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listener.rs — Incoming Packet Handler
run_listener() is the main receive loop. It runs for the lifetime of the app as a spawned async task. On every received UDP datagram it: Decodes the raw bytes as a PbEnvelope using prostExtracts the inner payload variantChecks a per-payload throttle — events a...
Embedded Common Libraries
All Common Libraries used by all Microcontrollers in the Rover
Priority Queue
Summary bucketed_pqueue is a simple, efficient strict-priority queue for FreeRTOS systems where: items fall into a small fixed set of priority levelsproducers may be tasks or ISRsa single consumer drains work in priority order Its design is intentionally light...
Embedded Infastructure
Project Structure
How the code is structured and organized
sender.rs — Outgoing Packet Sender
This file is work in progress send_envelope() is the single outgoing send function. It takes a PbEnvelope, encodes it to bytes using prost, and sends it to the target address over UDP. A hex_dump() helper (currently commented out) can be re-enabled to log outg...
dummy.rs — Development Simulator
The simulator generates realistic fake rover data so the UI can be developed and tested without physical hardware. It is started via the start_dummy_streams or start_detection_sim commands from network.rs and stopped with stop_dummy_streams. Stream table Each ...
Getting Started
How to setup and get started working on the embedded code
RoboTeam Landing Page
Introduction
System Architecture The landing page consists of these parts: Reverse Proxy (Nginx): Acts as the entry point. It handles SSL termination and routes traffic to the Vue.js static files or the Spring Boot API.Frontend (Vue.js): A Single Page Application (SPA) tha...
Backend — Application Entry Point & Build System
Location: src-tauri/src/ and src/
Frontend Architecture & API Integration
Here, the frontend of our web page is going to be discussed. Please get familiar with VUE.js documentation if you haven't done so yet: https://vuejs.org/guide/introduction A RESTful API guide could also be useful:https://restfulapi.net/ Our frontend is a Sing...
main.rs — Binary Entry Point
The binary entry point is intentionally minimal. It simply calls base_station_lib::run(), which lives in lib.rs. The only thing of note is the windows_subsystem = "windows" attribute on the first line — this suppresses the extra console window that would other...
lib.rs — Application Bootstrap
lib.rs is where the entire Tauri application is configured and started. It does the following in order: Managed state registration Three pieces of state are registered with Tauri's state manager so they can be injected into any command via State<'_>: RoverStat...
proto.rs — Protobuf Module
This file simply includes the generated Rust code for the packets protobuf module: rust pub mod packets { include!(concat!(env!("OUT_DIR"), "/packets.rs")); } The actual .proto source files live in src-tauri/proto/. They are compiled at build time by build...
build.rs — Protobuf Compilation
The build script runs before the Rust compiler and is responsible for compiling all .proto files into Rust code. It does this in several steps: 1. Collect proto files Recursively scans the src-tauri/proto/ directory for .proto files. Only files that are inside...
tauri.conf.json — Application & Security Configuration
Window The app opens a single window titled base_station at 800×600. devtools is enabled, meaning the browser DevTools can be opened in development builds. Content Security Policy The CSP is configured to be strict by default while allowing the specific localh...
Cargo.toml — Key Dependencies
CratePurposetauriDesktop app framework, with protocol-asset and devtools featurestokio (full)Async runtime for all network and I/O tasksprostProtobuf encode/decodegstreamer / gstreamer-appVideo pipelinewarpMJPEG HTTP servergilrsGamepad/controller inputreqwest ...