├── .gitignore ├── LICENSE ├── README.MD ├── rrr-api ├── Cargo.lock ├── Cargo.toml └── src │ └── lib.rs ├── rrr-embedded ├── .cargo │ └── config.toml ├── Cargo.lock ├── Cargo.toml ├── build.rs ├── partitions.csv ├── sdkconfig.defaults └── src │ ├── led_driver.rs │ ├── main.rs │ ├── nvs.rs │ ├── ota.rs │ ├── server.rs │ └── wifi.rs ├── rrr-frontend ├── Cargo.lock ├── Cargo.toml ├── favicon.ico ├── index.html ├── index.scss ├── resources │ ├── LICENSE.txt │ ├── Roboto-Regular.ttf │ └── material-icons.woff2 └── src │ ├── components.rs │ └── main.rs └── rrr-simulation ├── Cargo.lock ├── Cargo.toml └── src ├── cone.rs ├── main.rs ├── simulation.rs └── visual_objects.rs /.gitignore: -------------------------------------------------------------------------------- 1 | # Project exclude paths 2 | /rrr-embedded/target/ 3 | /rrr-frontend/target/ 4 | /rrr-simulation/target/ 5 | /rrr-embedded/wifi-password.secret 6 | /rrr-embedded/wifi-ssid.secret 7 | /rrr-embedded/.embuild/ 8 | /rrr-frontend/dist/ 9 | /.idea/ 10 | /rrr-frontend/dist-gz/ 11 | /rrr-api/target/ 12 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | 635 | Copyright (C) 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | Copyright (C) 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | -------------------------------------------------------------------------------- /README.MD: -------------------------------------------------------------------------------- 1 | # TODO -------------------------------------------------------------------------------- /rrr-api/Cargo.lock: -------------------------------------------------------------------------------- 1 | # This file is automatically @generated by Cargo. 2 | # It is not intended for manual editing. 3 | version = 3 4 | 5 | [[package]] 6 | name = "proc-macro2" 7 | version = "1.0.66" 8 | source = "registry+https://github.com/rust-lang/crates.io-index" 9 | checksum = "18fb31db3f9bddb2ea821cde30a9f70117e3f119938b5ee630b7403aa6e2ead9" 10 | dependencies = [ 11 | "unicode-ident", 12 | ] 13 | 14 | [[package]] 15 | name = "quote" 16 | version = "1.0.33" 17 | source = "registry+https://github.com/rust-lang/crates.io-index" 18 | checksum = "5267fca4496028628a95160fc423a33e8b2e6af8a5302579e322e4b520293cae" 19 | dependencies = [ 20 | "proc-macro2", 21 | ] 22 | 23 | [[package]] 24 | name = "rrr-api" 25 | version = "0.0.1" 26 | dependencies = [ 27 | "serde", 28 | ] 29 | 30 | [[package]] 31 | name = "serde" 32 | version = "1.0.188" 33 | source = "registry+https://github.com/rust-lang/crates.io-index" 34 | checksum = "cf9e0fcba69a370eed61bcf2b728575f726b50b55cba78064753d708ddc7549e" 35 | dependencies = [ 36 | "serde_derive", 37 | ] 38 | 39 | [[package]] 40 | name = "serde_derive" 41 | version = "1.0.188" 42 | source = "registry+https://github.com/rust-lang/crates.io-index" 43 | checksum = "4eca7ac642d82aa35b60049a6eccb4be6be75e599bd2e9adb5f875a737654af2" 44 | dependencies = [ 45 | "proc-macro2", 46 | "quote", 47 | "syn", 48 | ] 49 | 50 | [[package]] 51 | name = "syn" 52 | version = "2.0.29" 53 | source = "registry+https://github.com/rust-lang/crates.io-index" 54 | checksum = "c324c494eba9d92503e6f1ef2e6df781e78f6a7705a0202d9801b198807d518a" 55 | dependencies = [ 56 | "proc-macro2", 57 | "quote", 58 | "unicode-ident", 59 | ] 60 | 61 | [[package]] 62 | name = "unicode-ident" 63 | version = "1.0.11" 64 | source = "registry+https://github.com/rust-lang/crates.io-index" 65 | checksum = "301abaae475aa91687eb82514b328ab47a211a533026cb25fc3e519b86adfc3c" 66 | -------------------------------------------------------------------------------- /rrr-api/Cargo.toml: -------------------------------------------------------------------------------- 1 | [package] 2 | name = "rrr-api" 3 | version = "0.0.1" 4 | edition = "2021" 5 | 6 | [dependencies] 7 | serde = {version = "1.0.185", features = ["derive"]} -------------------------------------------------------------------------------- /rrr-api/src/lib.rs: -------------------------------------------------------------------------------- 1 | use serde::{Deserialize, Serialize}; 2 | 3 | #[derive(Clone, PartialEq, Default, Serialize, Deserialize)] 4 | pub struct State { 5 | pub battery: BatteryState, 6 | pub pyro: PyroState, 7 | pub wifi_state: WifiConnectionConfiguration, 8 | pub barometer: BarometerState, 9 | pub servo: ServoState, 10 | } 11 | 12 | #[derive(Clone, PartialEq, Default, Serialize, Deserialize)] 13 | pub struct ServoState { 14 | pub servo1_duty: Option, 15 | pub servo2_duty: Option, 16 | } 17 | 18 | #[derive(Clone, PartialEq, Default, Serialize, Deserialize)] 19 | pub struct BatteryState { 20 | pub soc: f32, 21 | pub voltage: f32, 22 | pub charge_rate: f32, 23 | } 24 | 25 | #[derive(Clone, PartialEq, Default, Serialize, Deserialize, Debug)] 26 | pub struct WifiCredentials { 27 | pub ssid: String, 28 | pub password: String, 29 | } 30 | 31 | #[derive(Clone, PartialEq, Default, Serialize, Deserialize, Debug)] 32 | pub struct WifiConnectionConfiguration { 33 | pub connection_type: WifiConnectionType, 34 | pub credentials: WifiCredentials, 35 | } 36 | 37 | #[derive(Clone, PartialEq, Serialize, Deserialize, Debug)] 38 | pub enum WifiConnectionType { 39 | ConnectToExternal, 40 | StartAccessPoint, 41 | } 42 | 43 | impl Default for WifiConnectionType { 44 | fn default() -> Self { WifiConnectionType::StartAccessPoint } 45 | } 46 | 47 | #[derive(Clone, PartialEq, Default, Serialize, Deserialize)] 48 | pub struct PyroChannelState { 49 | pub fire: bool, 50 | pub test_voltage: f32, 51 | } 52 | 53 | #[derive(Clone, PartialEq, Default, Serialize, Deserialize)] 54 | pub struct PyroState { 55 | pub channel1: PyroChannelState, 56 | pub channel2: PyroChannelState, 57 | } 58 | 59 | #[derive(Clone, PartialEq, Default, Serialize, Deserialize)] 60 | pub struct BarometerState { 61 | pub altitude: f32, 62 | pub temperature: f32, 63 | } 64 | 65 | 66 | #[derive(Clone, PartialEq, Serialize, Deserialize)] 67 | pub enum Command { 68 | Reset, 69 | SetWifi { ssid: String, password: String }, 70 | ResetNvs, 71 | SetLedColor { r: u8, g: u8, b: u8 }, 72 | SetPwmDutyCycle { duty_1: Option, duty_2: Option }, 73 | } -------------------------------------------------------------------------------- /rrr-embedded/.cargo/config.toml: -------------------------------------------------------------------------------- 1 | [build] 2 | target = "riscv32imc-esp-espidf" 3 | 4 | [target.riscv32imc-esp-espidf] 5 | linker = "ldproxy" 6 | runner = "espflash flash --monitor" 7 | 8 | [unstable] 9 | build-std = ["std", "panic_abort"] 10 | 11 | [env] 12 | ESP_IDF_VERSION = "release/v4.4" 13 | ESP_IDF_SDKCONFIG_DEFAULTS = "sdkconfig.defaults" 14 | -------------------------------------------------------------------------------- /rrr-embedded/Cargo.toml: -------------------------------------------------------------------------------- 1 | [package] 2 | name = "rrr-embedded" 3 | version = "0.0.1" 4 | edition = "2021" 5 | build = "build.rs" 6 | 7 | [profile.release] 8 | opt-level = "s" 9 | strip = true 10 | lto = true 11 | codegen-units = 1 12 | panic = "abort" 13 | 14 | [profile.dev] 15 | debug = true 16 | lto = true 17 | opt-level = "s" 18 | 19 | [dependencies] 20 | rrr-api = {path = "../rrr-api"} 21 | 22 | anyhow = {version = "1", features = ["backtrace"]} 23 | thiserror = "1" 24 | log = "0.4" 25 | url = "2" 26 | esp-idf-sys = { version = "0.33", features = ["binstart"] } 27 | esp-idf-svc = "0.46.2" 28 | esp-idf-hal = "0.41.2" 29 | embedded-svc = "0.25" 30 | embedded-hal = "0.2.7" 31 | embedded-io = "0.4.0" 32 | heapless = "0.7.16" 33 | 34 | ws2812-esp32-rmt-driver = "0.6.0" 35 | serde = "1.0.185" 36 | serde_json = "1.0.105" 37 | max170xx = "0.1.0" 38 | bmp280-ehal = "0.0.6" 39 | shared-bus = { version="0.3.0", features = ["std"]} 40 | 41 | include_dir = "0.7.3" 42 | map_for = "0.3.0" 43 | 44 | [build-dependencies] 45 | embuild = { version = "0.31.2", features = ["elf"] } 46 | anyhow = "1" 47 | trunk-build-time = "0.17.3" 48 | async-std = { version = "1", features = ["attributes", "tokio1"] } 49 | tokio = "1.32.0" 50 | flate2 = "1.0.27" -------------------------------------------------------------------------------- /rrr-embedded/build.rs: -------------------------------------------------------------------------------- 1 | use std::fs::{create_dir_all, File, read_dir, remove_dir_all, DirEntry}; 2 | use std::io::{BufReader, copy}; 3 | use std::path::{Path, PathBuf}; 4 | use trunk_build_time::cmd::build; 5 | use trunk_build_time::config; 6 | use embuild::{ 7 | build::LinkArgs, 8 | }; 9 | use flate2::Compression; 10 | use tokio; 11 | use flate2::write::GzEncoder; 12 | 13 | #[tokio::main] 14 | async fn main() -> anyhow::Result<()> { 15 | println!("cargo:rerun-if-changed=../"); 16 | 17 | let mut cfg = config::ConfigOptsBuild::default(); 18 | cfg.release = true; 19 | cfg.target = Some(PathBuf::from("../rrr-frontend/index.html")); 20 | cfg.filehash = Some(false); 21 | println!("{:?}", cfg); 22 | build::Build { build: cfg }.run(None).await.unwrap(); 23 | 24 | let _ = remove_dir_all("../rrr-frontend/dist-gz"); 25 | create_dir_all("../rrr-frontend/dist-gz").unwrap(); 26 | 27 | 28 | fn visit_dirs(dir: &Path, cb: &dyn Fn(&DirEntry)) -> std::io::Result<()> { 29 | if dir.is_dir() { 30 | for entry in read_dir(dir)? { 31 | let entry = entry?; 32 | let path = entry.path(); 33 | if path.is_dir() { 34 | visit_dirs(&path, cb)?; 35 | } else { 36 | cb(&entry); 37 | } 38 | } 39 | } 40 | Ok(()) 41 | } 42 | 43 | //TODO: dirty code here 44 | 45 | visit_dirs(Path::new("../rrr-frontend/dist/"), &|file_path: &DirEntry| { 46 | let source_path = file_path.path().as_os_str().to_owned(); 47 | let mut input = BufReader::new(File::open(&source_path).unwrap()); 48 | create_dir_all(Path::new(&source_path.to_str().unwrap() 49 | .replace("rrr-frontend/dist", "rrr-frontend/dist-gz")).parent().unwrap()).unwrap(); 50 | let output = File::create(Path::new(&source_path.to_str().unwrap() 51 | .replace("rrr-frontend/dist", "rrr-frontend/dist-gz"))).unwrap(); 52 | let mut encoder = GzEncoder::new(output, Compression::default()); 53 | copy(&mut input, &mut encoder).unwrap(); 54 | encoder.finish().unwrap(); 55 | () 56 | })?; 57 | 58 | LinkArgs::output_propagated("ESP_IDF")?; 59 | Ok(()) 60 | } -------------------------------------------------------------------------------- /rrr-embedded/partitions.csv: -------------------------------------------------------------------------------- 1 | # Name, Type, SubType, Offset, Size, Flags 2 | # Note: if you have increased the bootloader size, make sure to update the offsets to avoid overlap 3 | nvs, data, nvs, , 0x6000, 4 | phy_init, data, phy, , 0x1000, 5 | otadata, data, ota, , 0x2000, 6 | factory, app, factory, , 0x1E0000, 7 | ota_0, app, ota_0, , 0x1E0000, -------------------------------------------------------------------------------- /rrr-embedded/sdkconfig.defaults: -------------------------------------------------------------------------------- 1 | CONFIG_ESP_MAIN_TASK_STACK_SIZE=20000 2 | CONFIG_ESP_SYSTEM_EVENT_TASK_STACK_SIZE=4096 3 | CONFIG_ESP_DEFAULT_CPU_FREQ_MHZ=ESP_DEFAULT_CPU_FREQ_MHZ_160 4 | CONFIG_BOOTLOADER_APP_ROLLBACK_ENABLE=y 5 | CONFIG_PARTITION_TABLE_CUSTOM=y 6 | CONFIG_PARTITION_TABLE_CUSTOM_FILENAME="../../../../../../partitions.csv" 7 | CONFIG_ESPTOOLPY_FLASHSIZE_4MB=y -------------------------------------------------------------------------------- /rrr-embedded/src/led_driver.rs: -------------------------------------------------------------------------------- 1 | use ws2812_esp32_rmt_driver::*; 2 | use ws2812_esp32_rmt_driver::driver::color::*; 3 | 4 | 5 | pub struct LedDriver { 6 | ws2812: Ws2812Esp32RmtDriver, 7 | } 8 | 9 | impl LedDriver { 10 | pub fn new( 11 | led_pin: u32, 12 | rmt_channel: u8, 13 | ) -> Result { 14 | let ws = 15 | Ws2812Esp32RmtDriver::new(rmt_channel, led_pin); 16 | 17 | ws.map(|ws| Self { ws2812: ws }) 18 | } 19 | 20 | pub fn set_rgb(&mut self,r: u8, g: u8, b: u8) -> Result<(), Ws2812Esp32RmtDriverError> { 21 | self.ws2812.write(LedPixelColorGrb24::new_with_rgb(r, g, b).as_ref()) 22 | } 23 | pub fn off(&mut self) -> Result<(), Ws2812Esp32RmtDriverError> { 24 | self.ws2812.write(LedPixelColorGrb24::new_with_rgb(0, 0, 0).as_ref()) 25 | } 26 | } -------------------------------------------------------------------------------- /rrr-embedded/src/main.rs: -------------------------------------------------------------------------------- 1 | mod led_driver; 2 | mod ota; 3 | mod wifi; 4 | mod server; 5 | mod nvs; 6 | 7 | use crate::led_driver::LedDriver; 8 | use crate::ota::OtaDriver; 9 | 10 | use rrr_api as api; 11 | 12 | use std::sync::{Arc, Mutex}; 13 | use std::time::Duration; 14 | use std::thread; 15 | use log::*; 16 | use anyhow::Result; 17 | use embedded_svc::http::server::Connection; 18 | use embedded_svc::io::Read; 19 | use embedded_svc::wifi::*; 20 | use esp_idf_hal::adc::{ADC1, AdcChannelDriver, Atten11dB}; 21 | use esp_idf_hal::adc::config::Resolution; 22 | 23 | use esp_idf_svc::eventloop::*; 24 | use esp_idf_svc::wifi::*; 25 | use esp_idf_hal::peripheral::Peripheral; 26 | use esp_idf_hal::prelude::*; 27 | use esp_idf_hal::gpio::{Gpio1}; 28 | use esp_idf_hal::i2c::I2cDriver; 29 | use esp_idf_hal::ledc; 30 | use esp_idf_hal::ledc::{LedcDriver, LedcTimerDriver}; 31 | use esp_idf_hal::ledc::config::TimerConfig; 32 | use esp_idf_sys::esp_intr_disable; 33 | use max170xx::Max17048; 34 | use rrr_api::WifiCredentials; 35 | use crate::api::{Command, WifiConnectionConfiguration, WifiConnectionType}; 36 | use crate::server::Server; 37 | use crate::wifi::WiFi; 38 | 39 | const BMP_280_FILTER_GAIN: f32 = 0.05f32; 40 | 41 | fn main() -> Result<()> { 42 | esp_idf_sys::link_patches(); 43 | esp_idf_svc::log::EspLogger::initialize_default(); 44 | 45 | let state = Arc::new(Mutex::new(api::State::default())); 46 | 47 | let peripherals = Peripherals::take().unwrap(); 48 | let sysloop = EspSystemEventLoop::take()?; 49 | 50 | let i2c = esp_idf_hal::i2c::I2cDriver::new( 51 | peripherals.i2c0.into_ref(), 52 | peripherals.pins.gpio7, 53 | peripherals.pins.gpio8, 54 | &esp_idf_hal::i2c::I2cConfig::default(), 55 | )?; 56 | 57 | let shared_i2c = shared_bus::new_std!