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@@ -3,35 +3,193 @@
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||||||
|
|||||||
+4
-18
@@ -1,18 +1,4 @@
|
|||||||
[package]
|
[workspace]
|
||||||
name = "rnavp"
|
members = ["rnavp"
|
||||||
version = "0.2.0"
|
, "rnavp_communication", "rnavp_controller"]
|
||||||
edition = "2024"
|
resolver = "3"
|
||||||
publish = ["gitea"]
|
|
||||||
|
|
||||||
[features]
|
|
||||||
default= ["embassy"]
|
|
||||||
std = []
|
|
||||||
embassy = ["core_full"]
|
|
||||||
core = []
|
|
||||||
core_full = ["core_communication", "core_logic"]
|
|
||||||
core_communication = ["core"]
|
|
||||||
core_logic = ["core"]
|
|
||||||
host = ["std", "core_full"]
|
|
||||||
|
|
||||||
[dependencies]
|
|
||||||
serde = { version = "1.0.228", features = ["derive"], default-features = false }
|
|
||||||
|
|||||||
+201
@@ -0,0 +1,201 @@
|
|||||||
|
Apache License
|
||||||
|
Version 2.0, January 2004
|
||||||
|
http://www.apache.org/licenses/
|
||||||
|
|
||||||
|
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
|
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|
|
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|
1. Definitions.
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
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|
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END OF TERMS AND CONDITIONS
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APPENDIX: How to apply the Apache License to your work.
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To apply the Apache License to your work, attach the following
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|
||||||
+21
@@ -0,0 +1,21 @@
|
|||||||
|
MIT License
|
||||||
|
|
||||||
|
Copyright (c) [2026] [Zander Allen Johnson]
|
||||||
|
|
||||||
|
Permission is hereby granted, free of charge, to any person obtaining a copy
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||||||
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|
||||||
|
The above copyright notice and this permission notice shall be included in all
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||||||
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|
||||||
|
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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||||||
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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||||||
|
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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||||||
|
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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||||||
|
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||||
|
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
|
||||||
|
SOFTWARE.
|
||||||
@@ -1,28 +1,2 @@
|
|||||||
# *RNavP*
|
# RNavP
|
||||||
|
**RNavP** - *Remote Node adaptive Protocl*
|
||||||
## Robotics Navigation and Control Via Postcard
|
|
||||||
|
|
||||||
This is a crate designed to assit in development for the entire stack from the MCU(Running Embassy) to a STD computer talking to that MCU Via postcard for Drivetrain control.
|
|
||||||
Designed for intergration with ROS2 but is *NOT* required and will work for any STD enviroment for the control system
|
|
||||||
|
|
||||||
|
|
||||||
## Highlights
|
|
||||||
|
|
||||||
Able to drive just about anything, 2 wheel differential drive, simple we got that. 4 Wheeled OmniDirectional? We got that to. 9 Wheeled Abomination? Why? But, *We gotcha bro!*
|
|
||||||
|
|
||||||
Simulation system, Define the upper level logic, and the placement of the wheels and the motor specs and we can give you a low fidilety simulation output on the Computer no MCU needed.
|
|
||||||
Want to see it ON something? Well use the outputs and hook into the SIM of your choice! Verify your robot design and logic systems, before even ordering the MCU, or having to design how the ESC works.
|
|
||||||
|
|
||||||
Entirely Rust, this uses a full RUST eco system from the ground up, keeping the Your code safe, and your robots doing exactly what you intended for them to do.
|
|
||||||
|
|
||||||
Uses Embassy. Since this is designed to have a single function init, you WILL have to pass in your embassy executor spawning item so you can't spawn anything new once this is started.
|
|
||||||
BUT, you can easily just throw this entire system on core 1 (Second core) of your MCU, and not care about it anymore. Handle the rest of your logic, read some data, run a HMI using the wonderful SLINT crate.
|
|
||||||
Who knows? What we do know is that, your entire drivetrain and sensor system you asked us to handle. We handled.
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
## Licensing
|
|
||||||
|
|
||||||
Dual Licensed Under
|
|
||||||
|
|
||||||
MIT and Apache-2.0
|
|
||||||
|
|||||||
@@ -0,0 +1,11 @@
|
|||||||
|
[package]
|
||||||
|
name = "rnavp"
|
||||||
|
version = "0.1.0"
|
||||||
|
edition = "2024"
|
||||||
|
|
||||||
|
[dependencies]
|
||||||
|
heapless = { version = "0.9.3", features = ["serde"] }
|
||||||
|
postcard = { version = "1.1.3", features = ["postcard-derive"] }
|
||||||
|
serde = { version = "1.0.229", default-features = false, features = ["derive"] }
|
||||||
|
thiserror = { version = "2.0.19", default-features = false }
|
||||||
|
uom = { version = "0.38.0", default-features = false, features = ["autoconvert", "f32", "si"] }
|
||||||
@@ -0,0 +1,69 @@
|
|||||||
|
use serde::{Deserialize, Serialize};
|
||||||
|
///A simple enum for Counterclockwise or Clockwise direction semantics. Makes it easier much clear than a true/false bool
|
||||||
|
/// IF you use this to convert to a signed number note that CW is negative and CCW is positive
|
||||||
|
#[derive(Clone, Copy, PartialEq, Eq, Debug, Serialize, Deserialize)]
|
||||||
|
pub enum Direction {
|
||||||
|
///CounterClockWise
|
||||||
|
CCW,
|
||||||
|
///ClockWise
|
||||||
|
CW,
|
||||||
|
}
|
||||||
|
|
||||||
|
impl Direction {
|
||||||
|
///Inverts the direction currently stored in this.
|
||||||
|
/// Helps with a simple direction change without knowing the current direction.
|
||||||
|
pub fn inv_dir(&mut self) {
|
||||||
|
match *self {
|
||||||
|
Self::CCW => {
|
||||||
|
*self = Self::CW;
|
||||||
|
}
|
||||||
|
Self::CW => {
|
||||||
|
*self = Self::CCW;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
///Changes the current direction based on the sign of the float.
|
||||||
|
///Recommended to use this over the "From" impl for directions that already exist, to prevent werid 0.0 case and NaN problems
|
||||||
|
/// This handles 0.0 and NaN by just doing nothing. The "From" impl defualts to CCW for both
|
||||||
|
pub fn dir_from_f32(&mut self, value: f32) {
|
||||||
|
if value == 0.0 || value.is_nan() {
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
*self = value.into();
|
||||||
|
}
|
||||||
|
|
||||||
|
///Changes the current direction based on the sign of the int.
|
||||||
|
///Recommended to use this over the "From" impl for directions that already exist, to prevent weird 0 case problems
|
||||||
|
///This handles 0 by just doing nothing. The "From" impl defaults to CCW
|
||||||
|
pub fn dir_from_i32(&mut self, value: i32) {
|
||||||
|
if value == 0 {
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
*self = value.into();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
///Converts F32 to direction using the number's sign.
|
||||||
|
/// This defaults to CCW for 0.0 and NaN.
