: TactileAFrameMetaData,
}
#[derive(Debug, Clone, PartialEq, Eq)]
pub struct TactileARepFrame {
pub meta: TactileAFrameMetaData,
pub status: TactileAFrameStatusCode,
pub payload: Vec<u8>,
pub dts_ms: u64
}
#[derive(Debug, Clone, PartialEq, Eq)]
pub enum TactileAFrameStatusCode {
Success,
Failure
}
#[derive(Debug, Clone, PartialEq, Eq)]
pub enum TactileAFrame {
Req(TactileAReqFrame),
Rep(TactileARepFrame)
}
#[async_trait]
pub trait FrameHandler<F, T>: Send {
async fn on_frame(&mut self, frame: &F) -> Result<Option<Vec<T>>>;
}

43
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use tokio_serial::available_ports;
use crate::serial_core::{
error::SerialError, frame::{TactileAFrame, TestFrame}, record::Recording
};
pub mod codec;
pub mod codecs;
pub mod error;
pub mod frame;
pub mod model;
pub mod serial;
pub mod record;
pub mod utils;
pub type TestRecording = Recording<TestFrame>;
pub type TactileARecording = Recording<TactileAFrame>;
pub struct SerialConnection {
pub port: String,
}
pub fn connect(port: &str) -> Result<SerialConnection, String> {
let port = port.trim();
if port.is_empty() {
return Err("Serial port is required".to_string());
}
Ok(SerialConnection {
port: port.to_string(),
})
}
pub fn serial_enum() -> Result<Vec<String>, SerialError> {
let ports = available_ports()
.map_err(|_| SerialError::ScanError)?
.into_iter()
.map(|info| info.port_name)
.collect();
Ok(ports)
}

500
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use crate::serial_core::frame::TestFrame;
use std::collections::HashMap;
use std::time::{Duration, Instant, SystemTime, UNIX_EPOCH};
const MAX_POINTS: usize = 28;
const MAX_SUMMARY_POINTS: usize = 42;
const PANEL_STALE_AFTER: Duration = Duration::from_millis(2400);
#[derive(serde::Serialize, Clone)]
#[serde(rename_all = "camelCase")]
pub struct HudPacket {
pub ts: u64,
pub panels: Vec<HudSignalPanel>,
pub summary: HudSummary,
pub pressure_matrix: Option<Vec<f32>>,
}
#[derive(serde::Serialize, Clone)]
#[serde(rename_all = "camelCase")]
pub struct HudSummary {
pub label: String,
pub points: Vec<f32>,
pub latest: Option<f32>,
pub min: Option<f32>,
pub max: Option<f32>,
}
#[derive(serde::Serialize, Clone, Copy)]
#[serde(rename_all = "lowercase")]
pub enum HudPanelSide {
Left,
Right,
}
#[derive(serde::Serialize, Clone, Copy)]
#[serde(rename_all = "lowercase")]
pub enum HudTone {
Cyan,
Lime,
Orange,
Violet,
Gold,
Rose,
}
#[derive(serde::Serialize, Clone)]
#[serde(rename_all = "camelCase")]
pub struct HudSignalPanel {
pub id: String,
pub code: String,
pub title: String,
pub side: HudPanelSide,
pub active: bool,
pub series: Vec<HudSignalSeries>,
pub icons: Vec<HudSignalIcon>,
pub latest: Option<f32>,
pub min: Option<f32>,
pub max: Option<f32>,
}
#[derive(serde::Serialize, Clone)]
#[serde(rename_all = "camelCase")]
pub struct HudSignalSeries {
pub id: String,
pub tone: HudTone,
pub points: Vec<f32>,
}
#[derive(serde::Serialize, Clone)]
#[serde(rename_all = "camelCase")]
pub struct HudSignalIcon {
pub id: String,
pub label: String,
pub tone: HudTone,
}
struct HudPanelUpdate {
source_id: String,
values: Vec<f32>,
}
struct PanelEntry {
panel: HudSignalPanel,
last_seen: Instant,
}
pub struct HudChartState {
panels: HashMap<String, PanelEntry>,
order: Vec<String>,
summary_points: Vec<f32>,
pressure_matrix: Option<Vec<f32>>,
last_frame_seen: Option<Instant>,
}
impl HudChartState {
pub fn new() -> Self {
Self {
panels: HashMap::new(),
order: Vec::new(),
summary_points: Vec::new(),
pressure_matrix: None,
last_frame_seen: None,
}
}
pub fn record_summary(&mut self, value: f32) {
push_summary_point(&mut self.summary_points, value);
}
pub fn record_pressure_matrix(&mut self, values: &[i32]) {
