micropb for rust - initial
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@ -32,6 +32,13 @@ embedded-alloc = "0.6.0"
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# data structures
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ringbuffer = { version = "0.15.0", features = [] }
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#Protobuf
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micropb = {version = "=0.1.0", features = ["alloc"]}
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[build-dependencies]
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# Allow types from `heapless` to be used for container fields
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micropb-gen = { version = "0.1.0"}
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[[bin]]
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name = "MRTIC"
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test = false
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8
build.rs
8
build.rs
@ -40,4 +40,12 @@ fn main() {
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// Set the linker script to the one provided by cortex-m-rt.
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println!("cargo:rustc-link-arg=-Tlink.x");
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let mut gen = micropb_gen::Generator::new();
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gen. use_container_alloc();
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// Compile example.proto into a Rust module
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gen.compile_protos(&["src/proto/meta.proto"], std::env::var("OUT_DIR").unwrap() + "/meta.rs").unwrap();
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}
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92
src/main.rs
92
src/main.rs
@ -10,29 +10,37 @@ fn panic() -> ! {
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cortex_m::asm::udf()
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}
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mod proto {
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#![allow(clippy::all)]
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#![allow(nonstandard_style, unused, irrefutable_let_patterns)]
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include!(concat!(env!("OUT_DIR"), "/meta.rs"));
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}
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//use proto::space_::kscience_::dataforge_::io_::proto_::ProtoMeta_;
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use proto::space_::kscience_::dataforge_::io_::proto_::ProtoMeta_::ProtoValue_::*;
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//use proto::example_package_::*;
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#[rtic::app(device = stm32f7xx_hal::pac, peripherals = true, dispatchers = [EXTI0])]
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mod app {
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use proto::space_::kscience_::dataforge_::io_::proto_::ProtoMeta;
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use shared_resources::message_buffer_that_needs_to_be_locked;
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//Declare Parameters
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use core::fmt::Write;
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systick_monotonic!(Mono, 1000);
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use stm32f7xx_hal::{
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gpio::{GpioExt, Output, PushPull, PI1},
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pac::{Interrupt, USART1},
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prelude::*,
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rcc::RccExt,
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serial::{self, Config, Event, Rx, Serial, Tx}
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serial::{Config, Event, Rx, Serial, Tx}
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};
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use super::*;
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use core::{fmt::Write, mem::size_of};
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use rtic_monotonics::systick::prelude::*;
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use alloc::string::String;
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use embedded_alloc::LlffHeap as Heap;
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use ringbuffer::{AllocRingBuffer, RingBuffer};
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use micropb::{PbRead, PbEncoder, PbDecoder, MessageDecode, MessageEncode};
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use alloc::string::String;
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use alloc::vec::Vec;
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systick_monotonic!(Mono, 1000);
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#[global_allocator]
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static HEAP: Heap = Heap::empty();
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@ -55,22 +63,18 @@ mod app {
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fn init(ctx: init::Context) -> (Shared, Local) {
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//Allocator
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{
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{
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use core::mem::MaybeUninit;
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const HEAP_SIZE: usize = 2048;
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static mut HEAP_MEM: [MaybeUninit<u8>; HEAP_SIZE] = [MaybeUninit::uninit(); HEAP_SIZE];
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unsafe { HEAP.init(HEAP_MEM.as_ptr() as usize, HEAP_SIZE) }
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}
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rtic::pend(Interrupt::UART4);
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}
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// Cortex-M peripherals
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let rcc = ctx.device.RCC.constrain();
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let clocks = rcc.cfgr.sysclk(48.MHz()).freeze();
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//Systick
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Mono::start(ctx.core.SYST, 36_000_000);
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//GPIO
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@ -78,7 +82,6 @@ mod app {
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let GPIOA = ctx.device.GPIOA.split();
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let GPIOB = ctx.device.GPIOB.split();
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//UART
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let usart1_tx = GPIOA.pa9.into_alternate();
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let usart1_rx = GPIOB.pb7.into_alternate();
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@ -110,7 +113,13 @@ mod app {
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//TASKS
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blinker::spawn().ok();
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//serial_task::spawn().ok();
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proto_task::spawn().ok();
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let mut stream: Vec<u8> = Vec::new();
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// let mut decoder = PbDecoder::new(stream.as_slice());
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// let mut meta_out: ProtoMeta = Default::default();
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// meta_out.decode_len_delimited(&mut decoder);
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defmt::info!("INITED");
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(