|
||||||
|
impl From<f32> for Direction {
|
||||||
|
fn from(value: f32) -> Self {
|
||||||
|
if value < 0.0 {
|
||||||
|
Direction::CW
|
||||||
|
} else {
|
||||||
|
Direction::CCW
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Converts i32 to direction using the number's sign.
|
||||||
|
/// This defaults to CCW for 0.
|
||||||
|
impl From<i32> for Direction {
|
||||||
|
fn from(value: i32) -> Self {
|
||||||
|
if value < 0 {
|
||||||
|
Direction::CW
|
||||||
|
} else {
|
||||||
|
Direction::CCW
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -0,0 +1,5 @@
|
|||||||
|
mod direction;
|
||||||
|
pub mod error;
|
||||||
|
pub mod motor;
|
||||||
|
pub mod pid;
|
||||||
|
pub mod positional;
|
||||||
@@ -0,0 +1,67 @@
|
|||||||
|
use uom::si::f32::{Angle, AngularVelocity, ElectricCurrent, ElectricPotential};
|
||||||
|
|
||||||
|
pub use crate::direction::Direction;
|
||||||
|
|
||||||
|
/// # Motor Driver
|
||||||
|
///
|
||||||
|
/// This trait is implemented on a motor struct to implement the motor DRIVER (like an ESC) capabalities in how it should control the motor.
|
||||||
|
/// This will then let other systems use this trait and system to control your motor without needing to understand the hardware as much.
|
||||||
|
#[allow(async_fn_in_trait)]
|
||||||
|
pub trait Driver {
|
||||||
|
///Spins in the provided direction
|
||||||
|
/// Properly map each direction to CounterClockWise and Clockwise when LOOKING AT THE MOTOR SHAFT. This is VITAL for the way the systems within core::logic will work.
|
||||||
|
///This is best not called manually, use set_speed_and_direction_raw instead
|
||||||
|
async fn spin(&mut self, dir: Direction);
|
||||||
|
|
||||||
|
///Commands the motor to stop
|
||||||
|
/// This should stop the motor in what ever way you see fit.
|
||||||
|
/// Some hardware may have a proper "Stop" or "Off" Signal, some will not.
|
||||||
|
/// If there is no proper hardware stop, verify that 0 speed is actually a stopping command and you can easily just set speed to 0 via set_speed_raw in this method.
|
||||||
|
/// No default implementation (though this is easily something I could have done) because it SHOULD be something you notice and implement PROPERLY if applicable
|
||||||
|
async fn stop(&mut self);
|
||||||
|
|
||||||
|
///This method uses a full u16 to set the motor speed. This does not change spin direction.
|
||||||
|
/// You need to map 0 to 65535 properly to your specific hardware range, just because PWM is commonly 0 to 65535 do not assume that ALL ways of controlling a motor cleanly takes a value of 0 to 65535,
|
||||||
|
/// you need to verify and map properly.
|
||||||
|
/// 65535 should be the max possible speed, while 0 should be stopped.
|
||||||
|
///This is best to not call manually, use set_speed_and_direction_raw instead
|
||||||
|
async fn set_speed(&mut self, speed: u16);
|
||||||
|
|
||||||
|
///Commands the motors to use the speed and spin in the same command.
|
||||||
|
///Uses a number between 0 and 65535
|
||||||
|
///This should be used in most cases, unless the motor has the core::logic::motor::controller Trait, then the the methods from that should be used instead.
|
||||||
|
async fn set_speed_and_direction(&mut self, speed: u16, dir: Direction) {
|
||||||
|
//Set direction before speed, so it won't start spinning in one direction, then snap to the other.
|
||||||
|
//Most MCUs should execute these two lines of code so fast, that it should be neglible regardless.
|
||||||
|
self.spin(dir).await;
|
||||||
|
self.set_speed(speed).await;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/// # Motor Sensor
|
||||||
|
/// This trait is implemented on motors that have some form of sensory feedback. Note that this does not require the motor ITSELF provide feedback, just that the setup the motor is in supports it. IE, a Current draw based ESC
|
||||||
|
/// Speed Feedback is REQUIRED, if your device does not provide speed feedback directly,
|
||||||
|
/// Implement the other conditions and use them to then implement the speed method.
|
||||||
|
///
|
||||||
|
/// Some motors/sensors might have a direct "Current Angle" being reported, the option is there in case yours can, so the communication system can sync it to the host for you.
|
||||||
|
/// Some sensors may also provide current and voltage feedback, if implemented the communication system can sync them to the host you for.
|
||||||
|
/// Can also be used for other custom logic. They are unused by RNavP, entirely optional.
|
||||||
|
#[allow(async_fn_in_trait)]
|
||||||
|
pub trait Sensor {
|
||||||
|
///Returns the speed struct value from the motors sensor.
|
||||||
|
///
|
||||||
|
/// IF properly returned in the correct Enum Data field, all other systems will use the value propely, being unit agnostic later.
|
||||||
|
async fn get_speed(&self) -> AngularVelocity;
|
||||||
|
|
||||||
|
///Returns the current from the sensor, if it capable.
|
||||||
|
/// This should be non-blocking. Keep a cached value ready.
|
||||||
|
async fn get_current(&self) -> Option<ElectricCurrent>;
|
||||||
|
|
||||||
|
///Returns the current voltage from the sensro, if it is capable.
|
||||||
|
/// This should be non-blocking. Keep a cached value ready.
|
||||||
|
async fn get_voltage(&self) -> Option<ElectricPotential>;
|
||||||
|
|
||||||
|
///Returns the current angle from the sensor if it is capable.
|
||||||
|
/// This should be non-blocking. Keep a cached value ready.
