Add distance sensor and display

CMakeLists.txt

@@ -16,6 +16,7 @@ find_package(crashpad REQUIRED)
 file(GLOB_RECURSE COMMON_SOURCES
         src/flatbuffers/*.cpp
         src/actuators/*.cpp
+        src/sensors/*.cpp
         src/Module.cpp
         src/Hub.cpp
         src/ModuleFactory.cpp

conanfile.py

@@ -7,7 +7,7 @@ from conan.tools.files import copy
 
 class MyLibraryConan(ConanFile):
     name = "libcontrol"
-    version = "1.0.2"
+    version = "1.0.3"
 
     settings = "os", "compiler", "build_type", "arch"
     options = {"shared": [True, False], "fPIC": [True, False]}
@@ -40,7 +40,7 @@ class MyLibraryConan(ConanFile):
 
     def requirements(self):
         self.requires("flatbuffers/24.12.23")
-        self.requires("librpc/1.1.7")
+        self.requires("librpc/1.1.8")
         self.requires("eigen/3.4.1")
         self.requires("spdlog/1.16.0")
         self.requires("sentry-native/0.12.2")

control.def

@@ -2,6 +2,8 @@ EXPORTS
 init
 cleanup
 send_angle_control
+send_string_control
+get_distance_control
 get_configuration
 control_sentry_init
 control_sentry_set_app_info

examples/display/build.sh

@@ -0,0 +1,4 @@
+conan install . --build=missing --output-folder=build -s build_type=Release
+cmake -S . -B "build" -DCMAKE_TOOLCHAIN_FILE="build/conan_toolchain.cmake" -DCMAKE_BUILD_TYPE="Release"
+cmake --build "./build" --config "Release"
+

include/Module.h

@@ -45,6 +45,7 @@ class Module {
 
     // Not all modules implement all actuation/sensor values, some are no-ops
     virtual double get_position();
+    virtual double get_distance();
     virtual std::string get_text();
     virtual void actuate(double x);
     virtual void actuate(const std::string &text);
@@ -53,6 +54,7 @@ class Module {
     void update_module_metadata(const Messaging::TopologyMessage &message);
 
     virtual std::vector<uint8_t> get_actuation_message() = 0;
+
     virtual void update_sensor_data(const Flatbuffers::sensor_value &value) = 0;
 
   private:

include/flatbuffers/SensorMessageBuilder.h

@@ -24,7 +24,11 @@ struct current_text {
     std::string text;
 };
 
-typedef std::variant<target_angle, current_angle, current_text> sensor_value;
+struct distance {
+    float distance;
+};
+
+typedef std::variant<target_angle, current_angle, current_text, distance> sensor_value;
 
 class SensorMessageBuilder {
   public:
@@ -51,6 +55,10 @@ class SensorMessageBuilder {
                 static_cast<const Messaging::CurrentText *>(value);
             return current_text{current->value()->str()};
         }
+        case Messaging::SensorValue_Distance: {
+            const Messaging::Distance *current = static_cast<const Messaging::Distance *>(value);
+            return distance{current->value()};
+        }
         default:
             return std::nullopt;
         }

include/flatbuffers_generated/SensorMessage_generated.h

@@ -1,5 +1,6 @@
 // automatically generated by the FlatBuffers compiler, do not modify
 
+
 #ifndef FLATBUFFERS_GENERATED_SENSORMESSAGE_MESSAGING_H_
 #define FLATBUFFERS_GENERATED_SENSORMESSAGE_MESSAGING_H_
 
@@ -8,9 +9,9 @@
 // Ensure the included flatbuffers.h is the same version as when this file was
 // generated, otherwise it may not be compatible.
 // static_assert(FLATBUFFERS_VERSION_MAJOR == 25 &&
-//                   FLATBUFFERS_VERSION_MINOR == 2 &&
-//                   FLATBUFFERS_VERSION_REVISION == 10,
-//               "Non-compatible flatbuffers version included");
+//               FLATBUFFERS_VERSION_MINOR == 2 &&
+//               FLATBUFFERS_VERSION_REVISION == 10,
+//              "Non-compatible flatbuffers version included");
 
 namespace Messaging {
 
@@ -23,6 +24,15 @@ struct CurrentTextBuilder;
 struct CurrentAngle;
 struct CurrentAngleBuilder;
 
