From 4ebd09d2ebdfdc6f8b09ed113409c510ccba7e4f Mon Sep 17 00:00:00 2001 From: "93094049+kraemr@users.noreply.github.com" <93094049+kraemr@users.noreply.github.com> Date: Wed, 16 Jul 2025 16:29:15 +0200 Subject: [PATCH] fixed compile errors --- server/src/machines/buffer1/act.rs | 10 +++----- server/src/machines/buffer1/mod.rs | 37 ++++++++++++------------------ server/src/machines/buffer1/new.rs | 34 +++++++++------------------ 3 files changed, 29 insertions(+), 52 deletions(-) diff --git a/server/src/machines/buffer1/act.rs b/server/src/machines/buffer1/act.rs index 261bbdb3..38dfdf0f 100644 --- a/server/src/machines/buffer1/act.rs +++ b/server/src/machines/buffer1/act.rs @@ -1,13 +1,9 @@ use std::time::{Duration, Instant}; use super::BufferV1; -use control_core::actors::Actor; - -impl Actor for BufferV1 { - fn act( - &mut self, - now: Instant - ) -> std::pin::Pin + Send + '_>> { +use control_core::machines::new::MachineAct; +impl MachineAct for BufferV1 { + fn act(&mut self, now: Instant) -> std::pin::Pin + Send + '_>> { Box::pin(async move { //self.buffer_tower.act(now).await; diff --git a/server/src/machines/buffer1/mod.rs b/server/src/machines/buffer1/mod.rs index f6fc5e48..648046f1 100644 --- a/server/src/machines/buffer1/mod.rs +++ b/server/src/machines/buffer1/mod.rs @@ -1,19 +1,19 @@ pub mod act; pub mod api; -pub mod new; pub mod buffer_tower_controller; +pub mod new; pub mod puller_speed_controller; use api::{ - BufferV1Events, Buffer1Namespace, StateEvent, ModeState, SineWaveState, LiveValuesEvent, + Buffer1Namespace, BufferV1Events, LiveValuesEvent, ModeState, SineWaveState, StateEvent, }; +use buffer_tower_controller::BufferTowerController; use control_core::{machines::Machine, socketio::namespace::NamespaceCacheingLogic}; +use puller_speed_controller::PullerSpeedController; use serde::{Deserialize, Serialize}; +use std::time::Instant; use tracing::info; use uom::si::{f64::Frequency, frequency::hertz}; -use std::time::Instant; -use puller_speed_controller::{PullerSpeedController}; -use buffer_tower_controller::{BufferTowerController}; #[derive(Debug)] pub struct BufferV1 { @@ -38,6 +38,7 @@ impl std::fmt::Display for BufferV1 { write!(f, "BufferV1") } } + impl Machine for BufferV1 {} impl BufferV1 { @@ -78,7 +79,7 @@ impl BufferV1 { _ => (2.0 * std::f64::consts::PI * freq_hz * elapsed).sin(), }; - amplitude + amplitude } pub fn change_frequency(&mut self, frequency: f64) { @@ -98,14 +99,10 @@ impl BufferV1 { fn switch_to_standby(&mut self) { match self.mode { BufferV1Mode::Standby => (), - BufferV1Mode::FillingBuffer => { - - } - BufferV1Mode::EmptyingBuffer => { - - } + BufferV1Mode::FillingBuffer => {} + BufferV1Mode::EmptyingBuffer => {} }; - self.mode = BufferV1Mode::Standby; + self.mode = BufferV1Mode::Standby; } // Turn on motor and fill buffer @@ -113,23 +110,19 @@ impl BufferV1 { match self.mode { BufferV1Mode::Standby => self.fill_buffer(), BufferV1Mode::FillingBuffer => (), - BufferV1Mode::EmptyingBuffer => { - - } + BufferV1Mode::EmptyingBuffer => {} }; - self.mode = BufferV1Mode::FillingBuffer; + self.mode = BufferV1Mode::FillingBuffer; } // Turn off motor and empty buffer fn switch_to_emptying(&mut self) { match self.mode { BufferV1Mode::Standby => self.empty_buffer(), - BufferV1Mode::FillingBuffer => { - - } + BufferV1Mode::FillingBuffer => {} BufferV1Mode::EmptyingBuffer => (), }; - self.mode = BufferV1Mode::EmptyingBuffer; + self.mode = BufferV1Mode::EmptyingBuffer; } fn