|
||||||
|
async fn get_angle(&self) -> Option<Angle>;
|
||||||
|
}
|
||||||
@@ -38,14 +38,14 @@ impl PID {
|
|||||||
integral: 0.0,
|
integral: 0.0,
|
||||||
prev_error: 0.0,
|
prev_error: 0.0,
|
||||||
set_point: 0.0,
|
set_point: 0.0,
|
||||||
output: 0.0
|
output: 0.0,
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
impl Default for PID {
|
impl Default for PID {
|
||||||
fn default() -> Self {
|
fn default() -> Self {
|
||||||
PID::new(Config{
|
PID::new(Config {
|
||||||
kp: 0.0,
|
kp: 0.0,
|
||||||
ki: 0.0,
|
ki: 0.0,
|
||||||
kd: 0.0,
|
kd: 0.0,
|
||||||
@@ -61,7 +61,7 @@ impl PID {
|
|||||||
///Will output a float between -1.0 and 1.0
|
///Will output a float between -1.0 and 1.0
|
||||||
///Current value is the current "position" of the system NOT the goal
|
///Current value is the current "position" of the system NOT the goal
|
||||||
/// Use set_point() method to change the "goal position" for the system
|
/// Use set_point() method to change the "goal position" for the system
|
||||||
pub fn pid_step(&mut self, current_value: f32) -> f32 {
|
pub async fn pid_step(&mut self, current_value: f32) -> f32 {
|
||||||
//If the values
|
//If the values
|
||||||
let error = self.set_point - current_value;
|
let error = self.set_point - current_value;
|
||||||
|
|
||||||
@@ -93,9 +93,9 @@ impl PID {
|
|||||||
|
|
||||||
//Calculate and store the output
|
//Calculate and store the output
|
||||||
let output = match self.config.accel {
|
let output = match self.config.accel {
|
||||||
0.0 => f + p + i + d,
|
0.0 => (f + p + i + d) * 0.0001,
|
||||||
_ => {
|
_ => {
|
||||||
let pre_output = f + p + i + d;
|
let pre_output = (f + p + i + d) * 0.0001;
|
||||||
let change = pre_output - self.output;
|
let change = pre_output - self.output;
|
||||||
let change = change.clamp(-self.config.accel, self.config.accel);
|
let change = change.clamp(-self.config.accel, self.config.accel);
|
||||||
|
|
||||||
@@ -117,7 +117,7 @@ impl PID {
|
|||||||
return self.output;
|
return self.output;
|
||||||
}
|
}
|
||||||
|
|
||||||
pub fn set_point(&mut self, set_point: f32) {
|
pub async fn set_point(&mut self, set_point: f32) {
|
||||||
if set_point != self.set_point {
|
if set_point != self.set_point {
|
||||||
//Update all internal fields
|
//Update all internal fields
|
||||||
self.integral = 0.0;
|
self.integral = 0.0;
|
||||||
@@ -0,0 +1,6 @@
|
|||||||
|
[package]
|
||||||
|
name = "rnavp_communication"
|
||||||
|
version = "0.1.0"
|
||||||
|
edition = "2024"
|
||||||
|
|
||||||
|
[dependencies]
|
||||||
@@ -0,0 +1,134 @@
|
|||||||
|
## RNavP
|
||||||
|
**RNavP Communication** - *Remote Node adaptive Protocl*
|
||||||
|
|
||||||
|
The project is intended to be a Protocol layer between an MCU and a Host system. The system will support other systems including but not limited to; Host to Host, MCU to MCU. The system will be designed to accept a byte buffer from any transport layer. The transport layer is **NOT** a design part of RNavP it will support any transport layer that can implement the "Endpoint" trait.
|
||||||
|
|
||||||
|
## Concept
|
||||||
|
|
||||||
|
A discovery based, protocol layer that supports many generic byte based transport layer and many Serialization Codecs
|
||||||
|
Will be Server (MCU) <-> Client (Host).
|
||||||
|
A client will ask a server, what devices it has, the server will respond with a list of devices. The client can then inquire about more information about each device respectively.
|
||||||
|
|
||||||
|
The intended goal is for a Ros2 Based host SBC (Like a Rasbperry Pi5) communicating with a MCU (Like a Raspberry Pico 2) Over UART. The API will be designed to be INCREDIBLY generic, support many different device setups and frameworks.
|
||||||
|
|
||||||
|
## Basic Implementations
|
||||||
|
|
||||||
|
The basic idea is for there to be a simple header that heads EVERY packet. Extra data, but the cost gets paid for 10 fold later.
|
||||||
|
|
||||||
|
Basic header as a rust struct snippet
|
||||||
|
### Header
|
||||||
|
```rust
|
||||||
|
struct Header {
|
||||||
|
packet_size: u16, //Supports up to 65535 bytes, in a single packet. This value includes the entire header.
|
||||||
|
port: u16, //The communication port. Allows for multiple connections even on a simple protocol like UART
|
||||||
|
context: u8, //A simple short u8 rolling transfer count. Each type a transfer happens on the same port, this increments
|
||||||
|
packet_type: PacketType, // A u8 enum that defines the packet contents
|
||||||
|
}
|
||||||
|
#[repr(u8)]
|
||||||
|
enum PacketType {
|
||||||
|
CommunicationInfo,
|
||||||
|
Discovery,
|
||||||
|
Request,
|
||||||
|
Command,
|
||||||
|
Error,
|
||||||
|
ClosePort,
|
||||||
|
OpenPort,
|
||||||
|
Config,
|
||||||
|
Shutdown,
|
||||||
|
... //Many more
|
||||||
|
}
|
||||||
|
```
|
||||||
|
|
||||||
|
- Packet Size => The size of the packet, while it will technically be a u16 so therefore a packet size of 65535 bytes, this is INSANE sizes of packets. A packet should never need to be that large.
|
||||||
|
- Port => Supports a port number, working similar to TCP and UDP ports, allowing for multi device to device communication on a larger variety of protocols. Ports by default presume the common Privileged port concept from OS.
|
||||||
|
Where ports 0 to 1023 are Privileged, where they are only allowed by the MCU talking to itself. NOT allowed when an external device communicates with it.
|
||||||
|
- Context => A small rolling count of the communication state. This is intended just for a small syncing cost. Dropping a signifciant number of messages where a single byte u8 can't keep a sync means there is more wrong than that.
|
||||||
|
- Packet type. Will be a defined enum, that will contain all supported message types that can be sent.
|
||||||
|
|
||||||
|
### Packet Type Examples
|
||||||
|
An example of the CommunicationInfo Packet
|
||||||
|
|
||||||
|
```rust
|
||||||
|
struct CommunicationInfo {
|
||||||
|
codec: Codec,
|
||||||
|
version: u32,
|
||||||
|
magic_num: 0x1337,
|
||||||
|
}
|
||||||
|
```
|
||||||
|
|
||||||
|
An example of the Error Packet
|
||||||
|
|
||||||
|
The reasoning behind the error packet design is simple.
|
||||||
|
The error will always contain the magic num of 0x1337 at the end. Which is a simple 16 bit number. But why? Simple, the MCU (which is the server side) Should ONLY contain one codec (but can contain all), they will be set at COMPILE time. The host (which is the client side) should contain ALL (but can contain one) codecs. This allows for the host to send a invalid packet. Which will trigger an error response.
|
||||||
|
|
||||||
|
This error response will then broadcast out the generic error response. Which a host can then use to test all known codecs to attempt to decode the codec if it is unknown. This should NEVER be required, but WILL help someone at some point if it is ever needed. Errors should be RARE. So the cost of 2 bytes extra in a error packet should be low. If you have lots of errors. Fix the problem, that is usually a good idea.
|
||||||
|
|
||||||
|
```rust
|
||||||
|
struct ErrorPacket {
|
||||||
|
err: Error,
|
||||||
|
codec: Codec,
|
||||||
|
magic_num: u16 = 0x1337,
|
||||||
|
}
|
||||||
|
```
|
||||||
|
|
||||||
|
## Communication Start
|
||||||
|
|
||||||
|
Communication will start by the client (Host) sending a 5 byte magic packet
|
||||||
|
0x00 0x00 0x37 0x13 0xFF
|
||||||
|
This allows the MCU to know to respond to this packet, with a very simple response packet.
