Clean up rust implementation, add lidar implementation in rust

car-rs/Cargo.lock

@@ -2,27 +2,6 @@
 # It is not intended for manual editing.
 version = 3
 
-[[package]]
-name = "CoreFoundation-sys"
-version = "0.1.4"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d0e9889e6db118d49d88d84728d0e964d973a5680befb5f85f55141beea5c20b"
-dependencies = [
- "libc",
- "mach 0.1.2",
-]
-
-[[package]]
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-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "99696c398cbaf669d2368076bdb3d627fb0ce51a26899d7c61228c5c0af3bf4a"
-dependencies = [
- "CoreFoundation-sys",
- "libc",
- "mach 0.1.2",
-]
-
 [[package]]
 name = "aho-corasick"
 version = "0.7.18"
@@ -78,13 +57,13 @@ checksum = "d468802bab17cbc0cc575e9b053f41e72aa36bfa6b7f55e3529ffa43161b97fa"
 
 [[package]]
 name = "axum"
-version = "0.5.13"
+version = "0.6.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6b9496f0c1d1afb7a2af4338bbe1d969cddfead41d87a9fb3aaa6d0bbc7af648"
+checksum = "678c5130a507ae3a7c797f9a17393c14849300b8440eac47cdb90a5bdcb3a543"
 dependencies = [
  "async-trait",
  "axum-core",
- "bitflags",
+ "bitflags 1.3.2",
  "bytes",
  "futures-util",
  "http",
@@ -96,9 +75,9 @@ dependencies = [
  "mime",
  "percent-encoding",
  "pin-project-lite",
+ "rustversion",
  "serde",
  "sync_wrapper",
- "tokio",
  "tower",
  "tower-http",
  "tower-layer",
@@ -107,9 +86,9 @@ dependencies = [
 
 [[package]]
 name = "axum-core"
-version = "0.2.7"
+version = "0.3.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e4f44a0e6200e9d11a1cdc989e4b358f6e3d354fbf48478f345a17f4e43f8635"
+checksum = "1cae3e661676ffbacb30f1a824089a8c9150e71017f7e1e38f2aa32009188d34"
 dependencies = [
  "async-trait",
  "bytes",
@@ -117,6 +96,9 @@ dependencies = [
  "http",
  "http-body",
  "mime",
+ "rustversion",
+ "tower-layer",
+ "tower-service",
 ]
 
 [[package]]
@@ -131,6 +113,12 @@ version = "1.3.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
 
+[[package]]
+name = "bitflags"
+version = "2.4.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ed570934406eb16438a4e976b1b4500774099c13b8cb96eec99f620f05090ddf"
+
 [[package]]
 name = "bytes"
 version = "1.2.1"
@@ -141,12 +129,14 @@ checksum = "ec8a7b6a70fde80372154c65702f00a0f56f3e1c36abbc6c440484be248856db"
 name = "car-rs"
 version = "0.1.0"
 dependencies = [
+ "clap",
  "futures-core",
  "futures-util",
  "prost",
  "rppal",
  "serialport",
  "tokio",
+ "tokio-stream",
  "tonic",
  "tonic-build",
 ]
@@ -157,6 +147,49 @@ version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
 
+[[package]]
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+version = "4.1.11"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "42dfd32784433290c51d92c438bb72ea5063797fc3cc9a21a8c4346bebbb2098"
+dependencies = [
+ "bitflags 2.4.2",
+ "clap_derive",
+ "clap_lex",
+ "is-terminal",
+ "once_cell",
+ "strsim",
+ "termcolor",
+]
+
+[[package]]
+name = "clap_derive"
+version = "4.1.9"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "fddf67631444a3a3e3e5ac51c36a5e01335302de677bd78759eaa90ab1f46644"
+dependencies = [
+ "heck",
+ "proc-macro-error",
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "033f6b7a4acb1f358c742aaca805c939ee73b4c6209ae4318ec7aca81c42e646"
+dependencies = [
+ "os_str_bytes",
+]
+
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "06ea2b9bc92be3c2baa9334a323ebca2d6f074ff852cd1d7b11064035cd3868f"
+
 [[package]]
 name = "either"
 version = "1.7.0"
@@ -287,6 +320,12 @@ dependencies = [
  "libc",
 ]
 
+[[package]]
+name = "hermit-abi"
+version = "0.3.9"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d231dfb89cfffdbc30e7fc41579ed6066ad03abda9e567ccafae602b97ec5024"
+
 [[package]]
 name = "http"
 version = "0.2.8"
@@ -382,6 +421,27 @@ dependencies = [
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 ]
 
