orb-ui: control the gimbal

orb-ui/src/engine/diamond.rs

@@ -180,6 +180,7 @@ impl Runner<DIAMOND_RING_LED_COUNT, DIAMOND_CENTER_LED_COUNT> {
             capture_sound: sound::capture::CaptureLoopSound::default(),
             is_api_mode: false,
             paused: false,
+            gimbal: None,
         }
     }
 
@@ -939,6 +940,9 @@ impl EventHandler for Runner<DIAMOND_RING_LED_COUNT, DIAMOND_CENTER_LED_COUNT> {
                 self.sound
                     .queue(sound::Type::Melody(sound::Melody::BootUp), None)?;
             }
+            Event::Gimbal { x, y } => {
+                self.gimbal = Some((*x, *y));
+            }
         }
         Ok(())
     }
@@ -987,6 +991,25 @@ impl EventHandler for Runner<DIAMOND_RING_LED_COUNT, DIAMOND_CENTER_LED_COUNT> {
             self.paused = true;
             tracing::info!("UI paused in API mode");
         }
+
+        if let Some((x, y)) = self.gimbal {
+            interface_tx.try_send(Message::JMessage(JetsonToMcu {
+                ack_number: 0,
+                payload: Some(jetson_to_mcu::Payload::MirrorAngle(
+                    orb_messages::mcu_main::MirrorAngle {
+                        horizontal_angle: 0,
+                        vertical_angle: 0,
+                        phi_angle_millidegrees: x,
+                        theta_angle_millidegrees: y,
+                        angle_type: orb_messages::mcu_main::MirrorAngleType::PhiTheta
+                            as i32,
+                    },
+                )),
+            }))?;
+
+            // send only once
+            self.gimbal = None;
+        }
         Ok(())
     }
 }

orb-ui/src/engine/mod.rs

@@ -344,6 +344,15 @@ event_enum! {
         /// Plays boot-up complete sound for testing
         #[event_enum(method = sound_test)]
         SoundTest,
+
+        /// Set the gimbal position
+        /// angle x and y in millidegrees.
+        /// x controls the horizontal position
+        /// y controls the vertical position
+        #[event_enum(method = gimbal)]
+        Gimbal {
+            x: u32, y: u32
+        },
     }
 }
 
@@ -477,6 +486,7 @@ struct Runner<const RING_LED_COUNT: usize, const CENTER_LED_COUNT: usize> {
     is_api_mode: bool,
     /// Pause engine
     paused: bool,
+    gimbal: Option<(u32, u32)>,
 }
 
 #[async_trait]

orb-ui/src/engine/pearl.rs

@@ -155,6 +155,7 @@ impl Runner<PEARL_RING_LED_COUNT, PEARL_CENTER_LED_COUNT> {
             capture_sound: sound::capture::CaptureLoopSound::default(),
             is_api_mode: false,
             paused: false,
+            gimbal: None,
         }
     }
 
@@ -790,6 +791,9 @@ impl EventHandler for Runner<PEARL_RING_LED_COUNT, PEARL_CENTER_LED_COUNT> {
                 self.sound
                     .queue(sound::Type::Melody(sound::Melody::BootUp), None)?;
             }
+            Event::Gimbal { x: _, y: _ } => {
+                // ignore
+            }
         }
         Ok(())
     }