(I2cDriver = i2c).unwrap(); 58 | 59 | 60 | let _pyro = esp_idf_hal::gpio::PinDriver::output(peripherals.pins.gpio6)?; 61 | 62 | 63 | let timer_driver = 64 | LedcTimerDriver::new( 65 | peripherals.ledc.timer0, 66 | &TimerConfig::default() 67 | .frequency(50.Hz().into()) 68 | .resolution(ledc::Resolution::Bits14), 69 | )?; 70 | 71 | let mut pwm_driver_1 = LedcDriver::new(peripherals.ledc.channel0, &timer_driver , peripherals.pins.gpio4)?; 72 | let mut pwm_driver_2 = LedcDriver::new(peripherals.ledc.channel1, &timer_driver, peripherals.pins.gpio5)?; 73 | 74 | let mut pwm = Arc::new(Mutex::new((pwm_driver_1, pwm_driver_2))); 75 | 76 | 77 | let mut max17048 = Max17048::new(shared_i2c.acquire_i2c()); 78 | 79 | max17048.version().unwrap(); 80 | info!("SOC: {:.2}", max17048.soc().unwrap()); 81 | info!("MAX -- OK"); 82 | 83 | let max17048 = Arc::new(Mutex::new(max17048)); 84 | 85 | esp_idf_hal::task::thread::ThreadSpawnConfiguration { 86 | name: Some(b"max-thread\0"), 87 | ..Default::default() 88 | }.set().unwrap(); 89 | 90 | let max1 = max17048.clone(); 91 | let max2 = max17048.clone(); 92 | 93 | let state1 = state.clone(); 94 | let state2 = state.clone(); 95 | 96 | thread::spawn(move || { 97 | loop { 98 | thread::sleep(Duration::from_millis(1000)); 99 | let mut state = state1.lock().unwrap(); 100 | let mut max = max1.lock().unwrap(); 101 | state.battery.soc = max.soc().unwrap(); 102 | state.battery.voltage = max.voltage().unwrap(); 103 | state.battery.charge_rate = max.charge_rate().unwrap(); 104 | } 105 | }); 106 | 107 | let bmp280 = bmp280_ehal::BMP280::new(shared_i2c.acquire_i2c())?; 108 | let bmp280 = Arc::new(Mutex::new(bmp280)); 109 | 110 | let state_ = state.clone(); 111 | 112 | thread::spawn(move || { 113 | loop { 114 | thread::sleep(Duration::from_millis(20)); 115 | let mut bmp280 = bmp280.lock().unwrap(); 116 | let temperature: f32 = bmp280.temp() as f32; 117 | let p0 = 101325f32; 118 | let pressure: f32 = bmp280.pressure_one_shot() as f32; 119 | //-44330f32 * (1f32 - f32::powf (pressure / 101325f32).po powf(1f32/5.255f32)); 120 | let altitude: f32 = -8435.775 * (pressure / p0 - 1f32); 121 | let mut state = state_.lock().unwrap(); 122 | let new_altitude = state.barometer.altitude + 123 | (altitude - state.barometer.altitude) * BMP_280_FILTER_GAIN; 124 | state.barometer.temperature = temperature; 125 | state.barometer.altitude = new_altitude; 126 | } 127 | }); 128 | 129 | 130 | 131 | let mut adc_driver_config = esp_idf_hal::adc::AdcConfig::default(); 132 | adc_driver_config.resolution = Resolution::Resolution12Bit; 133 | adc_driver_config.calibration = true; 134 | 135 | let mut adc_driver = esp_idf_hal::adc::AdcDriver::new(peripherals.adc1, &esp_idf_hal::adc::AdcConfig::default())?; 136 | let mut adc_channel_driver: AdcChannelDriver<'_, Gpio1, Atten11dB> = esp_idf_hal::adc::AdcChannelDriver::new(peripherals.pins.gpio1)?; 137 | 138 | adc_driver.read(&mut adc_channel_driver)?; 139 | 140 | thread::spawn(move || { 141 | loop { 142 | thread::sleep(Duration::from_millis(1000)); 143 | let adc_reading = adc_driver.read(&mut adc_channel_driver).unwrap(); 144 | let voltage = adc_reading as f32; 145 | let mut state = state2.lock().unwrap(); 146 | state.pyro.channel1.test_voltage = voltage / 1000f32; 147 | } 148 | }); 149 | 150 | 151 | //Drivers 152 | let mut led_driver = LedDriver::new(9, 0)?; 153 | info!("LED -- OK"); 154 | led_driver.set_rgb(20, 0, 0)?; 155 | 156 | let mut nvs = nvs::Nvs::new()?; 157 | 158 | let nvs_arc0 = Arc::new(Mutex::new(nvs)); 159 | let nvs_arc1 = nvs_arc0.clone(); 160 | 161 | 162 | let wifi_configuration = match nvs_arc0.lock().unwrap().get_wifi_connection()? { 163 | None => { 164 | WifiConnectionConfiguration { 165 | connection_type: WifiConnectionType::StartAccessPoint, 166 | credentials: WifiCredentials { 167 | ssid: String::from("RRR-wifi-0"), 168 | password: String::from("12345678"), 169 | }, 170 | } 171 | } 172 | Some(creds) => { 173 | WifiConnectionConfiguration { 174 | connection_type: WifiConnectionType::ConnectToExternal, 175 | credentials: WifiCredentials { 176 | ssid: creds.ssid, 177 | password: creds.password, 178 | }, 179 | } 180 | } 181 | }; 182 | 183 | info!("wifi config {:?}", wifi_configuration); 184 | 185 | #[allow(unused_variables)] 186 | let wifi = WiFi::new(wifi_configuration, peripherals.modem, sysloop.clone(), state.clone())?; 187 | 188 | match state.lock().unwrap().wifi_state.connection_type { 189 | WifiConnectionType::ConnectToExternal => led_driver.set_rgb(0, 20, 0)?, 190 | _ => led_driver.set_rgb(10, 10, 0)?, 191 | } 192 | 193 | #[allow(unused_variables)] 194 | let mut ota_driver = OtaDriver::new()?; 195 | 196 | 197 | let ld = Arc::new(Mutex::new(led_driver)); 198 | 199 | let state_ = state.clone(); 200 | 201 | let command_handler = move |c: &Command| -> Result<()> { 202 | match c { 203 | Command::Reset => {} 204 | Command::SetWifi { ssid, password } => { 205 | let creds = WifiCredentials { ssid: ssid.clone(), password: password.clone() }; 206 | nvs_arc1.lock().unwrap().set_wifi_connection(creds).unwrap(); 207 | nvs_arc1.lock().unwrap().get_wifi_connection().unwrap(); 208 | } 209 | Command::SetLedColor { r, g, b } => 210 | { ld.lock().unwrap().set_rgb(r.clone(), g.clone(), b.clone())? } 211 | Command::SetPwmDutyCycle {duty_1, duty_2} => 212 | { 213 | info!("setting pwm"); 214 | fn duty_opt_to_servo_duty(d: &Option, max_duty: u32) -> u32 { 215 | match d { 216 | None => {0} 217 | Some(i) => {(max_duty as f32 * (10f32 * (i + 1f32)) / 200f32) as u32} 218 | } 219 | } 220 | 221 | let mut pwm = pwm.lock().unwrap(); 222 | let d = duty_opt_to_servo_duty(duty_1, pwm.0.get_max_duty()); 223 | pwm.0.set_duty(d)?; 224 | info!("d1: {}", d); 225 | let d = duty_opt_to_servo_duty(duty_2, pwm.1.get_max_duty()); 226 | pwm.1.set_duty(d)?; 227 | info!