Display sensor values in control station GUI

control-station/src/components/SensorBoxes/Sensors/SensorBox.tsx

@@ -1,10 +1,14 @@
 import "./SensorBox.css";
 
-function SensorBox() {
+interface Value {
+	value: number;
+}
+
+function SensorBox({ value }: Value) {
 	return (
 		<div className="sensorbox">
 			<h3 style={{ textAlign: "center", height: "10%" }}>Title</h3>
-			<p className="sensor-value">0</p>
+			<p className="sensor-value">{value}</p>
 		</div>
 	);
 }

control-station/src/components/SensorBoxes/Sensors/SensorsContainer.tsx

@@ -1,12 +1,15 @@
+import { useContext } from "react";
 import SensorBox from "./SensorBox";
+import PodContext from "@/services/PodContext";
 
 function SensorContainer() {
+	const { podData } = useContext(PodContext);
 	return (
 		<div className="SensorContainer">
-			<SensorBox />
-			<SensorBox />
-			<SensorBox />
-			<SensorBox />
+			<SensorBox value={podData.gyroscope} />
+			<SensorBox value={podData.wheel_encoder} />
+			<SensorBox value={podData.downstream_pressure_transducer} />
+			<SensorBox value={podData.upstream_pressure_transducer} />
 		</div>
 	);
 }

control-station/src/services/PodSocketClient.ts

@@ -2,6 +2,7 @@ import { Dispatch, SetStateAction } from "react";
 import { Socket } from "socket.io-client";
 import { ioNamespace } from "./socketHandler";
 
+
 export enum State {
 	Disconnected = "Disconnected",
 	Init = "Init",
@@ -15,7 +16,7 @@ export enum State {
 interface ServerToClientEvents {
 	connect: () => void;
 	disconnect: (reason: Socket.DisconnectReason) => void;
-	serverResponse: (data: string) => void;
+	serverResponse: (data: PodData) => void;
 }
 
 interface ClientToServerEvents {
@@ -28,6 +29,12 @@ interface ClientToServerEvents {
 export interface PodData {
 	connected: boolean;
 	state: State;
+	gyroscope: number;
+	wheel_encoder: number;
+	downstream_pressure_transducer: number;
+	upstream_pressure_transducer: number;
+	lim_temperature_port: number;
+	lim_temperature_starboard: number;
 }
 
 type SetPodData = Dispatch<SetStateAction<PodData>>;
@@ -111,8 +118,9 @@ class PodSocketClient {
 		this.setPodData((d) => ({ ...d, connected: false, state: State.Disconnected }));
 	}
 
-	private onData(data: string): void {
+	private onData(data: PodData): void {
 		console.log("server says", data);
+		this.setPodData((d) => ({ ...d, ...data }));
 	}
 }
 

control-station/src/services/usePodData.tsx

@@ -3,8 +3,14 @@ import PodSocketClient, { PodData, State } from "./PodSocketClient";
 
 function usePodData() {
 	const [podData, setPodData] = useState<PodData>({
-		state: State.Disconnected,
 		connected: false,
+		state: State.Disconnected,
+		gyroscope: 0,
+		wheel_encoder: 0,
+		downstream_pressure_transducer: 0,
+		upstream_pressure_transducer: 0,
+		lim_temperature_port: 0,
+		lim_temperature_starboard: 0,
 	});
 
 	const podSocketClient = useMemo(() => new PodSocketClient(setPodData), []);

pod-operation/src/main.rs

@@ -26,30 +26,30 @@ async fn main() -> Result<(), Box<dyn std::error::Error>> {
 
 	let (layer, io) = SocketIo::new_layer();
 
-	let signal_light = SignalLight::new();
-	tokio::spawn(demo::blink(signal_light));
+	// let signal_light = SignalLight::new();
+	// tokio::spawn(demo::blink(signal_light));
 
-	let upstream_pressure_transducer = PressureTransducer::upstream();
-	tokio::spawn(demo::read_pressure_transducer(upstream_pressure_transducer));
+	// let upstream_pressure_transducer = PressureTransducer::upstream();
+	// tokio::spawn(demo::read_pressure_transducer(upstream_pressure_transducer));
 
-	let downstream_pressure_transducer = PressureTransducer::downstream();
-	tokio::spawn(demo::read_pressure_transducer(
-		downstream_pressure_transducer,
-	));
+	// let downstream_pressure_transducer = PressureTransducer::downstream();
+	// tokio::spawn(demo::read_pressure_transducer(
+	// 	downstream_pressure_transducer,
+	// ));
 
