Add grpc initalisation, start adding streaming grpc control
This commit is contained in:
piv
63
car-rs/Cargo.lock
generated
63
car-rs/Cargo.lock
generated
@@ -34,9 +34,9 @@ dependencies = [
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[[package]]
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name = "anyhow"
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version = "1.0.58"
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version = "1.0.60"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "bb07d2053ccdbe10e2af2995a2f116c1330396493dc1269f6a91d0ae82e19704"
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checksum = "c794e162a5eff65c72ef524dfe393eb923c354e350bb78b9c7383df13f3bc142"
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[[package]]
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name = "async-stream"
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@@ -61,9 +61,9 @@ dependencies = [
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[[package]]
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name = "async-trait"
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version = "0.1.56"
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version = "0.1.57"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "96cf8829f67d2eab0b2dfa42c5d0ef737e0724e4a82b01b3e292456202b19716"
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checksum = "76464446b8bc32758d7e88ee1a804d9914cd9b1cb264c029899680b0be29826f"
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dependencies = [
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"proc-macro2",
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"quote",
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@@ -133,14 +133,16 @@ checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
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[[package]]
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name = "bytes"
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version = "1.2.0"
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version = "1.2.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "f0b3de4a0c5e67e16066a0715723abd91edc2f9001d09c46e1dca929351e130e"
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checksum = "ec8a7b6a70fde80372154c65702f00a0f56f3e1c36abbc6c440484be248856db"
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[[package]]
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name = "car-rs"
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version = "0.1.0"
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dependencies = [
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"futures-core",
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"futures-util",
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"prost",
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"rppal",
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"serialport",
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@@ -197,6 +199,17 @@ version = "0.3.21"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "0c09fd04b7e4073ac7156a9539b57a484a8ea920f79c7c675d05d289ab6110d3"
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[[package]]
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name = "futures-macro"
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version = "0.3.21"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "33c1e13800337f4d4d7a316bf45a567dbcb6ffe087f16424852d97e97a91f512"
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dependencies = [
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"proc-macro2",
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"quote",
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"syn",
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]
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[[package]]
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name = "futures-sink"
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version = "0.3.21"
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@@ -216,9 +229,11 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "d8b7abd5d659d9b90c8cba917f6ec750a74e2dc23902ef9cd4cc8c8b22e6036a"
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dependencies = [
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"futures-core",
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"futures-macro",
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"futures-task",
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"pin-project-lite",
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"pin-utils",
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"slab",
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]
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[[package]]
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@@ -378,9 +393,9 @@ dependencies = [
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[[package]]
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name = "itoa"
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version = "1.0.2"
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version = "1.0.3"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "112c678d4050afce233f4f2852bb2eb519230b3cf12f33585275537d7e41578d"
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checksum = "6c8af84674fe1f223a982c933a0ee1086ac4d4052aa0fb8060c12c6ad838e754"
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[[package]]
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name = "lazy_static"
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@@ -390,9 +405,9 @@ checksum = "e2abad23fbc42b3700f2f279844dc832adb2b2eb069b2df918f455c4e18cc646"
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[[package]]
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name = "libc"
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version = "0.2.126"
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version = "0.2.127"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "349d5a591cd28b49e1d1037471617a32ddcda5731b99419008085f72d5a53836"
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checksum = "505e71a4706fa491e9b1b55f51b95d4037d0821ee40131190475f692b35b009b"
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[[package]]
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name = "libudev"
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@@ -609,9 +624,9 @@ dependencies = [
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[[package]]
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name = "proc-macro2"
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version = "1.0.40"
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version = "1.0.43"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "dd96a1e8ed2596c337f8eae5f24924ec83f5ad5ab21ea8e455d3566c69fbcaf7"
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checksum = "0a2ca2c61bc9f3d74d2886294ab7b9853abd9c1ad903a3ac7815c58989bb7bab"
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dependencies = [
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"unicode-ident",
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]
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@@ -671,9 +686,9 @@ dependencies = [
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[[package]]
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name = "quote"
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version = "1.0.20"
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version = "1.0.21"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "3bcdf212e9776fbcb2d23ab029360416bb1706b1aea2d1a5ba002727cbcab804"
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checksum = "bbe448f377a7d6961e30f5955f9b8d106c3f5e449d493ee1b125c1d43c2b5179"
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dependencies = [
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"proc-macro2",
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]
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@@ -710,9 +725,9 @@ dependencies = [
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[[package]]
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name = "redox_syscall"
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version = "0.2.15"
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version = "0.2.16"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "534cfe58d6a18cc17120fbf4635d53d14691c1fe4d951064df9bd326178d7d5a"
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checksum = "fb5a58c1855b4b6819d59012155603f0b22ad30cad752600aadfcb695265519a"
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dependencies = [
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"bitflags",
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]
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@@ -761,9 +776,9 @@ checksum = "d29ab0c6d3fc0ee92fe66e2d99f700eab17a8d57d1c1d3b748380fb20baa78cd"
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[[package]]
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name = "serde"