("d2: {}", d); 228 | let mut state = state_.lock().unwrap(); 229 | state.servo.servo1_duty = *duty_1; 230 | state.servo.servo2_duty = *duty_2; 231 | } 232 | 233 | _ => {} 234 | } 235 | Ok(()) 236 | }; 237 | 238 | #[allow(unused_variables)] 239 | let server = Server::new(state, command_handler)?; 240 | 241 | info!("HTTP server -- OK"); 242 | info!("mDNS -- OK"); 243 | 244 | let mut mdns = esp_idf_svc::mdns::EspMdns::take()?; 245 | mdns.set_hostname("rrr")?; 246 | mdns.set_instance_name("RRR web server")?; 247 | mdns.add_service(None, "_http", "_tcp", 80, &[("board", "{esp32}")])?; 248 | 249 | loop { 250 | thread::sleep(Duration::from_millis(1000)); 251 | } 252 | 253 | #[allow(unreachable_code)] 254 | Ok(()) 255 | } -------------------------------------------------------------------------------- /rrr-embedded/src/nvs.rs: -------------------------------------------------------------------------------- 1 | use anyhow::Result; 2 | use esp_idf_svc::nvs::{EspDefaultNvs, EspDefaultNvsPartition, EspNvs, NvsDefault, NvsPartitionId}; 3 | use log::info; 4 | use rrr_api::*; 5 | 6 | pub struct Nvs { 7 | espnvs: EspNvs, 8 | } 9 | 10 | const WIFI_SSID_NAME: &str = "wifi_ssid"; 11 | const WIFI_SSID_LENGTH_NAME: &str = "wifi_ssid_l"; 12 | const WIFI_PASSWORD_NAME: &str = "wifi_pass"; 13 | const WIFI_PASSWORD_LENGTH_NAME: &str = "wifi_pass_l"; 14 | const WIFI_SET_NAME: &str = "wifi_set"; 15 | 16 | 17 | impl Nvs { 18 | pub fn new() -> Result<(Nvs)> { 19 | let nvs = 20 | EspDefaultNvs::new(EspDefaultNvsPartition::take()?, "", true)?; 21 | Ok(Self { espnvs: nvs }) 22 | } 23 | 24 | pub fn set_wifi_connection(&mut self, wifi: WifiCredentials) -> Result<()> { 25 | self.espnvs.set_u8(WIFI_SET_NAME, 0)?; 26 | self.espnvs.set_blob(WIFI_SSID_NAME, wifi.ssid.as_bytes())?; 27 | let ssid_length = wifi.password.len() as u8; 28 | self.espnvs.set_u8(WIFI_SSID_LENGTH_NAME, wifi.ssid.len() as u8)?; 29 | self.espnvs.set_blob(WIFI_PASSWORD_NAME, wifi.password.as_bytes())?; 30 | let pass_length = wifi.password.len() as u8; 31 | self.espnvs.set_u8(WIFI_PASSWORD_LENGTH_NAME, wifi.password.len() as u8)?; 32 | self.espnvs.set_u8(WIFI_SET_NAME, 1)?; 33 | Ok(()) 34 | } 35 | 36 | pub fn get_wifi_connection(&mut self) -> Result> { 37 | match self.espnvs.get_u8(WIFI_SET_NAME)? { 38 | None => { Ok(None) } 39 | Some(0) => { Ok(None) } 40 | Some(_) => { 41 | let ssid_length = self.espnvs.get_u8(WIFI_SSID_LENGTH_NAME)?; 42 | let pass_length = self.espnvs.get_u8(WIFI_PASSWORD_LENGTH_NAME)?; 43 | 44 | match (ssid_length, pass_length) { 45 | (Some(sl), Some(pl)) => { 46 | let mut ssid = vec![0u8; sl as usize]; 47 | let mut pass = vec![0u8; pl as usize]; 48 | self.espnvs.get_blob(WIFI_SSID_NAME, ssid.as_mut_slice())?; 49 | self.espnvs.get_blob(WIFI_PASSWORD_NAME, pass.as_mut_slice())?; 50 | 51 | let ssid = String::from_utf8(ssid)?; 52 | let password = String::from_utf8(pass)?; 53 | 54 | Ok(Some(WifiCredentials { ssid, password })) 55 | } 56 | _ => { Ok(None) } 57 | } 58 | } 59 | } 60 | } 61 | 62 | pub fn wipe_data(&mut self) -> Result<()> { 63 | self.espnvs.remove(WIFI_SET_NAME)?; 64 | self.espnvs.remove(WIFI_SSID_NAME)?; 65 | self.espnvs.remove(WIFI_SSID_LENGTH_NAME)?; 66 | self.espnvs.remove(WIFI_PASSWORD_NAME)?; 67 | self.espnvs.remove(WIFI_PASSWORD_LENGTH_NAME)?; 68 | 69 | Ok(()) 70 | } 71 | } 72 | -------------------------------------------------------------------------------- /rrr-embedded/src/ota.rs: -------------------------------------------------------------------------------- 1 | use thiserror::Error; 2 | use embedded_svc::io::Write; 3 | use esp_idf_hal::reset::restart; 4 | use esp_idf_svc::http::client::{Configuration, EspHttpConnection}; 5 | use embedded_svc::http::client::Client; 6 | use esp_idf_svc::ota::EspOta; 7 | use esp_idf_sys::EspError; 8 | use log::{error, info}; 9 | use crate::ota::OtaError::UrlUnavailable; 10 | 11 | 12 | pub struct OtaDriver { 13 | ota: EspOta, 14 | } 15 | 16 | #[derive(Error, Debug)] 17 | pub enum OtaError { 18 | #[error("Url is unavailable")] 19 | UrlUnavailable, 20 | #[error("Firmware download was interrupted")] 21 | ConnectionInterrupted, 22 | #[error("ESP-IDF stack error")] 23 | EspBackendFailure, 24 | #[error("Firmware does not fit the partition")] 25 | FileTooBig 26 | } 27 | 28 | 29 | impl OtaDriver { 30 | pub fn new() -> Result { 31 | let ota = EspOta::new(); 32 | ota.map(|ota| { Self { ota } }) 33 | } 34 | 35 | //TODO: handle size too big issue 36 | pub fn run(&mut self, url: &str) -> Result{ 37 | 38 | use OtaError::*; 39 | 40 | let mut upd = self.ota.initiate_update().map_err(|_| EspBackendFailure)?; 41 | 42 | let cfg = Configuration::default(); 43 | let conn = EspHttpConnection::new(&cfg).map_err(|_| EspBackendFailure)?; 44 | let mut client = Client::::wrap(conn); 45 | let mut resp = client 46 | .get(url).map_err(|_| UrlUnavailable)? 47 | .submit().map_err(|_| UrlUnavailable)?; 48 | 49 | let mut data_transferred = 0; 50 | 51 | loop { 52 | let mut buf = [0u8; 100]; 53 | let size = resp.read(buf.as_mut_slice()).unwrap(); 54 | data_transferred = data_transferred + size; 55 | upd.write_all(&buf[0..size]).unwrap(); 56 | if size < 100 {break} 57 | } 58 | 59 | upd.complete().map_err(|_| EspBackendFailure)?; 60 | 61 | Ok(data_transferred) 62 | } 63 | 64 | pub fn restart(self) { 65 | restart(); 66 | } 67 | } -------------------------------------------------------------------------------- /rrr-embedded/src/server.rs: -------------------------------------------------------------------------------- 1 | use crate::api; 2 | use std::io; 3 | use std::io::ErrorKind; 4 | 5 | use std::sync::{Arc, Mutex}; 6 | use anyhow::Result; 7 | use embedded_svc::http::server::{Connection, Request}; 8 | use esp_idf_svc::http::server::EspHttpServer; 9 | use esp_idf_sys::EspError; 10 | use include_dir::{Dir, include_dir}; 11 | 12 | 13 | static DIST: Dir<'_> = include_dir!("$CARGO_MANIFEST_DIR/../rrr-frontend/dist-gz/"); 14 | 15 | pub struct Server { 16 | server: EspHttpServer, 17 | } 18 | 19 | impl Server { 20 | pub fn new( 21 | state: Arc>, 22 | mut command_handler: F, 23 | ) -> Result 24 | where F: Fn(&api::Command) -> Result<()> + Send + 'static 25 | { 26 | use embedded_svc::http::server::{Method}; 27 | use embedded_svc::io::Write; 28 | use esp_idf_svc::http::server::{EspHttpServer}; 29 | 30 | let mut conf = esp_idf_svc::http::server::Configuration::default(); 31 | conf.max_resp_handlers = 100; 32 | conf.max_uri_handlers = 100; 33 | 34 | let mut server = EspHttpServer::new(&conf)?; 35 | 36 | fn serve_file<'a>(server: &'a mut EspHttpServer, path: &'static str, content: &'static [u8]) -> Result<(), EspError> { 37 | server.fn_handler(format!