hostcontrol/Cargo.lock

@@ -656,46 +656,6 @@ dependencies = [
  "libc",
 ]
 
-[[package]]
-name = "clap"
-version = "4.5.60"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2797f34da339ce31042b27d23607e051786132987f595b02ba4f6a6dffb7030a"
-dependencies = [
- "clap_builder",
- "clap_derive",
-]
-
-[[package]]
-name = "clap_builder"
-version = "4.5.60"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "24a241312cea5059b13574bb9b3861cabf758b879c15190b37b6d6fd63ab6876"
-dependencies = [
- "anstream",
- "anstyle",
- "clap_lex",
- "strsim",
-]
-
-[[package]]
-name = "clap_derive"
-version = "4.5.55"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a92793da1a46a5f2a02a6f4c46c6496b28c43638adea8306fcb0caa1634f24e5"
-dependencies = [
- "heck",
- "proc-macro2",
- "quote",
- "syn",
-]
-
-[[package]]
-name = "clap_lex"
-version = "1.0.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3a822ea5bc7590f9d40f1ba12c0dc3c2760f3482c6984db1573ad11031420831"
-
 [[package]]
 name = "clipboard-win"
 version = "5.4.0"
@@ -1483,11 +1443,9 @@ checksum = "dfa686283ad6dd069f105e5ab091b04c62850d3e4cf5d67debad1933f55023df"
 name = "hostcontrol"
 version = "0.1.0"
 dependencies = [
- "clap",
  "eframe",
  "egui",
  "env_logger",
- "log",
  "nalgebra",
  "nalgebra-macros",
  "serialport",
@@ -1801,9 +1759,9 @@ dependencies = [
 
 [[package]]
 name = "log"
-version = "0.4.29"
+version = "0.4.27"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5e5032e24019045c762d3c0f28f5b6b8bbf38563a65908389bf7978758920897"
+checksum = "13dc2df351e3202783a1fe0d44375f7295ffb4049267b0f3018346dc122a1d94"
 
 [[package]]
 name = "mach2"
@@ -2977,12 +2935,6 @@ version = "0.1.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "6637bab7722d379c8b41ba849228d680cc12d0a45ba1fa2b48f2a30577a06731"
 
-[[package]]
-name = "strsim"
-version = "0.11.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7da8b5736845d9f2fcb837ea5d9e2628564b3b043a70948a3f0b778838c5fb4f"
-
 [[package]]
 name = "strum"
 version = "0.26.3"

hostcontrol/Cargo.toml

@@ -4,7 +4,6 @@ version = "0.1.0"
 edition = "2021"
 
 [dependencies]
-clap = { version = "4.0", features = ["derive"] }
 nalgebra = { version = "0.33" }
 serialport = { version = "4", default-features = false }
 thiserror = "2"
@@ -12,4 +11,3 @@ nalgebra-macros = "^0.2.2"
 env_logger = "0.11.8"
 egui = "0.31.1"
 eframe = "0.31.1"
-log = "0.4.29"

hostcontrol/src/main.rs

@@ -1,24 +1,10 @@
 use std::{thread::sleep, time::Duration};
-use clap::Parser;
 
 mod stage;
 
-#[derive(clap::Parser, Debug)]
-#[command(version, about, long_about = None)]
-struct CliArgs {
-    /// Interface to talk to movement stage
-    #[arg(long, default_value="/dev/ttyACM0")]
-    stage_device: String,
-
-    /// Speed of the stage device (bps)
-    #[arg(long, default_value="115200")]
-    tty_speed: u32,
-}
-
 fn main() {
-    let args = CliArgs::parse();
     env_logger::init();
-    let stage_io = stage::StageIO::new(&args.stage_device, args.tty_speed).unwrap();
+    let stage_io = stage::StageIO::new("/dev/ttyACM0", 115200).unwrap();
     let mut s = stage::Stage::new(stage_io, 1.12).unwrap();
     let origin = nalgebra::vector![3000.0, 0.0, -6000.0];
     //println!("{}", s.version().unwrap());

hostcontrol/src/stage.rs

@@ -2,7 +2,6 @@
 
 use std::time::Duration;
 use thiserror::Error;
-use log::debug;
 
 fn new_camera_rotation(theta: f64) -> nalgebra::Matrix3<f64> {
     nalgebra::matrix![
@@ -56,8 +55,6 @@ pub type StageIOResult<T> = std::result::Result<T, StageIOError>;
 impl StageIO {
     pub fn new(port: &str, speed: u32) -> StageIOResult<Self> {
 	let serial = serialport::new(port, speed).timeout(Duration::from_secs(60)).open()?;
-	// TODO: read and discard initial characters; some devices like to be
-	// chatty on start-up.
 	Ok(Self { serial })
     }
 
@@ -74,12 +71,10 @@ impl StageIO {
     }
 
     // Send request and wait for response deliminated with a newline
-    pub fn send_request<S: AsRef<str>>(&mut self, command: S) -> StageIOResult<String> {
-	debug!("->: {:?}", command.as_ref());
+    fn send_request<S: AsRef<str>>(&mut self, command: S) -> StageIOResult<String> {
         self.serial.write_all(command.as_ref().as_bytes()).map_err(|e| StageIOError::Write(e))?;
-        let response = self.receive_until("\n")?;
-	debug!("<-: {:?}", response);
-        Ok(response.trim().to_string())
+        let res = self.receive_until("\n")?;
+        Ok(res.trim().to_string())
     }
 }