|
||||||
|
0x00 0x00 0x(number of codecs) (list of codec IDs) 0xFF
|
||||||
|
|
||||||
|
This will then allow for the host to know HOW to send a valid packet to the MCU which should then be a simpleCommunication Info Packet. Which is a the equal of a "ping" in this context
|
||||||
|
|
||||||
|
|
||||||
|
| | Packet Size | Port | Context | Packet Type | Codec | Version | Magic Num |
|
||||||
|
| ----- | ----------- | --------- | ------- | ----------------- | ------------------ | ------------------- | --------- |
|
||||||
|
| Hex | 0x0D 0x00 | 0x00 0x04 | 0x00 | 0x00 | 0x01 | 0x01 0x00 0x00 0x00 | 0x37 0x13 |
|
||||||
|
| Human | 13 | 1024 | 0 | CommunicationInfo | Postcard (Default) | 1 | 0x1337 |
|
||||||
|
|
||||||
|
Explanation of all the numbers
|
||||||
|
- Packet size -> there are 13 total bytes in this packet. Including the header
|
||||||
|
- Port -> Must be above 1023, as 1024 is the first non-privileged port.
|
||||||
|
- Context -> MCU (Server) starts context value, it will pick a random value within the 255 value range, expecting the Host (Client) to start from that, NOT 1 or 0. 0 Is ONLY valid for a CommunicationInfo Packet.
|
||||||
|
|
||||||
|
## Wire Rules
|
||||||
|
|
||||||
|
### Endianness
|
||||||
|
The protocol is strictly little-endian. Most modern systems are little-endian including micro-controllers, there is zero reason for a NEW protocol to come out as big-endian.
|
||||||
|
|
||||||
|
It is just another sync problem. For the most part, most Codec Library's for most languages support choosing the output mode, and they default to the same as the host system. Which in 95% of cases on modern devices, will be little-endian.
|
||||||
|
|
||||||
|
## Packet Header
|
||||||
|
|
||||||
|
The importance of the header design is vital in a good protocol. This header is designed to be short and sweet.
|
||||||
|
|
||||||
|
There is already a example of this in rust code in the [[#Basic Implementations]] section of the document this section will go into more detail about the concepts and the whys.
|
||||||
|
|
||||||
|
### Packet Size
|
||||||
|
The packet size, why a u 16? That is a giant packet size, most MCU will not be able to handle it. Yes, BUT the next size is a very restrictive u 8. 255 bytes is quite a few, until you need KB sized packets. Containing large states and device names.
|
||||||
|
|
||||||
|
Another thing, the Packet Size struct ALSO holds the header. Not the sync packet structure that starts with (0 x 00 0 x 00) no valid packet can start with this, why? Because the header is at least 6 bytes or (0 x 06 0 x 00). So there is NO way any valid communication can happen in the 1 to 5 byte "packet size" range.
|
||||||
|
|
||||||
|
### Port
|
||||||
|
To make things simple I am taking a Desktop OS style of port rules. Anything less than 1024 is privileged anything above it, is not.
|
||||||
|
|
||||||
|
Privileged ports will be designed for a specific things that only the MCU itself should be doing in most cases, or some form of external control should trigger it (IE an IRQ for a limit switch). These "Privileged" ports are HIGHER priority and control specific state levels that ONLY the device should control.
|
||||||
|
|
||||||
|
A good point of this, is privileged ports should be thought of as IRQ, only used by the MCU when things are going wrong or emergencies. NOT as a way to influence the devices, that should be left up to the host
|
||||||
|
|
||||||
|
### Context
|
||||||
|
The importance of communication order can be hard to keep track of. So this protocol is simple, the context MUST match the next expected one, for the MCU to execute, it will NOT execute anything out of order. Even a data request. This is to protect the integrity of expected state, thing A must happen before thing B.
|
||||||
|
|
||||||
|
To make this reasonable, we must queue a few packets. The number of packets queued will depend on the settings set by the MCU itself, along with a timeout. It will wait the Timeout duration for the expected packet, if not received it will Error DROPPING ALL PACKETS IT HAS RECEIVED.
|
||||||
|
|
||||||
|
This is again to protect the importance of state. Since the goal of this Protocol is to merge state between an MCU and a Host device. Making it SEEM like there is not even a wire bridge between them.
|
||||||
|
|
||||||
|
## Discovery
|
||||||
|
|
||||||
|
The MCU (Server) will on a basic discovery request will send the upper device tree. Which is the list of devices TYPES it has, along with the count of each.
|
||||||
|
|
||||||
|
This will let the Host (Client) Decided which devices it wants more information on. Rather than forcing a massive state sync upfront. The default will be Lazy Cache, where a device is only requested from the host on its first use, then stored. Rather than Upfront collection. This will make large massive device counts much more reliable while keeping the concept simple.
|
||||||
|
|
||||||
|
### The goal of Discovery
|
||||||
|
|
||||||
|
The MAJOR goal of discovery is to facilitate taking MCU devices, and giving them to a host for near transparent control. It should on the Host side, once setup feel like a native Object, rather than a
|
||||||
@@ -0,0 +1,14 @@
|
|||||||
|
pub fn add(left: u64, right: u64) -> u64 {
|
||||||
|
left + right
|
||||||
|
}
|
||||||
|
|
||||||
|
#[cfg(test)]
|
||||||
|
mod tests {
|
||||||
|
use super::*;
|
||||||
|
|
||||||
|
#[test]
|
||||||
|
fn it_works() {
|
||||||
|
let result = add(2, 2);
|
||||||
|
assert_eq!(result, 4);
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -0,0 +1,9 @@
|
|||||||
|
[package]
|
||||||
|
name = "rnavp_logic"
|
||||||
|
version = "0.1.0"
|
||||||
|
edition = "2024"
|
||||||
|
|
||||||
|
[dependencies]
|
||||||
|
rnavp = {path = "../rnavp"}
|
||||||
|
serde = { version = "1.0.229", default-features = false, features = ["derive"] }
|
||||||
|
uom = { version = "0.38.0", default-features = false, features = ["si", "f32"] }
|
||||||
@@ -0,0 +1 @@
|
|||||||
|
pub mod motor;
|
||||||
@@ -1,7 +1,6 @@
|
|||||||
use crate::core::motor;
|
use rnavp::motor::{self, Direction};
|
||||||
use crate::core::motor::{Direction, Speed};
|
use rnavp::pid;
|
||||||
|
use uom::si::f32::AngularVelocity;
|
||||||
use crate::core::logic::pid;
|
|
||||||
|
|
||||||
#[derive(Debug, Clone, Copy, PartialEq)]
|
#[derive(Debug, Clone, Copy, PartialEq)]
|
||||||
/// # Motor Controller
|
/// # Motor Controller
|
||||||
@@ -17,7 +16,7 @@ where
|
|||||||
T: motor::Driver + motor::Sensor,
|
T: motor::Driver + motor::Sensor,
|
||||||
{
|
{
|
||||||
motor: T,
|
motor: T,
|
||||||
max_speed: Speed,
|
max_speed: AngularVelocity,
|
||||||
pid: pid::PID,
|
pid: pid::PID,
|
||||||
current_direction: Direction,
|
current_direction: Direction,
|
||||||
}
|
}
|
||||||
@@ -25,26 +24,35 @@ where
|
|||||||
///Controller Impl for the adding the PID logic for handling the motor compiston
|
///Controller Impl for the adding the PID logic for handling the motor compiston
|
||||||
impl<T: motor::Driver + motor::Sensor> Controller<T> {
|
impl<T: motor::Driver + motor::Sensor> Controller<T> {
|
||||||
///Uses the given set_speed and then will handle the rest of the control logic to accurately* hit the requested speed
|
///Uses the given set_speed and then will handle the rest of the control logic to accurately* hit the requested speed
|
||||||
pub fn control(&mut self, set_speed: Speed) {
|
pub async fn control(&mut self, set_speed: AngularVelocity) {
|
||||||
let max_speed_rads = self.max_speed.rads();
|
let max_speed_rads = self.max_speed.value;
|
||||||
let set_speed_rads = set_speed.rads().clamp(-max_speed_rads, max_speed_rads);
|
let set_speed_rads = set_speed.value.clamp(-max_speed_rads, max_speed_rads);
|
||||||
|
|
||||||
self.pid.set_point(set_speed_rads);
|
self.pid.set_point(set_speed_rads).await;
|
||||||
let pid_output = self.pid.pid_step(self.motor.get_speed().rads());
|
let pid_output = self.pid.pid_step(self.motor.get_speed().await.value).await;
|
||||||
|
|
||||||
self.current_direction.dir_from_f32(pid_output);
|
self.current_direction.dir_from_f32(pid_output);
|
||||||
|
|
||||||
let motor_command = (pid_output * 65535.0) as u16;
|
let motor_command = (pid_output * 65535.0) as u16;
|
||||||
|
|
||||||
self.motor
|
self.motor
|
||||||
.set_speed_and_direction(motor_command, self.current_direction);
|
.set_speed_and_direction(motor_command, self.current_direction)
|
||||||
|
.await;
|
||||||
}
|
}
|
||||||
|
|
||||||
pub fn new(motor: T, max_speed: Speed, pid: pid::PID) -> Self {
|
///Retrieve the speed from the motor inside the controller.
