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Add grpc rust codegen + stubs, add rppal compile feature

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for raspberry pi compilation.

This is because rppal won't compile on mac, so we
only want to bring in the dependency when actually compiling
for the raspberry pi, and so will manually need to enable the
dependency.
This commit is contained in:
Piv
2022-08-06 20:34:00 +09:30
parent 26647017c3
commit d876fcbb2e
7 changed files with 395 additions and 32 deletions
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255
car-rs/Cargo.lock generated
View File

@@ -2,6 +2,36 @@
# 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]]
name = "IOKit-sys"
version = "0.1.5"
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"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "1e37cfd5e7657ada45f742d6e99ca5788580b5c529dc78faf11ece6dc702656f"
dependencies = [
"memchr",
]
[[package]]
name = "anyhow"
version = "1.0.58"
@@ -111,9 +141,12 @@ checksum = "f0b3de4a0c5e67e16066a0715723abd91edc2f9001d09c46e1dca929351e130e"
name = "car-rs"
version = "0.1.0"
dependencies = [
"prost",
"rppal",
"serialport",
"tokio",
"tonic",
"tonic-build",
]
[[package]]
@@ -128,6 +161,21 @@ version = "1.7.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "3f107b87b6afc2a64fd13cac55fe06d6c8859f12d4b14cbcdd2c67d0976781be"
[[package]]
name = "fastrand"
version = "1.8.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "a7a407cfaa3385c4ae6b23e84623d48c2798d06e3e6a1878f7f59f17b3f86499"
dependencies = [
"instant",
]
[[package]]
name = "fixedbitset"
version = "0.4.2"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "0ce7134b9999ecaf8bcd65542e436736ef32ddca1b3e06094cb6ec5755203b80"
[[package]]
name = "fnv"
version = "1.0.7"
@@ -209,6 +257,12 @@ version = "0.12.3"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "8a9ee70c43aaf417c914396645a0fa852624801b24ebb7ae78fe8272889ac888"
[[package]]
name = "heck"
version = "0.4.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "2540771e65fc8cb83cd6e8a237f70c319bd5c29f78ed1084ba5d50eeac86f7f9"
[[package]]
name = "hermit-abi"
version = "0.1.19"
@@ -304,6 +358,15 @@ dependencies = [
"hashbrown",
]
[[package]]
name = "instant"
version = "0.1.12"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "7a5bbe824c507c5da5956355e86a746d82e0e1464f65d862cc5e71da70e94b2c"
dependencies = [
"cfg-if",
]
[[package]]
name = "itertools"
version = "0.10.3"
@@ -331,6 +394,26 @@ version = "0.2.126"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "349d5a591cd28b49e1d1037471617a32ddcda5731b99419008085f72d5a53836"
[[package]]
name = "libudev"
version = "0.3.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "78b324152da65df7bb95acfcaab55e3097ceaab02fb19b228a9eb74d55f135e0"
dependencies = [
"libc",
"libudev-sys",
]
[[package]]
name = "libudev-sys"
version = "0.1.4"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "3c8469b4a23b962c1396b9b451dda50ef5b283e8dd309d69033475fa9b334324"
dependencies = [
"libc",
"pkg-config",
]
[[package]]
name = "lock_api"
version = "0.4.7"
@@ -350,6 +433,24 @@ dependencies = [
"cfg-if",
]
[[package]]
name = "mach"
version = "0.1.2"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "2fd13ee2dd61cc82833ba05ade5a30bb3d63f7ced605ef827063c63078302de9"
dependencies = [
"libc",
]
[[package]]
name = "mach"
version = "0.3.2"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "b823e83b2affd8f40a9ee8c29dbc56404c1e34cd2710921f2801e2cf29527afa"
dependencies = [
"libc",
]
[[package]]
name = "matchit"
version = "0.5.0"
@@ -380,6 +481,23 @@ dependencies = [
"windows-sys",
]
[[package]]
name = "multimap"
version = "0.8.3"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "e5ce46fe64a9d73be07dcbe690a38ce1b293be448fd8ce1e6c1b8062c9f72c6a"
[[package]]
name = "nix"
version = "0.24.2"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "195cdbc1741b8134346d515b3a56a1c94b0912758009cfd53f99ea0f57b065fc"
dependencies = [
"bitflags",
"cfg-if",
"libc",
]
[[package]]
name = "num_cpus"
version = "1.13.1"
@@ -425,6 +543,16 @@ version = "2.1.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "d4fd5641d01c8f18a23da7b6fe29298ff4b55afcccdf78973b24cf3175fee32e"
[[package]]