+struct Distance;
+struct DistanceBuilder;
+
+struct Temperature;
+struct TemperatureBuilder;
+
+struct Position;
+struct PositionBuilder;
+
 struct SensorMessage;
 struct SensorMessageBuilder;
 
@@ -31,24 +41,29 @@ enum SensorValue : uint8_t {
     SensorValue_TargetAngle = 1,
     SensorValue_CurrentAngle = 2,
     SensorValue_CurrentText = 3,
+    SensorValue_Distance = 4,
+    SensorValue_Temperature = 5,
+    SensorValue_Position = 6,
     SensorValue_MIN = SensorValue_NONE,
-    SensorValue_MAX = SensorValue_CurrentText
+    SensorValue_MAX = SensorValue_Position
 };
 
-inline const SensorValue (&EnumValuesSensorValue())[4] {
-    static const SensorValue values[] = {SensorValue_NONE, SensorValue_TargetAngle,
-                                         SensorValue_CurrentAngle, SensorValue_CurrentText};
+inline const SensorValue (&EnumValuesSensorValue())[7] {
+    static const SensorValue values[] = {SensorValue_NONE,         SensorValue_TargetAngle,
+                                         SensorValue_CurrentAngle, SensorValue_CurrentText,
+                                         SensorValue_Distance,     SensorValue_Temperature,
+                                         SensorValue_Position};
     return values;
 }
 
 inline const char *const *EnumNamesSensorValue() {
-    static const char *const names[5] = {"NONE", "TargetAngle", "CurrentAngle", "CurrentText",
-                                         nullptr};
+    static const char *const names[8] = {"NONE",     "TargetAngle", "CurrentAngle", "CurrentText",
+                                         "Distance", "Temperature", "Position",     nullptr};
     return names;
 }
 
 inline const char *EnumNameSensorValue(SensorValue e) {
-    if (::flatbuffers::IsOutRange(e, SensorValue_NONE, SensorValue_CurrentText))
+    if (::flatbuffers::IsOutRange(e, SensorValue_NONE, SensorValue_Position))
         return "";
     const size_t index = static_cast<size_t>(e);
     return EnumNamesSensorValue()[index];
@@ -70,6 +85,18 @@ template <> struct SensorValueTraits<Messaging::CurrentText> {
     static const SensorValue enum_value = SensorValue_CurrentText;
 };
 
+template <> struct SensorValueTraits<Messaging::Distance> {
+    static const SensorValue enum_value = SensorValue_Distance;
+};
+
+template <> struct SensorValueTraits<Messaging::Temperature> {
+    static const SensorValue enum_value = SensorValue_Temperature;
+};
+
+template <> struct SensorValueTraits<Messaging::Position> {
+    static const SensorValue enum_value = SensorValue_Position;
+};
+
 bool VerifySensorValue(::flatbuffers::Verifier &verifier, const void *obj, SensorValue type);
 bool VerifySensorValueVector(::flatbuffers::Verifier &verifier,
                              const ::flatbuffers::Vector<::flatbuffers::Offset<void>> *values,
@@ -190,6 +217,134 @@ CreateCurrentAngle(::flatbuffers::FlatBufferBuilder &_fbb, int16_t value = 0) {
     return builder_.Finish();
 }
 