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version = "1.0.140"
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version = "1.0.142"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "fc855a42c7967b7c369eb5860f7164ef1f6f81c20c7cc1141f2a604e18723b03"
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checksum = "e590c437916fb6b221e1d00df6e3294f3fccd70ca7e92541c475d6ed6ef5fee2"
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[[package]]
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name = "serialport"
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@@ -818,9 +833,9 @@ dependencies = [
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[[package]]
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name = "syn"
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version = "1.0.98"
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version = "1.0.99"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "c50aef8a904de4c23c788f104b7dddc7d6f79c647c7c8ce4cc8f73eb0ca773dd"
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checksum = "58dbef6ec655055e20b86b15a8cc6d439cca19b667537ac6a1369572d151ab13"
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dependencies = [
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"proc-macro2",
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"quote",
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@@ -849,9 +864,9 @@ dependencies = [
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[[package]]
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name = "tokio"
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version = "1.20.0"
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version = "1.20.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "57aec3cfa4c296db7255446efb4928a6be304b431a806216105542a67b6ca82e"
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checksum = "7a8325f63a7d4774dd041e363b2409ed1c5cbbd0f867795e661df066b2b0a581"
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dependencies = [
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"autocfg",
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"bytes",
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@@ -1061,9 +1076,9 @@ checksum = "59547bce71d9c38b83d9c0e92b6066c4253371f15005def0c30d9657f50c7642"
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[[package]]
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name = "unicode-ident"
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version = "1.0.2"
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version = "1.0.3"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "15c61ba63f9235225a22310255a29b806b907c9b8c964bcbd0a2c70f3f2deea7"
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checksum = "c4f5b37a154999a8f3f98cc23a628d850e154479cd94decf3414696e12e31aaf"
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[[package]]
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name = "want"
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@@ -8,6 +8,8 @@ edition = "2021"
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[dependencies]
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# https://github.com/golemparts/rppal
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rppal = { version = "0.13.1", optional = true }
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futures-core = "0.3"
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futures-util = "0.3"
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tokio = { version = "1", features = ["full"] }
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prost = "0.11"
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@@ -17,12 +19,8 @@ tonic = "0.8.0"
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# https://docs.rs/serialport/4.0.1/serialport/index.html
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serialport = "4.0.1"
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[build]
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target = "armv7-unknown-linux-gnueabihf"
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[build-dependencies]
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tonic-build = "0.8.0"
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[features]
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rppal = ["dep:rppal"]
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@@ -2,16 +2,21 @@ pub mod motor_control_service {
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tonic::include_proto!("motor_control");
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}
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use std::sync::{Arc, Mutex};
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use car_rs::{Servo, Vehicle};
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use motor_control_service::car_control_server::CarControl;
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use tonic::{Request, Response, Status, Streaming};
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use futures_util::StreamExt;
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use self::motor_control_service::{
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RecordingReqeust, RecordingResponse, SaveRequest, SaveResponse, SteeringRequest,
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SteeringResponse, ThrottleRequest, ThrottleResponse, Vehicle2DRequest, Vehicle2DResponse,
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};
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#[derive(Debug)]
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struct MotorControlService {}
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pub struct MotorControlService {}
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#[tonic::async_trait]
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impl CarControl for MotorControlService {
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@@ -31,8 +36,16 @@ impl CarControl for MotorControlService {
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async fn stream_vehicle_2d(
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&self,
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_request: Request<Streaming<Vehicle2DRequest>>,
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request: Request<Streaming<Vehicle2DRequest>>,
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) -> Result<Response<Vehicle2DResponse>, Status> {
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let mut stream = request.into_inner();
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let mut timed_out = false;
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while let Some(req) = stream.next().await {
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if !timed_out {}
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timed_out = true;
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}
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unimplemented!()
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}
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@@ -10,7 +10,7 @@ pub trait Servo {
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fn set_frequency(&self, frequency: f64);
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}
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pub trait Vechicle<T: Servo> {
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pub trait Vehicle<T: Servo> {
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fn get_throttle_servo() -> T;
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fn get_steering_servo() -> T;
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}
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@@ -1,6 +1,18 @@
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use crate::grpcserver::motor_control_service;
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use grpcserver::{
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motor_control_service::car_control_server::CarControlServer, MotorControlService,
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};
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use tonic::transport::Server;
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mod grpcserver;
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#[tokio::main]
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async fn main() {}
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async fn main() -> Result<(), Box<dyn std::error::Error>> {
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let addr = "[::1]:10000".parse().unwrap();
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let motor_control = MotorControlService {};
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let svc = CarControlServer::new(motor_control);
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Server::builder().add_service(svc).serve(addr).await?;
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Ok(())
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}
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