initial comms

ground/Cargo.toml

@@ -4,3 +4,7 @@ version = "0.1.0"
 edition = "2024"
 
 [dependencies]
+anyhow = "1.0.100"
+nautilus_common = { path = "../common" }
+log = "0.4.28"
+ciborium = { version = "0.2.2" }

ground/src/lib.rs

@@ -0,0 +1,50 @@
+use anyhow::Result;
+use log::{error, info};
+use nautilus_common::add_ctrlc_handler;
+use nautilus_common::command::Command;
+use nautilus_common::telemetry::Telemetry;
+use nautilus_common::udp::{UdpRecvCborError, UdpSocketExt};
+use std::io::Cursor;
+use std::net::{IpAddr, Ipv4Addr, SocketAddr, UdpSocket};
+use std::sync::atomic::{AtomicBool, Ordering};
+use std::sync::Arc;
+use std::time::Duration;
+
+pub fn run() -> Result<()> {
+    info!(
+        "Project Nautilus Ground Software {}",
+        env!("CARGO_PKG_VERSION")
+    );
+
+    let running = Arc::new(AtomicBool::new(true));
+
+    add_ctrlc_handler(running.clone())?;
+
+    let mut flight_addr = None;
+    let bind_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::UNSPECIFIED), 14000);
+    let udp = UdpSocket::bind(bind_addr)?;
+    udp.set_read_timeout(Some(Duration::from_millis(100)))?;
+
+    let mut buffer = Cursor::new([0u8; 512]);
+    while running.load(Ordering::Relaxed) {
+        match udp.recv_cbor::<Telemetry, _>(&mut buffer) {
+            Ok((tlm, addr)) => {
+                flight_addr = Some(addr);
+                info!("{tlm:?}");
+            }
+            Err(UdpRecvCborError::NoData) => {
+                // NoOp
+            }
+            Err(err) => {
+                error!("Rx error: {err}");
+            }
+        }
+    }
+
+    if let Some(flight_addr) = flight_addr {
+        let cmd = Command::Shutdown;
+        udp.send_cbor(&cmd, &mut buffer, &flight_addr)?;
+    }
+
+    Ok(())
+}

ground/src/main.rs

@@ -1,3 +1,13 @@
+use log::error;
+use nautilus_common::logger::setup_logger;
+use nautilus_ground::run;
+
 fn main() {
-    println!("Hello, world!");
+    setup_logger(env!("CARGO_PKG_NAME")).expect("Failed to setup logger");
+    match run() {
+        Ok(_) => {}
+        Err(err) => {
+            error!("An unhandled error occurred: {}\n\n{}", err, err.backtrace());
+        }
+    }
 }