From fd9a56fcef988b16095b8e7d7edc624b5d87a6a2 Mon Sep 17 00:00:00 2001 From: Ryan Butler Date: Mon, 16 Jan 2023 02:48:10 -0500 Subject: [PATCH 1/5] tmp --- networking/firmware_protocol/src/lib.rs | 1 + .../firmware_protocol/src/sansio/mod.rs | 5 ++++ .../src/sansio/serialization.rs | 25 +++++++++++++++++++ 3 files changed, 31 insertions(+) create mode 100644 networking/firmware_protocol/src/sansio/mod.rs create mode 100644 networking/firmware_protocol/src/sansio/serialization.rs diff --git a/networking/firmware_protocol/src/lib.rs b/networking/firmware_protocol/src/lib.rs index 83d7ff74..7fc5f49f 100644 --- a/networking/firmware_protocol/src/lib.rs +++ b/networking/firmware_protocol/src/lib.rs @@ -3,6 +3,7 @@ extern crate alloc; mod clientbound; +mod sansio; mod serverbound; pub use clientbound::*; diff --git a/networking/firmware_protocol/src/sansio/mod.rs b/networking/firmware_protocol/src/sansio/mod.rs new file mode 100644 index 00000000..d3fae140 --- /dev/null +++ b/networking/firmware_protocol/src/sansio/mod.rs @@ -0,0 +1,5 @@ +//! A WIP sans-io implementation of the firmware protocol. +//! +//! sans-io means that it performs no io and can be used in async or non async code. + +mod serialization; diff --git a/networking/firmware_protocol/src/sansio/serialization.rs b/networking/firmware_protocol/src/sansio/serialization.rs new file mode 100644 index 00000000..e7109116 --- /dev/null +++ b/networking/firmware_protocol/src/sansio/serialization.rs @@ -0,0 +1,25 @@ +/// A simpler alternative to [`SerializeExact`], which will serialize without needing an +/// exact buffer size. +pub trait Serialize { + type Error; + /// Serializes into `buf`, returning the number of bytes written, or an error. + /// Note that this must not return `Ok` if only part of `self` was actually serialized. + fn serialize(&mut self, buf: &mut [u8]) -> Result; +} + +/// Serializes directly into a buffer, such as directly into the tcp/udp buffers with no +/// the exact size known. +pub trait SerializeExact { + type Error; + /// Serializes the packet into the provided buffer. Implementations may choose to steal + /// `self`, or perform a copy, or they may have already serialized into bytes preemptively + /// (such as with flatbuffers). + /// + /// # Panics + /// May panic if `f` returns an Ok variant with a buffer that is not the exact size as + /// `f`'s argument. + fn serialize_exact<'a, 'b>( + &'a mut self, + f: impl FnOnce(usize) -> nb::Result<&'b mut [u8], Self::Error>, // TODO: This might not work + ) -> nb::Result<(), Self::Error>; +} From d85cf3173ac1fd0e089d4c9020f5c5e18950c0ab Mon Sep 17 00:00:00 2001 From: Ryan Butler Date: Mon, 16 Jan 2023 14:24:42 -0500 Subject: [PATCH 2/5] Added temporary protocol structs --- networking/firmware_protocol/src/lib.rs | 2 +- .../firmware_protocol/src/sansio/mod.rs | 44 +++++++++++++++++++ .../src/sansio/serialization.rs | 4 +- 3 files changed, 47 insertions(+), 3 deletions(-) diff --git a/networking/firmware_protocol/src/lib.rs b/networking/firmware_protocol/src/lib.rs index 7fc5f49f..420c3f85 100644 --- a/networking/firmware_protocol/src/lib.rs +++ b/networking/firmware_protocol/src/lib.rs @@ -3,7 +3,7 @@ extern crate alloc; mod clientbound; -mod sansio; +pub mod sansio; mod serverbound; pub use clientbound::*; diff --git a/networking/firmware_protocol/src/sansio/mod.rs b/networking/firmware_protocol/src/sansio/mod.rs index d3fae140..c9ab6ebe 100644 --- a/networking/firmware_protocol/src/sansio/mod.rs +++ b/networking/firmware_protocol/src/sansio/mod.rs @@ -2,4 +2,48 @@ //! //! sans-io means that it performs no io and can be used in async or non async code. +use crate::{CbPacket, SbPacket}; + mod serialization; + +// TODO: All of this code operates on deku stuff, can we make it generic? + +pub enum ProtocolState { + Disconnected(Disconnected), + Connected(Connected), +} +impl ProtocolState { + pub const fn new() -> Self { + Self::Disconnected(Disconnected {}) + } + pub fn received_msg(&mut self, m: CbPacket) -> Option { + // We are going to pass ownership of self, by stealing it out of the enum + // temporarily, and putting it back in later. + + let mut taken = Self::new(); + core::mem::swap(self, &mut taken); + let (mut taken, packet) = match taken { + ProtocolState::Disconnected(s) => s.received_msg(m), + ProtocolState::Connected(s) => s.received_msg(m), + }; + core::mem::swap(self, &mut taken); + packet + } +} + +pub struct Disconnected {} +impl Disconnected { + pub fn received_msg(self, m: CbPacket) -> (ProtocolState, Option) { + todo!() + } +} + +pub struct Connected {} +impl Connected { + pub fn received_msg(self, m: CbPacket) -> (ProtocolState, Option) { + todo!() + } + pub fn send_imu(&mut self, x: f32, y: f32, z: f32, w: f32) -> SbPacket { + todo!() + } +} diff --git a/networking/firmware_protocol/src/sansio/serialization.rs b/networking/firmware_protocol/src/sansio/serialization.rs index e7109116..cdafc257 100644 --- a/networking/firmware_protocol/src/sansio/serialization.rs +++ b/networking/firmware_protocol/src/sansio/serialization.rs @@ -20,6 +20,6 @@ pub trait SerializeExact { /// `f`'s argument. fn serialize_exact<'a, 'b>( &'a mut self, - f: impl FnOnce(usize) -> nb::Result<&'b mut [u8], Self::Error>, // TODO: This might not work - ) -> nb::Result<(), Self::Error>; + f: impl FnOnce(usize) -> Result<&'b mut [u8], Self::Error>, + ) -> Result<(), Self::Error>; } From f80f2c024661d05a7ef4ec97838faee02b4478b9 Mon Sep 17 00:00:00 2001 From: Ryan Butler Date: Mon, 16 Jan 2023 17:24:49 -0500 Subject: [PATCH 3/5] Implemented initial sansio code --- Cargo.lock | 2896 ----------------- firmware/Cargo.lock | 28 + firmware/src/networking/protocol/mod.rs | 8 + networking/firmware_protocol/Cargo.toml | 5 + networking/firmware_protocol/src/lib.rs | 6 +- .../firmware_protocol/src/sansio/mod.rs | 168 +- 6 files changed, 191 insertions(+), 2920 deletions(-) delete mode 100644 Cargo.lock diff --git a/Cargo.lock b/Cargo.lock deleted file mode 100644 index ad34a625..00000000 --- a/Cargo.lock +++ /dev/null @@ -1,2896 +0,0 @@ -# This file is automatically @generated by Cargo. -# It is not intended for manual editing. -version = 3 - -[[package]] -name = "Inflector" -version = "0.11.4" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "fe438c63458706e03479442743baae6c88256498e6431708f6dfc520a26515d3" - 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pub i: f32, - pub j: f32, - pub k: f32, + pub x: f32, + pub y: f32, + pub z: f32, pub w: f32, } diff --git a/networking/firmware_protocol/src/sansio/mod.rs b/networking/firmware_protocol/src/sansio/mod.rs index c9ab6ebe..b8258129 100644 --- a/networking/firmware_protocol/src/sansio/mod.rs +++ b/networking/firmware_protocol/src/sansio/mod.rs @@ -1,49 +1,175 @@ //! A WIP sans-io implementation of the firmware protocol. //! //! sans-io means that it performs no io and can be used in async or non async code. +//! +//! TODO: All of this code operates on deku stuff, can we make it generic? + +use crate::{ + BoardType, CbPacket, ImuType, McuType, SbPacket, SensorDataType, SensorStatus, + SlimeQuaternion, +}; -use crate::{CbPacket, SbPacket}; +use replace_with::replace_with; mod serialization; -// TODO: All of this code operates on deku stuff, can we make it generic? +/// A buffer of `SbPacket` that *must all be sent* before other functions on the +/// protocol are invoked. +#[derive(Debug)] +pub struct SbBuf(heapless::Deque); +impl SbBuf { + pub const fn new() -> Self { + Self(heapless::Deque::new()) + } + + pub fn peek(&self) -> Option<&SbPacket> { + self.0.front() + } + + pub fn pop(&mut self) -> Option { + self.0.pop_front() + } + + pub const fn len(&self) -> usize { + self.0.len() + } + + pub fn is_empty(&self) -> bool { + self.0.is_empty() + } + + fn push(&mut self, sb: SbPacket) { + self.0.push_back(sb).expect( + "Unexpectedly ran out of space in deque, this should have been impossible.", + ) + } +} + +/// Panics with a standardized message if the `SbBuf` is empty. +macro_rules! assert_empty { + ($sb_buf:expr) => { + assert!