feat: begin work on rust backend with networktables

client/package-lock.json

@@ -9,6 +9,7 @@
       "version": "0.0.0",
       "dependencies": {
         "@fontsource/roboto": "^5.0.8",
+        "@tauri-apps/api": "^1.5.3",
         "@threlte/core": "^7.1.0",
         "@threlte/extras": "^8.8.0",
         "camera-controls": "^2.8.3",
@@ -812,6 +813,20 @@
         "vite": "^5.0.0"
       }
     },
+    "node_modules/@tauri-apps/api": {
+      "version": "1.5.3",
+      "resolved": "https://registry.npmjs.org/@tauri-apps/api/-/api-1.5.3.tgz",
+      "integrity": "sha512-zxnDjHHKjOsrIzZm6nO5Xapb/BxqUq1tc7cGkFXsFkGTsSWgCPH1D8mm0XS9weJY2OaR73I3k3S+b7eSzJDfqA==",
+      "engines": {
+        "node": ">= 14.6.0",
+        "npm": ">= 6.6.0",
+        "yarn": ">= 1.19.1"
+      },
+      "funding": {
+        "type": "opencollective",
+        "url": "https://opencollective.com/tauri"
+      }
+    },
     "node_modules/@tauri-apps/cli": {
       "version": "1.5.10",
       "resolved": "https://registry.npmjs.org/@tauri-apps/cli/-/cli-1.5.10.tgz",

client/package.json

@@ -29,6 +29,7 @@
   },
   "dependencies": {
     "@fontsource/roboto": "^5.0.8",
+    "@tauri-apps/api": "^1.5.3",
     "@threlte/core": "^7.1.0",
     "@threlte/extras": "^8.8.0",
     "camera-controls": "^2.8.3",

client/src-tauri/Cargo.lock

@@ -66,6 +66,7 @@ checksum = "5ad32ce52e4161730f7098c077cd2ed6229b5804ccf99e5366be1ab72a98b4e1"
 name = "app"
 version = "0.1.0"
 dependencies = [
+ "network-tables",
  "serde",
  "serde_json",
  "tauri",
@@ -1528,6 +1529,17 @@ dependencies = [
  "simd-adler32",
 ]
 
+[[package]]
+name = "mio"
+version = "0.8.10"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8f3d0b296e374a4e6f3c7b0a1f5a51d748a0d34c85e7dc48fc3fa9a87657fe09"
+dependencies = [
+ "libc",
+ "wasi 0.11.0+wasi-snapshot-preview1",
+ "windows-sys 0.48.0",
+]
+
 [[package]]
 name = "ndk"
 version = "0.6.0"
@@ -1556,6 +1568,20 @@ dependencies = [
  "jni-sys",
 ]
 
+[[package]]
+name = "network-tables"
+version = "0.1.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b7d34242b4ee3505f5d9f6eeb8cc409cfa1f18a517825c78e6001fe304c3977b"
+dependencies = [
+ "futures-util",
+ "parking_lot",
+ "rand 0.8.5",
+ "thiserror",
+ "tokio",
+ "tracing",
+]
+
 [[package]]
 name = "new_debug_unreachable"
 version = "1.0.4"
@@ -2399,6 +2425,16 @@ version = "1.13.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "e6ecd384b10a64542d77071bd64bd7b231f4ed5940fba55e98c3de13824cf3d7"
 
+[[package]]
+name = "socket2"
+version = "0.5.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "05ffd9c0a93b7543e062e759284fcf5f5e3b098501104bfbdde4d404db792871"
+dependencies = [
+ "libc",
+ "windows-sys 0.52.0",
+]
+
 [[package]]
 name = "soup2"
 version = "0.2.1"
@@ -2895,8 +2931,25 @@ checksum = "61285f6515fa018fb2d1e46eb21223fff441ee8db5d0f1435e8ab4f5cdb80931"
 dependencies = [
  "backtrace",
  "bytes",
+ "libc",
+ "mio",
  "num_cpus",
+ "parking_lot",
  "pin-project-lite",
+ "socket2",
+ "tokio-macros",
+ "windows-sys 0.48.0",
+]
+
+[[package]]
+name = "tokio-macros"
+version = "2.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5b8a1e28f2deaa14e508979454cb3a223b10b938b45af148bc0986de36f1923b"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.50",
 ]
 
 [[package]]

client/src-tauri/Cargo.toml

@@ -18,6 +18,7 @@ tauri-build = { version = "1.5.1", features = [] }
 serde_json = "1.0"
 serde = { version = "1.0", features = ["derive"] }
 tauri = { version = "1.6.0", features = [] }
+network-tables = "0.1.3"
 