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@ -175,15 +184,52 @@ mod app {
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fn usart1_handler(ctx: usart1_handler::Context){
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let serial = ctx.local.rx_vcp;
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let mut message_buffer = ctx.shared.message_buffer;
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defmt::trace!("RX not empty");
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if let Ok(byte) = serial.read() {
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defmt::debug!("RX Byte value: {=u8:x}", byte);
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}
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if let Ok(byte) = serial.read() {
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message_buffer.lock(|buf| {
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buf.push(byte);
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});
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}
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}
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#[task(shared = [message_buffer], priority = 1)]
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async fn proto_task(ctx: proto_task::Context)
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{
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let mut message_buffer = ctx.shared.message_buffer;
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let mut buffer = Vec::new();
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let mut meta_out:ProtoMeta = Default::default();
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loop{
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let mut is_empty = false;
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message_buffer.lock(|buf| {
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if buf.is_empty() {
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is_empty = true;
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} else {
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defmt::info!("DATA!");
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while let Some(byte) = buf.dequeue() {
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buffer.push(byte);
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}
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}
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});
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if is_empty {
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// Sleep for a while if the buffer is empty
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Mono::delay(5000.millis()).await;
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defmt::trace!("await for data");
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continue;
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}
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let mut decoder = PbDecoder::new(buffer.as_slice());
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if let Ok(message) = meta_out.decode_len_delimited(&mut decoder) {
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defmt::info!("Received message: {:?}", message);
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} else {
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defmt::info!("Failed to parse message");
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}
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}
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}
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//APP ENDS
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}
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17
src/proto/example.proto
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17
src/proto/example.proto
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@ -0,0 +1,17 @@
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syntax = "proto3";
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package example_package;
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message Example {
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int32 f_int32 = 1;
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int64 f_int64 = 2;
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uint32 f_uint32 = 3;
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uint64 f_uint64 = 4;
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sint32 f_sint32 = 5;
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sint64 f_sint64 = 6;
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bool f_bool = 7;
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fixed32 f_fixed32 = 8;
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fixed64 f_fixed64 = 9;
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sfixed32 f_sfixed32 = 10;
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sfixed64 f_sfixed64 = 11;
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float f_float = 12;
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double f_double = 13;
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}
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30
src/proto/meta.proto
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30
src/proto/meta.proto
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@ -0,0 +1,30 @@
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syntax = "proto3";
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package space.kscience.dataforge.io.proto;
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message ProtoMeta {
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message ProtoValue {
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oneof value {
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string stringValue = 2;
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bool booleanValue = 3;
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double doubleValue = 4;
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float floatValue = 5;
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int32 int32Value = 6;
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int64 int64Value = 7;
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bytes bytesValue = 8;
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ProtoValueList listValue = 9;
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Float64List float64ListValue = 10;
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}
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}
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message ProtoValueList{
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repeated ProtoValue values = 1;
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}
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message Float64List{
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repeated double values = 1 [packed=true];
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}
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ProtoValue protoValue = 1;
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map<string, ProtoMeta> items = 2;
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}
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48
src/proto/meta_pb2.py
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48
src/proto/meta_pb2.py
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@ -0,0 +1,48 @@
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# -*- coding: utf-8 -*-
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# Generated by the protocol buffer compiler. DO NOT EDIT!
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# NO CHECKED-IN PROTOBUF GENCODE
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# source: meta.proto
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# Protobuf Python Version: 5.27.0-rc3
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"""Generated protocol buffer code."""
