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Some cleanup and a change to improve controlling the robot #1

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Some cleanup and a change to improve controlling the robot #1

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34 changes: 10 additions & 24 deletions src/main.rs
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Original file line number Diff line number Diff line change
@@ -1,16 +1,13 @@
use std::error::Error;
use std::io::{self, Read, Write};
use std::time::Duration;
use uuid::Uuid;

use btleplug::api::{
Central, CentralEvent, Characteristic, Manager as _, Peripheral as _, ScanFilter, WriteType
Central, Manager as _, Peripheral as _, WriteType
};
use btleplug::platform::Manager;
use futures::stream::StreamExt;
use tokio::time::{self, Instant};


use tokio::time::Instant;
use crossterm::event::{self, Event, KeyCode, KeyEventKind};

// ---------------- MODIFY HERE ----------------------
const ROBOT_NAME: &str = "MyRobot";
Expand All @@ -22,9 +19,6 @@ async fn main() -> Result<(), Box<dyn Error>> {
let service_uuid = Uuid::parse_str("0000097d-0000-1000-8000-00805f9b34fb")?;
let command_char_uuid = Uuid::parse_str("5cc11628-0528-4edb-af0a-5db2a02d6827")?;

// The filter name
// let ROBOT_NAME = "MyRobot2";

// Get BLE adapter
let manager = Manager::new().await?;
let adapters = manager.adapters().await?;
Expand All @@ -41,7 +35,6 @@ async fn main() -> Result<(), Box<dyn Error>> {
if let Ok(peripherals) = adapter.peripherals().await {
for p in peripherals {
if p.properties().await.unwrap().unwrap().local_name.iter().any(|name| name.eq(ROBOT_NAME)) {
// println!("xx: {:?}", p);
if let Ok(Some(props)) = p.properties().await {
if props.services.contains(&service_uuid) {
println!("Found robot: {:?}", props.local_name);
Expand All @@ -51,7 +44,6 @@ async fn main() -> Result<(), Box<dyn Error>> {
}
}
}
// time::sleep(Duration::from_secs(1)).await;
};

// Connect
Expand All @@ -74,9 +66,6 @@ async fn main() -> Result<(), Box<dyn Error>> {
run(&peripheral, &command_char).await
}

use btleplug::api::{Peripheral as _};
use crossterm::event::{self, Event, KeyCode, KeyEventKind};

async fn run(
peripheral: &impl btleplug::api::Peripheral,
command_char: &btleplug::api::Characteristic,
Expand All @@ -89,8 +78,8 @@ async fn run(

loop {
// Check for key events
if event::poll(Duration::from_millis(50))? {
if let Event::Key(key_event) = event::read()? {
if event::poll(Duration::from_millis(50))?
&& let Event::Key(key_event) = event::read()? {
match key_event.kind {
KeyEventKind::Press => {
if let KeyCode::Char(c) = key_event.code {
Expand All @@ -115,15 +104,12 @@ async fn run(
// optional: ignore, since we handle auto-repeat ourselves
}
}
}
}

// If a key is held, repeat every 200ms
if let Some(c) = active_key {
if last_sent.elapsed() >= Duration::from_millis(200) {
send_cmd(peripheral, command_char, c).await?;
last_sent = Instant::now();
}
/* Periodically send '+' (the KILL value in the robot-side code, so it seemed appropriate) when nothing else is pressed */
if last_sent.elapsed() >= Duration::from_millis(200) {
send_cmd(peripheral, command_char, active_key.unwrap_or('+')).await?;
last_sent = Instant::now();
}
}

Expand All @@ -139,6 +125,6 @@ async fn send_cmd(
peripheral
.write(command_char, &[byte], WriteType::WithoutResponse)
.await?;
println!("Sent command: {}", c);
println!("Sent command: {c}");
Ok(())
}