Remove swift source, update esp32 usb servo to share serial port

car-rs/src/lib.rs

@@ -1,3 +1,5 @@
+use std::sync::{Arc, Mutex};
+
 use serialport::SerialPort;
 
 // TODO: Should be returning results in these traits
@@ -89,14 +91,14 @@ pub mod rppal {
 }
 
 pub struct Esp32SerialPwmServo<T: SerialPort> {
-    serial_port: T,
+    serial_port: Arc<Mutex<T>>,
     value: f64,
     channel: u8,
     pin: u8,
 }
 
 impl<T: SerialPort> Esp32SerialPwmServo<T> {
-    pub fn new(serial_port: T, channel: u8, pin: u8) -> Esp32SerialPwmServo<T> {
+    pub fn new(serial_port: Arc<Mutex<T>>, channel: u8, pin: u8) -> Esp32SerialPwmServo<T> {
         Esp32SerialPwmServo {
             serial_port,
             value: 0.,
@@ -108,7 +110,11 @@ impl<T: SerialPort> Esp32SerialPwmServo<T> {
 
 impl<T: SerialPort> Esp32SerialPwmServo<T> {
     fn init_pwm(&mut self) {
-        let bytes_written = self.serial_port.write(&[0, 1, self.channel, self.pin]);
+        let bytes_written = self
+            .serial_port
+            .lock()
+            .unwrap()
+            .write(&[0, 1, self.channel, self.pin]);
         // TODO: Better error handling
         match bytes_written {
             Ok(size) => println!("{}", size),
@@ -133,6 +139,8 @@ impl<T: SerialPort> Servo for Esp32SerialPwmServo<T> {
         self.value = temp_value;
         let bytes_written = self
             .serial_port
+            .lock()
+            .unwrap()
             .write(&[self.channel, ((value + 1.) / 2. * 255.) as u8]);
         // TODO: Better error handling
         match bytes_written {

car-rs/src/main.rs

@@ -1,3 +1,5 @@
+use std::sync::{Arc, Mutex};
+
 use car_rs::{Esp32SerialPwmServo, ServoVehicle};
 use grpcserver::{
     motor_control_service::car_control_server::CarControlServer, MotorControlService,
@@ -15,13 +17,11 @@ async fn main() -> Result<(), Box<dyn std::error::Error>> {
     let serial_port = serialport::new("", 32400)
         .open_native()
         .expect("Could not open serial port");
-    let throttle_port = serialport::new("", 32400)
-        .open_native()
-        .expect("Could not open serial port");
-    let servo = Esp32SerialPwmServo::new(serial_port, 1, 12);
-    let throttle_servo = Esp32SerialPwmServo::new(throttle_port, 2, 18);
+    let serial_servo = Arc::new(Mutex::new(serial_port));
+    let steering_servo = Esp32SerialPwmServo::new(serial_servo.clone(), 1, 12);
+    let throttle_servo = Esp32SerialPwmServo::new(serial_servo.clone(), 2, 18);
 
-    let motor_control = MotorControlService::new(ServoVehicle::new(servo, throttle_servo));
+    let motor_control = MotorControlService::new(ServoVehicle::new(steering_servo, throttle_servo));
 
     let svc = CarControlServer::new(motor_control);
     Server::builder().add_service(svc).serve(addr).await?;