if values.is_empty() {
return;
}
self.pressure_matrix = Some(values.iter().map(|value| *value as f32).collect());
}
pub fn apply_frame(&mut self, frame: &TestFrame, decoded_values: Option<&[i32]>) -> HudPacket {
let now = Instant::now();
self.last_frame_seen = Some(now);
for update in expand_frame_updates(frame, decoded_values) {
self.apply_update(update, now);
}
self.prune_stale_at(now);
self.snapshot()
}
pub fn prune_stale(&mut self) -> Option<HudPacket> {
let before = self.panels.len();
let summary_points_before = self.summary_points.len();
self.prune_stale_at(Instant::now());
if before == self.panels.len() && summary_points_before == self.summary_points.len() {
return None;
}
Some(self.snapshot())
}
fn apply_update(&mut self, update: HudPanelUpdate, now: Instant) {
if update.values.is_empty() {
return;
}
if !self.panels.contains_key(&update.source_id) {
let next_side = side_for_index(self.order.len());
self.order.push(update.source_id.clone());
self.panels.insert(
update.source_id.clone(),
PanelEntry {
panel: build_panel(&update.source_id, next_side, update.values.len()),
last_seen: now,
},
);
}
let entry = self
.panels
.get_mut(&update.source_id)
.expect("panel entry should exist after insertion");
entry.last_seen = now;
entry.panel.active = true;
ensure_panel_channels(&mut entry.panel, update.values.len());
for (index, value) in update.values.into_iter().enumerate() {
if let Some(series) = entry.panel.series.get_mut(index) {
push_point(&mut series.points, value);
}
}
refresh_panel_stats(&mut entry.panel);
}
fn prune_stale_at(&mut self, now: Instant) {
self.panels
.retain(|_, entry| now.duration_since(entry.last_seen) <= PANEL_STALE_AFTER);
self.order.retain(|id| self.panels.contains_key(id));
let summary_stale = self
.last_frame_seen
.map(|last_seen| now.duration_since(last_seen) > PANEL_STALE_AFTER)
.unwrap_or(false);
if summary_stale {
self.summary_points.clear();
self.pressure_matrix = None;
self.last_frame_seen = None;
}
}
fn snapshot(&mut self) -> HudPacket {
self.rebalance_sides();
let panels = self
.order
.iter()
.filter_map(|id| self.panels.get(id).map(|entry| entry.panel.clone()))
.collect();
HudPacket {
ts: now_millis(),
panels,
summary: build_summary(&self.summary_points),
pressure_matrix: self.pressure_matrix.clone(),
}
}
fn rebalance_sides(&mut self) {
for (index, id) in self.order.iter().enumerate() {
if let Some(entry) = self.panels.get_mut(id) {
entry.panel.side = side_for_index(index);
}
}
}
}
impl Default for HudChartState {
fn default() -> Self {
Self::new()
}
}
fn build_panel(source_id: &str, side: HudPanelSide, channel_count: usize) -> HudSignalPanel {
HudSignalPanel {
id: format!("panel-{source_id}"),
code: source_id.to_string(),
title: format!("Source {source_id}"),
side,
active: true,
series: build_panel_series(source_id, channel_count, &[]),
icons: build_panel_icons(source_id, channel_count),
latest: None,
min: None,
max: None,
}
}
fn expand_frame_updates(frame: &TestFrame, decoded_values: Option<&[i32]>) -> Vec<HudPanelUpdate> {
if let Some(values) = decoded_values {
if values.is_empty() {
return Vec::new();
}
return vec![HudPanelUpdate {
source_id: format_source_id(frame.cmd),
values: values.iter().map(|value| *value as f32).collect(),
}];
}
let chunks = frame.payload.chunks_exact(4);
if !frame.payload.is_empty() && chunks.remainder().is_empty() {
return chunks.map(build_update_from_chunk).collect();
}
vec![HudPanelUpdate {
source_id: format_source_id(frame.cmd),
values: fallback_values(frame),
}]
}
fn build_update_from_chunk(chunk: &[u8]) -> HudPanelUpdate {
HudPanelUpdate {
source_id: format_source_id(chunk[0]),
values: chunk[1..]