|
||||||
|
/// This allows you to get a speed value from behind the move.
|
||||||
|
pub async fn retrieve(&self) -> AngularVelocity {
|
||||||
|
self.motor.get_speed().await
|
||||||
|
}
|
||||||
|
|
||||||
|
///Creates a new Controller with a motor (of type T), a max speed and a pid::Config
|
||||||
|
/// This then allows for you to use the controller with the provided types
|
||||||
|
pub fn new(motor: T, max_speed: AngularVelocity, config: pid::Config) -> Self {
|
||||||
Controller {
|
Controller {
|
||||||
motor: motor,
|
motor: motor,
|
||||||
max_speed: max_speed,
|
max_speed: max_speed,
|
||||||
pid: pid,
|
pid: pid::PID::new(config),
|
||||||
current_direction: Direction::CCW,
|
current_direction: Direction::CCW,
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
@@ -1,4 +0,0 @@
|
|||||||
pub mod drivetrain;
|
|
||||||
pub mod motor;
|
|
||||||
pub mod sensing;
|
|
||||||
pub mod wheel;
|
|
||||||
@@ -1 +0,0 @@
|
|||||||
|
|
||||||
@@ -1 +0,0 @@
|
|||||||
|
|
||||||
@@ -1 +0,0 @@
|
|||||||
|
|
||||||
@@ -1,3 +0,0 @@
|
|||||||
pub mod kinematics;
|
|
||||||
pub mod motor;
|
|
||||||
pub mod pid;
|
|
||||||
@@ -1,9 +0,0 @@
|
|||||||
#[cfg(feature = "core_communication")]
|
|
||||||
pub mod communication;
|
|
||||||
|
|
||||||
#[cfg(feature = "core_logic")]
|
|
||||||
pub mod logic;
|
|
||||||
|
|
||||||
pub mod motor;
|
|
||||||
pub mod positional;
|
|
||||||
pub mod units;
|
|
||||||
@@ -1,172 +0,0 @@
|
|||||||
use core::fmt::Display;
|
|
||||||
|
|
||||||
use serde::{Deserialize, Serialize};
|
|
||||||
|
|
||||||
use crate::core::{
|
|
||||||
motor::Direction::{CCW, CW},
|
|
||||||
units::{Angle, Current, Voltage},
|
|
||||||
};
|
|
||||||
|
|
||||||
///A simple enum for Counterclockwise or Clockwise direction semantics. Makes it easier much clear than a true/false bool
|
|
||||||
/// IF you use this to convert to a signed number note that CW is negative and CCW is positive
|
|
||||||
#[derive(Clone, Copy, PartialEq, Eq, Debug, Serialize, Deserialize)]
|
|
||||||
pub enum Direction {
|
|
||||||
///CounterClockWise
|
|
||||||
CCW,
|
|
||||||
///ClockWise
|
|
||||||
CW,
|
|
||||||
}
|
|
||||||
|
|
||||||
impl Direction {
|
|
||||||
///Inverts the direction currently stored in this.
|
|
||||||
/// Helps with a simple direction change without knowing the current direction.
|
|
||||||
pub fn inv_dir(&mut self) {
|
|
||||||
match *self {
|
|
||||||
Self::CCW => {
|
|
||||||
*self = Self::CW;
|
|
||||||
}
|
|
||||||
Self::CW => {
|
|
||||||
*self = Self::CCW;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
///Changes the current direction based on the sign of the float.
|
|
||||||
///Recommended to use this over the "From" impl for directions that already exist, to prevent werid 0.0 case and NaN problems
|
|
||||||
/// This handles 0.0 and NaN by just doing nothing. The "From" impl defualts to CCW for both
|
|
||||||
pub fn dir_from_f32(&mut self, value: f32) {
|
|
||||||
if value == 0.0 || value.is_nan() {
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
*self = value.into();
|
|
||||||
}
|
|
||||||
|
|
||||||
///Changes the current direction based on the sign of the int.
|
|
||||||
///Recommended to use this over the "From" impl for directions that already exist, to prevent weird 0 case problems
|
|
||||||
///This handles 0 by just doing nothing. The "From" impl defaults to CCW
|
|
||||||
pub fn dir_from_i32(&mut self, value: i32) {
|
|
||||||
if value == 0 {
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
*self = value.into();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
///Converts F32 to direction using the number's sign.
|
|
||||||
/// This defaults to CCW for 0.0 and NaN.
|
|
||||||
impl From<f32> for Direction {
|
|
||||||
fn from(value: f32) -> Self {
|
|
||||||
if value < 0.0 { CW } else { CCW }
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
/// Converts i32 to direction using the number's sign.
|
|
||||||
/// This defaults to CCW for 0.
