Merge pull request #113 from UCI-HyperXite/feature/conditional-compil…

…ation

Implement feature flags for conditional compilation

.github/workflows/run-checks.yml

@@ -89,11 +89,14 @@ jobs:
       - name: Run cargo fmt
         run: cargo fmt --all -- --check
 
-      - name: Lint pod operation
+      - name: Lint pod operation (w/o rpi)
         run: cargo clippy -- -D warnings
 
+      - name: Lint pod operation (w/ rpi)
+        run: cargo clippy --features rpi -- -D warnings
+
       - name: Build Pod Operation Program (debug)
         run: cargo build --target $TARGET --config target.$TARGET.linker=\"aarch64-linux-gnu-gcc\"
 
       - name: Build Pod Operation Program (release)
-        run: cargo build --target $TARGET --config target.$TARGET.linker=\"aarch64-linux-gnu-gcc\" --release
+        run: cargo brpi --config target.$TARGET.linker=\"aarch64-linux-gnu-gcc\"

.vscode/settings.json

@@ -0,0 +1,5 @@
+{
+	"rust-analyzer.cargo.features": [
+		// "rpi"
+	]
+}

pod-operation/.cargo/config.toml

@@ -1,6 +1,9 @@
 # Configuration to cross-compile for Raspberry Pi
 # Uncomment lines as needed
 
+[alias]
+brpi = "build --release --features rpi --target=aarch64-unknown-linux-gnu"
+
 [build]
 # target = "aarch64-unknown-linux-gnu"
 

pod-operation/Cargo.toml

@@ -16,12 +16,20 @@ tracing-subscriber = { version = "0.3.17", features = ["env-filter"] }
 enum-map = "2.7.3"
 once_cell = "1.19.0"
 num_enum = "0.7.2"
-
-rppal = { version = "0.18.0", features = ["hal"] }
+rppal = { version = "0.18.0", features = ["hal"], optional = true }
 ina219 = "0.1.0"
 ads1x1x = "0.2.2"
 nb = "1.1.0"
 mpu6050 = "0.1.6"
-lidar_lite_v3 = "0.1.0"
+lidar_lite_v3 = { version = "0.1.0", optional = true }
 i2cdev = "0.3.1"
 byteorder = "1.4.3"
+
+[features]
+gpio = ["dep:rppal"]
+ina219 = ["dep:rppal"]
+ads1015 = ["dep:rppal"]
+mpu6050 = ["dep:rppal"]
+inverter = ["dep:rppal"]
+lidar = ["dep:lidar_lite_v3"]
+rpi = ["gpio", "ads1015", "ina219", "mpu6050", "inverter", "lidar"]

pod-operation/README.md

@@ -90,10 +90,10 @@ cargo watch -x run
 
 Uncomment the aarch64 Linux linker for your operating system in `.cargo/config.toml`.
 
-To build for production, use the `--release` option:
+To do a release build for the Raspberry Pi, use the `brpi` alias:
 
 ```shell
-cargo build --target aarch64-unknown-linux-gnu --release
+cargo brpi
 ```
 
 Alternatively, use `cross` to compile in a container:

pod-operation/package.json

@@ -3,7 +3,7 @@
 	"version": "1.0.0",
 	"description": "This Rust package is for the main program to be run on the pod. The program runs a finite-state machine to operate the pod components and acts as a Socket.IO server to communicate with the control station.",
 	"scripts": {
-		"lint": "cargo clippy",
+		"lint": "cargo clippy && cargo clippy --features rpi",
 		"format": "cargo fmt",
 		"test": "cargo test"
 	},

pod-operation/src/components/brakes.rs

@@ -1,4 +1,8 @@
+#[cfg(not(feature = "gpio"))]
+use crate::utils::mock::gpio::OutputPin;
+#[cfg(feature = "gpio")]
 use rppal::gpio::{Gpio, OutputPin};
+
 use tracing::debug;
 
 use crate::utils::GpioPins;
@@ -10,6 +14,11 @@ pub struct Brakes {
 impl Brakes {
 	pub fn new() -> Self {
 		Brakes {
+			#[cfg(not(feature = "gpio"))]
+			pin: OutputPin {
+				pin: GpioPins::PNEUMATICS_RELAY.into(),
+			},
+			#[cfg(feature = "gpio")]
 			pin: Gpio::new()
 				.unwrap()
 				.get(GpioPins::PNEUMATICS_RELAY.into())

pod-operation/src/components/gyro.rs

@@ -1,9 +1,13 @@
-use mpu6050::Mpu6050;
-use rppal::hal::Delay;
-use rppal::i2c::I2c;
+#[cfg(feature = "mpu6050")]
+use {
+	mpu6050::Mpu6050,
+	rppal::{hal::Delay, i2c::I2c},
+};
+
 use serde::Serialize;
 
 pub struct Gyroscope {
+	#[cfg(feature = "mpu6050")]
 	mpu6050: Mpu6050<I2c>,
 }
 
@@ -14,18 +18,33 @@ pub struct Orientation {
 }
 
 impl Gyroscope {
+	#[cfg(feature = "mpu6050")]
 	pub fn new() -> Self {
 		let i2c = I2c::new().unwrap();
 		let mut mpu6050 = Mpu6050::new(i2c);
 		mpu6050.init(&mut Delay::new()).unwrap();
 		Gyroscope { mpu6050 }
 	}
 
