Clean up rust implementation, add lidar implementation in rust
This commit is contained in:
Michael Pivato
360
car-rs/Cargo.lock
generated
360
car-rs/Cargo.lock
generated
@@ -2,27 +2,6 @@
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|
||||
name = "thiserror"
|
||||
version = "1.0.39"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "a5ab016db510546d856297882807df8da66a16fb8c4101cb8b30054b0d5b2d9c"
|
||||
dependencies = [
|
||||
"thiserror-impl",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "thiserror-impl"
|
||||
version = "1.0.39"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "5420d42e90af0c38c3290abcca25b9b3bdf379fc9f55c528f53a269d9c9a267e"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "tokio"
|
||||
version = "1.20.1"
|
||||
@@ -906,9 +1032,9 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "tokio-stream"
|
||||
version = "0.1.9"
|
||||
version = "0.1.11"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "df54d54117d6fdc4e4fea40fe1e4e566b3505700e148a6827e59b34b0d2600d9"
|
||||
checksum = "d660770404473ccd7bc9f8b28494a811bc18542b915c0855c51e8f419d5223ce"
|
||||
dependencies = [
|
||||
"futures-core",
|
||||
"pin-project-lite",
|
||||
@@ -931,9 +1057,9 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "tonic"
|
||||
version = "0.8.0"
|
||||
version = "0.8.3"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "498f271adc46acce75d66f639e4d35b31b2394c295c82496727dafa16d465dd2"
|
||||
checksum = "8f219fad3b929bef19b1f86fbc0358d35daed8f2cac972037ac0dc10bbb8d5fb"
|
||||
dependencies = [
|
||||
"async-stream",
|
||||
"async-trait",
|
||||
@@ -963,9 +1089,9 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "tonic-build"
|
||||
version = "0.8.0"
|
||||
version = "0.8.4"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "2fbcd2800e34e743b9ae795867d5f77b535d3a3be69fd731e39145719752df8c"
|
||||
checksum = "5bf5e9b9c0f7e0a7c027dcfaba7b2c60816c7049171f679d99ee2ff65d0de8c4"
|
||||
dependencies = [
|
||||
"prettyplease",
|
||||
"proc-macro2",
|
||||
@@ -1000,7 +1126,7 @@ version = "0.3.4"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "3c530c8675c1dbf98facee631536fa116b5fb6382d7dd6dc1b118d970eafe3ba"
|
||||
dependencies = [
|
||||
"bitflags",
|
||||
"bitflags 1.3.2",
|
||||
"bytes",
|
||||
"futures-core",
|
||||
"futures-util",
|
||||
@@ -1015,9 +1141,9 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "tower-layer"
|
||||
version = "0.3.1"
|
||||
version = "0.3.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "343bc9466d3fe6b0f960ef45960509f84480bf4fd96f92901afe7ff3df9d3a62"
|
||||
checksum = "c20c8dbed6283a09604c3e69b4b7eeb54e298b8a600d4d5ecb5ad39de609f1d0"
|
||||
|
||||
[[package]]
|
||||
name = "tower-service"
|
||||
@@ -1074,12 +1200,27 @@ version = "0.2.3"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "59547bce71d9c38b83d9c0e92b6066c4253371f15005def0c30d9657f50c7642"
|
||||
|
||||
[[package]]
|
||||
name = "unescaper"
|
||||
version = "0.1.4"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "0adf6ad32eb5b3cadff915f7b770faaac8f7ff0476633aa29eb0d9584d889d34"
|
||||
dependencies = [
|
||||
"thiserror",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "unicode-ident"
|
||||
version = "1.0.3"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "c4f5b37a154999a8f3f98cc23a628d850e154479cd94decf3414696e12e31aaf"
|
||||
|
||||
[[package]]
|
||||
name = "version_check"
|
||||
version = "0.9.4"
|
||||
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]]
|
||||
name = "winapi-util"
|
||||
version = "0.1.6"
|
||||
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"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "ea04155a16a59f9eab786fe12a4a450e75cdb175f9e0d80da1e17db09f55b8d2"
|
||||
dependencies = [
|
||||
"windows_aarch64_msvc",
|
||||
"windows_i686_gnu",
|
||||
"windows_i686_msvc",
|
||||
"windows_x86_64_gnu",
|
||||
"windows_x86_64_msvc",
|
||||
"windows_aarch64_msvc 0.36.1",
|
||||
"windows_i686_gnu 0.36.1",
|
||||
"windows_i686_msvc 0.36.1",
|
||||
"windows_x86_64_gnu 0.36.1",
|
||||
"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",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "windows-targets"
|
||||
version = "0.52.4"
|
||||
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]]
|
||||
name = "windows_aarch64_gnullvm"
|
||||
version = "0.52.4"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "bcf46cf4c365c6f2d1cc93ce535f2c8b244591df96ceee75d8e83deb70a9cac9"
|
||||
|
||||
[[package]]
|
||||
name = "windows_aarch64_msvc"
|
||||
version = "0.36.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
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"
|
||||
|
||||
@@ -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
|
||||
@@ -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(())
|
||||
|
||||
@@ -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);
|
||||
vehicle.set_steering(req.steering.unwrap().steering as f64);
|
||||
if let Some(throttle) = req.throttle {
|
||||
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!()
|
||||
}
|
||||
}
|
||||
|
||||
@@ -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 {
|
||||
|
||||
324
car-rs/src/lidar.rs
Normal file
324
car-rs/src/lidar.rs
Normal file
@@ -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
|
||||
}
|
||||
}
|
||||
@@ -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));
|
||||
let steering_servo = Esp32SerialPwmServo::new(serial_servo.clone(), 1, 12);
|
||||
let throttle_servo = Esp32SerialPwmServo::new(serial_servo.clone(), 2, 18);
|
||||
steering_port.set_exclusive(false)?;
|
||||
let mut throttle_port = serialport::new(&args.serial_port, args.baud_rate)
|
||||
.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));
|
||||
|
||||
|
||||
@@ -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) {}
|
||||
}
|
||||
Reference in New Issue
Block a user