name = "petgraph"
version = "0.6.2"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "e6d5014253a1331579ce62aa67443b4a658c5e7dd03d4bc6d302b94474888143"
dependencies = [
"fixedbitset",
"indexmap",
]
[[package]]
name = "pin-project"
version = "1.0.11"
@@ -457,12 +585,28 @@ version = "0.1.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "8b870d8c151b6f2fb93e84a13146138f05d02ed11c7e7c54f8826aaaf7c9f184"
[[package]]
name = "pkg-config"
version = "0.3.25"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "1df8c4ec4b0627e53bdf214615ad287367e482558cf84b109250b37464dc03ae"
[[package]]
name = "ppv-lite86"
version = "0.2.16"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "eb9f9e6e233e5c4a35559a617bf40a4ec447db2e84c20b55a6f83167b7e57872"
[[package]]
name = "prettyplease"
version = "0.1.18"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "697ae720ee02011f439e0701db107ffe2916d83f718342d65d7f8bf7b8a5fee9"
dependencies = [
"proc-macro2",
"syn",
]
[[package]]
name = "proc-macro2"
version = "1.0.40"
@@ -482,6 +626,26 @@ dependencies = [
"prost-derive",
]
[[package]]
name = "prost-build"
version = "0.11.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "7f835c582e6bd972ba8347313300219fed5bfa52caf175298d860b61ff6069bb"
dependencies = [
"bytes",
"heck",
"itertools",
"lazy_static",
"log",
"multimap",
"petgraph",
"prost",
"prost-types",
"regex",
"tempfile",
"which",
]
[[package]]
name = "prost-derive"
version = "0.11.0"
@@ -495,6 +659,16 @@ dependencies = [
"syn",
]
[[package]]
name = "prost-types"
version = "0.11.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "4dfaa718ad76a44b3415e6c4d53b17c8f99160dcb3a99b10470fce8ad43f6e3e"
dependencies = [
"bytes",
"prost",
]
[[package]]
name = "quote"
version = "1.0.20"
@@ -543,6 +717,32 @@ dependencies = [
"bitflags",
]
[[package]]
name = "regex"
version = "1.6.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "4c4eb3267174b8c6c2f654116623910a0fef09c4753f8dd83db29c48a0df988b"
dependencies = [
"aho-corasick",
"memchr",
"regex-syntax",
]
[[package]]
name = "regex-syntax"
version = "0.6.27"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "a3f87b73ce11b1619a3c6332f45341e0047173771e8b8b73f87bfeefb7b56244"
[[package]]
name = "remove_dir_all"
version = "0.5.3"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "3acd125665422973a33ac9d3dd2df85edad0f4ae9b00dafb1a05e43a9f5ef8e7"
dependencies = [
"winapi",
]
[[package]]
name = "rppal"
version = "0.13.1"
@@ -565,6 +765,23 @@ version = "1.0.140"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "fc855a42c7967b7c369eb5860f7164ef1f6f81c20c7cc1141f2a604e18723b03"
[[package]]
name = "serialport"
version = "4.2.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "aab92efb5cf60ad310548bc3f16fa6b0d950019cb7ed8ff41968c3d03721cf12"
dependencies = [
"CoreFoundation-sys",
"IOKit-sys",
"bitflags",
"cfg-if",
"libudev",
"mach 0.3.2",
"nix",
"regex",
"winapi",
]
[[package]]
name = "signal-hook-registry"
version = "1.4.0"
@@ -616,6 +833,20 @@ version = "0.1.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "20518fe4a4c9acf048008599e464deb21beeae3d3578418951a189c235a7a9a8"
[[package]]
name = "tempfile"
version = "3.3.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "5cdb1ef4eaeeaddc8fbd371e5017057064af0911902ef36b39801f67cc6d79e4"
dependencies = [
"cfg-if",
"fastrand",
"libc",
"redox_syscall",
"remove_dir_all",
"winapi",
]
[[package]]
name = "tokio"
version = "1.20.0"
@@ -715,6 +946,19 @@ dependencies = [
"tracing-futures",
]
[[package]]
name = "tonic-build"
version = "0.8.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "2fbcd2800e34e743b9ae795867d5f77b535d3a3be69fd731e39145719752df8c"
dependencies = [
"prettyplease",
"proc-macro2",
"prost-build",
"quote",
"syn",
]
[[package]]
name = "tower"
version = "0.4.13"
@@ -837,6 +1081,17 @@ version = "0.11.0+wasi-snapshot-preview1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "9c8d87e72b64a3b4db28d11ce29237c246188f4f51057d65a7eab63b7987e423"
[[package]]
name = "which"
version = "4.2.5"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "5c4fb54e6113b6a8772ee41c3404fb0301ac79604489467e0a9ce1f3e97c24ae"
dependencies = [
"either",
"lazy_static",
"libc",
]
[[package]]
name = "winapi"
version = "0.3.9"