("/{}", path).as_ref(), Method::Get, move |req| { 38 | let content_type = if path.ends_with(".js") { "application/javascript" } else if path.ends_with(".wasm") { "application/wasm" } else if path.ends_with(".html") { "text/html" } else if path.ends_with(".htm") { "text/html" } else if path.ends_with(".html") { "text/html" } else if path.ends_with(".css") { "text/css" } else { "text/html" }; 39 | 40 | req.into_response(200, None, &[ 41 | ("Content-Type", content_type), 42 | ("Content-Encoding", "gzip"), 43 | ("Access-Control-Allow-Origin", "*"), 44 | ])?.write_all(content)?; 45 | Ok(()) 46 | })?; 47 | Ok(()) 48 | } 49 | 50 | server 51 | .fn_handler("/state", Method::Get, move |req| { 52 | let state = state.lock().unwrap().to_owned(); 53 | 54 | req.into_response(200, None, &[("Content-Type", "application/json"), 55 | ("Access-Control-Allow-Origin", "*"), 56 | ])?.write_all(serde_json::to_string(&state).unwrap().as_bytes())?; 57 | Ok(()) 58 | })? 59 | .fn_handler("/command", Method::Post, move |mut req| { 60 | struct ReqRead<'a, A> 61 | { 62 | req: &'a mut Request, 63 | } 64 | 65 | impl<'a, A> io::Read for ReqRead<'a, A> 66 | where A: Connection 67 | { 68 | fn read(&mut self, buf: &mut [u8]) -> io::Result { 69 | self.req.read(buf).map_err(|e| { io::Error::new(ErrorKind::BrokenPipe, "") }) 70 | } 71 | } 72 | 73 | let command = serde_json::from_reader::<_, api::Command>(ReqRead { req: &mut req }); 74 | 75 | //TODO headers (cross-origin, content-type) 76 | match command { 77 | Ok(command) => { 78 | match command_handler(&command) { 79 | Ok(_) => { req.into_ok_response()?; } 80 | Err(_) => { req.into_status_response(500)?; } 81 | } 82 | 83 | Ok(()) 84 | } 85 | Err(_) => { req.into_response(400, Some("Unable to parse command"), &[]).map(|_| ()) } 86 | }?; 87 | 88 | Ok(()) 89 | })? 90 | ; 91 | 92 | let f = DIST.get_file("index.html").unwrap(); 93 | serve_file(&mut server, "", f.contents())?; 94 | 95 | fn serve_dir(server: &mut EspHttpServer, dir: &'static Dir) -> Result<()> { 96 | dir.files().for_each(|f| { 97 | serve_file(server, f.path().to_str().unwrap(), f.contents()).unwrap(); 98 | }); 99 | if dir.dirs().next().is_some() { for dir in dir.dirs() { serve_dir(server, dir).unwrap(); } } 100 | Ok(()) 101 | } 102 | 103 | DIST.files().for_each(|f| { serve_file(&mut server, f.path().to_str().unwrap(), f.contents()).unwrap(); }); 104 | for dir in DIST.dirs() { serve_dir(&mut server, dir).unwrap(); } 105 | 106 | Ok(Self { server }) 107 | } 108 | } -------------------------------------------------------------------------------- /rrr-embedded/src/wifi.rs: -------------------------------------------------------------------------------- 1 | use std::sync::{Arc, Mutex}; 2 | use embedded_svc::wifi::{Configuration, AccessPointConfiguration, ClientConfiguration, AuthMethod}; 3 | use esp_idf_hal::peripheral::Peripheral; 4 | use esp_idf_svc::eventloop::EspSystemEventLoop; 5 | use esp_idf_svc::wifi::{BlockingWifi, EspWifi}; 6 | use log::info; 7 | use anyhow::Result; 8 | use crate::api::*; 9 | 10 | 11 | pub struct WiFi<'a> { 12 | wifi: BlockingWifi>, 13 | state: Arc>, 14 | } 15 | 16 | impl<'a> WiFi<'a> { 17 | pub fn new( 18 | configuration: WifiConnectionConfiguration, 19 | modem: impl Peripheral + 'static, 20 | sysloop: EspSystemEventLoop, 21 | state: Arc>, 22 | ) -> Result { 23 | let esp_wifi = EspWifi::new(modem, sysloop.clone(), None)?; 24 | let mut wifi = BlockingWifi::wrap(esp_wifi, sysloop)?; 25 | 26 | let cfg = match configuration.clone() { 27 | WifiConnectionConfiguration { 28 | connection_type: WifiConnectionType::StartAccessPoint, 29 | credentials: WifiCredentials { ssid, password } 30 | } => { 31 | Configuration::AccessPoint( 32 | AccessPointConfiguration { 33 | ssid: heapless::String::from(ssid.as_str()), 34 | channel: 1, 35 | password: heapless::String::from(password.as_str()), 36 | auth_method: AuthMethod::WPA2Personal, 37 | ..Default::default() 38 | }) 39 | } 40 | WifiConnectionConfiguration { 41 | connection_type: WifiConnectionType::ConnectToExternal, 42 | credentials: WifiCredentials { ssid, password } 43 | } => { 44 | Configuration::Client( 45 | ClientConfiguration { 46 | ssid: heapless::String::from(ssid.as_str()), 47 | password: heapless::String::from(password.as_str()), 48 | channel: None, 49 | ..Default::default() 50 | }, 51 | ) 52 | } 53 | }; 54 | 55 | let client_configuration_result = wifi.set_configuration(&cfg); 56 | 57 | let connection_result = client_configuration_result.and_then(|_| { 58 | wifi.start()?; 59 | wifi.connect()?; 60 | info!("WIFI Connect -- OK"); 61 | let mut configuration = configuration.clone(); 62 | configuration.credentials.password = "".into(); 63 | state.lock().unwrap().wifi_state = configuration; 64 | Ok(()) 65 | }); 66 | 67 | match connection_result { 68 | Ok(_) => (), 69 | Err(_) => { 70 | info!("WIFI Connect -- FAIL"); 71 | let ap_configuration_result = wifi.set_configuration(&Configuration::AccessPoint( 72 | AccessPointConfiguration { 73 | ssid: "RRR-wifi".into(), 74 | channel: 1, 75 | ..Default::default() 76 | }, 77 | )); 78 | ap_configuration_result.and_then(|_| { 79 | wifi.start()?; 80 | info!("WIFI AP Start -- OK"); 81 | state.lock().unwrap().wifi_state = 82 | WifiConnectionConfiguration { 83 | connection_type: WifiConnectionType::StartAccessPoint, 84 | credentials: WifiCredentials { 85 | ssid: "RRR-wifi".into(), 86 | password: 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1478 | "slab", 1479 | "wasm-bindgen", 1480 | "wasm-bindgen-futures", 1481 | "web-sys", 1482 | "yew-macro 0.19.3", 1483 | ] 1484 | 1485 | [[package]] 1486 | name = "yew" 1487 | version = "0.20.0" 1488 | source = "registry+https://github.com/rust-lang/crates.io-index" 1489 | checksum = "5dbecfe44343b70cc2932c3eb445425969ae21754a8ab3a0966981c1cf7af1cc" 1490 | dependencies = [ 1491 | "console_error_panic_hook", 1492 | "futures", 1493 | "gloo 0.8.1", 1494 | "implicit-clone", 1495 | "indexmap 1.9.3", 1496 | "js-sys", 1497 | "prokio", 1498 | "rustversion", 1499 | "serde", 1500 | "slab", 1501 | "thiserror", 1502 | "tokio", 1503 | "tracing", 1504 | "wasm-bindgen", 1505 | "wasm-bindgen-futures", 1506 | "web-sys", 1507 | "yew-macro 0.20.0", 1508 | ] 1509 | 1510 | [[package]] 1511 | name = "yew-chart" 1512 | version = "0.5.0" 1513 | source = "registry+https://github.com/rust-lang/crates.io-index" 1514 | checksum = "e886d189c07ccbaee21f576dce4524926a6fbacbe3f5a80746fff5ffdc436b6e" 1515 | dependencies = [ 1516 | "chrono", 1517 | "gloo-events 0.1.2", 1518 | "gloo-utils 0.1.7", 1519 | "wasm-bindgen", 1520 | "web-sys", 1521 | "yew 0.19.3", 1522 | ] 1523 | 1524 | [[package]] 1525 | name = "yew-hooks" 1526 | version = "0.2.0" 1527 | source = "registry+https://github.com/rust-lang/crates.io-index" 