An attempt at getting image data back

controller-client/draw.lua

@@ -0,0 +1,43 @@
+
+local function getTextY(line)
+	return 15 + 25 * line
+end
+
+function love.draw2()
+	-- Set background
+	love.graphics.setBackgroundColor(0, 0, 0)
+	love.graphics.setColor(1, 1, 1)
+
+	if BotState.camfeed then
+		love.graphics.draw(BotState.camfeed)
+	end
+
+	-- Draw time
+	local time
+	if BotState.lastMessage == 0 then
+		time = "Never"
+	else
+		time = math.floor(love.timer.getTime() - BotState.lastMessage) .. "s ago"
+	end
+	love.graphics.print("Last message received: " .. time, 5, 5)
+
+	-- Draw cpu battery
+	if BotState.cpuBatteryCorrected == nil or BotState.cpuBatteryCorrected <= 3 then
+		love.graphics.setColor(1, 0, 0)
+	else
+		love.graphics.setColor(1, 1, 1)
+	end
+	love.graphics.print("CPU Batt: " .. formatSafe("%.02f (%.02f) V", BotState.cpuBattery, BotState.cpuBatteryCorrected), 5, getTextY(1))
+
+	-- Draw servo battery
+	if BotState.servoBatteryCorrected == nil or BotState.servoBatteryCorrected <= 3 then
+		love.graphics.setColor(1, 0, 0)
+	else
+		love.graphics.setColor(1, 1, 1)
+	end
+	love.graphics.print("Servo Batt: " .. formatSafe("%.02f (%.02f) V", BotState.servoBattery, BotState.servoBatteryCorrected), 5, getTextY(2))
+
+	-- Draw latency
+	love.graphics.setColor(1, 1, 1)
+	love.graphics.print("Latency: " .. Ping.latency, 5, getTextY(3))
+end

controller-client/main.lua

@@ -1,45 +1,70 @@
-local lastMessage = 0
+package.loaded["draw"] = nil
 
-local botState = {
+require("draw")
+
+BotState = {
+	lastMessage = 0,
 	cpuBattery = nil,
+	cpuBatteryCorrected = nil,
 	servoBattery = nil,
+	servoBatteryCorrected = nil,
+	camfeed = nil,
 }
 
-function love.draw2()
-	love.graphics.setBackgroundColor(0, 0, 0)
+Ping = {
+	timeSent = 0,
+	latency = "unknown",
+	payload = nil,
+}
 
-	local time
-	if lastMessage == 0 then
-		time = "Never"
-	else
-		time = math.floor(love.timer.getTime() - lastMessage) .. "s ago"
+function love.update2()
+	local now = love.timer.getTime()
+	if now - Ping.timeSent > 5 then
+		Ping.payload = ""
+		for i = 0, 10 do
+			Ping.payload = Ping.payload .. string.char(love.math.random(65, 91))
+		end
+		Ping.timeSent = now
+		love.mqtt.send("command/ping", Ping.payload)
+		print("Sending ping")
 	end
-	love.graphics.print("Last message received: " .. time, 5, 5)
-
-	love.graphics.print("CPU Batt: " .. formatSafe("%.02f V", botState.cpuBattery), 5, 30)
-	love.graphics.print("Servo Batt: " .. formatSafe("%.02f V", botState.servoBattery), 5, 45)
 end
 
-function formatSafe(format, value)
+function formatSafe(format, value, ...)
 	if value == nil then
 		return "unknown"
 	end
-	return string.format(format, value)
+	return string.format(format, value, ...)
 end
 
 function love.load()
-	love.graphics.setFont(love.graphics.newFont(15))
+	love.graphics.setFont(love.graphics.newFont(20))
 	love.window.setFullscreen(true)
 	love.mqtt.subscribe("telemetry/#")
 end
 
 function love.mqtt.message(topic, payload)
+	local oldTime = BotState.lastMessage
+	BotState.lastMessage = love.timer.getTime()
+
 	if topic == "telemetry/cpu_battery" then
-		botState.cpuBattery = tonumber(payload)
-		lastMessage = love.timer.getTime()
+		BotState.cpuBattery = tonumber(payload)
+		BotState.cpuBatteryCorrected = BotState.cpuBattery / 2
 	elseif topic == "telemetry/servo_battery" then
-		botState.servoBattery = tonumber(payload)
-		lastMessage = love.timer.getTime()
+		BotState.servoBattery = tonumber(payload)
+		BotState.servoBatteryCorrected = BotState.servoBattery / 2
+	elseif topic == "telemetry/camfeed" then
+		print("Got camfeed")
+		fileData = love.filesystem.newFileData(payload, "camfeed")
+		BotState.camfeed = love.graphics.newImage(fileData)
+	elseif topic == "telemetry/pong" then
+		if payload == Ping.payload then
+			local timeReceived = love.timer.getTime()
+			Ping.latency = math.floor((timeReceived - Ping.timeSent) * 1000) .. "ms"
+		end
+	else
+		print("Got unknown telemetry at " .. topic)
+		BotState.lastMessage = oldTime
 	end
 end