+[[package]]
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+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4769cb30e5dcf1710fc6730d3e94f78c47723a014a567de385e113c737394640"
+dependencies = [
+ "core-foundation-sys",
+ "mach2",
+]
+
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f23ff5ef2b80d608d61efee834934d862cd92461afc0560dedf493e4c033738b"
+dependencies = [
+ "hermit-abi 0.3.9",
+ "libc",
+ "windows-sys 0.52.0",
+]
+
 [[package]]
 name = "itertools"
 version = "0.10.3"
@@ -405,9 +465,9 @@ checksum = "e2abad23fbc42b3700f2f279844dc832adb2b2eb069b2df918f455c4e18cc646"
 
 [[package]]
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+checksum = "9c198f91728a82281a64e1f4f9eeb25d82cb32a5de251c6bd1b5154d63a8e7bd"
 
 [[package]]
 name = "libudev"
@@ -449,28 +509,19 @@ dependencies = [
 ]
 
 [[package]]
-name = "mach"
+name = "mach2"
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-dependencies = [
- "libc",
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-
-[[package]]
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 dependencies = [
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 ]
 
 [[package]]
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-version = "0.5.0"
+version = "0.7.0"
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-checksum = "73cbba799671b762df5a175adf59ce145165747bb891505c43d09aefbbf38beb"
+checksum = "b87248edafb776e59e6ee64a79086f65890d3510f2c656c000bf2a7e8a0aea40"
 
 [[package]]
 name = "memchr"
@@ -493,7 +544,7 @@ dependencies = [
  "libc",
  "log",
  "wasi",
- "windows-sys",
+ "windows-sys 0.36.1",
 ]
 
 [[package]]
@@ -504,11 +555,11 @@ checksum = "e5ce46fe64a9d73be07dcbe690a38ce1b293be448fd8ce1e6c1b8062c9f72c6a"
 
 [[package]]
 name = "nix"
-version = "0.24.2"
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+checksum = "598beaf3cc6fdd9a5dfb1630c2800c7acd31df7aaf0f565796fba2b53ca1af1b"
 dependencies = [
- "bitflags",
+ "bitflags 1.3.2",
  "cfg-if",
  "libc",
 ]
@@ -519,7 +570,7 @@ version = "1.13.1"
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 checksum = "19e64526ebdee182341572e50e9ad03965aa510cd94427a4549448f285e957a1"
 dependencies = [
- "hermit-abi",
+ "hermit-abi 0.1.19",
  "libc",
 ]
 
@@ -529,6 +580,12 @@ version = "1.13.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "18a6dbe30758c9f83eb00cbea4ac95966305f5a7772f3f42ebfc7fc7eddbd8e1"
 
+[[package]]
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+checksum = "e2355d85b9a3786f481747ced0e0ff2ba35213a1f9bd406ed906554d7af805a1"
+
 [[package]]
 name = "parking_lot"
 version = "0.12.1"
@@ -549,7 +606,7 @@ dependencies = [
  "libc",
  "redox_syscall",
  "smallvec",
- "windows-sys",
+ "windows-sys 0.36.1",
 ]
 
 [[package]]
@@ -622,6 +679,30 @@ dependencies = [
  "syn",
 ]
 
+[[package]]
+name = "proc-macro-error"
+version = "1.0.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "da25490ff9892aab3fcf7c36f08cfb902dd3e71ca0f9f9517bea02a73a5ce38c"
+dependencies = [
+ "proc-macro-error-attr",
+ "proc-macro2",
+ "quote",
+ "syn",
+ "version_check",
+]
+
+[[package]]
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+dependencies = [
+ "proc-macro2",
+ "quote",
+ "version_check",
+]
+
 [[package]]
 name = "proc-macro2"
 version = "1.0.43"
@@ -643,9 +724,9 @@ dependencies = [
 
 [[package]]
 name = "prost-build"
-version = "0.11.1"
+version = "0.11.4"
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 dependencies = [
  "bytes",
  "heck",
@@ -654,9 +735,11 @@ dependencies = [
  "log",
  "multimap",
  "petgraph",
+ "prettyplease",
  "prost",
  "prost-types",
  "regex",
+ "syn",
  "tempfile",
  "which",
 ]
@@ -729,7 +812,7 @@ version = "0.2.16"
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 checksum = "fb5a58c1855b4b6819d59012155603f0b22ad30cad752600aadfcb695265519a"
 dependencies = [
- "bitflags",
+ "bitflags 1.3.2",
 ]
 
 [[package]]
@@ -768,6 +851,12 @@ dependencies = [
  "libc",
 ]
 
