Add ESP32 Serial support to SwiftyCar

SwiftyCar/Package.resolved

@@ -64,6 +64,15 @@
           "version": "1.12.0"
         }
       },
+      {
+        "package": "Swift2dCar",
+        "repositoryURL": "https://vato.ddns.net/gitlab/vato007/swift2dcar.git",
+        "state": {
+          "branch": "master",
+          "revision": "970aac902531408614db0a37a7300e9373dafb50",
+          "version": null
+        }
+      },
       {
         "package": "SwiftRPLidar",
         "repositoryURL": "https://vato.ddns.net/gitlab/vato007/swiftrplidar.git",
@@ -77,8 +86,8 @@
         "package": "SwiftSerial",
         "repositoryURL": "https://vato.ddns.net/gitlab/vato007/SwiftSerial.git",
         "state": {
-          "branch": "dtr_support",
+          "branch": "master",
-          "revision": "2cb65bc2ff508acc05c165d1a05381cc681f7591",
+          "revision": "27a5d92aa00f6e91581389485994364e16bed2c5",
           "version": null
         }
       },

SwiftyCar/Package.swift

@@ -14,7 +14,7 @@ let package = Package(
         .package(url: "https://github.com/grpc/grpc-swift.git", from: "1.0.0-alpha.19"),
         .package(url: "https://github.com/uraimo/SwiftyGPIO.git", from: "1.0.0"),
         .package(url: "https://vato.ddns.net/gitlab/vato007/swiftrplidar.git", .branch("master")),
-        .package(url: "https://vato.ddns.net/gitlab/vato007/SwiftSerial.git", .branch("dtr_support")),
+        .package(url: "https://vato.ddns.net/gitlab/vato007/SwiftSerial.git", .branch("master")),
         .package(url: "https://vato.ddns.net/gitlab/vato007/swift2dcar.git", .branch("master"))
     ],
     targets: [
@@ -22,7 +22,12 @@ let package = Package(
         // Targets can depend on other targets in this package, and on products in packages which this package depends on.
         .target(
             name: "SwiftyCar",
-            dependencies: ["SwiftyGPIO", .product(name: "GRPC", package: "grpc-swift"), "SwiftRPLidar", "SwiftSerial", "Swift2dCar"]),
+            dependencies: [
+                "SwiftyGPIO", 
+                .product(name: "GRPC", package: "grpc-swift"), 
+                "SwiftRPLidar",
+                "SwiftSerial",
+                "Swift2dCar"]),
         .testTarget(
             name: "SwiftyCarTests",
             dependencies: ["SwiftyCar"]),

SwiftyCar/Sources/SwiftyCar/VehicleFactory.swift

@@ -8,16 +8,31 @@
 import Foundation
 import SwiftyGPIO
 import Swift2dCar
+import SwiftSerial
 
-func getVehicle2D() throws -> Vehicle2D {
+func getVehicle2D() throws -> Vehicle2D? {
+    // TODO: Clean up this factory, or see if we can get dependency injection working.
     if let value = ProcessInfo.processInfo.environment["CAR_VEHICLE"] {
         switch value{
-        case "CAR_2D":
+        case "VEHICLE_2D":
             // Get car for rpi.
             let pwms = SwiftyGPIO.hardwarePWMs(for:.RaspberryPi3)!
-            
-            // Read the feature database.
             return try RPiVehicle2D(withThrottlePin: PWMHardwareServo(forPin: (pwms[0]?[.P18])!)!, withSteeringPin:PWMHardwareServo(forPin: (pwms[1]?[.P19])!)!)
+        case "VEHICLE_SERIAL":
+            // TODO: Get from environment variable. tty won't work in macos anyway.
+            // We share the serialport object, as cu will block on macOS (required by SwiftSerial), so can't open 2 of the same port.
+            let serialPort = SerialPort(path: "/dev/ttyUSB0")
+            guard let throttlePin = Esp32ServoOutput(forChannel: 1, forPin: 14, onPort: serialPort) else {
+                print("Failed to create throttle pin.")
+                return nil
+            }
+
+            guard let steeringPin = Esp32ServoOutput(forChannel: 2, forPin: 12, onPort: serialPort) else {
+                print("Failed to create steering pin.")
+                return nil
+            }
+
+            return try RPiVehicle2D(withThrottlePin: PWMHardwareServo(forPin: throttlePin)!, withSteeringPin: PWMHardwareServo(forPin: steeringPin)!)
         default:
             return MockVehicle()
         }

SwiftyCar/Sources/SwiftyCar/main.swift

@@ -24,7 +24,7 @@ func doServer() throws {
         return false
     }
     // Create a provider using the features we read.
-    let provider = try MotorProvider(vehicle: getVehicle2D())
+    let provider = try MotorProvider(vehicle: getVehicle2D()!)
     let trackingProvider = LidarProvider(lidar: lidar)
 
     // Start the server and print its address once it has started.