Resolved issues with the gyroscope code

pod-operation/src/components/gyro.rs

@@ -1,19 +1,27 @@
 use mpu6050::Mpu6050;
 use rppal::i2c::I2c;
 
-pub struct Mpu6050Sensor {
-	mpu6050: Mpu6050<I2c>,
+pub struct Gyroscope {
+    mpu6050: Mpu6050<I2c>,
 }
 
-impl Mpu6050Sensor {
-	pub fn new() -> Self {
-		let i2c = I2c::new().unwrap();
-		let mpu6050 = Mpu6050::new(i2c);
-		Mpu6050Sensor { mpu6050 }
-	}
+pub struct Orientation {
+    pub pitch: f32,
+    pub roll: f32,
+}
+
+impl Gyroscope {
+    pub fn new() -> Self {
+        let i2c = I2c::new().unwrap();
+        let mpu6050 = Mpu6050::new(i2c);
+        Gyroscope { mpu6050 }
+    }
 
-	pub fn read_accel_gyro(&mut self) -> (f32, f32) {
-		let acc = self.mpu6050.get_acc_angles().unwrap();
-		(acc[0], acc[1])
-	}
+    pub fn read_orientation(&mut self) -> Orientation {
+        let acc = self.mpu6050.get_acc_angles().unwrap();
+        Orientation {
+            pitch: acc[0],
+            roll: acc[1],
+        }
+    }
 }

pod-operation/src/demo.rs

@@ -3,44 +3,56 @@ use tracing::info;
 use crate::components::lim_temperature::LimTemperature;
 use crate::components::pressure_transducer::PressureTransducer;
 use crate::components::signal_light::SignalLight;
+use crate::components::gyro::Gyroscope;
 
 pub async fn blink(mut signal_light: SignalLight) {
-	let mut i = 0;
-
-	info!("Starting blink demo.");
-	loop {
-		tokio::time::sleep(std::time::Duration::from_millis(500)).await;
-		if i % 4 == 0 {
-			signal_light.enable();
-		} else if i % 4 == 1 {
-			signal_light.disable();
-		}
-
-		i += 1;
-	}
+    let mut i = 0;
+
+    info!("Starting blink demo.");
+    loop {
+        tokio::time::sleep(std::time::Duration::from_millis(500)).await;
+        if i % 4 == 0 {
+            signal_light.enable();
+        } else if i % 4 == 1 {
+            signal_light.disable();
+        }
+
+        i += 1;
+    }
 }
 
 pub async fn read_pressure_transducer(mut pressure_transducer: PressureTransducer) {
-	info!("Starting pressure transducer demo.");
+    info!("Starting pressure transducer demo.");
 
-	loop {
-		tokio::time::sleep(std::time::Duration::new(1, 0)).await;
-		println!("{:?}", pressure_transducer.read());
-	}
+    loop {
+        tokio::time::sleep(std::time::Duration::new(1, 0)).await;
+        println!("{:?}", pressure_transducer.read());
+    }
 }
 
 pub async fn read_ads1015(mut lim_temperature: LimTemperature) {
-	info!("Starting ADS1015 Demo.");
-
-	let mut i = 0;
-	loop {
-		tokio::time::sleep(std::time::Duration::from_millis(100)).await;
-		println!("{:?}", lim_temperature.read_pins());
-		i += 1;
-		if i > 1000 {
-			break;
-		}
-	}
-
-	lim_temperature.cleanup();
+    info!("Starting ADS1015 Demo.");
+
+    let mut i = 0;
+    loop {
+        tokio::time::sleep(std::time::Duration::from_millis(100)).await;
+        println!("{:?}", lim_temperature.read_pins());
+        i += 1;
+        if i > 1000 {
+            break;
+        }
+    }
+
+    lim_temperature.cleanup();
+}
+
+pub async fn read_gyroscope(mut gyroscope: Gyroscope) {
+    info!("Starting Gyroscope Demo.");
+    tokio::spawn(async move {
+        loop {
+            let orientation = gyroscope.read_orientation();
+            tokio::time::sleep(std::time::Duration::from_millis(100)).await;
+            println!("Pitch: {:?}, Roll: {:?}", orientation.pitch, orientation.roll);
+        }
+    });
 }

pod-operation/src/main.rs

@@ -7,48 +7,41 @@ mod components;
 mod demo;
 mod state_machine;
 
-use crate::components::gyro::Mpu6050Sensor;
+use crate::components::gyro::Gyroscope;
 use crate::components::lim_temperature::LimTemperature;
 use crate::components::pressure_transducer::PressureTransducer;
 use crate::components::signal_light::SignalLight;
 use crate::state_machine::StateMachine;
+
 #[tokio::main]
 async fn main() -> Result<(), Box<dyn std::error::Error>> {
-	tracing::subscriber::set_global_default(FmtSubscriber::default())?;
+    tracing::subscriber::set_global_default(FmtSubscriber::default())?;
 
-	let (layer, io) = SocketIo::new_layer();
+    let (layer, io) = SocketIo::new_layer();
 
-	// let signal_light = SignalLight::new();
-	// tokio::spawn(demo::blink(signal_light));
+    let signal_light = SignalLight::new();
+    tokio::spawn(demo::blink(signal_light));
 
-	// let pressure_transducer = PressureTransducer::new(0x40);
-	// tokio::spawn(demo::read_pressure_transducer(pressure_transducer));
+    let pressure_transducer = PressureTransducer::new(0x40);
+    tokio::spawn(demo::read_pressure_transducer(pressure_transducer));
 
-	// let ads1015 = LimTemperature::new(ads1x1x::SlaveAddr::Default);
-	// tokio::spawn(demo::read_ads1015(ads1015));
+    let ads1015 = LimTemperature::new(ads1x1x::SlaveAddr::Default);
+    tokio::spawn(demo::read_ads1015(ads1015));
 
-	// tokio::spawn(async {
-	// 	let mut state_machine = StateMachine::new(io);
-	// 	state_machine.run().await;
-	// });
+    tokio::spawn(async {
+        let mut state_machine = StateMachine::new(io);
+        state_machine.run().await;
+    });
 
-	let mut mpu6050_sensor = Mpu6050Sensor::new();
-	tokio::spawn(async move {
-		loop {
-			let (pitch, roll) = mpu6050_sensor.read_accel_gyro();
-			tokio::time::sleep(std::time::Duration::from_millis(100)).await;
-			println!("[{:?} {:?}]", pitch, roll);
-		}
-	});
-	let app = axum::Router::new().layer(layer);
+    let app = axum::Router::new().layer(layer);
 
-	info!("Starting server on port 5000");
+    info!("Starting server on port 5000");
 
-	let server = Server::bind(&"127.0.0.1:5000".parse().unwrap()).serve(app.into_make_service());
+    let server = Server::bind(&"127.0.0.1:5000".parse().unwrap()).serve(app.into_make_service());
 
-	if let Err(e) = server.await {
-		error!("server error: {}", e);
-	}
+    if let Err(e) = server.await {
+        error!("server error: {}", e);
+    }
 
-	Ok(())
+    Ok(())
 }