 [features]
 # this feature is used for production builds or when `devPath` points to the filesystem and the built-in dev server is disabled.

client/src-tauri/src/main.rs

@@ -1,8 +1,24 @@
 // Prevents additional console window on Windows in release, DO NOT REMOVE!!
 #![cfg_attr(not(debug_assertions), windows_subsystem = "windows")]
 
+use tauri::Manager;
+
+mod telemetry;
+
+#[derive(Clone, serde::Serialize)]
+struct Payload {
+    message: String,
+}
+
 fn main() {
     tauri::Builder::default()
+        .setup(|app| {
+            // create app handle and send it to our event listeners
+            let app_handle = app.app_handle();
+            telemetry::subscribe_topics(&app_handle);
+
+            Ok(())
+        })
         .run(tauri::generate_context!())
-    .expect("error while running tauri application");
+        .expect("failed to run app")
 }

client/src-tauri/src/telemetry.rs

@@ -0,0 +1,30 @@
+use tauri::{AppHandle, Manager};
+
+pub fn subscribe_topics(app: &AppHandle) {
+    let app_handle = app.clone();
+
+    app_handle.listen_global("subscribe", |event| {
+        let parsed: Result<serde_json::Value, serde_json::Error> =
+            serde_json::from_str(event.payload().unwrap());
+        match parsed {
+            Ok(value) => {
+                // handle the successfully parsed value
+                let topics = value.as_object();
+                match topics {
+                    Some(topics) => {
+                        for (key, value) in topics {
+                            println!("{}: {}", key, value);
+                        }
+                    }
+                    None => {
+                        println!("No topics requested!");
+                    }
+                }
+            }
+            Err(err) => {
+                // handle the error
+                println!("{:?}", err);
+            }
+        }
+    });
+}

client/src/App.svelte

@@ -13,6 +13,7 @@
   import { settingsStore } from './lib/stores/settingsStore'
   import getSettings from './lib/utils/getSettings'
   import { Canvas } from '@threlte/core'
+  import { emit } from '@tauri-apps/api/event'
 
   let activeApp: App = 'camera'
   let topics: TelemetryTopics = {

client/src/lib/utils/initializeTelemetry.ts

@@ -1,5 +1,5 @@
-import { io } from 'socket.io-client'
 import { telemetryStore } from '../stores/telemetryStore'
+import { emit, listen } from '@tauri-apps/api/event'
 
 /**
  * Connects to sockets and subscribes to specified topics to receive telemetry data.
@@ -14,7 +14,7 @@ const onUpdate = (data: TelemetryData) => {
   // console.log(data)
 }
 
-export const initializeTelemetry = (
+export const initializeTelemetry = async (
   topics: TelemetryTopics,
   refreshRate: number
 ) => {
@@ -25,20 +25,39 @@ export const initializeTelemetry = (
     )
   }
 
-  const socket = io('localhost:1280')
+  const unlisten = await listen('hello_from_rust', event => {
-  socket.on('connect', () => {
+    console.log(event.event)
-    console.log('Socket-IO connected!')
+    console.log(event.payload)
-    socket.emit('subscribe', topics)
-    console.log(`Subscribing to topics: ${JSON.stringify(topics)}`)
   })
 
-  socket.on('subscribed', () => {
+  emit('subscribe', topics)
-    console.log('Successfully subscribed to requested topics!')
-    socket.emit('request_data', { refresh_rate: refreshRate })
-    console.log(`Refreshing at ${refreshRate} Hz`)
-  })
-
-  socket.on('telemetry_data', (data: string) => {
-    onUpdate(JSON.parse(data))
-  })
 }
+
+// export const initializeTelemetry = (
+//   topics: TelemetryTopics,
+//   refreshRate: number
+// ) => {
+//   // Make sure refreshRate is valid
+//   if (!Number.isInteger(refreshRate) || refreshRate < 1) {
+//     throw new Error(
+//       'refreshRate must be an integer greater than or equal to 1.'
+//     )
+//   }
+
+//   const socket = io('localhost:1280')
+//   socket.on('connect', () => {
+//     console.log('Socket-IO connected!')
+//     socket.emit('subscribe', topics)
+//     console.log(`Subscribing to topics: ${JSON.stringify(topics)}`)
+//   })
+
+//   socket.on('subscribed', () => {
+//     console.log('Successfully subscribed to requested topics!')
+//     socket.emit('request_data', { refresh_rate: refreshRate })
+//     console.log(`Refreshing at ${refreshRate} Hz`)
+//   })
+
+//   socket.on('telemetry_data', (data: string) => {
+//     onUpdate(JSON.parse(data))
+//   })
+// }