+[[package]]
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+version = "1.0.11"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5583e89e108996506031660fe09baa5011b9dd0341b89029313006d1fb508d70"
+
 [[package]]
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 version = "1.1.0"
@@ -782,18 +871,20 @@ checksum = "e590c437916fb6b221e1d00df6e3294f3fccd70ca7e92541c475d6ed6ef5fee2"
 
 [[package]]
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+checksum = "8f5a15d0be940df84846264b09b51b10b931fb2f275becb80934e3568a016828"
 dependencies = [
- "CoreFoundation-sys",
+ "bitflags 2.4.2",
- "IOKit-sys",
- "bitflags",
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+ "core-foundation-sys",
+ "io-kit-sys",
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- "mach 0.3.2",
+ "mach2",
  "nix",
  "regex",
+ "scopeguard",
+ "unescaper",
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 ]
 
@@ -831,6 +922,12 @@ dependencies = [
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 ]
 
+[[package]]
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+version = "0.10.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "73473c0e59e6d5812c5dfe2a064a6444949f089e20eec9a2e5506596494e4623"
+
 [[package]]
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@@ -862,6 +959,35 @@ dependencies = [
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 ]
 
+[[package]]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "06794f8f6c5c898b3275aebefa6b8a1cb24cd2c6c79397ab15774837a0bc5755"
+dependencies = [
+ "winapi-util",
+]
+
+[[package]]
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+checksum = "a5ab016db510546d856297882807df8da66a16fb8c4101cb8b30054b0d5b2d9c"
+dependencies = [
+ "thiserror-impl",
+]
+
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+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
 [[package]]
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 version = "1.20.1"
@@ -906,9 +1032,9 @@ dependencies = [
 
 [[package]]
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-version = "0.1.9"
+version = "0.1.11"
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 dependencies = [
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@@ -931,9 +1057,9 @@ dependencies = [
 
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 dependencies = [
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@@ -963,9 +1089,9 @@ dependencies = [
 
 [[package]]
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-version = "0.8.0"
+version = "0.8.4"
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 dependencies = [
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@@ -1000,7 +1126,7 @@ version = "0.3.4"
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 checksum = "3c530c8675c1dbf98facee631536fa116b5fb6382d7dd6dc1b118d970eafe3ba"
 dependencies = [
- "bitflags",
+ "bitflags 1.3.2",
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@@ -1015,9 +1141,9 @@ dependencies = [
 
 [[package]]
 name = "tower-layer"
-version = "0.3.1"
+version = "0.3.2"
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-checksum = "343bc9466d3fe6b0f960ef45960509f84480bf4fd96f92901afe7ff3df9d3a62"
+checksum = "c20c8dbed6283a09604c3e69b4b7eeb54e298b8a600d4d5ecb5ad39de609f1d0"
 
 [[package]]
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@@ -1074,12 +1200,27 @@ version = "0.2.3"
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 checksum = "59547bce71d9c38b83d9c0e92b6066c4253371f15005def0c30d9657f50c7642"
 
+[[package]]
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+checksum = "0adf6ad32eb5b3cadff915f7b770faaac8f7ff0476633aa29eb0d9584d889d34"
+dependencies = [
+ "thiserror",
+]
+
 [[package]]
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 checksum = "c4f5b37a154999a8f3f98cc23a628d850e154479cd94decf3414696e12e31aaf"
 
+[[package]]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "49874b5167b65d7193b8aba1567f5c7d93d001cafc34600cee003eda787e483f"
+
 [[package]]
 name = "want"
 version = "0.3.0"
@@ -1123,6 +1264,15 @@ version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ac3b87c63620426dd9b991e5ce0329eff545bccbbb34f3be09ff6fb6ab51b7b6"
 
+[[package]]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f29e6f9198ba0d26b4c9f07dbe6f9ed633e1f3d5b8b414090084349e46a52596"
+dependencies = [
+ "winapi",
+]
+
 [[package]]
 name = "winapi-x86_64-pc-windows-gnu"
 version = "0.4.0"
@@ -1135,39 +1285,105 @@ version = "0.36.1"
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 checksum = "ea04155a16a59f9eab786fe12a4a450e75cdb175f9e0d80da1e17db09f55b8d2"
 dependencies = [
- "windows_aarch64_msvc",
+ "windows_aarch64_msvc 0.36.1",
- "windows_i686_gnu",
+ "windows_i686_gnu 0.36.1",
- "windows_i686_msvc",
+ "windows_i686_msvc 0.36.1",
- "windows_x86_64_gnu",
+ "windows_x86_64_gnu 0.36.1",
- "windows_x86_64_msvc",
+ "windows_x86_64_msvc 0.36.1",
 ]
 
