Merge branch 'SwiftyCarStarter' into 'master'

Swifty car starter

See merge request vato007/picar!3

.gitignore

@@ -21,3 +21,15 @@ __pycache__
 
 Pods
 CarControlleriOS/**/car
+car/.idea
+
+.build
+SwiftyCar/Packages
+SwiftyCar/*.xcodeproj
+SwiftyCar/Sources/Generated
+SwiftyCar/xcuserdata/
+SwiftyCar/Sources/SwiftyCar/car
+xcuserdata/
+.settings
+.project
+.classpath

SwiftyCar/Package.resolved

@@ -0,0 +1,79 @@
+{
+  "object": {
+    "pins": [
+      {
+        "package": "grpc-swift",
+        "repositoryURL": "https://github.com/grpc/grpc-swift.git",
+        "state": {
+          "branch": null,
+          "revision": "b83ee1ee2caa0660eb02444977b9b6e353c2adbf",
+          "version": "1.0.0-alpha.12"
+        }
+      },
+      {
+        "package": "swift-log",
+        "repositoryURL": "https://github.com/apple/swift-log.git",
+        "state": {
+          "branch": null,
+          "revision": "74d7b91ceebc85daf387ebb206003f78813f71aa",
+          "version": "1.2.0"
+        }
+      },
+      {
+        "package": "swift-nio",
+        "repositoryURL": "https://github.com/apple/swift-nio.git",
+        "state": {
+          "branch": null,
+          "revision": "40bdad80882d307abe2c0bb36cf3bd4d3e03fe04",
+          "version": "2.16.1"
+        }
+      },
+      {
+        "package": "swift-nio-http2",
+        "repositoryURL": "https://github.com/apple/swift-nio-http2.git",
+        "state": {
+          "branch": null,
+          "revision": "82eb3fa0974b838358ee46bc6c5381e5ae5de6b9",
+          "version": "1.11.0"
+        }
+      },
+      {
+        "package": "swift-nio-ssl",
+        "repositoryURL": "https://github.com/apple/swift-nio-ssl.git",
+        "state": {
+          "branch": null,
+          "revision": "ae213938e151964aa691f0e902462fbe06baeeb6",
+          "version": "2.7.1"
+        }
+      },
+      {
+        "package": "swift-nio-transport-services",
+        "repositoryURL": "https://github.com/apple/swift-nio-transport-services.git",
+        "state": {
+          "branch": null,
+          "revision": "85a67aea7caf5396ed599543dd23cffeb6dbbf96",
+          "version": "1.5.1"
+        }
+      },
+      {
+        "package": "SwiftProtobuf",
+        "repositoryURL": "https://github.com/apple/swift-protobuf.git",
+        "state": {
+          "branch": null,
+          "revision": "7790acf0a81d08429cb20375bf42a8c7d279c5fe",
+          "version": "1.8.0"
+        }
+      },
+      {
+        "package": "SwiftyGPIO",
+        "repositoryURL": "https://github.com/uraimo/SwiftyGPIO.git",
+        "state": {
+          "branch": null,
+          "revision": "4127ff9dd5c6aa8acb6be34b7ce2af2f6e0b942d",
+          "version": "1.1.14"
+        }
+      }
+    ]
+  },
+  "version": 1
+}

SwiftyCar/Package.swift

@@ -0,0 +1,27 @@
+// swift-tools-version:5.1
+// The swift-tools-version declares the minimum version of Swift required to build this package.
+
+import PackageDescription
+
+let package = Package(
+    name: "SwiftyCar",
+    products: [
+        // Products define the executables and libraries produced by a package, and make them visible to other packages.
+    ],
+    dependencies: [
+        // Dependencies declare other packages that this package depends on.
+        // .package(url: /* package url */, from: "1.0.0"),
+        .package(url: "https://github.com/grpc/grpc-swift.git", from: "1.0.0-alpha.12"),
+        .package(url: "https://github.com/uraimo/SwiftyGPIO.git", from: "1.0.0"),
+    ],
+    targets: [
+        // Targets are the basic building blocks of a package. A target can define a module or a test suite.
+        // 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")]),
+        .testTarget(
+            name: "SwiftyCarTests",
+            dependencies: ["SwiftyCar"]),
+    ]
+)