.iter()
.enumerate()
.map(|(index, byte)| normalize_value(*byte, tone_for_index(index)))
.collect(),
}
}
fn fallback_values(frame: &TestFrame) -> Vec<f32> {
let mut bytes = frame.payload.clone();
if bytes.is_empty() {
bytes.extend([
frame.cmd,
frame.length as u8,
frame.checksum,
frame.cmd.wrapping_add(frame.checksum),
]);
}
while bytes.len() < 3 {
let previous = *bytes.last().unwrap_or(&frame.cmd);
bytes.push(
previous
.wrapping_add(frame.cmd)
.wrapping_add(bytes.len() as u8),
);
}
bytes
.into_iter()
.enumerate()
.map(|(index, byte)| normalize_value(byte, tone_for_index(index)))
.collect()
}
fn normalize_value(byte: u8, tone: HudTone) -> f32 {
let base = (byte as f32 / 255.0) * 100.0;
let offset = match tone {
HudTone::Cyan => 6.0,
HudTone::Lime => 0.0,
HudTone::Orange => -6.0,
HudTone::Violet => 10.0,
HudTone::Gold => -10.0,
HudTone::Rose => 3.0,
};
(base + offset).clamp(0.0, 100.0)
}
fn format_source_id(byte: u8) -> String {
if byte.is_ascii_alphanumeric() {
(byte as char).to_ascii_uppercase().to_string()
} else {
format!("CH{:02X}", byte)
}
}
fn side_for_index(index: usize) -> HudPanelSide {
if index % 2 == 0 {
HudPanelSide::Left
} else {
HudPanelSide::Right
}
}
fn push_point(points: &mut Vec<f32>, value: f32) {
if points.len() >= MAX_POINTS {
points.remove(0);
}
points.push((value * 10.0).round() / 10.0);
}
fn build_panel_series(
source_id: &str,
channel_count: usize,
previous: &[HudSignalSeries],
) -> Vec<HudSignalSeries> {
(0..channel_count)
.map(|index| HudSignalSeries {
id: format!("{source_id}-series-{}", index + 1),
tone: tone_for_index(index),
points: previous
.get(index)
.map(|series| series.points.clone())
.unwrap_or_default(),
})
.collect()
}
fn build_panel_icons(source_id: &str, channel_count: usize) -> Vec<HudSignalIcon> {
(0..channel_count)
.map(|index| HudSignalIcon {
id: format!("{source_id}-icon-{}", index + 1),
label: if channel_count == 1 {
"TOTAL".to_string()
} else {
format!("{source_id}-{}", index + 1)
},
tone: tone_for_index(index),
})
.collect()
}
fn ensure_panel_channels(panel: &mut HudSignalPanel, channel_count: usize) {
if panel.series.len() == channel_count && panel.icons.len() == channel_count {
return;
}
panel.series = build_panel_series(&panel.code, channel_count, &panel.series);
panel.icons = build_panel_icons(&panel.code, channel_count);
}
fn refresh_panel_stats(panel: &mut HudSignalPanel) {
let latest_values: Vec<f32> = panel
.series
.iter()
.filter_map(|series| series.points.last().copied())
.collect();
panel.latest = if latest_values.is_empty() {
None
} else {
Some(latest_values.iter().sum::<f32>() / latest_values.len() as f32)
};
panel.min = panel
.series
.iter()
.flat_map(|series| series.points.iter().copied())
.reduce(f32::min);
panel.max = panel
.series
.iter()
.flat_map(|series| series.points.iter().copied())
.reduce(f32::max);
}
fn tone_for_index(index: usize) -> HudTone {
match index % 6 {
0 => HudTone::Cyan,
1 => HudTone::Lime,
2 => HudTone::Orange,
3 => HudTone::Violet,
4 => HudTone::Gold,
_ => HudTone::Rose,
}
}
fn push_summary_point(points: &mut Vec<f32>, value: f32) {
if points.len() >= MAX_SUMMARY_POINTS {
points.remove(0);
}
points.push((value * 10.0).round() / 10.0);
}
fn build_summary(points: &[f32]) -> HudSummary {
HudSummary {
label: "TOTAL".to_string(),
points: points.to_vec(),
latest: points.last().copied(),
min: points.iter().copied().reduce(f32::min),
max: points.iter().copied().reduce(f32::max),
}
}