1528 | checksum = "268e2367720311f19582235f5c021702d6be8ded13b7ee8dcacc71019d055d15" 1529 | dependencies = [ 1530 | "gloo 0.8.1", 1531 | "js-sys", 1532 | "log", 1533 | "serde", 1534 | "wasm-bindgen", 1535 | "wasm-bindgen-futures", 1536 | "web-sys", 1537 | "yew 0.20.0", 1538 | ] 1539 | 1540 | [[package]] 1541 | name = "yew-macro" 1542 | version = "0.19.3" 1543 | source = "registry+https://github.com/rust-lang/crates.io-index" 1544 | checksum = "5fab79082b556d768d6e21811869c761893f0450e1d550a67892b9bce303b7bb" 1545 | dependencies = [ 1546 | "boolinator", 1547 | "lazy_static", 1548 | "proc-macro-error", 1549 | "proc-macro2", 1550 | "quote", 1551 | "syn 1.0.109", 1552 | ] 1553 | 1554 | [[package]] 1555 | name = "yew-macro" 1556 | version = "0.20.0" 1557 | source = "registry+https://github.com/rust-lang/crates.io-index" 1558 | checksum = "b64c253c1d401f1ea868ca9988db63958cfa15a69f739101f338d6f05eea8301" 1559 | dependencies = [ 1560 | "boolinator", 1561 | "once_cell", 1562 | "prettyplease", 1563 | "proc-macro-error", 1564 | "proc-macro2", 1565 | "quote", 1566 | "syn 1.0.109", 1567 | ] 1568 | -------------------------------------------------------------------------------- /rrr-frontend/Cargo.toml: -------------------------------------------------------------------------------- 1 | [package] 2 | name = "rrr-frontend" 3 | version = "0.0.1" 4 | edition = "2021" 5 | 6 | [profile.release] 7 | opt-level = "s" 8 | strip = true 9 | lto = true 10 | codegen-units = 1 11 | 12 | [dependencies] 13 | rrr-api = {path = "../rrr-api"} 14 | 15 | yew = { version = "0.20", features = ["csr"] } 16 | #yew-mdc = {git = "https://github.com/lukepfeiffer10/yew-mdc.git"} 17 | yew-hooks = "0.2.0" 18 | yew-chart = "0.5.0" 19 | material-yew = { version = "0.3.0", features = ["full"] } 20 | web-sys = "0.3.64" 21 | reqwasm = "0.5.0" 22 | wasm-bindgen = "0.2.87" 23 | wasm-bindgen-futures = "0.4.37" 24 | serde = "1.0.185" 25 | serde_json = "1.0.105" 26 | gloo = "0.10.0" 27 | heapless = "0.7.16" 28 | anyhow = "1.0.75" -------------------------------------------------------------------------------- /rrr-frontend/favicon.ico: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/PositiveAltitude/rrr-software/7b4ea8623cc9be9cdf652bb8531004e044c8d317/rrr-frontend/favicon.ico -------------------------------------------------------------------------------- /rrr-frontend/index.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | RRR 11 | 12 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /rrr-frontend/index.scss: -------------------------------------------------------------------------------- 1 | @font-face { 2 | font-family: 'Roboto'; 3 | font-style: normal; 4 | font-weight: 300; 5 | src: url(Roboto-Regular.ttf) format('truetype'); 6 | } 7 | 8 | /* fallback */ 9 | @font-face { 10 | font-family: 'Material Icons'; 11 | font-style: normal; 12 | font-weight: 400; 13 | font-display: block; 14 | src: url(material-icons.woff2) format('woff2'); 15 | } 16 | 17 | .material-icons { 18 | font-family: 'Material Icons'; 19 | font-weight: normal; 20 | font-style: normal; 21 | font-size: 24px; 22 | line-height: 1; 23 | letter-spacing: normal; 24 | text-transform: none; 25 | display: inline-block; 26 | white-space: nowrap; 27 | word-wrap: normal; 28 | direction: ltr; 29 | -webkit-font-feature-settings: 'liga'; 30 | -webkit-font-smoothing: antialiased; 31 | } 32 | 33 | html, 34 | body { 35 | height: 100%; 36 | margin: 0; 37 | font-size: 16px; 38 | font-family: Roboto, sans-serif; 39 | overflow: hidden; 40 | /* TODO: fix for text fields */ 41 | text-transform: uppercase; 42 | font-weight: 500; 43 | } 44 | 45 | html { 46 | --mdc-theme-primary: #3f51b5; 47 | --mdc-tab-horizontal-padding: 12px; 48 | } 49 | 50 | .content-frame { 51 | display: flex; 52 | height: 100%; 53 | width: 100%; 54 | justify-content: space-around; 55 | overflow: auto; 56 | } 57 | 58 | .content-root { 59 | display: flex; 60 | height: 100%; 61 | width: 100%; 62 | max-width: 500px; 63 | min-width: 374px; 64 | flex-direction: column; 65 | } 66 | 67 | .tab-page { 68 | margin-top: 10px; 69 | overflow: auto; 70 | } 71 | 72 | .horizontal-layout { 73 | display: flex; 74 | flex-direction: row; 75 | align-items: center; 76 | } 77 | 78 | .vertical-layout { 79 | display: flex; 80 | flex-direction: column; 81 | } 82 | 83 | .equal-size { 84 | flex: 1 1 0px; 85 | } 86 | 87 | mwc-button { 88 | width: 100%; 89 | } 90 | 91 | .card { 92 | display: flex; 93 | justify-content: flex-start; 94 | flex-direction: column; 95 | margin: 5px; 96 | border: 2px solid #CCC; 97 | border-radius: 10px; 98 | padding: 0px 20px 10px 20px; 99 | } 100 | 101 | .card .header { 102 | display: flex; 103 | justify-content: flex-start; 104 | align-item: center; 105 | } 106 | 107 | .card .header mwc-icon { 108 | font-size: 50px; 109 | align-self: center; 110 | margin: 0px 15px 0px 0px; 111 | } 112 | 113 | .card-content { 114 | font-weight: 400; 115 | } 116 | 117 | .horizontal-layout .separator { 118 | margin-left: 20px; 119 | } 120 | 121 | /* content-specific */ 122 | 123 | .card-content .first-column { 124 | width: 60%; 125 | } -------------------------------------------------------------------------------- /rrr-frontend/resources/LICENSE.txt: -------------------------------------------------------------------------------- 1 | 2 | Apache License 3 | Version 2.0, January 2004 4 | http://www.apache.org/licenses/ 5 | 6 | TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION 7 | 8 | 1. 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We also recommend that a 186 | file or class name and description of purpose be included on the 187 | same "printed page" as the copyright notice for easier 188 | identification within third-party archives. 189 | 190 | Copyright [yyyy] [name of copyright owner] 191 | 192 | Licensed under the Apache License, Version 2.0 (the "License"); 193 | you may not use this file except in compliance with the License. 194 | You may obtain a copy of the License at 195 | 196 | http://www.apache.org/licenses/LICENSE-2.0 197 | 198 | Unless required by applicable law or agreed to in writing, software 199 | distributed under the License is distributed on an "AS IS" BASIS, 200 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 201 | See the License for the specific language governing permissions and 202 | limitations under the License. 203 | -------------------------------------------------------------------------------- /rrr-frontend/resources/Roboto-Regular.ttf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/PositiveAltitude/rrr-software/7b4ea8623cc9be9cdf652bb8531004e044c8d317/rrr-frontend/resources/Roboto-Regular.ttf -------------------------------------------------------------------------------- /rrr-frontend/resources/material-icons.woff2: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/PositiveAltitude/rrr-software/7b4ea8623cc9be9cdf652bb8531004e044c8d317/rrr-frontend/resources/material-icons.woff2 -------------------------------------------------------------------------------- /rrr-frontend/src/components.rs: -------------------------------------------------------------------------------- 1 | use yew::prelude::*; 2 | use yew_hooks::prelude::*; 3 | use material_yew::*; 4 | 5 | #[derive(Properties, PartialEq)] 6 | pub struct ChildrenProps { 7 | pub children: Children, 8 | } 9 | 10 | #[function_component] 11 | pub fn HorizontalLayout(props: &ChildrenProps) -> Html { 12 | html!( 13 |
