From eadf30aff742deb80f89f9065936dc1fda4ec58d Mon Sep 17 00:00:00 2001
From: Sam Der <sder@uci.edu>
Date: Wed, 29 May 2024 09:09:03 -0700
Subject: [PATCH] Create inverter board abstraction to send velocity and
 throttle to Raspberry Pi Pico (#83)

* Add inverter board abstraction

* InverterBoard refactoring

- Extract arguments to Uart::with_path to constants
- Simplify send_control to use format! rather than string concatenation
---
 .../src/components/inverter_board.rs          | 25 +++++++++++++++++++
 pod-operation/src/components/mod.rs           |  1 +
 pod-operation/src/demo.rs                     |  8 ++++++
 pod-operation/src/main.rs                     |  4 +++
 4 files changed, 38 insertions(+)
 create mode 100644 pod-operation/src/components/inverter_board.rs

diff --git a/pod-operation/src/components/inverter_board.rs b/pod-operation/src/components/inverter_board.rs
new file mode 100644
index 00000000..7a4c143f
--- /dev/null
+++ b/pod-operation/src/components/inverter_board.rs
@@ -0,0 +1,25 @@
+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;
+
+pub struct InverterBoard {
+	uart: Uart,
+}
+
+impl InverterBoard {
+	pub fn new() -> Self {
+		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.
+	pub fn send_control(&mut self, velocity: f32, throttle: f32) {
+		let message = format!("{velocity} {throttle}\n");
+		self.uart.write(message.as_bytes()).unwrap();
+	}
+}
diff --git a/pod-operation/src/components/mod.rs b/pod-operation/src/components/mod.rs
index 359e1a54..02e112a3 100644
--- a/pod-operation/src/components/mod.rs
+++ b/pod-operation/src/components/mod.rs
@@ -1,6 +1,7 @@
 pub mod brakes;
 pub mod gyro;
 pub mod high_voltage_system;
+pub mod inverter_board;
 pub mod lim_current;
 pub mod lim_temperature;
 pub mod pressure_transducer;
diff --git a/pod-operation/src/demo.rs b/pod-operation/src/demo.rs
index e4e766e3..1cabf1ab 100644
--- a/pod-operation/src/demo.rs
+++ b/pod-operation/src/demo.rs
@@ -3,6 +3,7 @@ use tracing::info;
 use crate::components::brakes::Brakes;
 use crate::components::gyro::Gyroscope;
 use crate::components::high_voltage_system::HighVoltageSystem;
+use crate::components::inverter_board::InverterBoard;
 use crate::components::lim_current::LimCurrent;
 use crate::components::lim_temperature::LimTemperature;
 use crate::components::pressure_transducer::PressureTransducer;
@@ -121,3 +122,10 @@ pub async fn high_voltage_system(mut high_voltage_system: HighVoltageSystem) {
 		i += 1;
 	}
 }
+
+pub async fn inverter_control(mut inverter_control: InverterBoard) {
+	loop {
+		inverter_control.send_control(0.0, 1.0);
+		tokio::time::sleep(std::time::Duration::from_secs(1)).await;
+	}
+}
diff --git a/pod-operation/src/main.rs b/pod-operation/src/main.rs
index 6dc31212..198c8766 100644
--- a/pod-operation/src/main.rs
+++ b/pod-operation/src/main.rs
@@ -10,6 +10,7 @@ mod state_machine;
 use crate::components::brakes::Brakes;
 use crate::components::gyro::Gyroscope;
 use crate::components::high_voltage_system::HighVoltageSystem;
+use crate::components::inverter_board::InverterBoard;
 use crate::components::lim_current::LimCurrent;
 use crate::components::lim_temperature::LimTemperature;
 use crate::components::pressure_transducer::PressureTransducer;
@@ -56,6 +57,9 @@ async fn main() -> Result<(), Box<dyn std::error::Error>> {
 	let limcurrent = LimCurrent::new(ads1x1x::SlaveAddr::Default);
 	tokio::spawn(demo::read_lim_current(limcurrent));
 
+	let inverter_board = InverterBoard::new();
+	tokio::spawn(demo::inverter_control(inverter_board));
+
 	let app = axum::Router::new().layer(layer);
 
 	info!("Starting server on port 5000");