Crate nri

This crate contains all the software used to run the sensing rig. It's designed to run on the Intel NUC in the rig operator's backpack. There are driver wrappers for each sensor, a supervisor that runs each of those in its own thread, plus CLI and web interfaces to control everything.

How to...

... generate this documentation

• Run cargo doc in the NRI repo:

nri$ cargo doc

• Now we need the rustdoc command for this crate.

nri$ touch src/main.rs
nri$ cargo doc -v | grep rustdoc | awk "-FRunning " '{print substr($NF, 2, length($NF)-2)}' > cargo-doc-command

• Edit cargo-doc-command and add --no-defaults --passes "collapse-docs" --passes "unindent-comments" after src/main.rs. Then run it.

nri$ source cargo-doc-command

• You can now access the docs at target/doc/nri/index.html. If you want them on the web: copy the docs to the Github Pages repo, commit, and push.

nri$ pushd ../haptics-nri.github.io
haptics-nri.github.io$ git pull
haptics-nri.github.io$ popd
nri$ rsync -a target/doc ../haptics-nri.github.io
nri$ pushd ../haptics-nri.github.io
haptics-nri.github.io$ git add doc
haptics-nri.github.io$ git commit -m "cargo doc"
haptics-nri.github.io$ git push
haptics-nri.github.io$ popd

• The docs are now live (after 30s or so) at http://haptics-nri.github.io/doc/nri.

... lint this code

• The script clippy.sh modifies Cargo.toml and src/main.rs to include rust-clippy, changes the toolchain to nightly (using multirust), runs cargo run to generate all the lint warnings, and then switches everything back.

... set up the wi-fi hotspot

I followed the instructions here to create a Wi-Fi hotspot to which Android devices can connect. Unity's built in network manager can almost, but not quite, do it. You need to create the network in the manager and then go edit the file to change it from Infrastructure Mode to AP Mode (which is not an option in the GUI -- you can select Ad-hoc Mode, but Android won't connect to that).

Shortened instructions:

1. Click on the network icon in the system tray. Select "Edit connections...".
2. Click "Add".
3. Choose "Wi-Fi" for the type and click Create.
4. Make up an SSID. Leave the type as "Infrastructure" (it doesn't matter, since we'll change it manually). Select the wireless card in the "Device MAC address" dropdown.
5. Go to the "Wi-Fi Security" tab and choose sane options.
6. Go to the "IPv4 Settings" tab and set the Method to "Shared to other computers".
7. Click Save.
8. Edit the file /etc/NetworkManager/system-connections/$SSID and change mode=infrastructure to mode=ap.
9. Deactivate and reactivate Wi-Fi. Then you should be able to select the new SSID to "connect" (meaning broadcast). And then you should be able to connect from other devices!

Note that (obviously) when the NUC is running as a hotspot, it has no internet connection. I tried to get DNS running, but I failed, so for now you have to use an IP address to access the NUC. You can see what it chose by running hostname -I -- it seems to like 10.42.0.1.

Reexports

extern crate "std" as std;

extern crate log;

extern crate env_logger;

use std::prelude::v1::*;

use std::io;

use std::io::{Write, BufRead};

use std::ascii::AsciiExt;

use std::ptr;

use std::thread;

use std::sync::mpsc::{channel, Sender, Receiver, TryRecvError};

use std::process::Command;

use mpmc::MultiSender;

use comms::{CmdTo, CmdFrom};

use cli::CLI;

use web::Web;

use structure::Structure;

use bluefox::Bluefox;

use optoforce::Optoforce;

Modules

bluefox	Service to capture frames from the mvBlueFOX3 camera
cli	CLI interface to view and control running services
comms	Utilities for communication between the supervisor thread and services
mpmc	Multi-producer/multi-consumer channels
optoforce	Service to read data from the OptoForce sensor
structure	Service to capture frames from the Structure Sensor
web	Web interface to view and control running services

Macros

rpc!	Convenience macro for making an "RPC" call from a service up to the main thread. This is done by generating a nonce channel, stuffing the sending end into a message that gets sent to the main thread, and then waiting for the main thread to send back a reply.

Structs

Service

Service descriptor

Functions

main	Main function that does everything
send_to
start
stop
stop_all