+struct Distance FLATBUFFERS_FINAL_CLASS : private ::flatbuffers::Table {
+    typedef DistanceBuilder Builder;
+    enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE { VT_VALUE = 4 };
+    float value() const {
+        return GetField<float>(VT_VALUE, 0.0f);
+    }
+    bool Verify(::flatbuffers::Verifier &verifier) const {
+        return VerifyTableStart(verifier) && VerifyField<float>(verifier, VT_VALUE, 4) &&
+               verifier.EndTable();
+    }
+};
+
+struct DistanceBuilder {
+    typedef Distance Table;
+    ::flatbuffers::FlatBufferBuilder &fbb_;
+    ::flatbuffers::uoffset_t start_;
+    void add_value(float value) {
+        fbb_.AddElement<float>(Distance::VT_VALUE, value, 0.0f);
+    }
+    explicit DistanceBuilder(::flatbuffers::FlatBufferBuilder &_fbb) : fbb_(_fbb) {
+        start_ = fbb_.StartTable();
+    }
+    ::flatbuffers::Offset<Distance> Finish() {
+        const auto end = fbb_.EndTable(start_);
+        auto o = ::flatbuffers::Offset<Distance>(end);
+        return o;
+    }
+};
+
+inline ::flatbuffers::Offset<Distance> CreateDistance(::flatbuffers::FlatBufferBuilder &_fbb,
+                                                      float value = 0.0f) {
+    DistanceBuilder builder_(_fbb);
+    builder_.add_value(value);
+    return builder_.Finish();
+}
+
+struct Temperature FLATBUFFERS_FINAL_CLASS : private ::flatbuffers::Table {
+    typedef TemperatureBuilder Builder;
+    enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE { VT_VALUE = 4 };
+    float value() const {
+        return GetField<float>(VT_VALUE, 0.0f);
+    }
+    bool Verify(::flatbuffers::Verifier &verifier) const {
+        return VerifyTableStart(verifier) && VerifyField<float>(verifier, VT_VALUE, 4) &&
+               verifier.EndTable();
+    }
+};
+
+struct TemperatureBuilder {
+    typedef Temperature Table;
+    ::flatbuffers::FlatBufferBuilder &fbb_;
+    ::flatbuffers::uoffset_t start_;
+    void add_value(float value) {
+        fbb_.AddElement<float>(Temperature::VT_VALUE, value, 0.0f);
+    }
+    explicit TemperatureBuilder(::flatbuffers::FlatBufferBuilder &_fbb) : fbb_(_fbb) {
+        start_ = fbb_.StartTable();
+    }
+    ::flatbuffers::Offset<Temperature> Finish() {
+        const auto end = fbb_.EndTable(start_);
+        auto o = ::flatbuffers::Offset<Temperature>(end);
+        return o;
+    }
+};
+
+inline ::flatbuffers::Offset<Temperature> CreateTemperature(::flatbuffers::FlatBufferBuilder &_fbb,
+                                                            float value = 0.0f) {
+    TemperatureBuilder builder_(_fbb);
+    builder_.add_value(value);
+    return builder_.Finish();
+}
+
+struct Position FLATBUFFERS_FINAL_CLASS : private ::flatbuffers::Table {
+    typedef PositionBuilder Builder;
+    enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE {
+        VT_HEADING = 4,
+        VT_PITCH = 6,
+        VT_ROLL = 8
+    };
+    float heading() const {
+        return GetField<float>(VT_HEADING, 0.0f);
+    }
+    float pitch() const {
+        return GetField<float>(VT_PITCH, 0.0f);
+    }
+    float roll() const {
+        return GetField<float>(VT_ROLL, 0.0f);
+    }
+    bool Verify(::flatbuffers::Verifier &verifier) const {
+        return VerifyTableStart(verifier) && VerifyField<float>(verifier, VT_HEADING, 4) &&
+               VerifyField<float>(verifier, VT_PITCH, 4) &&
+               VerifyField<float>(verifier, VT_ROLL, 4) && verifier.EndTable();
+    }
+};
+
+struct PositionBuilder {
+    typedef Position Table;
+    ::flatbuffers::FlatBufferBuilder &fbb_;
+    ::flatbuffers::uoffset_t start_;
+    void add_heading(float heading) {
+        fbb_.AddElement<float>(Position::VT_HEADING, heading, 0.0f);
+    }
+    void add_pitch(float pitch) {
+        fbb_.AddElement<float>(Position::VT_PITCH, pitch, 0.0f);
+    }
+    void add_roll(float roll) {
+        fbb_.AddElement<float>(Position::VT_ROLL, roll, 0.0f);
+    }
+    explicit PositionBuilder(::flatbuffers::FlatBufferBuilder &_fbb) : fbb_(_fbb) {
+        start_ = fbb_.StartTable();
+    }
+    ::flatbuffers::Offset<Position> Finish() {
+        const auto end = fbb_.EndTable(start_);
+        auto o = ::flatbuffers::Offset<Position>(end);
+        return o;
+    }
+};
+
+inline ::flatbuffers::Offset<Position> CreatePosition(::flatbuffers::FlatBufferBuilder &_fbb,
+                                                      float heading = 0.0f, float pitch = 0.0f,
+                                                      float roll = 0.0f) {
+    PositionBuilder builder_(_fbb);
+    builder_.add_roll(roll);
+    builder_.add_pitch(pitch);
+    builder_.add_heading(heading);
+    return builder_.Finish();
+}
+
 struct SensorMessage FLATBUFFERS_FINAL_CLASS : private ::flatbuffers::Table {
     typedef SensorMessageBuilder Builder;
     enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE {
@@ -268,6 +423,18 @@ inline bool VerifySensorValue(::flatbuffers::Verifier &verifier, const void *obj
         auto ptr = reinterpret_cast<const Messaging::CurrentText *>(obj);
         return verifier.VerifyTable(ptr);
     }
+    case SensorValue_Distance: {
+        auto ptr = reinterpret_cast<const Messaging::Distance *>(obj);
+        return verifier.VerifyTable(ptr);
+    }
+    case SensorValue_Temperature: {
+        auto ptr = reinterpret_cast<const Messaging::Temperature *>(obj);
+        return verifier.VerifyTable(ptr);
+    }
+    case SensorValue_Position: {
+        auto ptr = reinterpret_cast<const Messaging::Position *>(obj);
+        return verifier.VerifyTable(ptr);
+    }
     default:
         return true;
     }