+	#[cfg(feature = "mpu6050")]
 	pub fn read_orientation(&mut self) -> Orientation {
 		let angles = self.mpu6050.get_acc_angles().unwrap();
 		Orientation {
 			pitch: angles[1],
 			roll: angles[0],
 		}
 	}
+
+	#[cfg(not(feature = "mpu6050"))]
+	pub fn new() -> Self {
+		Gyroscope {}
+	}
+
+	#[cfg(not(feature = "mpu6050"))]
+	pub fn read_orientation(&mut self) -> Orientation {
+		Orientation {
+			pitch: 0.0,
+			roll: 0.0,
+		}
+	}
 }

pod-operation/src/components/high_voltage_system.rs

@@ -1,4 +1,8 @@
+#[cfg(not(feature = "gpio"))]
+use crate::utils::mock::gpio::OutputPin;
+#[cfg(feature = "gpio")]
 use rppal::gpio::{Gpio, OutputPin};
+
 use tracing::debug;
 
 use crate::utils::GpioPins;
@@ -10,6 +14,11 @@ pub struct HighVoltageSystem {
 impl HighVoltageSystem {
 	pub fn new() -> Self {
 		HighVoltageSystem {
+			#[cfg(not(feature = "gpio"))]
+			pin: OutputPin {
+				pin: GpioPins::CONTACTOR_RELAY.into(),
+			},
+			#[cfg(feature = "gpio")]
 			pin: Gpio::new()
 				.unwrap()
 				.get(GpioPins::CONTACTOR_RELAY.into())

pod-operation/src/components/inverter_board.rs

@@ -1,25 +1,54 @@
+#[cfg(feature = "inverter")]
 use rppal::uart::{Parity, Uart};
 
-const SERIAL_PATH: &str = "/dev/tty/ACM0";
-const BAUD_RATE: u32 = 9600;
-const PARITY: Parity = Parity::None;
-const DATA_BITS: u8 = 8;
-const STOP_BITS: u8 = 1;
+use tracing::debug;
+
+#[cfg(feature = "inverter")]
+mod serial_constants {
+	use super::Parity;
+	pub const SERIAL_PATH: &str = "/dev/ttyACM0";
+	pub const BAUD_RATE: u32 = 9600;
+	pub const PARITY: Parity = Parity::None;
+	pub const DATA_BITS: u8 = 8;
+	pub const STOP_BITS: u8 = 1;
+}
 
 pub struct InverterBoard {
+	#[cfg(feature = "inverter")]
 	uart: Uart,
 }
 
 impl InverterBoard {
+	#[cfg(feature = "inverter")]
 	pub fn new() -> Self {
+		use serial_constants::*;
 		let uart = Uart::with_path(SERIAL_PATH, BAUD_RATE, PARITY, DATA_BITS, STOP_BITS).unwrap();
 		Self { uart }
 	}
 
 	/// Combine velocity and throttle into a space-separated string message and then send it over to
 	/// the Pico as bytes.
+	#[cfg(feature = "inverter")]
 	pub fn send_control(&mut self, velocity: f32, throttle: f32) {
 		let message = format!("{velocity} {throttle}\n");
+		debug!(
+			"Sending inverter control message: {} {}",
+			velocity, throttle
+		);
 		self.uart.write(message.as_bytes()).unwrap();
 	}
+
+	#[cfg(not(feature = "inverter"))]
+	pub fn new() -> Self {
+		InverterBoard {}
+	}
+
+	/// Combine velocity and throttle into a space-separated string message
+	#[cfg(not(feature = "inverter"))]
+	pub fn send_control(&mut self, velocity: f32, throttle: f32) {
+		debug!(
+			"Mocking inverter sending message: {} {}",
+			velocity, throttle
+		);
+	}
 }

pod-operation/src/components/lidar.rs

@@ -1,24 +1,42 @@
-use i2cdev::linux::LinuxI2CDevice;
-use lidar_lite_v3::LidarLiteV3;
+use tracing::info;
 