switch_mode(&mut self, mode: BufferV1Mode) { @@ -156,7 +149,7 @@ impl BufferV1 { self.emit_state(); } fn set_rpm_state(&mut self, rpm: f64) { - //TODO + //TODO self.emit_state(); } } diff --git a/server/src/machines/buffer1/new.rs b/server/src/machines/buffer1/new.rs index df205581..6cc17fa6 100644 --- a/server/src/machines/buffer1/new.rs +++ b/server/src/machines/buffer1/new.rs @@ -1,7 +1,6 @@ use std::time::Instant; use anyhow::Error; -use control_core::actors::stepper_driver_el70x1::StepperDriverEL70x1; use control_core::converters::linear_step_converter::LinearStepConverter; use control_core::machines::identification::DeviceHardwareIdentification; use control_core::machines::new::{ @@ -12,15 +11,13 @@ use control_core::machines::new::{ use control_core::uom_extensions::velocity::meter_per_minute; use ethercat_hal::coe::ConfigurableDevice; use ethercat_hal::devices::ek1100::EK1100; +use ethercat_hal::devices::ek1100::EK1100_IDENTITY_A; use ethercat_hal::devices::el7031_0030::coe::EL7031_0030Configuration; use ethercat_hal::devices::el7031_0030::pdo::EL7031_0030PredefinedPdoAssignment; -use ethercat_hal::devices::el7031_0030::{ - self, EL7031_0030, EL7031_0030_IDENTITY_A, -}; +use ethercat_hal::devices::el7031_0030::{self, EL7031_0030, EL7031_0030_IDENTITY_A}; use ethercat_hal::devices::el7041_0052::coe::EL7041_0052Configuration; -use ethercat_hal::devices::el7041_0052::{EL7041_0052Port, EL7041_0052, EL7041_0052_IDENTITY_A}; +use ethercat_hal::devices::el7041_0052::{EL7041_0052, EL7041_0052_IDENTITY_A, EL7041_0052Port}; use ethercat_hal::devices::{EthercatDeviceUsed, downcast_device, subdevice_identity_to_tuple}; -use ethercat_hal::devices::{ek1100::EK1100_IDENTITY_A}; use ethercat_hal::io::stepper_velocity_el70x1::StepperVelocityEL70x1; use ethercat_hal::shared_config; use ethercat_hal::shared_config::el70x1::{EL70x1OperationMode, StmMotorConfiguration}; @@ -29,13 +26,11 @@ use uom::si::frequency::hertz; use uom::si::length::{centimeter, millimeter}; use uom::si::velocity::Velocity; +use crate::machines::buffer1::BufferV1Mode; use crate::machines::buffer1::buffer_tower_controller::BufferTowerController; use crate::machines::buffer1::puller_speed_controller::PullerSpeedController; -use crate::machines::buffer1::BufferV1Mode; -use super::{ - api::{Buffer1Namespace}, BufferV1 -}; +use super::{BufferV1, api::Buffer1Namespace}; impl MachineNewTrait for BufferV1 { fn new<'maindevice>(params: &MachineNewParams) -> Result { @@ -158,7 +153,7 @@ impl MachineNewTrait for BufferV1 { (device, config) }; - // Role 2 + // Role 2 // 1x Stepper Puller // EL7031 let (el7031_0030, el7031_0030_config) = { @@ -218,29 +213,23 @@ impl MachineNewTrait for BufferV1 { device_guard.set_used(true); } (device, config) - }; + }; // LIVE VALUE TESTING let t_0 = Instant::now(); let frequency: Frequency = Frequency::new::(0.5); - + // Controllers let puller_speed_controller = PullerSpeedController::new( Velocity::new::(1.0), Length::new::(1.75), - LinearStepConverter::from_diameter( - 200, - Length::new::(8.0), - ), + LinearStepConverter::from_diameter(200, Length::new::(8.0)), ); let buffer_tower_controller = BufferTowerController::new( Velocity::new::(1.0), Length::new::(1.75), - LinearStepConverter::from_diameter( - 200, - Length::new::(8.0), - ), + LinearStepConverter::from_diameter(200, Length::new::(8.0)), el7041, el7041_config, ); @@ -256,7 +245,6 @@ impl MachineNewTrait for BufferV1 { }; buffer.emit_state(); Ok(buffer) - }) - + }) } }