+[[package]]
+name = "windows-sys"
+version = "0.52.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "282be5f36a8ce781fad8c8ae18fa3f9beff57ec1b52cb3de0789201425d9a33d"
+dependencies = [
+ "windows-targets",
+]
+
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7dd37b7e5ab9018759f893a1952c9420d060016fc19a472b4bb20d1bdd694d1b"
+dependencies = [
+ "windows_aarch64_gnullvm",
+ "windows_aarch64_msvc 0.52.4",
+ "windows_i686_gnu 0.52.4",
+ "windows_i686_msvc 0.52.4",
+ "windows_x86_64_gnu 0.52.4",
+ "windows_x86_64_gnullvm",
+ "windows_x86_64_msvc 0.52.4",
+]
+
+[[package]]
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+
 [[package]]
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 checksum = "9bb8c3fd39ade2d67e9874ac4f3db21f0d710bee00fe7cab16949ec184eeaa47"
 
+[[package]]
+name = "windows_aarch64_msvc"
+version = "0.52.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "da9f259dd3bcf6990b55bffd094c4f7235817ba4ceebde8e6d11cd0c5633b675"
+
 [[package]]
 name = "windows_i686_gnu"
 version = "0.36.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "180e6ccf01daf4c426b846dfc66db1fc518f074baa793aa7d9b9aaeffad6a3b6"
 
+[[package]]
+name = "windows_i686_gnu"
+version = "0.52.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b474d8268f99e0995f25b9f095bc7434632601028cf86590aea5c8a5cb7801d3"
+
 [[package]]
 name = "windows_i686_msvc"
 version = "0.36.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "e2e7917148b2812d1eeafaeb22a97e4813dfa60a3f8f78ebe204bcc88f12f024"
 
+[[package]]
+name = "windows_i686_msvc"
+version = "0.52.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1515e9a29e5bed743cb4415a9ecf5dfca648ce85ee42e15873c3cd8610ff8e02"
+
 [[package]]
 name = "windows_x86_64_gnu"
 version = "0.36.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "4dcd171b8776c41b97521e5da127a2d86ad280114807d0b2ab1e462bc764d9e1"
 
+[[package]]
+name = "windows_x86_64_gnu"
+version = "0.52.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5eee091590e89cc02ad514ffe3ead9eb6b660aedca2183455434b93546371a03"
+
+[[package]]
+name = "windows_x86_64_gnullvm"
+version = "0.52.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "77ca79f2451b49fa9e2af39f0747fe999fcda4f5e241b2898624dca97a1f2177"
+
 [[package]]
 name = "windows_x86_64_msvc"
 version = "0.36.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "c811ca4a8c853ef420abd8592ba53ddbbac90410fab6903b3e79972a631f7680"
+
+[[package]]
+name = "windows_x86_64_msvc"
+version = "0.52.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "32b752e52a2da0ddfbdbcc6fceadfeede4c939ed16d13e648833a61dfb611ed8"

car-rs/Cargo.toml

@@ -11,16 +11,23 @@ rppal = { version = "0.13.1", optional = true }
 futures-core = "0.3"
 futures-util = "0.3"
 tokio = { version = "1", features = ["full"] }
+tokio-stream = "0.1.11"
 prost = "0.11"
 
 # https://github.com/hyperium/tonic
-tonic = "0.8.0"
+tonic = "0.8.3"
 
 # https://docs.rs/serialport/4.0.1/serialport/index.html
-serialport = "4.0.1"
+serialport = "4.3.0"
+
+clap = { version = "4.1.8", features = ["derive"] }
 
 [build-dependencies]
-tonic-build = "0.8.0"
+tonic-build = "0.8.3"
 
 [features]
 rppal = ["dep:rppal"]
+
+# How to get dependencies for my own projects, so I don't need to upload to crates.io
+# or create my own rust package repo.
+# https://doc.rust-lang.org/cargo/reference/specifying-dependencies.html#specifying-dependencies-from-git-repositories

car-rs/build.rs

@@ -1,6 +1,7 @@
 fn main() -> Result<(), Box<dyn std::error::Error>> {
+    let protos = ["slam/SlamController.proto", "control/motorService.proto"];
     tonic_build::configure().compile(
-        &["../protobuf/src/main/proto/car/control/motorService.proto"],
+        &protos.map(|proto| "../protobuf/src/main/proto/car/".to_owned() + proto),
         &["../protobuf/src/main/proto"],
     )?;
     Ok(())

car-rs/src/grpcserver.rs

@@ -2,17 +2,28 @@ pub mod motor_control_service {
     tonic::include_proto!("motor_control");
 }
 