|
|
||||||
impl From<i32> for Direction {
|
|
||||||
fn from(value: i32) -> Self {
|
|
||||||
if value < 0 { CW } else { CCW }
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
///A enum for containerizing speeds easily
|
|
||||||
/// Lets the backend take in a Rotations per minute value from a user Sensor implementation and convert it to a Radians per second value
|
|
||||||
///Pay attention to the units of each term
|
|
||||||
#[derive(Clone, Copy, PartialEq, Debug, Serialize, Deserialize)]
|
|
||||||
pub enum Speed {
|
|
||||||
///Rotations per minute
|
|
||||||
RPM(f32),
|
|
||||||
///Radians per second
|
|
||||||
RADS(f32),
|
|
||||||
}
|
|
||||||
///Used to convert from Rotations per minute to radians per second
|
|
||||||
const RPM_TO_RADS: f32 = core::f32::consts::TAU / 60.0;
|
|
||||||
///Used to convert from Radians per second to Rotations per minute
|
|
||||||
const RADS_TO_RPM: f32 = 60.0 / core::f32::consts::TAU;
|
|
||||||
|
|
||||||
impl Speed {
|
|
||||||
///Returns the value as Radians Per Second regardless of what the enum contains
|
|
||||||
/// Uses no runtime division
|
|
||||||
#[inline]
|
|
||||||
pub fn rads(&self) -> f32 {
|
|
||||||
match *self {
|
|
||||||
Self::RPM(rpm) => rpm * RADS_TO_RPM,
|
|
||||||
Self::RADS(rps) => rps,
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
///Returns the value as Rotations Per minute regardles of what the enum contains
|
|
||||||
/// Uses no runtime division
|
|
||||||
#[inline]
|
|
||||||
pub fn rpm(&self) -> f32 {
|
|
||||||
match *self {
|
|
||||||
Self::RPM(rpm) => rpm,
|
|
||||||
Self::RADS(rps) => rps * RPM_TO_RADS,
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
impl Display for Speed {
|
|
||||||
fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
|
|
||||||
write!(f, "")
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
///This trait is implemented on a motor struct to implement the motor DRIVER (like an ESC) capabalities in how it should control the motor.
|
|
||||||
/// This will then let other systems use this generic trait and system to control your motor without needing to understand the hardware as much.
|
|
||||||
pub trait Driver {
|
|
||||||
///Spins in the provided direction
|
|
||||||
/// Properly map each direction to CounterClockWise and Clockwise when LOOKING AT THE MOTOR SHAFT. This is VITAL for the way the systems within core::logic will work.
|
|
||||||
///This is best not called manually, use set_speed_and_direction_raw instead
|
|
||||||
fn spin(&mut self, dir: Direction);
|
|
||||||
|
|
||||||
///Commands the motor to stop
|
|
||||||
/// This should stop the motor in what ever way you see fit.
|
|
||||||
/// Some hardware may have a proper "Stop" or "Off" Signal, some will not.
|
|
||||||
/// If there is no proper hardware stop, verify that 0 speed is actually a stopping command and you can easily just set speed to 0 via set_speed_raw in this method.
|
|
||||||
/// No default implementation (though this is easily something I could have done) because it SHOULD be something you notice and implement PROPERLY if applicable
|
|
||||||
fn stop(&mut self);
|
|
||||||
|
|
||||||
///This method uses a full u16 to set the motor speed. This does not change spin direction.
|
|
||||||
/// You need to map 0 to 65535 properly to your specific hardware range, just because PWM is commonly 0 to 65535 do not assume that ALL ways of controlling a motor cleanly takes a value of 0 to 65535,
|
|
||||||
/// you need to verify and map properly.
|
|
||||||
/// 65535 should be the max possible speed, while 0 should be stopped.
|
|
||||||
///This is best to not call manually, use set_speed_and_direction_raw instead
|
|
||||||
fn set_speed(&mut self, speed: u16);
|
|
||||||
|
|
||||||
///Commands the motors to use the speed and spin in the same command.
|
|
||||||
///Uses a number between 0 and 65535
|
|
||||||
///This should be used in most cases, unless the motor has the core::logic::motor::controller Trait, then the the methods from that should be used instead.
|
|
||||||
fn set_speed_and_direction(&mut self, speed: u16, dir: Direction) {
|
|
||||||
//Set direction before speed, so it won't start spinning in one direction, then snap to the other.
|
|
||||||
//Most MCUs should execute these two lines of code so fast, that it should be neglible regardless.
|
|
||||||
self.spin(dir);
|
|
||||||
self.set_speed(speed);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
///This trait is implemented on motors that have some form of sensory feedback. Note that this does not require the motor ITSELF provide feedback, just that the setup the motor is in supports it. IE, a Current draw based ESC
|
|
||||||
/// Speed Feedback is REQUIRED, if your device does not provide speed feedback directly,
|
|
||||||
/// Implement the other conditions and use them to then implement the speed method.
|
|
||||||
///
|
|
||||||
/// Some motors/sensors might have a direct "Current Angle" being reported, the option is there in case yours can, so the communication system can sync it to the host for you.
|
|
||||||
/// Some sensors may also provide current and voltage feedback, if implemented the communication system can sync them to the host you for.
|
|
||||||
/// Can also be used for other custom logic. They are unused by RNavP, entirely optional.
|
|
||||||
pub trait Sensor {
|
|
||||||
///Returns the speed struct value from the motors sensor.
|
|
||||||
/// This should be non-blocking, there should be some form of cached value ready to go as soon as the method is called
|
|
||||||
///
|
|
||||||
/// IF properly returned in the correct Enum Data field, all other systems will use the value propely, being unit agnostic later.
|
|
||||||
fn get_speed(&self) -> Speed;
|
|
||||||
|
|
||||||
///Returns the current from the sensor, if it capable.
|
|
||||||
/// This should be non-blocking. Keep a cached value ready.
|
|
||||||
fn get_current(&self) -> Option<Current>;
|
|
||||||
|
|
||||||
///Returns the current voltage from the sensro, if it is capable.
|
|
||||||
/// This should be non-blocking. Keep a cached value ready.
|
|
||||||
fn get_voltage(&self) -> Option<Voltage>;
|
|
||||||
|
|
||||||
///Returns the current angle from the sensor if it is capable.
|
|
||||||
/// This should be non-blocking. Keep a cached value ready.