include/lib_c_control.h

@@ -17,6 +17,8 @@ extern "C" {
 LIB_API void init();
 LIB_API void cleanup();
 LIB_API int send_angle_control(int module_id, int angle);
+LIB_API int send_string_control(int module_id, const char *string);
+LIB_API double get_distance_control(int module_id);
 LIB_API char *get_configuration(int *size_out);
 
 LIB_API bool remote_call_c(uint8_t function_tag, uint8_t module, const uint8_t *params,

include/sensors/DistanceSensor.h

@@ -0,0 +1,23 @@
+#ifndef CONTROL_DISTANCESENSOR_H
+#define CONTROL_DISTANCESENSOR_H
+
+#include "Module.h"
+#include "flatbuffers/SensorMessageBuilder.h"
+#include "util/Variant.h"
+
+class DistanceSensor : public Module {
+
+  public:
+    DistanceSensor(uint8_t device_id, ModuleType type) : Module(device_id, type) {
+    }
+
+    double get_distance() override;
+
+    std::vector<uint8_t> get_actuation_message() override;
+    void update_sensor_data(const Flatbuffers::sensor_value &value) override;
+
+  private:
+    double m_current_distance = 0.0;
+};
+
+#endif // CONTROL_DISTANCESENSOR_H

src/Module.cpp

@@ -52,6 +52,11 @@ std::string Module::get_text() {
     return "";
 }
 
+double Module::get_distance() {
+    // no-op
+    return 0.0;
+}
+
 void Module::actuate(double /* position */) {
     // no-op
 }

src/ModuleFactory.cpp

@@ -15,6 +15,13 @@ ModuleFactory::createModule(uint8_t device_id, ModuleType type,
                             std::shared_ptr<MessagingInterface> &messaging_interface) {
     switch (type) {
     case ModuleType_SPLITTER:
+    case ModuleType_SPLITTER_2:
+    case ModuleType_SPLITTER_3:
+    case ModuleType_SPLITTER_4:
+    case ModuleType_SPLITTER_5:
+    case ModuleType_SPLITTER_6:
+    case ModuleType_SPLITTER_7:
+    case ModuleType_SPLITTER_8:
         return std::make_shared<Hub>(device_id, type);
     case ModuleType_BATTERY:
         return std::make_shared<Hub>(device_id, type);

src/actuators/BoundedPositionalActuator1D.cpp

@@ -32,10 +32,9 @@ std::vector<uint8_t> BoundedPositionalActuator1D::get_actuation_message() {
 }
 