+pub mod slam_controller_service {
+    tonic::include_proto!("slam_control");
+}
+
 use std::{sync::Mutex, time::Duration};
 
 use car_rs::{Servo, Vehicle};
 use futures_util::StreamExt;
 use motor_control_service::car_control_server::CarControl;
 use tokio::time;
+use tokio_stream::wrappers::ReceiverStream;
 use tonic::{Request, Response, Status, Streaming};
 
-use self::motor_control_service::{
+use self::{
+    motor_control_service::{
         RecordingReqeust, RecordingResponse, SaveRequest, SaveResponse, SteeringRequest,
         SteeringResponse, ThrottleRequest, ThrottleResponse, Vehicle2DRequest, Vehicle2DResponse,
+    },
+    slam_controller_service::{
+        slam_control_server::SlamControl, SlamDetails, SlamLocation, SlamScan,
+        StartMapStreamingResponse, StopStreamingRequest, StopStreamingResponse,
+    },
 };
 
 #[derive(Debug)]
@@ -20,8 +31,6 @@ pub struct MotorControlService<T>
 where
     T: Vehicle,
 {
-    // TODO: Any better way than mutex? need it over refcell to implement send, and need a smart pointer
-    //  for interior mutability (since the generated protobuf functions aren't mut)
     vehicle: Mutex<T>,
 }
 
@@ -62,10 +71,16 @@ impl<T: Vehicle + Send + Sync + 'static> CarControl for MotorControlService<T> {
         request: Request<Streaming<Vehicle2DRequest>>,
     ) -> Result<Response<Vehicle2DResponse>, Status> {
         let mut stream = request.into_inner();
+
+        // If we don't a request for 3 seconds, timeout and stop the vehicle
         while let Ok(Some(Ok(req))) = time::timeout(Duration::from_secs(3), stream.next()).await {
             let mut vehicle = self.vehicle.lock().unwrap();
-            vehicle.set_throttle(req.throttle.unwrap().throttle as f64);
+            if let Some(throttle) = req.throttle {
-            vehicle.set_steering(req.steering.unwrap().steering as f64);
+                vehicle.set_throttle(throttle.throttle as f64);
+            }
+            if let Some(steering) = req.steering {
+                vehicle.set_steering(steering.steering as f64);
+            }
         }
 
         self.vehicle.lock().unwrap().set_throttle(0.);
@@ -87,3 +102,40 @@ impl<T: Vehicle + Send + Sync + 'static> CarControl for MotorControlService<T> {
         unimplemented!()
     }
 }
+
+#[derive(Debug)]
+pub struct SlamControlService {}
+
+#[tonic::async_trait]
+impl SlamControl for SlamControlService {
+    async fn start_map_streaming(
+        &self,
+        request: Request<SlamDetails>,
+    ) -> Result<Response<StartMapStreamingResponse>, Status> {
+        todo!()
+    }
+
+    type map_streamStream = ReceiverStream<Result<SlamScan, Status>>;
+
+    async fn map_stream(
+        &self,
+        request: Request<SlamDetails>,
+    ) -> Result<Response<Self::map_streamStream>, Status> {
+        let scan = SlamScan {
+            map: vec![],
+            location: Some(SlamLocation {
+                theta: 1.,
+                x: 1.,
+                y: 1.,
+            }),
+        };
+        todo!()
+    }
+
+    async fn stop_streaming(
+        &self,
+        request: Request<StopStreamingRequest>,
+    ) -> Result<Response<StopStreamingResponse>, Status> {
+        todo!()
+    }
+}

car-rs/src/lib.rs

@@ -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
+        let bytes_written = self.serial_port.write(&[0, 1, self.channel, self.pin]);
-            .serial_port
-            .lock()
-            .unwrap()
-            .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 {