SwiftyCar/Sources/SwiftyCar/MotorProvider.swift

@@ -0,0 +1,57 @@
+//
+//  MotorProvider.swift
+//  
+//
+//  Created by Michael Pivato on 13/5/20.
+//
+
+import Foundation
+import GRPC
+import NIO
+import SwiftProtobuf
+
+class MotorProvider: MotorControl_CarControlProvider{
+    private var vehicle: Vehicle2D
+    
+    init(vehicle: Vehicle2D){
+        self.vehicle = vehicle
+    }
+    
+    func set_throttle(request: MotorControl_ThrottleRequest, context: StatusOnlyCallContext) -> EventLoopFuture<MotorControl_ThrottleResponse> {
+        self.vehicle.throttle = request.throttle
+        return context.eventLoop.makeSucceededFuture(.with{
+            $0.throttleSet = true
+            })
+    }
+    
+    func set_steering(request: MotorControl_SteeringRequest, context: StatusOnlyCallContext) -> EventLoopFuture<MotorControl_SteeringResponse> {
+        self.vehicle.steering = request.steering
+        return context.eventLoop.makeSucceededFuture(.with{
+            $0.steeringSet = true
+            })
+    }
+    
+    func stream_vehicle_2d(context: UnaryResponseCallContext<Google_Protobuf_Empty>) -> EventLoopFuture<(StreamEvent<MotorControl_Vehicle2DRequest>) -> Void> {
+        return context.eventLoop.makeSucceededFuture({event in
+            switch event{
+            case .message(let movement):
+                self.vehicle.throttle = movement.throttle.throttle
+                self.vehicle.steering = movement.steering.steering
+            case .end:
+                context.responsePromise.succeed(Google_Protobuf_Empty())
+            }
+            
+        })
+    }
+    
+    func record(request: MotorControl_RecordingReqeust, context: StatusOnlyCallContext) -> EventLoopFuture<Google_Protobuf_Empty> {
+        // TODO: Recording...
+        return context.eventLoop.makeSucceededFuture(Google_Protobuf_Empty())
+    }
+    
+    func save_recorded_data(request: MotorControl_SaveRequest, context: StatusOnlyCallContext) -> EventLoopFuture<Google_Protobuf_Empty> {
+        // TODO Recording...
+        return context.eventLoop.makeSucceededFuture(Google_Protobuf_Empty())
+    }
+}
+