13
car-rs/Cargo.toml
View File

@@ -7,11 +7,22 @@ edition = "2021"
[dependencies]
# https://github.com/golemparts/rppal
rppal = "0.13.1"
rppal = { version = "0.13.1", optional = true }
tokio = { version = "1", features = ["full"] }
prost = "0.11"
# https://github.com/hyperium/tonic
tonic = "0.8.0"
# https://docs.rs/serialport/4.0.1/serialport/index.html
serialport = "4.0.1"
[build]
target = "armv7-unknown-linux-gnueabihf"
[build-dependencies]
tonic-build = "0.8.0"
[features]
rppal = ["dep:rppal"]

7
car-rs/build.rs Normal file
View File

@@ -0,0 +1,7 @@
fn main() -> Result<(), Box<dyn std::error::Error>> {
tonic_build::configure().compile(
&["../protobuf/src/main/proto/car/control/motorService.proto"],
&["../protobuf/src/main/proto"],
)?;
Ok(())
}

52
car-rs/src/grpcserver.rs Normal file
View File

@@ -0,0 +1,52 @@
pub mod motor_control_service {
tonic::include_proto!("motor_control");
}
use motor_control_service::car_control_server::CarControl;
use tonic::{Request, Response, Status, Streaming};
use self::motor_control_service::{
RecordingReqeust, RecordingResponse, SaveRequest, SaveResponse, SteeringRequest,
SteeringResponse, ThrottleRequest, ThrottleResponse, Vehicle2DRequest, Vehicle2DResponse,
};
#[derive(Debug)]
struct MotorControlService {}
#[tonic::async_trait]
impl CarControl for MotorControlService {
async fn set_throttle(
&self,
_request: Request<ThrottleRequest>,
) -> Result<Response<ThrottleResponse>, Status> {
unimplemented!()
}
async fn set_steering(
&self,
_request: Request<SteeringRequest>,
) -> Result<Response<SteeringResponse>, Status> {
unimplemented!()
}
async fn stream_vehicle_2d(
&self,
_request: Request<Streaming<Vehicle2DRequest>>,
) -> Result<Response<Vehicle2DResponse>, Status> {
unimplemented!()
}
async fn record(
&self,
_request: Request<RecordingReqeust>,
) -> Result<Response<RecordingResponse>, Status> {
unimplemented!()
}
async fn save_recorded_data(
&self,
_request: Request<SaveRequest>,
) -> Result<Response<SaveResponse>, Status> {
unimplemented!()
}
}

