Bulk of swift code done for simple controller case.

Just need to get the server running, then can test

.gitignore

@@ -28,6 +28,7 @@ SwiftyCar/Packages
 SwiftyCar/*.xcodeproj
 SwiftyCar/Sources/Generated
 SwiftyCar/xcuserdata/
+SwiftyCar/Sources/SwiftyCar/car
 xcuserdata/
 .settings
 .project

SwiftyCar/Package.swift

@@ -17,12 +17,9 @@ let package = Package(
     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: "Generated",
-            dependencies: [.product(name: "GRPC", package: "grpc-swift")]),
         .target(
             name: "SwiftyCar",
-            dependencies: ["Generated", "SwiftyGPIO"]),
+            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/main.swift

@@ -6,5 +6,6 @@
 //
 
 // Entry-Point to the Swift Car Controller
-print("Hello World!")
+var text = "Hello World!"
+print(text)
 

SwiftyCar/Tests/SwiftyCarTests/SwiftyCarTests.swift

@@ -6,7 +6,7 @@ final class SwiftyCarTests: XCTestCase {
         // 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!")
+//        XCTAssertEqual(SwiftyCar().text, "Hello, World!")
     }
 
     static var allTests = [

SwiftyCar/build.gradle

@@ -12,5 +12,5 @@ dependencies {
 task copySwiftCode(type: Copy, dependsOn: configurations.swift) {
     // Copy python protobuf code from proto project.
     from zipTree(configurations.swift.asPath)
-    into './Sources/Generated'
+    into './Sources/SwiftyCar'
 }