car-rs/src/lidar.rs

@@ -0,0 +1,324 @@
+use core::fmt;
+use serialport::ClearBuffer;
+use serialport::SerialPort;
+use std::io;
+use std::io::Error;
+use std::string::FromUtf8Error;
+
+const SYNC: u8 = 0xA5;
+const SYNC2: u8 = 0x5A;
+
+const GET_INFO: u8 = 0x50;
+const GET_HEALTH: u8 = 0x52;
+
+const STOP: u8 = 0x25;
+const RESET: u8 = 0x40;
+
+const SCAN: u8 = 0x20;
+#[allow(dead_code)]
+const FORCE_SCAN: u8 = 0x21;
+
+const DESCRIPTOR_LEN: usize = 7;
+const INFO_LEN: u8 = 20;
+const HEALTH_LEN: u8 = 3;
+
+const INFO_TYPE: u8 = 4;
+const HEALTH_TYPE: u8 = 6;
+const SCAN_TYPE: u8 = 129;
+
+const SET_PWM: u8 = 0xF0;
+const MAX_MOTOR_PWM: usize = 1023;
+#[allow(dead_code)]
+const DEFAULT_MOTOR_PWM: usize = 660;
+
+const SCAN_SIZE: u8 = 5;
+
+pub enum HealthStatus {
+    Good,
+    Warning,
+    Error,
+}
+
+impl HealthStatus {
+    pub fn from_raw(raw: u8) -> HealthStatus {
+        match raw {
+            0 => HealthStatus::Good,
+            1 => HealthStatus::Warning,
+            _ => HealthStatus::Error,
+        }
+    }
+}
+
+pub enum RPLidarError {
+    FailedToStart,
+    IncorrectInfoFormat,
+    IncorrectHealthFormat,
+    ScanError(String),
+    IncorrectDescriptorFormat,
+    IOError(Error),
+}
+
+impl From<Error> for RPLidarError {
+    fn from(err: Error) -> Self {
+        RPLidarError::IOError(err)
+    }
+}
+
+impl From<FromUtf8Error> for RPLidarError {
+    fn from(_: FromUtf8Error) -> Self {
+        RPLidarError::IncorrectDescriptorFormat
+    }
+}
+
+impl fmt::Debug for RPLidarError {
+    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
+        match self {
+            Self::FailedToStart => write!(f, "FailedToStart"),
+            Self::IncorrectInfoFormat => write!(f, "IncorrectInfoFormat"),
+            Self::IncorrectHealthFormat => write!(f, "IncorrectHealthFormat"),
+            Self::ScanError(arg0) => f.debug_tuple("ScanError").field(arg0).finish(),
+            Self::IncorrectDescriptorFormat => write!(f, "IncorrectDescriptorFormat"),
+            Self::IOError(arg0) => f.debug_tuple("IOError").field(arg0).finish(),
+        }
+    }
+}
+
+pub struct LidarScan {
+    pub new_scan: bool,
+    pub quality: u8,
+    pub angle: f64,
+    pub distance: f64,
+}
+
+fn process_scan(raw: [u8; SCAN_SIZE as usize]) -> Result<LidarScan, RPLidarError> {
+    let new_scan = raw[0] & 0b1;
+    let inversed_new_scan = (raw[0] >> 1) & 0b1;
+    let quality = raw[0] >> 2;
+    if new_scan == inversed_new_scan {
+        return Err(RPLidarError::ScanError(String::from(
+            "New scan flags mismatch",
+        )));
+    }
+
+    if (raw[1] & 0b1) != 1 {
+        return Err(RPLidarError::ScanError(String::from(
+            "Check bit not equal to 1",
+        )));
+    }
+
+    let angle = ((((raw[1] as isize) >> 1) + (raw[2] as isize) << 7) as f64) / 64.;
+    let distance = (((raw[3] as isize) + ((raw[4] as isize) << 8)) as f64) / 4.;
+
+    Ok(LidarScan {
+        new_scan: new_scan == 1,
+        quality,
+        angle,
+        distance,
+    })
+}
+
+pub struct Lidar<T: io::Read + io::Write> {
+    motor_running: bool,
+    serial_port: T,
+    is_scanning: bool,
+    measurements_per_batch: usize,
+    max_buffer_measurements: u32,
+}
+
+impl<T: SerialPort> Lidar<T> {
+    pub fn new(serial_port: T) -> Lidar<T> {
+        Lidar {
+            motor_running: false,
+            serial_port,
+            is_scanning: false,
+            measurements_per_batch: 200,
+            max_buffer_measurements: 500,
+        }
+    }
+
+    pub fn connect(&mut self) {
+        self.serial_port
+            .set_baud_rate(115200)
+            .expect("Failed to set baudrate");
+    }
+
+    pub fn start_motor(&mut self) {
+        self.serial_port
+            .write_data_terminal_ready(true)
+            .expect("Failed to write dtr");
+        // self.set_pwm(DEFAULT_MOTOR_PWM);
+        self.motor_running = true;
+    }
+
+    pub fn start_scanning(&mut self) -> Result<u8, RPLidarError> {
+        self.start_motor();
+        let (status, _) = self.get_health()?;
+
+        match status {
+            HealthStatus::Error => Err(RPLidarError::IncorrectHealthFormat),
+            _ => {
+                self.send_command(vec![SCAN]);
+                let (data_size, is_single, data_type) = self.read_descriptor()?;
+                if data_size != SCAN_SIZE || is_single || data_type != SCAN_TYPE {
+                    return Err(RPLidarError::IncorrectDescriptorFormat);
+                }
+                self.is_scanning = true;
+                Ok(data_size)
+            }
+        }
+    }
+
+    pub fn stop_motor(&mut self) {
+        self.set_pwm(0);
+        self.serial_port
+            .write_data_terminal_ready(false)
+            .expect("Failed to write dtr");
+        self.motor_running = false;
+    }
+
+    pub fn get_info(&mut self) -> Result<(u8, (u8, u8), u8, String), RPLidarError> {
+        self.send_command(vec![GET_INFO]);
+