(!$sb_buf.is_empty(), "`SbBuf` must be empty!"); + }; +} +#[derive(Debug, derive_more::From)] pub enum ProtocolState { Disconnected(Disconnected), Connected(Connected), } impl ProtocolState { pub const fn new() -> Self { - Self::Disconnected(Disconnected {}) + Self::Disconnected(Disconnected) } - pub fn received_msg(&mut self, m: CbPacket) -> Option { - // We are going to pass ownership of self, by stealing it out of the enum - // temporarily, and putting it back in later. - let mut taken = Self::new(); - core::mem::swap(self, &mut taken); - let (mut taken, packet) = match taken { - ProtocolState::Disconnected(s) => s.received_msg(m), - ProtocolState::Connected(s) => s.received_msg(m), - }; - core::mem::swap(self, &mut taken); - packet + /// Process a newly received message. This will update (and possibly transition) to + /// a new state, while enqueueing any serverbound packets that should be sent into + /// `sb_buf`. + /// + /// # Panics + /// Panics if `!sb_buf.is_empty()`. You are only supposed to call this function when + /// all serverbound packets have already been sent. + pub fn received_msg<'b>(&mut self, cb: CbPacket, sb_buf: &'b mut SbBuf) { + assert_empty!(sb_buf); + // This allows us to temporarily steal from `self` even though we don't have + // ownership. + replace_with( + self, + // TODO: This will be a double panic and halt, making it hard to debug if we + // ever actually hit this. Is there a better way? Do we even care? + || unreachable!("Panic should be impossible because we already asserted"), + |taken| { + // Now we can use the owned value in functions that expect an owned type. + match taken { + ProtocolState::Disconnected(s) => s.received_msg(cb, sb_buf), + ProtocolState::Connected(s) => s.received_msg(cb, sb_buf), + } + }, + ); } } -pub struct Disconnected {} +#[derive(Debug)] +pub struct Disconnected; impl Disconnected { - pub fn received_msg(self, m: CbPacket) -> (ProtocolState, Option) { - todo!() + /// Process a newly received message. This will update (and possibly transition) to + /// a new state, while pushing any serverbound packets that should be sent to + /// `sb_buf`. + /// + /// # Panics + /// Panics if `!sb_buf.is_empty()`. You are only supposed to call this function when + /// all serverbound packets have already been sent. + pub fn received_msg<'b>( + self, + cb: CbPacket, + sb_buf: &'b mut SbBuf, + ) -> ProtocolState { + assert_empty!(sb_buf); + match cb { + CbPacket::Discovery => { + sb_buf.push(SbPacket::Handshake { + // TODO: Compile time constants for board and MCU + board: BoardType::Custom, + // Should this IMU type be whatever the first IMU of the system is? + imu: ImuType::Unknown(0xFF), + mcu: McuType::Esp32, + imu_info: (0, 0, 0), // These appear to be inert + // Needs to be >=9 to use newer protocol, this is hard-coded in + // the java server :( + build: 10, + firmware: "SlimeVR-Rust".into(), + mac_address: [0; 6], + }); + + sb_buf.push(SbPacket::SensorInfo { + sensor_id: 0, // First sensor (of two) + sensor_status: SensorStatus::Ok, + sensor_type: ImuType::Unknown(0xFF), + }); + + self.into() + } + _ => self.into(), // Don't care about other packet types. + } } } +#[derive(Debug)] pub struct Connected {} impl Connected { - pub fn received_msg(self, m: CbPacket) -> (ProtocolState, Option) { - todo!() + pub fn received_msg<'b>( + self, + cb: CbPacket, + sb_buf: &'b mut SbBuf, + ) -> ProtocolState { + assert_empty!