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feat: add boster-leds keep-on mode for mcu-util and set brightenss th… #492

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feat: add boster-leds keep-on mode for mcu-util and set brightenss th…
AlexKaravaev Apr 17, 2025
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AlexKaravaev Apr 17, 2025
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24 changes: 18 additions & 6 deletions mcu-util/src/main.rs
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -163,12 +163,22 @@ enum Camera {
Face,
}

/// Optics tests options
/// UI control options
#[derive(Parser, Debug, Clone, Copy)]
enum UiOpts {
/// Test front leds for 3 seconds
/// Control RGB LEDs (ring LEDs)
#[clap(subcommand)]
Front(Leds),
RgbLed(Leds),
/// Control white booster LEDs (brightness 0-1000)
#[clap(action)]
Booster {
/// Brightness value (0-1000)
#[clap(short, long, default_value = "1000")]
brightness: u32,
/// Keep LEDs on (do not auto turn off after 3 seconds)
#[clap(short, long, default_value = "false")]
keep_on: bool,
},
}

#[derive(Parser, Debug, Clone, Copy)]
Expand All @@ -181,8 +191,6 @@ enum Leds {
Blue,
#[clap(action)]
White,
#[clap(action)]
Booster,
}

/// Optics position
Expand Down Expand Up @@ -304,7 +312,11 @@ async fn execute(args: Args) -> Result<()> {
}
},
SubCommand::Ui(opts) => match opts {
UiOpts::Front(leds) => orb.main_board_mut().front_leds(leds).await?,
UiOpts::RgbLed(leds) => orb.main_board_mut().front_leds(leds).await?,
UiOpts::Booster {
brightness,
keep_on,
} => orb.main_board_mut().white_leds(brightness, keep_on).await?,
},
}

Expand Down
209 changes: 113 additions & 96 deletions mcu-util/src/orb/main_board.rs
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -283,79 +283,46 @@ impl MainBoard {
Ok(())
}

pub async fn front_leds(&mut self, leds: Leds) -> Result<()> {
if let Leds::Booster = leds {
match self
.isotp_iface
.send(McuPayload::ToMain(
main_messaging::jetson_to_mcu::Payload::WhiteLedsBrightness(
main_messaging::WhiteLeDsBrightness { brightness: 5 },
),
))
.await
{
Ok(CommonAckError::Success) => {
info!("🚀 Booster LEDs enabled");
}
Ok(e) => {
return Err(eyre!("Error enabling booster LEDs: ack {:?}", e));
}
Err(e) => {
return Err(eyre!("Error enabling booster LEDs: {:?}", e));
}
}
} else {
let pattern = match leds {
Leds::Red => {
main_messaging::user_le_ds_pattern::UserRgbLedPattern::AllRed
}
Leds::Green => {
main_messaging::user_le_ds_pattern::UserRgbLedPattern::AllGreen
}
Leds::Blue => {
main_messaging::user_le_ds_pattern::UserRgbLedPattern::AllBlue
}
Leds::White => {
main_messaging::user_le_ds_pattern::UserRgbLedPattern::AllWhite
}
_ => {
error!("Invalid rgb color");
return Err(eyre!("Invalid LEDs"));
}
};
pub async fn white_leds(&mut self, brightness: u32, keep_on: bool) -> Result<()> {
// Cap brightness at 1000
let brightness = std::cmp::min(brightness, 1000);

match self
.isotp_iface
.send(McuPayload::ToMain(
main_messaging::jetson_to_mcu::Payload::UserLedsPattern(
main_messaging::UserLeDsPattern {
pattern: pattern as i32,
custom_color: None,
start_angle: 0,
angle_length: 360,
pulsing_scale: 0.0,
pulsing_period_ms: 0,
},
),
))
.await
{
Ok(CommonAckError::Success) => {
info!("🚦 {:?} enabled", pattern);
}
Ok(e) => {
return Err(eyre!("Error enabling green LEDs: ack {:?}", e));
}
Err(e) => {
return Err(eyre!("Error enabling green LEDs: {:?}", e));
// Send the command to set white LED brightness
match self
.isotp_iface
.send(McuPayload::ToMain(
main_messaging::jetson_to_mcu::Payload::WhiteLedsBrightness(
main_messaging::WhiteLeDsBrightness { brightness },
),
))
.await
{
Ok(CommonAckError::Success) => {
if brightness > 0 {
info!("💡 White/booster LEDs set to brightness: {}", brightness);
} else {
info!("White/booster LEDs turned off");
}
}
Ok(e) => {
return Err(eyre!(
"Error setting white/booster LEDs brightness: ack {:?}",
e
));
}
Err(e) => {
return Err(eyre!(
"Error setting white/booster LEDs brightness: {:?}",
e
));
}
}