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from google.protobuf import descriptor as _descriptor
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from google.protobuf import descriptor_pool as _descriptor_pool
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from google.protobuf import runtime_version as _runtime_version
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from google.protobuf import symbol_database as _symbol_database
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from google.protobuf.internal import builder as _builder
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_runtime_version.ValidateProtobufRuntimeVersion(
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_runtime_version.Domain.PUBLIC,
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5,
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27,
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0,
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'-rc3',
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'meta.proto'
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)
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# @@protoc_insertion_point(imports)
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_sym_db = _symbol_database.Default()
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DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\nmeta.proto\x12!space.kscience.dataforge.io.proto\"\xd8\x05\n\tProtoMeta\x12K\n\nprotoValue\x18\x01 \x01(\x0b\x32\x37.space.kscience.dataforge.io.proto.ProtoMeta.ProtoValue\x12\x46\n\x05items\x18\x02 \x03(\x0b\x32\x37.space.kscience.dataforge.io.proto.ProtoMeta.ItemsEntry\x1a\xdb\x02\n\nProtoValue\x12\x15\n\x0bstringValue\x18\x02 \x01(\tH\x00\x12\x16\n\x0c\x62ooleanValue\x18\x03 \x01(\x08H\x00\x12\x15\n\x0b\x64oubleValue\x18\x04 \x01(\x01H\x00\x12\x14\n\nfloatValue\x18\x05 \x01(\x02H\x00\x12\x14\n\nint32Value\x18\x06 \x01(\x05H\x00\x12\x14\n\nint64Value\x18\x07 \x01(\x03H\x00\x12\x14\n\nbytesValue\x18\x08 \x01(\x0cH\x00\x12P\n\tlistValue\x18\t \x01(\x0b\x32;.space.kscience.dataforge.io.proto.ProtoMeta.ProtoValueListH\x00\x12T\n\x10\x66loat64ListValue\x18\n \x01(\x0b\x32\x38.space.kscience.dataforge.io.proto.ProtoMeta.Float64ListH\x00\x42\x07\n\x05value\x1aY\n\x0eProtoValueList\x12G\n\x06values\x18\x01 \x03(\x0b\x32\x37.space.kscience.dataforge.io.proto.ProtoMeta.ProtoValue\x1a!\n\x0b\x46loat64List\x12\x12\n\x06values\x18\x01 \x03(\x01\x42\x02\x10\x01\x1aZ\n\nItemsEntry\x12\x0b\n\x03key\x18\x01 \x01(\t\x12;\n\x05value\x18\x02 \x01(\x0b\x32,.space.kscience.dataforge.io.proto.ProtoMeta:\x02\x38\x01\x62\x06proto3')
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_globals = globals()
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_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
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_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'meta_pb2', _globals)
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if not _descriptor._USE_C_DESCRIPTORS:
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DESCRIPTOR._loaded_options = None
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_globals['_PROTOMETA_FLOAT64LIST'].fields_by_name['values']._loaded_options = None
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_globals['_PROTOMETA_FLOAT64LIST'].fields_by_name['values']._serialized_options = b'\020\001'
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_globals['_PROTOMETA_ITEMSENTRY']._loaded_options = None
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_globals['_PROTOMETA_ITEMSENTRY']._serialized_options = b'8\001'
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_globals['_PROTOMETA']._serialized_start=50
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_globals['_PROTOMETA']._serialized_end=778
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_globals['_PROTOMETA_PROTOVALUE']._serialized_start=213
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_globals['_PROTOMETA_PROTOVALUE']._serialized_end=560
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_globals['_PROTOMETA_PROTOVALUELIST']._serialized_start=562
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_globals['_PROTOMETA_PROTOVALUELIST']._serialized_end=651
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_globals['_PROTOMETA_FLOAT64LIST']._serialized_start=653
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_globals['_PROTOMETA_FLOAT64LIST']._serialized_end=686
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_globals['_PROTOMETA_ITEMSENTRY']._serialized_start=688
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_globals['_PROTOMETA_ITEMSENTRY']._serialized_end=778
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# @@protoc_insertion_point(module_scope)
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30
src/proto/simplified_quat.py
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30
src/proto/simplified_quat.py
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@ -0,0 +1,30 @@
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import serial
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import numpy as np
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import meta_pb2
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# Create the Protobuf message
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quaternion = meta_pb2.ProtoMeta(
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protoValue=None,
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items={
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'quaternion': meta_pb2.ProtoMeta(
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protoValue=meta_pb2.ProtoMeta.ProtoValue(
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listValue=meta_pb2.ProtoMeta.ProtoValueList(
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values=[
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meta_pb2.ProtoMeta.ProtoValue(floatValue=np.float32(1.0)),
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meta_pb2.ProtoMeta.ProtoValue(floatValue=np.float32(0.0)),
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meta_pb2.ProtoMeta.ProtoValue(floatValue=np.float32(0.0)),
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meta_pb2.ProtoMeta.ProtoValue(floatValue=np.float32(0.0))
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]
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)
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)
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)
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}
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)
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# Serialize the message
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serialized_message = quaternion.SerializeToString()
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# Send the serialized message over COM3
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with serial.Serial('COM3', 9600, timeout=1) as ser:
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ser.write(serialized_message)
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print("Message sent over COM3")
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