updating to krec-rs

kscalelabs · Nov 22, 2024 · 7b1c58d · 7b1c58d
1 parent 9b2368a
commit 7b1c58d
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Showing 3 changed files with 27 additions and 25 deletions.
diff --git a/kos_core/src/services/krec_logger.rs b/kos_core/src/services/krec_logger.rs
@@ -26,6 +26,7 @@ impl TelemetryLogger {
         action: String,
         output_path: impl AsRef<Path>,
         robot_name: String,
+        robot_serial: String,
     ) -> Result<Self> {
         // Setup MQTT client
         let mut mqtt_options = MqttOptions::new("kos-telemetry-logger", "localhost", 1883);
@@ -37,7 +38,7 @@ impl TelemetryLogger {
             uuid,
             task: action,
             robot_platform: robot_name.clone(),
-            robot_serial: String::new(), // Add if available
+            robot_serial: robot_serial.clone(),
             start_timestamp: std::time::SystemTime::now()
                 .duration_since(std::time::UNIX_EPOCH)?
                 .as_nanos() as u64,

diff --git a/platforms/kbot/src/lib.rs b/platforms/kbot/src/lib.rs
@@ -56,10 +56,8 @@ impl Platform for KbotPlatform {
         operations_service: Arc<OperationsServiceImpl>,
     ) -> Result<Vec<ServiceEnum>> {
         if cfg!(target_os = "linux") {
-            let robot_name = format!("KBot-{}", self.serial());
-
             // Create the process manager first and handle any errors
-            let process_manager = KBotProcessManager::new(robot_name)
+            let process_manager = KBotProcessManager::new(self.name().to_string(), self.serial())
                 .wrap_err("Failed to initialize GStreamer process manager")?;
 
             Ok(vec![
@@ -71,26 +69,26 @@ impl Platform for KbotPlatform {
                         )),
                     ),
                 ),
-                ServiceEnum::Actuator(ActuatorServiceServer::new(ActuatorServiceImpl::new(
-                    Arc::new(
-                        KBotActuator::new(
-                            operations_service,
-                            "/dev/ttyCH341USB0",
-                            HashMap::from([
-                                (1, MotorType::Type04),
-                                (2, MotorType::Type04),
-                                (3, MotorType::Type04),
-                                (4, MotorType::Type04),
-                                (5, MotorType::Type04),
-                                (6, MotorType::Type01),
-                            ]),
-                            None,
-                            None,
-                            None,
-                        )
-                        .wrap_err("Failed to create actuator")?,
-                    ),
-                ))),
+                // ServiceEnum::Actuator(ActuatorServiceServer::new(ActuatorServiceImpl::new(
+                //     Arc::new(
+                //         KBotActuator::new(
+                //             operations_service,
+                //             "/dev/ttyCH341USB0",
+                //             HashMap::from([
+                //                 (1, MotorType::Type04),
+                //                 (2, MotorType::Type04),
+                //                 (3, MotorType::Type04),
+                //                 (4, MotorType::Type04),
+                //                 (5, MotorType::Type04),
+                //                 (6, MotorType::Type01),
+                //             ]),
+                //             None,
+                //             None,
+                //             None,
+                //         )
+                //         .wrap_err("Failed to create actuator")?,
+                //     ),
+                // ))),
                 ServiceEnum::ProcessManager(ProcessManagerServiceServer::new(
                     ProcessManagerServiceImpl::new(Arc::new(process_manager)),
                 )),

diff --git a/platforms/kbot/src/process_manager.rs b/platforms/kbot/src/process_manager.rs
@@ -16,17 +16,19 @@ pub struct KBotProcessManager {
     pipeline: Mutex<Option<gst::Pipeline>>,
     telemetry_logger: Mutex<Option<TelemetryLogger>>,
     robot_name: String,
+    robot_serial: String,
 }
 
 impl KBotProcessManager {
-    pub fn new(robot_name: String) -> Result<Self> {
+    pub fn new(robot_name: String, robot_serial: String) -> Result<Self> {
         gst::init().wrap_err("Failed to initialize GStreamer")?;
 
         Ok(KBotProcessManager {
             kclip_uuid: Mutex::new(None),
             pipeline: Mutex::new(None),
             telemetry_logger: Mutex::new(None),
             robot_name,
+            robot_serial,
         })
     }
 
@@ -210,6 +212,7 @@ impl ProcessManager for KBotProcessManager {
             action,
             format!("telemetry_{}.kclip", new_uuid),
             self.robot_name.clone(),
+            self.robot_serial.clone(),
         )
         .await?;