+        let (data_size, is_single, data_type) = self.read_descriptor()?;
+
+        if data_size != INFO_LEN || !is_single || data_type != INFO_TYPE {
+            return Err(RPLidarError::IncorrectInfoFormat);
+        }
+        let mut buf = [0; INFO_LEN as usize];
+        self.serial_port.read(&mut buf)?;
+        let raw = buf;
+        let serial_number = String::from_utf8(Vec::from(&raw[4..]))?;
+        return Ok((raw[0], (raw[2], raw[1]), raw[3], serial_number));
+    }
+
+    pub fn get_health(&mut self) -> Result<(HealthStatus, usize), RPLidarError> {
+        self.send_command(vec![GET_HEALTH]);
+
+        let (data_size, is_single, data_type) = self.read_descriptor()?;
+
+        if data_size != HEALTH_LEN || !is_single || data_type != HEALTH_TYPE {
+            return Err(RPLidarError::IncorrectHealthFormat);
+        }
+
+        let mut buf = [0; HEALTH_LEN as usize];
+        self.serial_port.read(&mut buf)?;
+        let raw = buf;
+        let status = HealthStatus::from_raw(raw[0]);
+        let error_code = (raw[1] as usize) << 8 + raw[2];
+        return Ok((status, error_code));
+    }
+
+    pub fn clear_input(&mut self) {
+        self.serial_port
+            .clear(ClearBuffer::Input)
+            .expect("Failed to clear input buffer");
+    }
+
+    pub fn stop(&mut self) {
+        self.send_command(vec![STOP]);
+        self.is_scanning = false;
+    }
+
+    pub fn reset(&mut self) {
+        self.send_command(vec![RESET]);
+    }
+
+    pub fn receive_measurement_and_clear_buffer(
+        &mut self,
+        max_buffer_measurements: u32,
+    ) -> Result<[u8; SCAN_SIZE as usize], RPLidarError> {
+        if !self.is_scanning {
+            return Err(RPLidarError::ScanError(String::from(
+                "Haven't started scanning",
+            )));
+        }
+        let mut buf = [0; SCAN_SIZE as usize];
+        self.serial_port.read(&mut buf)?;
+        let raw = buf;
+        if max_buffer_measurements > 0 {
+            if self
+                .serial_port
+                .bytes_to_read()
+                .expect("Failed to get bytes to read")
+                > max_buffer_measurements * SCAN_SIZE as u32
+            {
+                println!("Too many measurements in the input buffer. Clearing Buffer");
+                self.serial_port
+                    .clear(ClearBuffer::Input)
+                    .expect("Failed to clear input buffer.");
+            }
+        }
+        Ok(raw)
+    }
+
+    fn send_command(&mut self, command: Vec<u8>) {
+        let mut vec = vec![SYNC];
+        vec.extend(command);
+        self.serial_port
+            .write(&vec)
+            .expect("Failed to send command");
+    }
+
+    fn send_payload_command(&mut self, cmd: u8, payload: Vec<u8>) {
+        let size: u8 = payload
+            .len()
+            .try_into()
+            .expect("Failed to convert payload length");
+        let mut req = vec![SYNC];
+        req.push(cmd);
+        req.push(size);
+        req.extend(payload);
+        let checksum = self.calc_checksum(&req);
+        req.push(checksum);
+        self.serial_port
+            .write(&req)
+            .expect("Failed to send payload");
+    }
+
+    fn calc_checksum(&self, data: &Vec<u8>) -> u8 {
+        data.iter()
+            .copied()
+            .reduce(|accum, next| accum ^ next)
+            .expect("Failed to calculate checksum")
+            .to_owned()
+    }
+
+    fn read_descriptor(&mut self) -> Result<(u8, bool, u8), RPLidarError> {
+        let mut descriptor: [u8; DESCRIPTOR_LEN] = [0; DESCRIPTOR_LEN];
+        let ret = self.serial_port.read(&mut descriptor)?;
+        if ret != DESCRIPTOR_LEN || (descriptor[0] != SYNC && descriptor[1] != SYNC2) {
+            eprintln!("Failed to read enough or something");
+            Err(RPLidarError::IncorrectDescriptorFormat)
+        } else {
+            let is_single = descriptor[DESCRIPTOR_LEN - 2] == 0;
+            Ok((descriptor[2], is_single, descriptor[DESCRIPTOR_LEN - 1]))
+        }
+    }
+
+    fn set_pwm(&mut self, pwm: usize) {
+        assert!(pwm <= MAX_MOTOR_PWM);
+        self.send_payload_command(SET_PWM, Vec::from(pwm.to_ne_bytes()));
+    }
+}
+
+// Probably want to have separate iterator types like we do in swift for measurements vs scans
+impl<T: SerialPort> Iterator for Lidar<T> {
+    type Item = Vec<LidarScan>;
+
+    fn next(&mut self) -> Option<Self::Item> {
+        if self.is_scanning {
+            let mut all_scans: Vec<LidarScan> = Vec::new();
+            while all_scans.len() < self.measurements_per_batch {
+                if let Ok(raw) =
+                    self.receive_measurement_and_clear_buffer(self.max_buffer_measurements)
+                {
+                    if let Ok(scan) = process_scan(raw) {
+                        all_scans.push(scan);
+                    }
+                }
+            }
+            return Some(all_scans);
+        }
+        None
+    }
+}