|
|
||||||
fn get_angle(&self) -> Option<Angle>;
|
|
||||||
}
|
|
||||||
@@ -1,250 +0,0 @@
|
|||||||
use core::fmt::Display;
|
|
||||||
|
|
||||||
use serde::{Deserialize, Serialize};
|
|
||||||
|
|
||||||
///Generic Positional Data Struct, This can contain XYZ positions in meters or Radians
|
|
||||||
#[derive(Serialize, Deserialize, Clone, Copy, PartialEq, Debug)]
|
|
||||||
pub struct XYZPos {
|
|
||||||
x: Option<f32>,
|
|
||||||
y: Option<f32>,
|
|
||||||
z: Option<f32>,
|
|
||||||
unit: Unit,
|
|
||||||
}
|
|
||||||
|
|
||||||
///Generic Velocity Data Struct, This can contain XYZ velocities in Meters Per Second or Radians Per Second
|
|
||||||
#[derive(Serialize, Deserialize, Clone, Copy, PartialEq, Debug)]
|
|
||||||
pub struct XYZVel {
|
|
||||||
x: Option<f32>,
|
|
||||||
y: Option<f32>,
|
|
||||||
z: Option<f32>,
|
|
||||||
unit: Unit,
|
|
||||||
}
|
|
||||||
|
|
||||||
///Generic Acceleration Data Struct, This can contain XYZ accelerations in Meters Per Second Squared or Radians Per Second
|
|
||||||
#[derive(Serialize, Deserialize, Clone, Copy, PartialEq, Debug)]
|
|
||||||
pub struct XYZAccel {
|
|
||||||
x: Option<f32>,
|
|
||||||
y: Option<f32>,
|
|
||||||
z: Option<f32>,
|
|
||||||
unit: Unit,
|
|
||||||
}
|
|
||||||
|
|
||||||
impl XYZData for XYZPos {
|
|
||||||
fn x(&self) -> Option<f32> {
|
|
||||||
self.x
|
|
||||||
}
|
|
||||||
|
|
||||||
fn y(&self) -> Option<f32> {
|
|
||||||
self.y
|
|
||||||
}
|
|
||||||
|
|
||||||
fn z(&self) -> Option<f32> {
|
|
||||||
self.z
|
|
||||||
}
|
|
||||||
|
|
||||||
fn unit(&self) -> Unit {
|
|
||||||
self.unit
|
|
||||||
}
|
|
||||||
|
|
||||||
fn is_pos(&self) -> bool {
|
|
||||||
true
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
impl XYZData for XYZVel {
|
|
||||||
fn x(&self) -> Option<f32> {
|
|
||||||
self.x
|
|
||||||
}
|
|
||||||
|
|
||||||
fn y(&self) -> Option<f32> {
|
|
||||||
self.y
|
|
||||||
}
|
|
||||||
|
|
||||||
fn z(&self) -> Option<f32> {
|
|
||||||
self.z
|
|
||||||
}
|
|
||||||
|
|
||||||
fn unit(&self) -> Unit {
|
|
||||||
self.unit
|
|
||||||
}
|
|
||||||
|
|
||||||
fn is_vel(&self) -> bool {
|
|
||||||
true
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
impl XYZData for XYZAccel {
|
|
||||||
fn x(&self) -> Option<f32> {
|
|
||||||
self.x
|
|
||||||
}
|
|
||||||
|
|
||||||
fn y(&self) -> Option<f32> {
|
|
||||||
self.y
|
|
||||||
}
|
|
||||||
|
|
||||||
fn z(&self) -> Option<f32> {
|
|
||||||
self.z
|
|
||||||
}
|
|
||||||
|
|
||||||
fn unit(&self) -> Unit {
|
|
||||||
self.unit
|
|
||||||
}
|
|
||||||
|
|
||||||
fn is_accel(&self) -> bool {
|
|
||||||
true
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
impl Position for XYZPos {}
|
|
||||||
|
|
||||||
impl Velocity for XYZVel {}
|
|
||||||
|
|
||||||
impl Acceleration for XYZAccel {}
|
|
||||||
|
|
||||||
impl Display for XYZPos {
|
|
||||||
fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
|
|
||||||
let unit_str = match self.unit {
|
|
||||||
Unit::Meters => "m",
|
|
||||||
Unit::Radians => "rad",
|
|
||||||
Unit::Custom => "custom",
|
|
||||||
};
|
|
||||||
|
|
||||||
write!(
|
|
||||||
f,
|
|
||||||
"[X: {:?}{unit_str} | Y: {:?}{unit_str} | Z: {:?}{unit_str}]",
|
|
||||||
self.x, self.y, self.z
|
|
||||||
)
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
impl Display for XYZVel {
|
|
||||||
fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
|
|
||||||
let unit_str = match self.unit {
|
|
||||||
Unit::Meters => "m",
|
|
||||||
Unit::Radians => "rad",
|
|
||||||
Unit::Custom => "custom",
|
|
||||||
};
|
|
||||||
|
|
||||||
write!(
|
|
||||||
f,
|
|
||||||
"[X: {:?}{unit_str}/s | Y: {:?}{unit_str}/s | Z: {:?}{unit_str}/s]",
|
|
||||||
self.x, self.y, self.z
|
|
||||||
)
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
impl Display for XYZAccel {
|
|
||||||
fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
|
|
||||||
let unit_str = match self.unit {
|
|
||||||
Unit::Meters => "m",
|
|
||||||
Unit::Radians => "rad",
|
|
||||||
Unit::Custom => "custom",
|
|
||||||
};
|
|
||||||
|
|
||||||
write!(
|
|
||||||
f,
|
|
||||||
"[X: {:?}{unit_str}/s^2 | Y: {:?}{unit_str}/s^2 | Z: {:?}{unit_str}/s^2]",
|
|
||||||
self.x, self.y, self.z
|
|
||||||
)
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
///Structs that impl this trait, mean they are positions. Determine what type of position by reading the unit.
|
|
||||||
pub trait Position: XYZData {}
|
|
||||||
|
|
||||||
///Structs that impl this trait mean they are Velocities. Determine what type of velocity by reading the unit.
|
|
||||||
pub trait Velocity: XYZData {}
|
|
||||||
|
|
||||||
///Structs that impl this trait mean they are Accelerations. Determine what type of Acceleration by reading the unit.
|
|
||||||
pub trait Acceleration: XYZData {}
|
|
||||||
|
|
||||||
///This is the data backbone for the XYZ Position, Velocity, and Acceleration Data structs.
|
|
||||||
///They MUST implmenent this so it possible to easily and quickly get the data from the struct.
|
|
||||||
///Provides methods to check what type this is
|
|
||||||
pub trait XYZData {
|
|
||||||
fn x(&self) -> Option<f32>;
|
|
||||||
fn y(&self) -> Option<f32>;
|
|
||||||
fn z(&self) -> Option<f32>;
|
|
||||||
fn unit(&self) -> Unit;
|
|
||||||
|
|
||||||
///Returns an array of f32s that are the XYZ position, velocity or accel, based on the implemented traits.
|
|
||||||
///Any option field in the array that are None are returned as 0.0 here.
|
|
||||||
///Do not forget to check the unit, this may be in radians or meters.