 void BoundedPositionalActuator1D::update_sensor_data(const Flatbuffers::sensor_value &value) {
-    std::visit(overloaded{
-                   [this](Flatbuffers::target_angle a) { m_current_position = a.angle; },
-                   [this](Flatbuffers::current_angle a) { m_current_position = a.angle; },
-                   [this](Flatbuffers::current_text /*t*/) {},
-               },
+    std::visit(overloaded{[this](Flatbuffers::target_angle a) { m_current_position = a.angle; },
+                          [this](Flatbuffers::current_angle a) { m_current_position = a.angle; },
+                          [this](Flatbuffers::current_text /*t*/) {},
+                          [this](Flatbuffers::distance /*d*/) {}},
                value);
 }

src/actuators/OledActuator.cpp

@@ -25,10 +25,9 @@ std::vector<uint8_t> OledActuator::get_actuation_message() {
 }
 
 void OledActuator::update_sensor_data(const Flatbuffers::sensor_value &value) {
-    std::visit(overloaded{
-                   [this](Flatbuffers::target_angle /* a */) {},
-                   [this](Flatbuffers::current_angle /* a */) {},
-                   [this](Flatbuffers::current_text t) { m_current_text = t.text; },
-               },
+    std::visit(overloaded{[this](Flatbuffers::target_angle /* a */) {},
+                          [this](Flatbuffers::current_angle /* a */) {},
+                          [this](Flatbuffers::current_text t) { m_current_text = t.text; },
+                          [this](Flatbuffers::distance /*d*/) {}},
                value);
 }

src/actuators/PositionalActuator1D.cpp

@@ -25,10 +25,10 @@ std::vector<uint8_t> PositionalActuator1D::get_actuation_message() {
 }
 
 void PositionalActuator1D::update_sensor_data(const Flatbuffers::sensor_value &value) {
-    std::visit(overloaded{
-                   [this](Flatbuffers::target_angle a) { m_board_target_position = a.angle; },
+    std::visit(
+        overloaded{[this](Flatbuffers::target_angle a) { m_board_target_position = a.angle; },
                    [this](Flatbuffers::current_angle a) { m_current_position = a.angle; },
                    [this](Flatbuffers::current_text /*t*/) {},
-               },
-               value);
+                   [this](Flatbuffers::distance /*d*/) {}},
+        value);
 }

src/lib_c_control.cpp

@@ -39,6 +39,30 @@ LIB_API int send_angle_control(int module_id, int angle) {
     return 0;
 }
 
+LIB_API int send_string_control(int module_id, const char *string) {
+    if (const auto maybe_module = robot_controller->getModule(module_id)) {
+        const auto module = (*maybe_module).lock();
+        if (module) {
+            module->actuate(std::string(string));
+        } else {
+            spdlog::warn("[c_control] send_angle_control: module {} has expired", module_id);
+        }
+    }
+    return 0;
+}
+
+LIB_API double get_distance_control(int module_id) {
+    if (const auto maybe_module = robot_controller->getModule(module_id)) {
+        const auto module = (*maybe_module).lock();
+        if (module) {
+            return module->get_distance();
+        } else {
+            spdlog::warn("[c_control] send_angle_control: module {} has expired", module_id);
+        }
+    }
+    return 0.0;
+}
+
 LIB_API char *get_configuration(int *size_out) {
     std::vector<Flatbuffers::ModuleInstance> modules_vec{};
     std::vector<Flatbuffers::ModuleConnectionInstance> connections_vec{};

src/sensors/DistanceSensor.cpp

@@ -0,0 +1,18 @@
+
+#include "sensors/DistanceSensor.h"
+
+double DistanceSensor::get_distance() {
+    return m_current_distance;
+}
+
+std::vector<uint8_t> DistanceSensor::get_actuation_message() {
+    return {};
+}
+
+void DistanceSensor::update_sensor_data(const Flatbuffers::sensor_value &value) {
+    std::visit(overloaded{[this](Flatbuffers::target_angle /*a*/) {},
+                          [this](Flatbuffers::current_angle /*a*/) {},
+                          [this](Flatbuffers::current_text /*t*/) {},
+                          [this](Flatbuffers::distance d) { m_current_distance = d.distance; }},
+               value);
+}