Add: Ping360 example and local runners test, serial + UDP

.github/workflows/action.yml

@@ -75,7 +75,9 @@ jobs:
         run: |
           /etc/github_runner/run-tests.sh \
             "Basic Ping1D Test w Ping1:ping_1d:--serial-port /dev/ttyUSB_Ping1:30" \
-            "Basic Ping1D Test w Ping2:ping_1d:--serial-port /dev/ttyUSB_Ping2:30"
+            "Basic Ping1D Test w Ping2:ping_1d:--serial-port /dev/ttyUSB_Ping2:30" \
+            "Basic Ping360 Test w Serial:ping_360:--serial-port /dev/ttyUSB_Ping360:30" \
+            "Basic Ping360 Test w UDP:ping_360:--udp-address 192.168.1.197 --udp-port 12345:30"
           # Test Name:Example Name:Additional Args:Timeout
       - name: Post CI management script
         if: always()

examples/common/mod.rs

@@ -0,0 +1,70 @@
+use clap::Parser;
+use std::{
+    net::{IpAddr, SocketAddr},
+    path::PathBuf,
+    str::FromStr,
+};
+use tokio_serial::{SerialPort, SerialPortBuilderExt};
+use udp_stream::UdpStream;
+
+#[derive(Parser, Debug)]
+#[command(version, about, long_about = None)]
+pub struct Args {
+    #[arg(long, group = "source", conflicts_with_all = ["udp_address"])]
+    pub serial_port: Option<PathBuf>,
+    #[arg(long, default_value_t = 115200)]
+    pub serial_baud_rate: u32,
+    #[arg(long, group = "source", conflicts_with_all = ["serial_port"])]
+    pub udp_address: Option<IpAddr>,
+    #[arg(long, default_value_t = 8080)]
+    pub udp_port: u32,
+}
+
+pub enum Port {
+    Serial(tokio_serial::SerialStream),
+    Udp(udp_stream::UdpStream),
+}
+
+pub async fn create_port() -> Port {
+    let args = Args::parse();
+
+    match (args.serial_port, args.udp_address) {
+        (Some(serial_port), None) => {
+            println!("Using serial port: {:?}", serial_port);
+            let port = tokio_serial::new(serial_port.to_string_lossy(), args.serial_baud_rate)
+                .open_native_async()
+                .map_err(|e| {
+                    eprintln!("Error opening serial port: {}", e);
+                    e
+                })
+                .unwrap();
+            port.clear(tokio_serial::ClearBuffer::All).unwrap();
+            Port::Serial(port)
+        }
+        (None, Some(udp_address)) => {
+            println!("Using UDP address: {}", udp_address);
+            let socket_addr = SocketAddr::from_str(&format!("{}:{}", udp_address, args.udp_port))
+                .map_err(|e| {
+                    eprintln!("Error parsing UDP address: {}", e);
+                    e
+                })
+                .unwrap();
+            let port = UdpStream::connect(socket_addr)
+                .await
+                .map_err(|e| {
+                    eprintln!("Error connecting to UDP socket: {}", e);
+                    e
+                })
+                .unwrap();
+            Port::Udp(port)
+        }
+        (None, None) => {
+            eprintln!("Error: either serial_port_name or udp_address must be provided");
+            std::process::exit(1);
+        }
+        (Some(_), Some(_)) => {
+            eprintln!("Error: serial_port_name and udp_address are mutually exclusive");
+            std::process::exit(1);
+        }
+    }
+}

examples/ping_1d.rs

@@ -1,11 +1,6 @@
-use clap::Parser;
-use std::{
-    convert::TryFrom,
-    net::{IpAddr, SocketAddr},
-    path::PathBuf,
-    str::FromStr,
-};
-use udp_stream::UdpStream;
+mod common;
+use common::{create_port, Port};
+use std::convert::TryFrom;
 
 use bluerobotics_ping::{
     device::{Ping1D, PingDevice},
@@ -14,7 +9,6 @@ use bluerobotics_ping::{
     ping1d::{self, ProfileStruct},
     Messages,
 };
-use tokio_serial::{SerialPort, SerialPortBuilderExt};
 