|
|
||||||
fn xyz_array(&self) -> [f32; 3] {
|
|
||||||
[
|
|
||||||
self.x().unwrap_or(0.0),
|
|
||||||
self.y().unwrap_or(0.0),
|
|
||||||
self.z().unwrap_or(0.0),
|
|
||||||
]
|
|
||||||
}
|
|
||||||
|
|
||||||
fn is_pos(&self) -> bool {
|
|
||||||
false
|
|
||||||
}
|
|
||||||
fn is_vel(&self) -> bool {
|
|
||||||
false
|
|
||||||
}
|
|
||||||
fn is_accel(&self) -> bool {
|
|
||||||
false
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
#[derive(Clone, Copy, Debug, Serialize, Deserialize, PartialEq)]
|
|
||||||
pub enum XYZDataBucket {
|
|
||||||
Pos(XYZPos),
|
|
||||||
Vel(XYZVel),
|
|
||||||
Accel(XYZAccel),
|
|
||||||
}
|
|
||||||
|
|
||||||
impl XYZData for XYZDataBucket {
|
|
||||||
fn is_pos(&self) -> bool {
|
|
||||||
matches!(self, Self::Pos(_))
|
|
||||||
}
|
|
||||||
fn is_vel(&self) -> bool {
|
|
||||||
matches!(self, Self::Vel(_))
|
|
||||||
}
|
|
||||||
fn is_accel(&self) -> bool {
|
|
||||||
matches!(self, Self::Accel(_))
|
|
||||||
}
|
|
||||||
|
|
||||||
fn x(&self) -> Option<f32> {
|
|
||||||
match self {
|
|
||||||
Self::Pos(p) => p.x(),
|
|
||||||
Self::Vel(v) => v.x(),
|
|
||||||
Self::Accel(a) => a.x(),
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
fn y(&self) -> Option<f32> {
|
|
||||||
match self {
|
|
||||||
Self::Pos(p) => p.y(),
|
|
||||||
Self::Vel(v) => v.y(),
|
|
||||||
Self::Accel(a) => a.y(),
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
fn z(&self) -> Option<f32> {
|
|
||||||
match self {
|
|
||||||
Self::Pos(p) => p.z(),
|
|
||||||
Self::Vel(v) => v.z(),
|
|
||||||
Self::Accel(a) => a.z(),
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
fn unit(&self) -> Unit {
|
|
||||||
match self {
|
|
||||||
Self::Pos(p) => p.unit(),
|
|
||||||
Self::Vel(v) => v.unit(),
|
|
||||||
Self::Accel(a) => a.unit(),
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
///Represents the unit this position struct is carrying. Combining the Unit + Trait it impls lets you determine what this message contains
|
|
||||||
/// If you need to send a unit not listed here please use Unit::Custom
|
|
||||||
#[derive(Serialize, Deserialize, Clone, Copy, PartialEq, Eq, Debug)]
|
|
||||||
pub enum Unit {
|
|
||||||
Meters,
|
|
||||||
Radians,
|
|
||||||
Custom,
|
|
||||||
}
|
|
||||||
@@ -1,75 +0,0 @@
|
|||||||
use serde::{Deserialize, Serialize};
|
|
||||||
|
|
||||||
///Standard conversion constant to convert to micro from base unit
|
|
||||||
pub const TO_MICRO: f32 = 1_000_000.0;
|
|
||||||
///Standard conversion constant to convert from micro to base unit;
|
|
||||||
pub const FROM_MICRO: f32 = 1.0 / 1_000_000.0;
|
|
||||||
///Standard conversion constant to convert to milli from base unit;
|
|
||||||
pub const TO_MILLI: f32 = 1_000.0;
|
|
||||||
///Standard conversion constant to convert from milli to base unit;
|
|
||||||
pub const FROM_MILLI: f32 = 1.0 / 1_000.0;
|
|
||||||
|
|
||||||
///Standard way for the RNavP system to transfer around Current measurements.
|
|
||||||
/// This system by default uses Amps as f32.
|
|
||||||
/// Offers MilliAmps and MicroAmps for utilizing higher precision raw data for when needed.
|
|
||||||
/// Implements all needed conversions for handling f32 into and from this data type.
|
|
||||||
/// Uses Amps by default, please use MicroAmps and MilliVolts when needed for higher precision.
|
|
||||||
#[derive(Copy, Clone, Debug, PartialEq, Serialize, Deserialize)]
|
|
||||||
pub enum Current {
|
|
||||||
Amps(f32),
|
|
||||||
MilliAmps(i32),
|
|
||||||
MicroAmps(i32),
|
|
||||||
}
|
|
||||||
|
|
||||||
impl From<f32> for Current {
|
|
||||||
fn from(value: f32) -> Self {
|
|
||||||
Self::Amps(value)
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
impl Into<f32> for Current {
|
|
||||||
fn into(self) -> f32 {
|
|
||||||
match self {
|
|
||||||
Self::MicroAmps(micro) => micro as f32 * FROM_MICRO,
|
|
||||||
Self::MilliAmps(milli) => milli as f32 * FROM_MILLI,
|
|
||||||
Self::Amps(amps) => amps,
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
///Standard way for the RNavP system to transfer around voltage measurements.
|
|
||||||
/// This system by default uses Volts as f32.
|
|
||||||
/// Offers MilliVolts and MicroVolts for utilizing higher precison raw data for when needed.
|
|
||||||
/// Implements all needed conversions for handling f32 into and from this dataType.
|
|
||||||
/// Uses Volts by default, please use MicroVolts and MilliVolts when needed for higher precision.
|
|
||||||
#[derive(Copy, Clone, Debug, PartialEq, Serialize, Deserialize)]
|
|
||||||
pub enum Voltage {
|
|
||||||
Volts(f32),
|
|
||||||
MilliVolts(i32),
|
|
||||||
MicroVolts(i32),
|
|
||||||
}
|
|
||||||
|
|
||||||
impl From<f32> for Voltage {
|
|
||||||
fn from(value: f32) -> Self {
|
|
||||||
Self::Volts(value)
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
impl Into<f32> for Voltage {
|
|
||||||
fn into(self) -> f32 {
|
|
||||||
match self {
|
|
||||||
Self::MicroVolts(micro) => micro as f32 * FROM_MICRO,
|
|
||||||
Self::MilliVolts(milli) => milli as f32 * FROM_MILLI,
|
|
||||||
Self::Volts(volts) => volts,
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
///Standard way for the RnavP system for handling angles.
|
|
||||||
/// The system does use a f32, so no conversions needed.
|
|
||||||
/// Has methods for returning the wanted unit type regardless of what is stored.
|
|
||||||
#[derive(Copy, Clone, Debug, PartialEq, Serialize, Deserialize)]
|
|
||||||
pub enum Angle {
|
|
||||||
Degrees(f32),
|
|
||||||
Radians(f32),
|
|
||||||
}
|
|
||||||
@@ -1,7 +0,0 @@
|
|||||||
#[cfg(feature = "std")]
|
|
||||||
compile_error!(
|
|
||||||
"The 'std' feature is enabled, which is incompatible with 'embassy'. \n\
|
|
||||||
The 'host' feature (enabled by default) turns on 'std'. \n\
|
|
||||||
Please use '--no-default-features --features embassy' to build for MCU\n\
|
|
||||||
or verify that you have not included a different feature that requires'std'"
|
|
||||||
);
|
|
||||||
@@ -1 +0,0 @@
|
|||||||
|
|
||||||
-13
@@ -1,13 +0,0 @@
|
|||||||
#![cfg_attr(not(feature = "std"), no_std)]
|
|
||||||
|
|
||||||
#[cfg(feature = "std")]
|
|
||||||
extern crate std;
|
|
||||||
|
|
||||||
#[cfg(feature = "core")]
|
|
||||||
pub mod core;
|
|
||||||
|
|
||||||
#[cfg(feature = "embassy")]
|
|
||||||
pub mod embassy;
|
|
||||||
|
|
||||||
#[cfg(feature = "host")]
|
|
||||||
pub mod host;
|
|
||||||
Reference in New Issue
Block a user