+#[cfg(feature = "lidar")]
+use {i2cdev::linux::LinuxI2CDevice, lidar_lite_v3::LidarLiteV3};
+
+#[cfg(feature = "lidar")]
 const LIDAR_ADDRESS: u16 = 0x62;
 
 pub struct Lidar {
+	#[cfg(feature = "lidar")]
 	lidar_lite: LidarLiteV3<LinuxI2CDevice>,
 }
 
 impl Lidar {
+	#[cfg(feature = "lidar")]
 	pub fn new() -> Lidar {
 		let i2cdev = LinuxI2CDevice::new("/dev/i2c-1", LIDAR_ADDRESS)
 			.expect("Failed to initialize I2C device");
 		let lidar_lite = LidarLiteV3::new(i2cdev).expect("Failed to initialize LidarLiteV3");
 
+		info!("Initialized LidarLite");
 		Lidar { lidar_lite }
 	}
 
+	#[cfg(not(feature = "lidar"))]
+	pub fn new() -> Lidar {
+		info!("Mocking lidar device");
+		Lidar {}
+	}
+
 	/// Convert the distance from centimeters to meters
+	#[cfg(feature = "lidar")]
 	pub fn read_distance(&mut self) -> f32 {
 		let distance = self.lidar_lite.read_distance(false).unwrap();
 		f32::from(distance) / 100.0
 	}
+
+	#[cfg(not(feature = "lidar"))]
+	pub fn read_distance(&mut self) -> f32 {
+		100.0
+	}
 }

pod-operation/src/components/lim_current.rs

@@ -1,42 +1,61 @@
-use ads1x1x::ic::{Ads1015, Resolution12Bit};
-use ads1x1x::interface::I2cInterface;
-use ads1x1x::mode::OneShot;
-use ads1x1x::ChannelSelection::{SingleA0, SingleA1, SingleA2};
-use ads1x1x::{Ads1x1x, DynamicOneShot, FullScaleRange, SlaveAddr};
-use nb::block;
-use rppal::i2c::I2c;
+use ads1x1x::SlaveAddr;
+use tracing::info;
+#[cfg(feature = "ads1015")]
+use {
+	ads1x1x::ic::{Ads1015, Resolution12Bit},
+	ads1x1x::interface::I2cInterface,
+	ads1x1x::mode::OneShot,
+	ads1x1x::ChannelSelection::{SingleA0, SingleA1, SingleA2},
+	ads1x1x::{Ads1x1x, DynamicOneShot, FullScaleRange},
+	nb::block,
+	rppal::i2c::I2c,
+};
 
 const QUIESCENT_VOLTAGE: f32 = 2.5; //Units: volts (v)
 const SENSITIVITY: f32 = 0.066; //Unit: vots/amp (v/a)
 
 fn voltage_to_current(voltage: i16) -> f32 {
 	let voltage = f32::from(voltage) / 1000.0;
-	let current = (voltage - QUIESCENT_VOLTAGE) / SENSITIVITY;
-	println!("Voltage: {}", voltage);
-	current
+	(voltage - QUIESCENT_VOLTAGE) / SENSITIVITY
 }
 
 pub struct LimCurrent {
+	#[cfg(feature = "ads1015")]
 	ads1015: Ads1x1x<I2cInterface<I2c>, Ads1015, Resolution12Bit, OneShot>,
 }
 
 impl LimCurrent {
+	#[cfg(feature = "ads1015")]
 	pub fn new(device_address: SlaveAddr) -> Self {
 		let i2cdev = I2c::new().unwrap();
 		let mut adc = Ads1x1x::new_ads1015(i2cdev, device_address);
 		adc.set_full_scale_range(FullScaleRange::Within4_096V)
 			.unwrap();
+		info!("Configured ADS1015 for for LimCurrent");
 		LimCurrent { ads1015: adc }
 	}
 
+	#[cfg(not(feature = "ads1015"))]
+	pub fn new(device_address: SlaveAddr) -> Self {
+		info!("Mocking ADS at {:?} for LimCurrent", device_address);
+		LimCurrent {}
+	}
+
 	pub fn cleanup(self) {
+		#[cfg(feature = "ads1015")]
 		self.ads1015.destroy_ads1015();
 	}
 
+	#[cfg(feature = "ads1015")]
 	pub fn read_currents(&mut self) -> (f32, f32, f32) {
 		[SingleA0, SingleA1, SingleA2]
 			.map(|channel| block!(self.ads1015.read(channel)).unwrap() * 2)
 			.map(voltage_to_current)
 			.into()
 	}
+
+	#[cfg(not(feature = "ads1015"))]
+	pub fn read_currents(&mut self) -> (f32, f32, f32) {
+		[2500, 2500, 2500].map(voltage_to_current).into()
+	}
 }