(sb_buf); + match cb { + // When heartbeat is received, we should reply with another heartbeat. + CbPacket::Heartbeat => { + sb_buf.push(SbPacket::Heartbeat); + self.into() + } + // Pings are basically like heartbeats, but they also echo data back + CbPacket::Ping { challenge } => { + sb_buf.push(SbPacket::Ping { challenge }); + self.into() + } + _ => self.into(), // Don't care about other packet types. + } } - pub fn send_imu(&mut self, x: f32, y: f32, z: f32, w: f32) -> SbPacket { - todo!() + + pub fn send_imu( + &mut self, + sensor_id: u8, + quat: SlimeQuaternion, + sb_buf: &mut SbBuf, + ) { + assert_empty!(sb_buf); + sb_buf.push(SbPacket::RotationData { + sensor_id, + data_type: SensorDataType::Normal, + quat, + calibration_info: 0, + }); } } From 52806322cef0e1e32df948407419d5099ddfe2c6 Mon Sep 17 00:00:00 2001 From: Ryan Butler Date: Mon, 16 Jan 2023 18:41:57 -0500 Subject: [PATCH 4/5] protocol task now uses sansio --- Cargo.lock | 2913 +++++++++++++++++ firmware/src/main.rs | 2 +- firmware/src/networking/protocol/mod.rs | 101 +- networking/firmware_protocol/src/lib.rs | 26 +- .../firmware_protocol/src/sansio/mod.rs | 44 +- .../src/{sansio => }/serialization.rs | 0 6 files changed, 2991 insertions(+), 95 deletions(-) create mode 100644 Cargo.lock rename networking/firmware_protocol/src/{sansio => }/serialization.rs (100%) diff --git a/Cargo.lock b/Cargo.lock new file mode 100644 index 00000000..1a8ee7e6 --- /dev/null +++ b/Cargo.lock @@ -0,0 +1,2913 @@ +# This file is automatically @generated by Cargo. +# It is not intended for manual editing. +version = 3 + +[[package]] +name = "Inflector" +version = "0.11.4" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = 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s.spawn(crate::networking::network_task(packets)).unwrap(); s.spawn(crate::imu::imu_task(quat, p.i2c, p.delay)).unwrap(); diff --git a/firmware/src/networking/protocol/mod.rs b/firmware/src/networking/protocol/mod.rs index 7f7896fa..461d768c 100644 --- a/firmware/src/networking/protocol/mod.rs +++ b/firmware/src/networking/protocol/mod.rs @@ -7,88 +7,59 @@ use defmt::debug; use embassy_executor::task; use embassy_futures::select::select; use firmware_protocol::{ - BoardType, CbPacket, ImuType, McuType, SbPacket, SensorDataType, SensorStatus, + sansio::{self, SbBuf}, + CbPacket, SlimeQuaternion, }; use crate::imu::Quat; -use crate::utils::Unreliable; - -#[allow(dead_code)] -mod v2; +use crate::utils::{Reliable, Unreliable}; #[task] -pub async fn control_task( +pub async fn protocol_task( packets: &'static Packets, quat: &'static Unreliable, ) -> ! { debug!("Control task!"); async { + let mut proto_state = sansio::State::new(); + let mut sb_buf = SbBuf::new(); loop { - do_work(packets, quat).await; + proto_state = match proto_state { + sansio::State::Disconnected(s) => { + while_disconnected(s, &mut sb_buf, &packets.clientbound).await + } + sansio::State::Connected(s) => { + while_connected(s, &mut sb_buf, &packets.clientbound, quat).await + } + }; + while !sb_buf.is_empty() { + let sb = sb_buf.pop().unwrap(); + packets.serverbound.send(sb).await; + } } } .await } -async fn do_work(packets: &Packets, quat: &Unreliable) { - let event = select(packets.clientbound.recv(), quat.wait()).await; +async fn while_disconnected( + state: sansio::Disconnected, + sb_buf: &mut SbBuf, + cb: &Reliable, +) -> sansio::State { + let cb_msg = cb.recv().await; + state.received_msg(cb_msg, sb_buf) +} + +async fn while_connected( + state: sansio::Connected, + sb_buf: &mut SbBuf, + cb: &Reliable, + quat: &Unreliable, +) -> sansio::State { + let event = select(cb.recv(), quat.wait()).await; use embassy_futures::select::Either; match event { - Either::First(cb_packet) => todo!(), - Either::Second(quat) => todo!