fn now_millis() -> u64 {
SystemTime::now()
.duration_since(UNIX_EPOCH)
.map(|duration| duration.as_millis() as u64)
.unwrap_or_default()
}
// #[cfg(test)]
// mod tests {
// use super::*;
//
// fn sample_frame() -> TestFrame {
// TestFrame {
// header: [0xAA, 0x55],
// cmd: 0x01,
// length: 4,
// payload: vec![0x00, 0x0A, 0x00, 0x14],
// checksum: 0,
//
// }
// }
//
// #[test]
// fn prune_stale_clears_panels_and_summary_after_timeout() {
// let mut state = HudChartState::new();
// let frame = sample_frame();
//
// state.record_summary(30.0);
// let _ = state.apply_frame(&frame, Some(&[10, 20]));
//
// let stale_now = Instant::now();
// let stale_seen = stale_now - PANEL_STALE_AFTER - Duration::from_millis(1);
//
// state.last_frame_seen = Some(stale_seen);
//
// for entry in state.panels.values_mut() {
// entry.last_seen = stale_seen;
// }
//
// let packet = state
// .prune_stale()
// .expect("stale data should emit an update");
//
// assert!(packet.panels.is_empty());
// assert!(packet.summary.points.is_empty());
// assert!(state.panels.is_empty());
// assert!(state.summary_points.is_empty());
// }
//
// #[test]
// fn prune_stale_keeps_recent_summary_points() {
// let mut state = HudChartState::new();
// let frame = sample_frame();
//
// state.record_summary(30.0);
// let _ = state.apply_frame(&frame, Some(&[10, 20]));
//
// state.last_frame_seen = Some(Instant::now());
//
// assert!(state.prune_stale().is_none());
// assert_eq!(state.summary_points, vec![30.0]);
// assert_eq!(state.panels.len(), 1);
// }
// }

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#[derive(Clone)]
pub struct FrameTiming {
pub pts_ms: Option<u64>,
pub dts_ms: u64,
}
#[derive(Clone)]
pub struct RecordedFrame<F> {
pub timing: FrameTiming,
pub frame: F
}
#[derive(Clone, Default)]
pub struct Recording<F> {
pub frames: Vec<RecordedFrame<F>>
}
impl<F> Recording<F> {
pub fn new() -> Recording<F> { Self { frames: Vec::new() } }
pub fn push(&mut self, ite: RecordedFrame<F>) {
self.frames.push(ite);
}
}
pub trait CsvExporter<F> {
type Error: std::error::Error + Send + Sync + 'static;
fn csv_header(&self, recording: &Recording<F>) -> Vec<String>;
fn csv_row(&self, item: &RecordedFrame<F>) -> anyhow::Result<Vec<String>>;
}
// TODO: CsvImporter
pub trait CsvImporter<P> {
fn load<R: std::io::Read>(&mut self, reader: R) -> anyhow::Result<Vec<P>>;
}
pub fn write_csv<F, E, W>(
recording: &Recording<F>,
exporter: &E,
writer: W,
) -> anyhow::Result<()>
where
E: CsvExporter<F>,
W: std::io::Write,
{
let header = exporter.csv_header(&recording);
let mut wrt = csv::Writer::from_writer(writer);
wrt.write_record(header)?;
for f in &recording.frames {
let row = exporter.csv_row(f)?;
wrt.write_record(&row)?;
}
wrt.flush()?;
Ok(())
}

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use crate::serial_core::codec::Codec;
use crate::serial_core::codecs::tactile_a::TactileACodec;
use crate::serial_core::frame::{FrameHandler, TactileAFrame, TestFrame};
use crate::serial_core::model::{HudChartState, HudPacket};
use crate::serial_core::record::Recording;
use anyhow::Result;
use tokio::io::{AsyncReadExt, AsyncWriteExt};
use tokio::time::{self, Duration, MissedTickBehavior};
use tokio_serial::SerialStream;
use tokio_util::sync::CancellationToken;
use std::future::pending;
use std::sync::{Arc, Mutex};
use std::time::Instant;
use crate::serial_core::record::{FrameTiming, RecordedFrame};
pub enum PollMode<F> {
Disable,
