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Clean up rust implementation, add lidar implementation in rust

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This commit is contained in:
Michael Pivato
2024-03-15 21:17:13 +10:30
parent a3060d7e22
commit bed026dd20
8 changed files with 729 additions and 105 deletions
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15
car-rs/src/lib.rs
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@@ -2,6 +2,8 @@ use std::sync::{Arc, Mutex};
use serialport::SerialPort;
mod lidar;
// TODO: Should be returning results in these traits
pub trait Servo {
fn get_value(&self) -> f64;
@@ -91,14 +93,14 @@ pub mod rppal {
}
pub struct Esp32SerialPwmServo<T: SerialPort> {
serial_port: Arc<Mutex<T>>,
serial_port: T,
value: f64,
channel: u8,
pin: u8,
}
impl<T: SerialPort> Esp32SerialPwmServo<T> {
pub fn new(serial_port: Arc<Mutex<T>>, channel: u8, pin: u8) -> Esp32SerialPwmServo<T> {
pub fn new(serial_port: T, channel: u8, pin: u8) -> Esp32SerialPwmServo<T> {
let mut servo = Esp32SerialPwmServo {
serial_port,
value: 0.,
@@ -112,11 +114,7 @@ impl<T: SerialPort> Esp32SerialPwmServo<T> {
impl<T: SerialPort> Esp32SerialPwmServo<T> {
fn init_pwm(&mut self) {
let bytes_written = self
.serial_port
.lock()
.unwrap()
.write(&[0, 1, self.channel, self.pin]);
let bytes_written = self.serial_port.write(&[0, 1, self.channel, self.pin]);
// TODO: Better error handling (even anyhow would be better)
match bytes_written {
Ok(size) => println!("{}", size),
@@ -132,7 +130,6 @@ impl<T: SerialPort> Servo for Esp32SerialPwmServo<T> {
fn set_value(&mut self, value: f64) {
let mut temp_value = value;
// TODO: Panic when out of bounds?
if temp_value < -1. {
temp_value = -1.;
} else if temp_value > 1. {
@@ -141,8 +138,6 @@ 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 {