(), - } - - match packets.clientbound.recv().await { - // Identify ourself when discovery packet is received - CbPacket::Discovery => { - packets - .serverbound - .send(SbPacket::Handshake { - // TODO: Compile time constants for board and MCU - board: BoardType::Custom, - // Should this IMU type be whatever the first IMU of the system is? - imu: ImuType::Unknown(0xFF), - mcu: McuType::Esp32, - imu_info: (0, 0, 0), // These appear to be inert - // Needs to be >=9 to use newer protocol, this is hard-coded in - // the java server :( - build: 10, - firmware: "SlimeVR-Rust".into(), - mac_address: [0; 6], - }) - .await; - debug!("Handshake"); - - // After handshake, we are supposed to send `SensorInfo` only once. - packets - .serverbound - .send(SbPacket::SensorInfo { - sensor_id: 0, // First sensor (of two) - sensor_status: SensorStatus::Ok, - sensor_type: ImuType::Unknown(0xFF), - }) - .await; - debug!("SensorInfo"); - } - // When heartbeat is received, we should reply with heartbeat 0 aka Discovery - // The protocol is asymmetric so its a bit unintuitive. - CbPacket::Heartbeat => { - packets.serverbound.send(SbPacket::Heartbeat).await; - } - // Pings are basically like heartbeats, just echo data back - CbPacket::Ping { challenge } => { - packets.serverbound.send(SbPacket::Ping { challenge }).await; - } - _ => (), + Either::First(cb_msg) => state.received_msg(cb_msg, sb_buf), + Either::Second(quat) => state.send_imu(0, SlimeQuaternion::from(quat), sb_buf), } - - packets - .serverbound - .send(SbPacket::RotationData { - sensor_id: 0, // First sensor - data_type: SensorDataType::Normal, // Rotation data without magnetometer correction. - quat: quat.wait().await.into_inner().into(), - calibration_info: 0, - }) - .await; } diff --git a/networking/firmware_protocol/src/lib.rs b/networking/firmware_protocol/src/lib.rs index 1a4c3c63..46713105 100644 --- a/networking/firmware_protocol/src/lib.rs +++ b/networking/firmware_protocol/src/lib.rs @@ -4,6 +4,7 @@ extern crate alloc; mod clientbound; pub mod sansio; +mod serialization; mod serverbound; pub use clientbound::*; @@ -34,16 +35,27 @@ macro_rules! impl_Nalgebra { impl From> for SlimeQuaternion { fn from(q: Quaternion) -> Self { Self { - i: q.i, - j: q.j, - k: q.k, + x: q.i, + y: q.j, + z: q.k, w: q.w, } } } impl From for Quaternion { fn from(q: SlimeQuaternion) -> Self { - Self::new(q.w, q.i, q.j, q.k) + Self::new(q.w, q.x, q.y, q.z) + } + } + + impl From> for SlimeQuaternion { + fn from(q: UnitQuaternion) -> Self { + Self { + x: q.i, + y: q.j, + z: q.k, + w: q.w, + } } } }; @@ -51,17 +63,17 @@ macro_rules! impl_Nalgebra { #[cfg(any(test, feature = "nalgebra032"))] mod nalgebra032_impls { - use nalgebra032::Quaternion; + use nalgebra032::{Quaternion, UnitQuaternion}; impl_Nalgebra!(); } #[cfg(any(test, feature = "nalgebra031"))] mod nalgebra031_impls { - use nalgebra031::Quaternion; + use nalgebra031::{Quaternion, UnitQuaternion}; impl_Nalgebra!(); } #[cfg(any(test, feature = "nalgebra030"))] mod nalgebra030_impls { - use nalgebra030::Quaternion; + use nalgebra030::{Quaternion, UnitQuaternion}; impl_Nalgebra!(); } diff --git a/networking/firmware_protocol/src/sansio/mod.rs b/networking/firmware_protocol/src/sansio/mod.rs index b8258129..2e496c15 100644 --- a/networking/firmware_protocol/src/sansio/mod.rs +++ b/networking/firmware_protocol/src/sansio/mod.rs @@ -11,8 +11,6 @@ use crate::{ use replace_with::replace_with; -mod serialization; - /// A buffer of `SbPacket` that *must all be sent* before other functions on the /// protocol are invoked. #[derive(Debug)] @@ -53,17 +51,16 @@ macro_rules! assert_empty { } #[derive(Debug, derive_more::From)] -pub enum ProtocolState { +pub enum State { Disconnected(Disconnected), Connected(Connected), } -impl ProtocolState { +impl State { pub const fn new() -> Self { Self::Disconnected(Disconnected) } - /// Process