14 | {props.children.clone()} 15 |
16 | ) 17 | } 18 | 19 | #[function_component] 20 | pub fn VerticalLayout(props: &ChildrenProps) -> Html { 21 | html!( 22 |
23 | {props.children.clone()} 24 |
25 | ) 26 | } 27 | 28 | #[derive(Properties, PartialEq)] 29 | pub struct CardProps { 30 | pub children: Children, 31 | pub title: String, 32 | #[prop_or_default] 33 | pub icon: Option, 34 | } 35 | 36 | #[function_component] 37 | pub fn Card(props: &CardProps) -> Html { 38 | html!( 39 |
40 |
41 | if(props.icon.is_some()) {{props.icon.clone().unwrap()}} 42 |

{props.title.clone()}

43 |
44 |
{props.children.clone()}
45 |
46 | ) 47 | } 48 | 49 | #[derive(Properties, PartialEq)] 50 | pub struct TabPageProps { 51 | pub children: Children, 52 | pub id: usize, 53 | pub current_id: usize, 54 | } 55 | 56 | #[function_component] 57 | pub fn TabPage(props: &TabPageProps) -> Html { 58 | html! { 59 | 60 | } 61 | } -------------------------------------------------------------------------------- /rrr-frontend/src/main.rs: -------------------------------------------------------------------------------- 1 | mod components; 2 | 3 | use crate::components::*; 4 | 5 | use std::process::Child; 6 | use rrr_api::*; 7 | 8 | use gloo::console::log; 9 | use yew::prelude::*; 10 | use yew_hooks::prelude::*; 11 | use reqwasm::http::Request; 12 | use wasm_bindgen_futures::spawn_local; 13 | use serde::{Serialize, Deserialize}; 14 | use serde::de::DeserializeOwned; 15 | use material_yew::*; 16 | use material_yew::text_inputs::TextFieldType; 17 | 18 | use gloo::timers::callback::{Timeout}; 19 | use wasm_bindgen::JsCast; 20 | use web_sys::console::log; 21 | use web_sys::HtmlInputElement; 22 | 23 | #[derive(Properties, PartialEq)] 24 | struct RestButtonProps { 25 | text: String, 26 | command: Command, 27 | #[prop_or_default] 28 | equal_size: bool, 29 | } 30 | 31 | #[function_component] 32 | fn RestButton(props: &RestButtonProps) -> Html { 33 | let text = props.text.clone(); 34 | let commmand: Command = props.command.clone(); 35 | 36 | let onclick: Callback = Callback::from(move |_| { 37 | let s = "http://rrr.local/command".to_owned(); 38 | let s = s.clone(); 39 | let commmand = commmand.clone(); 40 | spawn_local(async move { 41 | Request::post(&s) 42 | .body(serde_json::to_string(&commmand).unwrap()) 43 | .send() 44 | .await 45 | .unwrap(); 46 | }); 47 | () 48 | }); 49 | 50 | html! {} 51 | } 52 | 53 | static command_uri: &str = "http://rrr.local/command"; 54 | 55 | fn send_command(command: Command) { 56 | spawn_local(async move { 57 | Request::post(command_uri) 58 | .body(serde_json::to_string(&command).unwrap()) 59 | .send() 60 | .await 61 | .unwrap(); 62 | }); 63 | } 64 | 65 | #[function_component] 66 | fn WifiSettings() -> Html { 67 | let ssid = use_state(|| String::new()); 68 | let password = use_state(|| String::new()); 69 | 70 | let ssid1 = ssid.clone(); 71 | let password1 = password.clone(); 72 | let onclick = move |_| { 73 | let cmd = Command::SetWifi { ssid: (*ssid1).clone(), password: (*password1).clone() }; 74 | send_command(cmd); 75 | }; 76 | 77 | html! {
78 | 79 | 80 | 81 |
82 | } 83 | } 84 | 85 | #[function_component] 86 | fn App() -> Html { 87 | let current_tab = use_state(|| 0); 88 | 89 | let current_tab_ = current_tab.clone(); 90 | let onactivated = move |current_id: usize| { current_tab_.set(current_id) }; 91 | 92 | html! { 93 |
94 |
95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | 111 | 112 | 113 | 114 | 115 | 116 | 117 | 118 |
119 |
120 | } 121 | } 122 | 123 | #[function_component] 124 | fn StateComponent() -> Html { 125 | let state = use_state_eq(|| State::default()); 126 | let update_required = use_state_eq(|| true); 127 | 128 | async fn fetch_state() -> Result { 129 | fetch::("http://rrr.local/state".to_string()).await 130 | } 131 | 132 | async fn fetch(url: String) -> Result 133 | where 134 | T: DeserializeOwned, 135 | { 136 | let response = Request::get(&url).send().await; 137 | if let Ok(data) = response { 138 | (data.json::().await).map_or(Err(Error::DeserializeError), |repo| Ok(repo)) 139 | } else { 140 | Err(Error::RequestError) 141 | } 142 | } 143 | 144 | let u3 = update_required.clone(); 145 | 146 | let state2 = state.clone(); 147 | 148 | let async_request: UseAsyncHandle = use_async(async move { 149 | let ans = fetch_state().await; 150 | let ans2 = ans.clone(); 151 | if ans.is_ok() { state2.set(ans.unwrap()) }; 152 | Timeout::new(1000, move || { 153 | log!("request"); 154 | u3.set(true); 155 | }).forget(); 156 | ans2 157 | }); 158 | 159 | let u2 = update_required.clone(); 160 | if *u2 { 161 | async_request.run(); 162 | u2.set(false); 163 | } 164 | 165 | let battery_icon = match state.battery.soc { 166 | x if x < 0.1 => "battery_0_bar", 167 | x if x < 0.233 => "battery_1_bar", 168 | x if x < 0.366 => "battery_2_bar", 169 | x if x < 0.50 => "battery_3_bar", 170 | x if x < 0.633 => "battery_4_bar", 171 | x if x < 0.766 => "battery_5_bar", 172 | x if x <= 0.90 => "battery_6_bar", 173 | x if x > 0.90 => "battery_full", 174 | _ => "battery_unknown", 175 | }; 176 | 177 | fn pyro_status(pyro: &PyroChannelState) -> &'static str { 178 | match pyro { 179 | PyroChannelState { fire: true, test_voltage: _ } => { "active!!!" } 180 | PyroChannelState { fire: false, test_voltage: tv } if *tv > 1.0f32 => { "connected" } 181 | _ => { "not connected" } 182 | } 183 | } 184 | 185 | fn servo_state(servo: &Option) -> String { 186 | match servo { 187 | None => String::from("off"), 188 | Some(a) => format!("{:.4}", a), 189 | } 190 | } 191 | 192 | html! { 193 |
194 | 195 | 196 | 197 |
{"Battery charge"}
198 |
{"Battery voltage"}
199 |
{"Battery charge rate"}
200 | 201 | 202 |
{format!("{:.0}", state.battery.soc)}
203 |
{format!("{:.2}", state.battery.voltage)}
204 |
{format!("{:.1}", state.battery.charge_rate)}
205 | 206 |
207 | 208 |
{"%"}
209 |
{"V"}
210 |
{"%/hr"}
211 | 212 | 213 | 214 | 215 | 216 | 217 |