Enabled(Box<dyn PollRequester<F>>)
}
pub trait SerialFrame: Clone + Send + 'static {
fn dts_ms(&self) -> u64;
fn to_hud_packet(
&self,
chart_state: &mut HudChartState,
display_values: Option<&[i32]>,
) -> Option<HudPacket>;
}
pub trait PollRequester<F>: Send {
fn poll_interval(&self) -> Option<Duration> {
None
}
fn should_request(&mut self) -> bool {
true
}
fn next_request(&mut self) -> Result<Option<F>> {
Ok(None)
}
fn on_rx_frame(&mut self, _frame: &F) {}
}
#[derive(Default)]
pub struct NoopPollRequester;
impl<F> PollRequester<F> for NoopPollRequester {}
pub struct TactileAPollRequester {
period: Duration,
cols: usize,
rows: usize,
awaiting_reply: bool,
last_request_at: Option<Instant>,
reply_timeout: Duration,
}
impl TactileAPollRequester {
pub fn new(period: Duration, cols: usize, rows: usize, reply_timeout: Duration) -> Self {
Self {
period,
cols,
rows,
awaiting_reply: false,
last_request_at: None,
reply_timeout,
}
}
}
impl PollRequester<TactileAFrame> for TactileAPollRequester {
fn poll_interval(&self) -> Option<Duration> {
Some(self.period)
}
fn should_request(&mut self) -> bool {
if !self.awaiting_reply {
return true;
}
let timed_out = self
.last_request_at
.map(|t| t.elapsed() >= self.reply_timeout)
.unwrap_or(false);
if timed_out {
self.awaiting_reply = false;
self.last_request_at = None;
return true;
}
false
}
fn next_request(&mut self) -> Result<Option<TactileAFrame>> {
let req = TactileACodec::build_req_frame(self.cols, self.rows)?;
self.awaiting_reply = true;
self.last_request_at = Some(Instant::now());
Ok(Some(req))
}
fn on_rx_frame(&mut self, frame: &TactileAFrame) {
if matches!(frame, TactileAFrame::Rep(_)) {
self.awaiting_reply = false;
self.last_request_at = None
}
}
}
pub async fn run_serial<C, H, T, F>(
port: SerialStream,
codec: C,
handler: H,
session_started_at: Instant,
recording: Arc<Mutex<Recording<F>>>,
cancel: CancellationToken,
) -> Result<()>
where
F: SerialFrame,
C: Codec<F> + Send + 'static,
H: FrameHandler<F, T> + Send + 'static,
T: Into<i32>
{
run_serial_with_poll(
port, codec, handler, session_started_at, recording, cancel, PollMode::Disable
).await
}
pub async fn run_serial_with_poll<C, H, T, F>(
mut port: SerialStream,
mut codec: C,
mut handler: H,
session_started_at: Instant,
recording: Arc<Mutex<Recording<F>>>,
cancel: CancellationToken,
poll_mode: PollMode<F>
) -> Result<()>
where
F: SerialFrame,
C: Codec<F> + Send + 'static,
H: FrameHandler<F, T> + Send + 'static,
T: Into<i32>,
{
let mut requester = match poll_mode {
PollMode::Disable => None,
PollMode::Enabled(r) => Some(r),
};
let mut poll_interval = requester
.as_ref()
.and_then(|r| r.poll_interval())
.map(|d| {
let mut it = time::interval(d);
it.set_missed_tick_behavior(MissedTickBehavior::Skip);
it
});
let mut chart_state = HudChartState::new();
let mut buffer = [0u8; 1024];
let mut prune_interval = time::interval(Duration::from_millis(450));
prune_interval.set_missed_tick_behavior(MissedTickBehavior::Delay);
loop {
tokio::select! {
_ = cancel.cancelled() => break,
_ = async {
match poll_interval.as_mut() {
Some(it) => {
it.tick().await;
}
None => pending::<()>().await,
}
} => {
if let Some(r) = requester.as_mut() {
if r.should_request() {
if let Some(req) = r.next_request()? {
let bytes = codec.encode(&req)?;
port.write_all(&bytes).await?;
}
}
}
}
read_result = port.read(&mut buffer) => {
let n = read_result?;
if n == 0 {
// Some serial drivers can resolve reads with 0 bytes repeatedly.