a newly received message. This will update (and possibly transition) to - /// a new state, while enqueueing any serverbound packets that should be sent into + /// Process a newly received message, enqueueing any serverbound messages in /// `sb_buf`. /// /// # Panics @@ -81,8 +78,8 @@ impl ProtocolState { |taken| { // Now we can use the owned value in functions that expect an owned type. match taken { - ProtocolState::Disconnected(s) => s.received_msg(cb, sb_buf), - ProtocolState::Connected(s) => s.received_msg(cb, sb_buf), + State::Disconnected(s) => s.received_msg(cb, sb_buf), + State::Connected(s) => s.received_msg(cb, sb_buf), } }, ); @@ -92,18 +89,13 @@ impl ProtocolState { #[derive(Debug)] pub struct Disconnected; impl Disconnected { - /// Process a newly received message. This will update (and possibly transition) to - /// a new state, while pushing any serverbound packets that should be sent to + /// Process a newly received message, enqueueing any serverbound messages in /// `sb_buf`. /// /// # Panics /// Panics if `!sb_buf.is_empty()`. You are only supposed to call this function when /// all serverbound packets have already been sent. - pub fn received_msg<'b>( - self, - cb: CbPacket, - sb_buf: &'b mut SbBuf, - ) -> ProtocolState { + pub fn received_msg<'b>(self, cb: CbPacket, sb_buf: &'b mut SbBuf) -> State { assert_empty!(sb_buf); match cb { CbPacket::Discovery => { @@ -137,11 +129,13 @@ impl Disconnected { #[derive(Debug)] pub struct Connected {} impl Connected { - pub fn received_msg<'b>( - self, - cb: CbPacket, - sb_buf: &'b mut SbBuf, - ) -> ProtocolState { + /// Process a newly received message, enqueueing any serverbound messages in + /// `sb_buf`. + /// + /// # Panics + /// Panics if `!sb_buf.is_empty()`. You are only supposed to call this function when + /// all serverbound packets have already been sent. + pub fn received_msg<'b>(self, cb: CbPacket, sb_buf: &'b mut SbBuf) -> State { assert_empty!(sb_buf); match cb { // When heartbeat is received, we should reply with another heartbeat. @@ -158,12 +152,17 @@ impl Connected { } } + /// Enqueues an imu update in `SbBuf`. + /// + /// # Panics + /// Panics if `!sb_buf.is_empty()`. You are only supposed to call this function when + /// all serverbound packets have already been sent. pub fn send_imu( - &mut self, + self, sensor_id: u8, quat: SlimeQuaternion, sb_buf: &mut SbBuf, - ) { + ) -> State { assert_empty!(sb_buf); sb_buf.push(SbPacket::RotationData { sensor_id, @@ -171,5 +170,6 @@ impl Connected { quat, calibration_info: 0, }); + self.into() } } diff --git a/networking/firmware_protocol/src/sansio/serialization.rs b/networking/firmware_protocol/src/serialization.rs similarity index 100% rename from networking/firmware_protocol/src/sansio/serialization.rs rename to networking/firmware_protocol/src/serialization.rs From 133de3c06faf55ae50cb4b8cf16fd9b09cf1147b Mon Sep 17 00:00:00 2001 From: Ryan Butler Date: Mon, 16 Jan 2023 18:57:39 -0500 Subject: [PATCH 5/5] Fixed broken firmware_protocol test --- networking/firmware_protocol/src/serverbound.rs | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/networking/firmware_protocol/src/serverbound.rs b/networking/firmware_protocol/src/serverbound.rs index 51a06ad7..fc1332fa 100644 --- a/networking/firmware_protocol/src/serverbound.rs +++ b/networking/firmware_protocol/src/serverbound.rs @@ -258,9 +258,9 @@ mod tests { sensor_id: 40, data_type: SensorDataType::Normal, quat: SlimeQuaternion { - i: f32::from_be_bytes([00, 01, 02, 03]), - j: f32::from_be_bytes([10, 11, 12, 13]), - k: f32::from_be_bytes([20, 21, 22, 23]), + x: f32::from_be_bytes([00, 01, 02, 03]), + y: f32::from_be_bytes([10, 11, 12, 13]), + z: f32::from_be_bytes([20, 21, 22, 23]), w: f32::from_be_bytes([30, 31, 32, 33]), }, calibration_info: 127,