 #[tokio::main]
 async fn main() -> Result<(), PingError> {
@@ -137,68 +131,3 @@ async fn main() -> Result<(), PingError> {
 
     Ok(())
 }
-
-#[derive(Parser, Debug)]
-#[command(version, about, long_about = None)]
-struct Args {
-    #[arg(long, group = "source",
-    conflicts_with_all = ["udp_address"])]
-    serial_port: Option<PathBuf>,
-    #[arg(long, default_value_t = 115200)]
-    serial_baud_rate: u32,
-    #[arg(long, group = "source",
-    conflicts_with_all = ["serial_port"])]
-    udp_address: Option<IpAddr>,
-    #[arg(long, default_value_t = 8080)]
-    udp_port: u32,
-}
-
-enum Port {
-    Serial(tokio_serial::SerialStream),
-    Udp(udp_stream::UdpStream),
-}
-
-async fn create_port() -> Port {
-    let args = Args::parse();
-
-    let port = match (args.serial_port, args.udp_address) {
-        (Some(serial_port), None) => {
-            println!("Using serial port: {:?}", serial_port);
-            let port = tokio_serial::new(serial_port.to_string_lossy(), args.serial_baud_rate)
-                .open_native_async()
-                .map_err(|e| {
-                    eprintln!("Error opening serial port: {}", e);
-                    e
-                })
-                .unwrap();
-            port.clear(tokio_serial::ClearBuffer::All).unwrap();
-            Port::Serial(port)
-        }
-        (None, Some(udp_address)) => {
-            println!("Using UDP address: {}", udp_address);
-            let socket_addr = SocketAddr::from_str(&format!("{}:{}", udp_address, args.udp_port))
-                .map_err(|e| {
-                    eprintln!("Error parsing UDP address: {}", e);
-                    e
-                })
-                .unwrap();
-            let port = UdpStream::connect(socket_addr)
-                .await
-                .map_err(|e| {
-                    eprintln!("Error connecting to UDP socket: {}", e);
-                    e
-                })
-                .unwrap();
-            Port::Udp(port)
-        }
-        (None, None) => {
-            eprintln!("Error: either serial_port_name or udp_address must be provided");
-            std::process::exit(1);
-        }
-        (Some(_), Some(_)) => {
-            eprintln!("Error: serial_port_name and udp_address are mutually exclusive");
-            std::process::exit(1);
-        }
-    };
-    port
-}

examples/ping_360.rs

@@ -0,0 +1,50 @@
+mod common;
+use common::{create_port, Port};
+
+use bluerobotics_ping::{
+    device::{Ping360, PingDevice},
+    error::PingError,
+};
+
+#[tokio::main]
+async fn main() -> Result<(), PingError> {
+    println!("Parsing user provided values and creating port...");
+    let port = create_port().await;
+
+    println!("Creating your Ping 360 device");
+    let ping360 = match port {
+        Port::Serial(port) => Ping360::new(port),
+        Port::Udp(port) => Ping360::new(port),
+    };
+
+    println!("Reading transducer data:");
+    let p = ping360
+        .transducer(1, 1, 0, 500, 20000, 700, 1000, 1, 0)
+        .await?;
+    println!("mode: {}", p.mode);
+    println!("gain_setting: {}", p.gain_setting);
+    println!("angle: {}", p.angle);
+    println!("transmit_duration: {}", p.transmit_duration);
+    println!("sample_period: {}", p.sample_period);
+    println!("transmit_frequency: {}", p.transmit_frequency);
+    println!("number_of_samples: {}", p.number_of_samples);
+    println!("data_length: {}", p.data_length);
+    println!("data: {:?}", p.data.len());
+
+    // Creating futures to read different device Properties
+    let (protocol_version_struct, device_information) =
+        tokio::try_join!(ping360.protocol_version(), ping360.device_information())
+            .expect("Failed to join results");
+
+    let version = format!(
+        "{}.{}.{}",
+        protocol_version_struct.version_major,
+        protocol_version_struct.version_minor,
+        protocol_version_struct.version_patch
+    );
+
+    println!("Protocol version is: {version}");
+    println!("Device information: {device_information:?}");
+
+    Ok(())
+}