{"channel 1"}
218 |
{"channel 2"}
219 | 220 | 221 |
{pyro_status(&state.pyro.channel1)}
222 |
{pyro_status(&state.pyro.channel2)}
223 | 224 | 225 | 226 | 227 | 228 | 229 |
{"Altitude"}
230 |
{"temperature"}
231 | 232 | 233 |
{format!("{:.1}", state.barometer.altitude)}
234 |
{format!("{:.1}", state.barometer.temperature)}
235 | 236 |
237 | 238 |
{"M"}
239 |
{"°C"}
240 | 241 | 242 | 243 | 244 | 245 | 246 |
{"servo 1"}
247 |
{"servo 2"}
248 | 249 | 250 |
{servo_state(&state.servo.servo1_duty)}
251 |
{servo_state(&state.servo.servo2_duty)}
252 | 253 | 254 | 255 |
256 | } 257 | } 258 | 259 | #[function_component] 260 | fn ServoComponent() -> Html { 261 | let duty1_enabled = use_state(|| false); 262 | let duty2_enabled = use_state(|| false); 263 | 264 | let duty1 = use_state(|| 0i32); 265 | let duty2 = use_state(|| 0i32); 266 | 267 | fn str_to_f32(s: String) -> Option { 268 | if s.is_empty() {None} else 269 | { 270 | log!("parsing"); 271 | s.parse::().ok().filter(|i| {(*i >= 0 && *i <= 100)}).or_else(|| {Some(0)}) 272 | } 273 | } 274 | 275 | let duty1_enabled_ = duty1_enabled.clone(); 276 | let duty2_enabled_ = duty2_enabled.clone(); 277 | let duty1_ = duty1.clone(); 278 | let duty2_ = duty2.clone(); 279 | 280 | let submit = move |_| { 281 | let duty_1 = if (*duty1_enabled_) 282 | {Some(((*duty1_) as f32) * 0.01f32)} else {None}; 283 | 284 | let duty_2 = if (*duty2_enabled_) 285 | {Some(((*duty2_) as f32) * 0.01f32)} else {None}; 286 | 287 | let command = Command::SetPwmDutyCycle {duty_1, duty_2}; 288 | send_command(command); 289 | }; 290 | 291 | html! { 292 | 293 | 294 | 295 |
{"servo 1"}
296 | 297 | 301 | 302 | 303 |
{"servo 2"}
304 | 305 | 309 | 310 | 311 |
312 | 313 | 314 | } 315 | } 316 | 317 | fn main() { 318 | yew::Renderer::::new().render(); 319 | } 320 | 321 | #[derive(Clone, Debug, PartialEq)] 322 | enum Error { 323 | RequestError, 324 | DeserializeError, 325 | } -------------------------------------------------------------------------------- /rrr-simulation/Cargo.toml: -------------------------------------------------------------------------------- 1 | [package] 2 | name = "rrr-simulation" 3 | version = "0.0.1" 4 | edition = "2021" 5 | 6 | [dependencies] 7 | bevy = "0.12.1" 8 | 9 | -------------------------------------------------------------------------------- /rrr-simulation/src/cone.rs: -------------------------------------------------------------------------------- 1 | use bevy::render::mesh::{Indices, Mesh, PrimitiveTopology}; 2 | 3 | 4 | #[derive(Clone, Copy, Debug)] 5 | pub struct Cone { 6 | pub radius: f32, 7 | pub height: f32, 8 | pub resolution: u32, 9 | } 10 | 11 | impl Default for Cone { 12 | fn default() -> Self { 13 | Self { 14 | radius: 0.5, 15 | height: 1.0, 16 | resolution: 16, 17 | } 18 | } 19 | } 20 | 21 | impl From for Mesh { 22 | fn from(c: Cone) -> Self { 23 | debug_assert!(c.radius > 0.0); 24 | debug_assert!(c.height > 0.0); 25 | debug_assert!(c.resolution > 2); 26 | 27 | let num_vertices = c.resolution + 2; 28 | let num_polygons = c.resolution * 2; 29 | let num_indices = num_polygons * 3; 30 | 31 | let mut positions = Vec::with_capacity(num_vertices as usize); 32 | let mut normals = Vec::with_capacity(num_vertices as usize); 33 | let mut indices = Vec::with_capacity(num_indices as usize); 34 | 35 | let step_theta = std::f32::consts::TAU / c.resolution as f32; 36 | 37 | let center_vertex_index = num_vertices - 2; 38 | let top_vertex_index = num_vertices - 1; 39 | 40 | for i in 0..c.resolution { 41 | let theta = i as f32 * step_theta; 42 | let (sin, cos) = theta.sin_cos(); 43 | 44 | positions.push([cos * c.radius, sin * c.radius, 0.0]); 45 | normals.push([cos, sin, 0.0]); 46 | } 47 | 48 | positions.push([0.0, 0.0, 0.0]); 49 | positions.push([0.0, 0.0, c.height]); 50 | normals.push([0.0, 0.0, -1.0]); 51 | normals.push([0.0, 0.0, 1.0]); 52 | 53 | for i in 1..c.resolution { 54 | indices.extend_from_slice(&[center_vertex_index, i, i - 1]); 55 | indices.extend_from_slice(&[top_vertex_index, i - 1, i]); 56 | } 57 | indices.extend_from_slice(&[center_vertex_index, 0, c.resolution - 1]); 58 | indices.extend_from_slice(&[top_vertex_index, c.resolution - 1, 0]); 59 | 60 | 61 | Mesh::new(PrimitiveTopology::TriangleList) 62 | .with_indices(Some(Indices::U32(indices))) 63 | .with_inserted_attribute(Mesh::ATTRIBUTE_POSITION, positions) 64 | .with_inserted_attribute(Mesh::ATTRIBUTE_NORMAL, normals) 65 | } 66 | } -------------------------------------------------------------------------------- /rrr-simulation/src/main.rs: -------------------------------------------------------------------------------- 1 | use bevy::core_pipeline::bloom::BloomSettings; 2 | use bevy::core_pipeline::tonemapping::Tonemapping; 3 | use bevy::pbr::DirectionalLightShadowMap; 4 | use bevy::prelude::*; 5 | use crate::visual_objects::{Rocket3DObject, spawn_all_entities}; 6 | use std::thread; 7 | use std::sync::mpsc::channel; 8 | 9 | 10 | mod simulation; 11 | mod visual_objects; 12 | mod cone; 13 | 14 | fn main() { 15 | let (tx, rx) = channel::(); 16 | 17 | App::new() 18 | .insert_resource(Msaa::Sample8) 19 | .insert_resource(DirectionalLightShadowMap { size: 4096 }) 20 | .add_plugins(DefaultPlugins) 21 | .add_systems(Startup, setup) 22 | .add_systems(Update, update) 23 | .run(); 24 | } 25 | 26 | fn setup( 27 | mut commands: Commands, 28 | mut meshes: ResMut>, 29 | mut materials: ResMut>, 30 | ) { 31 | commands.insert_resource(AmbientLight { 32 | color: Color::WHITE, 33 | brightness: 0.1, 34 | }); 35 | 36 | commands.spawn(PointLightBundle { 37 | point_light: PointLight { 38 | intensity: 1800.0, 39 | radius: 0.1, 40 | shadows_enabled: true, 41 | ..default() 42 | }, 43 | transform: Transform::from_xyz(6.0, 2.0, 10.0), 44 | ..default() 45 | }); 46 | 47 | commands.spawn(PointLightBundle { 48 | point_light: PointLight { 49 | intensity: 1100.0, 50 | radius: 0.1, 51 | shadows_enabled: true, 52 | ..default() 53 | }, 54 | transform: Transform::from_xyz(-6.0, 1.0, 10.0), 55 | ..default() 56 | }); 57 | 58 | 59 | commands.spawn((Camera3dBundle { 60 | camera: Camera { 61 | hdr: true, // 1. HDR is required for bloom 62 | ..default() 63 | }, 64 | tonemapping: Tonemapping::TonyMcMapface, 65 | transform: Transform::from_xyz(3.0, -9.0, 5.0) //(16.0, -32.0, 15.5) 66 | .looking_at(Vec3::new(0.0, 0.0, 3.0), Vec3::Z), 67 | ..default() 68 | }, BloomSettings{ 69 | intensity: 0.15, 70 | // low_frequency_boost: 1.0, 71 | // low_frequency_boost_curvature:1.0, 72 | //composite_mode: Additive, 73 | ..default() 74 | })); 75 | 76 | spawn_all_entities( 77 | &mut commands, &mut meshes, &mut materials, 78 | ); 79 | } 80 | 81 | pub fn update( 82 | time: Res