// Yield here so timer-driven poll requests are not starved by a busy loop.
tokio::task::yield_now().await;
continue;
}
let frames = codec.decode(&buffer[..n], session_started_at)?;
for frame in frames {
if let Some(r) = requester.as_mut() {
r.on_rx_frame(&frame);
}
let decode_res = handler
.on_frame(&frame)
.await?
.map(|vals| vals.into_iter().map(Into::into).collect::<Vec<i32>>());
let mut record = recording.lock().map_err(|_| anyhow::anyhow!("recording state poisoned"))?;
record.push(RecordedFrame{
timing: FrameTiming { pts_ms: None, dts_ms: frame.dts_ms() },
frame: frame.clone(),
});
}
}
}
}
Ok(())
}
fn raw_to_g1(raw: u32) -> f64 {
const X: [u32; 11] = [
0, 74602, 105503, 131459, 153512, 172041, 193794, 218947, 240580, 295118, 332346,
];
const Y: [f64; 11] = [
0.0, 160.0, 260.0, 360.0, 460.0, 560.0, 660.0, 860.0, 1060.0, 1560.0, 2060.0,
];
let n = X.len();
if raw <= X[0] {
return Y[0] / 100.0;
}
if raw >= X[n - 1] {
return Y[n - 1] / 100.0;
}
let mut left = 0;
let mut right = n - 1;
while left + 1 < right {
let mid = (left + right) / 2;
if raw < X[mid] {
right = mid;
} else {
left = mid;
}
}
let ratio = (raw - X[left]) as f64 / (X[right] - X[left]) as f64;
Y[left] / 100.0 + ratio * (Y[right] - Y[left]) / 100.0
}

59
src/serial_core/utils.rs Normal file
View File

@@ -0,0 +1,59 @@
use std::time::Instant;
pub fn usize_to_u16_be_bytes(n: usize) -> [u8; 2] {
(n as u16).to_be_bytes()
}
pub fn usize_to_u16_le_bytes(n: usize) -> [u8; 2] {
(n as u16).to_be_bytes()
}
pub fn u16_to_hex_be_bytes(n: u16) -> [u8; 2] {
(n as u16).to_be_bytes()
}
pub fn u16_to_hex_le_bytes(n: u16) -> [u8; 2] {
(n as u16).to_le_bytes()
}
pub fn calc_crc8_smbus(c: &[u8]) -> u8 {
let crc8_smbus = crc::Crc::<u8>::new(&crc::CRC_8_SMBUS);
let checksum = crc8_smbus.checksum(c);
return checksum;
}
pub fn calc_crc8_itu(c: &[u8]) -> u8 {
let crc8_itu_alg = crc::Crc::<u8>::new(&crc::CRC_8_I_432_1);
let checksum = crc8_itu_alg.checksum(c);
return checksum;
}
pub fn elapsed_millis(start_at: Instant) -> u64 {
start_at.elapsed().as_millis() as u64
}
#[cfg(test)]
mod test {
use anyhow::Ok;
use crate::serial_core::utils::{calc_crc8_itu, calc_crc8_smbus};
#[test]
fn test_crc8_itu() -> anyhow::Result<()> {
let req_vec = vec![0x55, 0xAA, 0x09, 0x00, 0x34, 0x00, 0xFB, 0x00, 0x1C, 0x00, 0x00, 0x18, 0x00];
let checksum = calc_crc8_itu(req_vec.as_slice());
assert_eq!(checksum, 0x7A);
Ok(())
}
#[test]
fn test_crc8_smbus() -> anyhow::Result<()> {
let req_vec = vec![0x55, 0xAA, 0x09, 0x00, 0x34, 0x00, 0xFB, 0x00, 0x1C, 0x00, 0x00, 0x18, 0x00];
let checksum = calc_crc8_smbus(req_vec.as_slice());
assert_eq!(checksum, 0x2F);
Ok(())
}
}