SwiftyCar/Sources/SwiftyCar/PwmWrappers.swift

@@ -0,0 +1,104 @@
+//
+//  PwmWrappers.swift
+//
+//  Simple wrappers for PwmOutput I'll create as I go along, to match gpioZero's implementation I'm currently using.
+//  See gpiozero code here: https://github.com/gpiozero/gpiozero/blob/master/gpiozero/output_devices.py
+//
+//  Created by Michael Pivato on 9/5/20.
+//
+
+import Foundation
+import SwiftyGPIO
+
+enum ServoError: Error{
+    case invalidMinPulseWidth
+    case invalidMaxPulseWidth
+}
+
+class Servo{
+    private (set) var frameWidth : Float
+    private var minDc: Float
+    private var dcRange: Float
+    private var minValue: Float
+    private var valueRange: Float
+    private var internalValue: Float
+    
+    // TODO: Use a factory to provide the correct pwm rather than passing the pin in.
+    private var device: PWMOutput
+    private var currentPulseWIdth: Float
+    
+    var minPulseWidth: Float {
+        get{
+            return self.minDc * self.frameWidth
+        }
+    }
+    
+    var maxPulseWidth: Float{
+        get{
+            return (self.dcRange * self.frameWidth) + self.minPulseWidth
+        }
+    }
+    
+    // TODO: Also store the pulse width (needs to be within this class)
+    //    var pulseWidth: Float{
+    //        get{
+    //            return self.device//self.pwm_device.pin.state * self.frame_width
+    //        }
+    //        set (value){
+    //
+    //        }
+    //    }
+    
+    var value: Float{
+        get{
+            internalValue
+        }
+        set(newValue){
+            self.internalValue = newValue
+            self.device.startPWM(period: Int(self.frameWidth),
+                                 // Multiple by 100 to get into percentage. I don't like that...
+                                 duty: self.minDc + self.dcRange * ((internalValue - self.minValue) / self.valueRange) * 100)
+        }
+    }
+    
+    // TODO: Change this to nanoseconds to match PWMOutput
+    init?(forPin pin: PWMOutput, startingAt initialValue: Float = 0, withMinPulseWidth minPulseWidth: Float = 1000000,
+          withMaxPulseWidth maxPulseWidth: Float = 2000000, withFrameWidth frameWidth: Float = 20000000) throws {
+        if(minPulseWidth >= maxPulseWidth){
+            throw ServoError.invalidMinPulseWidth
+        }
+        
+        if(maxPulseWidth >= frameWidth){
+            throw ServoError.invalidMaxPulseWidth
+        }
+        self.frameWidth = frameWidth
+        self.minDc = minPulseWidth / frameWidth
+        self.dcRange = (maxPulseWidth - minPulseWidth) / frameWidth
+        self.minValue = -1
+        self.valueRange = 2
+        
+        self.currentPulseWIdth = 0
+        
+        // Initialise pin immediately.
+        self.device = pin
+        self.device.initPWM()
+        self.internalValue = initialValue
+        self.device.startPWM(period: Int(self.frameWidth), duty: self.minDc + self.dcRange * ((internalValue - self.minValue) / self.valueRange) * 100)
+    }
+    
+    func min(){
+        self.value = -1
+    }
+    
+    func mid(){
+        self.value = 0
+    }
+    
+    func max() {
+        self.value = 1
+    }
+    
+    func detach(){
+        self.device.stopPWM()
+    }
+}

SwiftyCar/Sources/SwiftyCar/Vehicle.swift

@@ -0,0 +1,65 @@
+//
+//  Vehicle.swift
+//
+//
+//  Created by Michael Pivato on 8/5/20.
+//
+
+import Foundation
+import SwiftyGPIO
+
+protocol Vehicle{
+    mutating func move2D(magnitude: Float, angle: Float)
+}
+
+protocol Vehicle2D: Vehicle{
+    var throttle: Float {get set}
+    var steering: Float {get set}
+}
+
+class MockVehicle: Vehicle2D{
+    var throttle: Float = 0
+    var steering: Float = 0
+    
+    func move2D(magnitude: Float, angle: Float) {
+        
+    }
+}
+
+class RPiVehicle2D: Vehicle2D{
+    public let pwmThrottle: Servo
+    public let pwmSteering: Servo
+    
+    var throttle: Float{
+        get{
+            return pwmThrottle.value
+        }
+        set(value){
+            pwmThrottle.value = value
+        }
+    }
+    
+    var steering: Float{
+        get{
+            return pwmSteering.value
+        }
+        set(value){
+            pwmSteering.value = value
+        }
+    }
+    
+    init(withThrottlePin: Servo, withSteeringPin: Servo){
+        pwmThrottle = withThrottlePin
+        pwmSteering = withSteeringPin
+    }
+    
+    func move2D(magnitude: Float, angle: Float) {
+        
+    }
+    
+    func stop(){
+        pwmThrottle.detach()
+        pwmSteering.detach()
+    }
+    
+}