-	let ads1015 = LimTemperature::new(ads1x1x::SlaveAddr::Default);
-	tokio::spawn(demo::read_ads1015(ads1015));
+	// let ads1015 = LimTemperature::new(ads1x1x::SlaveAddr::Default);
+	// tokio::spawn(demo::read_ads1015(ads1015));
 
-	let wheel_encoder = WheelEncoder::new();
-	tokio::spawn(demo::read_wheel_encoder(wheel_encoder));
+	// let wheel_encoder = WheelEncoder::new();
+	// tokio::spawn(demo::read_wheel_encoder(wheel_encoder));
 
-	let gyro: Gyroscope = Gyroscope::new();
-	tokio::spawn(demo::read_gyroscope(gyro));
-	let brakes = Brakes::new();
-	tokio::spawn(demo::brake(brakes));
+	// let gyro: Gyroscope = Gyroscope::new();
+	// tokio::spawn(demo::read_gyroscope(gyro));
+	// let brakes = Brakes::new();
+	// tokio::spawn(demo::brake(brakes));
 
-	let high_voltage_system = HighVoltageSystem::new();
-	tokio::spawn(demo::high_voltage_system(high_voltage_system));
+	// let high_voltage_system = HighVoltageSystem::new();
+	// tokio::spawn(demo::high_voltage_system(high_voltage_system));
 
 	let lidar = Lidar::new();
 	tokio::spawn(demo::read_lidar(lidar));
@@ -59,8 +59,8 @@ async fn main() -> Result<(), Box<dyn std::error::Error>> {
 		state_machine.run().await;
 	});
 
-	let limcurrent = LimCurrent::new(ads1x1x::SlaveAddr::Default);
-	tokio::spawn(demo::read_lim_current(limcurrent));
+	// let limcurrent = LimCurrent::new(ads1x1x::SlaveAddr::Default);
+	// tokio::spawn(demo::read_lim_current(limcurrent));
 
 	let inverter_board = InverterBoard::new();
 	tokio::spawn(demo::inverter_control(inverter_board));

pod-operation/src/state_machine.rs

@@ -2,12 +2,14 @@ use std::time::Duration;
 
 use enum_map::{enum_map, EnumMap};
 use once_cell::sync::Lazy;
+use serde_json::json;
 use socketioxide::extract::AckSender;
 use socketioxide::{extract::SocketRef, SocketIo};
 use tokio::sync::Mutex;
 use tracing::info;
 
 use crate::components::brakes::Brakes;
+use crate::components::gyro::Gyroscope;
 use crate::components::high_voltage_system::HighVoltageSystem;
 use crate::components::lidar::Lidar;
 use crate::components::lim_temperature::LimTemperature;
@@ -42,7 +44,7 @@ pub struct StateMachine {
 	brakes: Brakes,
 	signal_light: SignalLight,
 	wheel_encoder: WheelEncoder,
-	//upstream_pressure_transducer: PressureTransducer,
+	upstream_pressure_transducer: PressureTransducer,
 	downstream_pressure_transducer: PressureTransducer,
 	lim_temperature_port: LimTemperature,
 	lim_temperature_starboard: LimTemperature,
@@ -97,7 +99,7 @@ impl StateMachine {
 			brakes: Brakes::new(),
 			signal_light: SignalLight::new(),
 			wheel_encoder: WheelEncoder::new(),
-			//upstream_pressure_transducer: PressureTransducer::upstream(),
+			upstream_pressure_transducer: PressureTransducer::upstream(),
 			downstream_pressure_transducer: PressureTransducer::downstream(),
 			lim_temperature_port: LimTemperature::new(ads1x1x::SlaveAddr::Default),
 			lim_temperature_starboard: LimTemperature::new(ads1x1x::SlaveAddr::Alternative(
@@ -143,7 +145,15 @@ impl StateMachine {
 		self.io
 			.of("/control-station")
 			.unwrap()
-			.emit("pong", "123")
+			.emit(
+				"serverResponse",
+				json!({ "gyroscope": self.gyro.read_orientation(),
+			"wheel_encoder": self.wheel_encoder.read(),
+			"downstream_pressure_transducer": self.downstream_pressure_transducer.read_pressure(),
+			"upstream_pressure_transducer": self.upstream_pressure_transducer.read_pressure(),
+			"lim_temperature_port": self.lim_temperature_port.read_lim_temps(),
+			"lim_temperature_starboard": self.lim_temperature_starboard.read_lim_temps(),}),
+			)
 			.ok();
 	}