72
car-rs/src/lib.rs
View File

@@ -1,8 +1,8 @@
use rppal::pwm::{Channel, Pwm};
use serialport::SerialPort;
pub trait Servo {
fn get_duty_cycle(&self) -> f64;
// TODO: Some kind of error handling here, in case we fail to set the duty cycel
// TODO: Some kind of error handling here, in case we fail to set the duty cycle
fn set_duty_cycle(&self, pwm: f64);
fn get_frequency(&self) -> f64;
@@ -14,43 +14,69 @@ pub trait Vechicle<T: Servo> {
fn get_throttle_servo() -> T;
fn get_steering_servo() -> T;
}
#[cfg(feature = "rppal")]
pub mod rppal {
use rppal::pwm::{Channel, Pwm};
pub struct RpiPwmServo {
pwm: Pwm,
}
impl RpiPwmServo {
pub fn new(pwm: Pwm) -> RpiPwmServo {
RpiPwmServo { pwm }
pub struct RpiPwmServo {
pwm: Pwm,
}
}
impl Default for RpiPwmServo {
fn default() -> Self {
Self {
pwm: Pwm::new(Channel::Pwm0).expect("Failed to initialise Pwm servo"),
impl RpiPwmServo {
pub fn new(pwm: Pwm) -> RpiPwmServo {
RpiPwmServo { pwm }
}
}
impl Default for RpiPwmServo {
fn default() -> Self {
Self {
pwm: Pwm::new(Channel::Pwm0).expect("Failed to initialise Pwm servo"),
}
}
}
impl Servo for RpiPwmServo {
fn get_duty_cycle(&self) -> f64 {
self.pwm.duty_cycle().unwrap_or(0.)
}
fn set_duty_cycle(&self, pwm: f64) {
self.pwm
.set_duty_cycle(pwm)
.expect("Failed to write duty cycle");
}
fn get_frequency(&self) -> f64 {
self.pwm.duty_cycle().unwrap_or(0.0)
}
fn set_frequency(&self, frequency: f64) {
self.pwm
.set_frequency(frequency, self.get_duty_cycle())
.expect("Failed to set Frequency")
}
}
}
impl Servo for RpiPwmServo {
pub struct Esp32SerialPwmServo<T: SerialPort> {
serial_port: T,
}
impl<T: SerialPort> Servo for Esp32SerialPwmServo<T> {
fn get_duty_cycle(&self) -> f64 {
self.pwm.duty_cycle().unwrap_or(0.)
todo!()
}
fn set_duty_cycle(&self, pwm: f64) {
self.pwm
.set_duty_cycle(pwm)
.expect("Failed to write duty cycle");
todo!()
}
fn get_frequency(&self) -> f64 {
self.pwm.duty_cycle().unwrap_or(0.0)
todo!()
}
fn set_frequency(&self, frequency: f64) {
self.pwm
.set_frequency(frequency, self.get_duty_cycle())
.expect("Failed to set Frequency")
todo!()
}
}

6
car-rs/src/main.rs
View File

@@ -1,4 +1,6 @@
use std::error::Error;
use crate::grpcserver::motor_control_service;
mod grpcserver;
#[tokio::main]
fn main() {}
async fn main() {}

20
protobuf/src/main/proto/car/control/motorService.proto
View File

@@ -7,8 +7,6 @@ option java_multiple_files = true;
option java_package = "org.vato.carcontroller";
option java_outer_classname = "MotorServiceProto";
import "google/protobuf/empty.proto";
message ThrottleRequest{
float throttle = 1;
}
@@ -38,10 +36,22 @@ message SaveRequest{
string file = 1;
}
message Vehicle2DResponse {
}
message RecordingResponse {
}
message SaveResponse {
}
service CarControl{
rpc set_throttle(ThrottleRequest) returns (ThrottleResponse){}
rpc set_steering(SteeringRequest) returns (SteeringResponse){}
rpc stream_vehicle_2d(stream Vehicle2DRequest) returns (google.protobuf.Empty){}
rpc record(RecordingReqeust) returns (google.protobuf.Empty) {}
rpc save_recorded_data(SaveRequest) returns (google.protobuf.Empty) {}
rpc stream_vehicle_2d(stream Vehicle2DRequest) returns (Vehicle2DResponse){}
rpc record(RecordingReqeust) returns (RecordingResponse) {}
rpc save_recorded_data(SaveRequest) returns (SaveResponse) {}
}