SwiftyCar/Sources/SwiftyCar/VehicleFactory.swift

@@ -0,0 +1,27 @@
+//
+//  File.swift
+//  
+//
+//  Created by Michael Pivato on 20/5/20.
+//
+
+import Foundation
+import SwiftyGPIO
+
+
+
+func getVehicle2D() throws -> Vehicle2D {
+    if let value = ProcessInfo.processInfo.environment["CAR_VEHICLE"] {
+        switch value{
+        case "CAR_2D":
+            // Get car for rpi.
+            let pwms = SwiftyGPIO.hardwarePWMs(for:.RaspberryPi3)!
+            
+            // Read the feature database.
+            return try RPiVehicle2D(withThrottlePin: Servo(forPin: (pwms[0]?[.P18])!)!, withSteeringPin:Servo(forPin: (pwms[1]?[.P19])!)!)
+        default:
+            return MockVehicle()
+        }
+    }
+    return MockVehicle()
+}

SwiftyCar/Sources/SwiftyCar/main.swift

@@ -0,0 +1,47 @@
+//
+//  main.swift
+//  
+//
+//  Created by Michael Pivato on 8/5/20.
+//
+
+import NIO
+import GRPC
+
+func doServer() throws {
+    // Copied from examples
+    // Create an event loop group for the server to run on.
+    let group = MultiThreadedEventLoopGroup(numberOfThreads: System.coreCount)
+    defer {
+      try! group.syncShutdownGracefully()
+    }
+    
+    
+    // Create a provider using the features we read.
+    let provider = try MotorProvider(vehicle: getVehicle2D())
+
+    // Start the server and print its address once it has started.
+    let server = Server.insecure(group: group)
+      .withServiceProviders([provider])
+      .bind(host: "localhost", port: 0)
+
+    server.map {
+      $0.channel.localAddress
+    }.whenSuccess { address in
+      print("server started on port \(address!.port!)")
+    }
+
+    // Wait on the server's `onClose` future to stop the program from exiting.
+    _ = try server.flatMap {
+      $0.onClose
+    }.wait()
+}
+
+// Entry-Point to the Swift Car Controller
+print("Starting Server")
+do{
+try doServer()
+}
+catch{
+    print("Server failed")
+}

SwiftyCar/Tests/LinuxMain.swift

@@ -0,0 +1,7 @@
+import XCTest
+
+import SwiftyCarTests
+
+var tests = [XCTestCaseEntry]()
+tests += SwiftyCarTests.allTests()
+XCTMain(tests)

SwiftyCar/Tests/SwiftyCarTests/SwiftyCarTests.swift

@@ -0,0 +1,15 @@
+import XCTest
+@testable import SwiftyCar
+
+final class SwiftyCarTests: XCTestCase {
+    func testExample() {
+        // This is an example of a functional test case.
+        // Use XCTAssert and related functions to verify your tests produce the correct
+        // results.
+//        XCTAssertEqual(SwiftyCar().text, "Hello, World!")
+    }
+
+    static var allTests = [
+        ("testExample", testExample),
+    ]
+}

SwiftyCar/Tests/SwiftyCarTests/XCTestManifests.swift

@@ -0,0 +1,9 @@
+import XCTest
+
+#if !canImport(ObjectiveC)
+public func allTests() -> [XCTestCaseEntry] {
+    return [
+        testCase(SwiftyCarTests.allTests),
+    ]
+}
+#endif

SwiftyCar/build.gradle

@@ -0,0 +1,16 @@
+configurations{
+        swift {
+            canBeConsumed = false
+            canBeResolved = true
+    }
+}
+
+dependencies {
+    swift project(path: ':protobuf', configuration: 'swift')
+}
+
+task copySwiftCode(type: Copy, dependsOn: configurations.swift) {
+    // Copy python protobuf code from proto project.
+    from zipTree(configurations.swift.asPath)
+    into './Sources/SwiftyCar'
+}

settings.gradle

@@ -2,4 +2,5 @@ include ':app'
 include ':protobuf'
 include 'car'
 include 'CarControlleriOS'
+include 'SwiftyCar'
 rootProject.name='CarController'