car-rs/src/main.rs

@@ -1,6 +1,5 @@
-use std::sync::{Arc, Mutex};
-
 use car_rs::{Esp32SerialPwmServo, ServoVehicle};
+use clap::Parser;
 use grpcserver::{
     motor_control_service::car_control_server::CarControlServer, MotorControlService,
 };
@@ -9,16 +8,34 @@ use tonic::transport::Server;
 
 mod grpcserver;
 
+#[derive(Parser, Debug)]
+#[command(version, about, long_about = None)]
+struct Args {
+    #[arg(short, long)]
+    serial_port: String,
+
+    #[arg(short, long, default_value_t = 10000)]
+    web_port: u32,
+
+    #[arg(short, long, default_value_t = 32400)]
+    baud_rate: u32,
+}
+
 #[tokio::main]
 async fn main() -> Result<(), Box<dyn std::error::Error>> {
-    let addr = "[::1]:10000".parse().unwrap();
+    let args = Args::parse();
+    let addr = format!("[::1]:{}", &args.web_port).parse().unwrap();
 
-    let serial_port = serialport::new("", 32400)
+    let mut steering_port = serialport::new(&args.serial_port, args.baud_rate)
         .open_native()
         .expect("Could not open serial port");
-    let serial_servo = Arc::new(Mutex::new(serial_port));
+    steering_port.set_exclusive(false)?;
-    let steering_servo = Esp32SerialPwmServo::new(serial_servo.clone(), 1, 12);
+    let mut throttle_port = serialport::new(&args.serial_port, args.baud_rate)
-    let throttle_servo = Esp32SerialPwmServo::new(serial_servo.clone(), 2, 18);
+        .open_native()
+        .expect("Could not open serial port");
+    throttle_port.set_exclusive(false)?;
+    let steering_servo = Esp32SerialPwmServo::new(steering_port, 1, 12);
+    let throttle_servo = Esp32SerialPwmServo::new(throttle_port, 2, 18);
 
     let motor_control = MotorControlService::new(ServoVehicle::new(steering_servo, throttle_servo));
 

protobuf/src/main/proto/car/slam/SlamController.proto

@@ -1,11 +1,11 @@
 syntax = "proto3";
 
+package SlamControl;
+
 option java_multiple_files = true;
 option java_package = "org.vato.carcontroller";
 option java_outer_classname = "SlamControllerProto";
 
-import "google/protobuf/empty.proto";
-
 message SlamDetails {
     int32 map_size_pixels = 1;
     int32 map_size_meters = 2;
@@ -26,10 +26,22 @@ message SlamScan{
     SlamLocation location = 2;
 }
 
+message StartMapStreamingResponse {
+
+}
+
+message StopStreamingRequest {
+
+}
+
+message StopStreamingResponse {
+
+}
+
 service SlamControl {
-    rpc start_map_streaming(SlamDetails) returns (google.protobuf.Empty) {}
+    rpc start_map_streaming(SlamDetails) returns (StartMapStreamingResponse) {}
 
     rpc map_stream(SlamDetails) returns (stream SlamScan) {}
 
-    rpc stop_streaming(google.protobuf.Empty) returns (google.protobuf.Empty) {}
+    rpc stop_streaming(StopStreamingRequest) returns (StopStreamingResponse) {}
 }