Add conditional compilation for motor uart/vesc

Author: taesungh

pod-operation/Cargo.toml

@@ -32,5 +32,6 @@ ina219 = ["dep:rppal"]
 ads1015 = ["dep:rppal"]
 mpu6050 = ["dep:rppal"]
 inverter = ["dep:rppal"]
+vesc = ["dep:rppal"]
 lidar = ["dep:lidar_lite_v3"]
-rpi = ["gpio", "ads1015", "ina219", "mpu6050", "inverter", "lidar"]
+rpi = ["gpio", "ads1015", "ina219", "mpu6050", "inverter", "vesc", "lidar"]

pod-operation/src/components/motors.rs

@@ -1,28 +1,55 @@
-use rppal::uart::{Parity, Uart};
-use vesc_comm::{VescConnection, VescErrorWithBacktrace};
+#[cfg(feature = "vesc")]
+use {rppal::uart::Uart, vesc_comm::VescConnection};
 
-const BAUD_RATE: u32 = 115200;
-const PARITY: Parity = Parity::None;
-const DATA_BITS: u8 = 8;
-const STOP_BITS: u8 = 1;
+use tracing::debug;
+use tracing::info;
+use vesc_comm::VescErrorWithBacktrace;
+
+#[cfg(feature = "vesc")]
+mod serial_constants {
+	use rppal::uart::Parity;
+
+	pub const BAUD_RATE: u32 = 115200;
+	pub const PARITY: Parity = Parity::None;
+	pub const DATA_BITS: u8 = 8;
+	pub const STOP_BITS: u8 = 1;
+}
 
 const WHEEL_DIAMETER: f32 = 1.5; // inches
 const MPH_TO_IN_PER_MIN: f32 = 1056.0;
 const MPH_TO_RPM: f32 = MPH_TO_IN_PER_MIN / WHEEL_DIAMETER;
 
 pub struct Motors {
+	#[cfg(feature = "vesc")]
 	pub vesc: VescConnection<Uart>,
 }
 
 impl Motors {
+	#[cfg(feature = "vesc")]
 	pub fn new(serial_path: &str) -> Self {
+		use serial_constants::*;
 		let uart = Uart::with_path(serial_path, BAUD_RATE, PARITY, DATA_BITS, STOP_BITS).unwrap();
 		let conn = VescConnection::new(uart);
+		info!("Initialized VESC on {}", serial_path);
 		Self { vesc: conn }
 	}
 
+	#[cfg(not(feature = "vesc"))]
+	pub fn new(serial_path: &str) -> Self {
+		info!("Mocking VESC on {}", serial_path);
+		Self {}
+	}
+
+	#[cfg(feature = "vesc")]
 	pub fn set_speed_mph(&mut self, new_speed_mph: f32) -> Result<(), VescErrorWithBacktrace> {
+		debug!("Driving motors at {}", new_speed_mph);
 		self.vesc
 			.set_rpm((new_speed_mph * MPH_TO_RPM).round() as u32)
 	}
+
+	#[cfg(not(feature = "vesc"))]
+	pub fn set_speed_mph(&mut self, new_speed_mph: f32) -> Result<(), VescErrorWithBacktrace> {
+		debug!("Mocking motors at {} RPM", new_speed_mph * MPH_TO_RPM);
+		Ok(())
+	}
 }

pod-operation/src/demo.rs

@@ -141,7 +141,7 @@ pub async fn vesc_motors(mut motors: Motors) {
 	loop {
 		motors.set_speed_mph(10.0).unwrap();
 		tokio::time::sleep(std::time::Duration::from_millis(1000)).await;
-		println!("{:?}", motors.vesc.get_fw_version().unwrap());
+		// println!("{:?}", motors.vesc.get_fw_version().unwrap());
 		motors.set_speed_mph(0.0).unwrap();
 		tokio::time::sleep(std::time::Duration::from_millis(1000)).await;
 	}