// turn off all LEDs after 3 seconds
tokio::time::sleep(Duration::from_millis(3000)).await;
// Turn off after 3 seconds if keep_on is false
if !keep_on && brightness > 0 {
info!("LEDs will turn off in 3 seconds... (use --keep-on to keep them on)");
tokio::time::sleep(Duration::from_millis(3000)).await;

if let Leds::Booster = leds {
match self
.isotp_iface
.send(McuPayload::ToMain(
Expand All @@ -366,43 +333,93 @@ impl MainBoard {
.await
{
Ok(CommonAckError::Success) => {
info!("LEDs disabled");
info!("White/booster LEDs turned off");
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@Qbicz Qbicz Apr 17, 2025

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so booster & white are the same LEDs on Diamond?

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@AlexKaravaev AlexKaravaev Apr 18, 2025

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Yes, I think just the naming is a bit confusing. In control-api we call them "white leds", it's the same leds. But also at the same time rgbleds can be just white.

}
Ok(e) => {
return Err(eyre!("Error disabling booster LEDs: ack {:?}", e));
return Err(eyre!(
"Error turning off white/booster LEDs: ack {:?}",
e
));
}
Err(e) => {
return Err(eyre!("Error disabling booster LEDs: {:?}", e));
return Err(eyre!("Error turning off white/booster LEDs: {:?}", e));
}
}
} else {
match self
.isotp_iface
.send(McuPayload::ToMain(
main_messaging::jetson_to_mcu::Payload::UserLedsPattern(
main_messaging::UserLeDsPattern {
pattern:
}

Ok(())
}

pub async fn front_leds(&mut self, leds: Leds) -> Result<()> {
let pattern = match leds {
Leds::Red => main_messaging::user_le_ds_pattern::UserRgbLedPattern::AllRed,
Leds::Green => {
main_messaging::user_le_ds_pattern::UserRgbLedPattern::AllGreen
}
Leds::Blue => {
main_messaging::user_le_ds_pattern::UserRgbLedPattern::AllBlue
}
Leds::White => {
main_messaging::user_le_ds_pattern::UserRgbLedPattern::AllWhite
}
};

match self
.isotp_iface
.send(McuPayload::ToMain(
main_messaging::jetson_to_mcu::Payload::UserLedsPattern(
main_messaging::UserLeDsPattern {
pattern: pattern as i32,
custom_color: None,
start_angle: 0,
angle_length: 360,
pulsing_scale: 0.0,
pulsing_period_ms: 0,
},
),
))
.await
{
Ok(CommonAckError::Success) => {
info!("🚦 RGB LEDs {:?} enabled", pattern);
}
Ok(e) => {
return Err(eyre!("Error enabling RGB LEDs: ack {:?}", e));
}
Err(e) => {
return Err(eyre!("Error enabling RGB LEDs: {:?}", e));
}
}

// turn off all LEDs after 3 seconds
tokio::time::sleep(Duration::from_millis(3000)).await;

match self
.isotp_iface
.send(McuPayload::ToMain(
main_messaging::jetson_to_mcu::Payload::UserLedsPattern(
main_messaging::UserLeDsPattern {
pattern:
main_messaging::user_le_ds_pattern::UserRgbLedPattern::Off
as i32,
custom_color: None,
start_angle: 0,
angle_length: 360,
pulsing_scale: 0.0,
pulsing_period_ms: 0,
},
),
))
.await
{
Ok(CommonAckError::Success) => {
info!("LEDs disabled");
}
Ok(e) => {
return Err(eyre!("Error disabling RGB LEDs: ack {:?}", e));
}
Err(e) => {
return Err(eyre!("Error disabling RGB LEDs: {:?}", e));
}
custom_color: None,
start_angle: 0,
angle_length: 360,
pulsing_scale: 0.0,
pulsing_period_ms: 0,
},
),
))
.await
{
Ok(CommonAckError::Success) => {
info!("RGB LEDs disabled");
}
Ok(e) => {
return Err(eyre!("Error disabling RGB LEDs: ack {:?}", e));
}
Err(e) => {
return Err(eyre!("Error disabling RGB LEDs: {:?}", e));
}
}

Expand Down
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