[CONSULT-469] - add more PGN definitions and create sensors

.github/workflows/test.yml

@@ -22,6 +22,7 @@ jobs:
       src-servers: ${{ steps.filter.outputs.src-servers }}
       src-cli: ${{ steps.filter.outputs.src-cli }}
       src-ffi: ${{ steps.filter.outputs.src-ffi }}
+      src-nmea: ${{ steps.filter.outputs.src-nmea }}
     container:
       image: ghcr.io/viamrobotics/micro-rdk-dev-env:amd64
     steps:
@@ -55,6 +56,8 @@ jobs:
             - 'micro-rdk-installer/**'
           src-ffi:
             - 'micro-rdk-ffi/**'
+          src-nmea:
+            - 'micro-rdk-nmea/**'
 
   build_cli:
     needs: changes
@@ -105,6 +108,32 @@ jobs:
       run: |
         bash -c '. /home/testbot/.bash_profile ; git config --global --add safe.directory "$ESP_ROOT"/esp-idf && make clippy-ffi'
 
+  check_nmea:
+    needs: changes
+    name: Tests, Format, Clippy Micro-RDK NMEA
+    if: ${{ needs.changes.outputs.src-nmea == 'true'}}
+    runs-on: ubuntu-latest
+    container:
+      image: ghcr.io/viamrobotics/micro-rdk-dev-env:amd64
+    steps:
+    - name : Checkout main branch code
+      if: github.event_name != 'pull_request_target'
+      uses: actions/checkout@v4
+      with:
+        fetch-depth: 2
+    - name: Check out PR branch code
+      if: github.event_name == 'pull_request_target'
+      uses: actions/checkout@v4
+      with:
+        ref: ${{ github.event.pull_request.head.sha }}
+        fetch-depth: 2
+    - name: Format Micro-RDK NMEA
+      run: |
+        bash -c 'cargo fmt -p micro-rdk-nmea -- --check'
+    - name: Clippy Micro-RDK NMEA
+      run: |
+        bash -c '. /home/testbot/.bash_profile ; git config --global --add safe.directory "$ESP_ROOT"/esp-idf && make clippy-nmea'
+
   test_and_build:
     needs: changes
     name: Tests, Format, Clippy Micro-Rdk

Cargo.toml

@@ -87,6 +87,7 @@ log = "0.4.22"
 mdns-sd = { version = "0.12", default-features = false, features = ["async"] }
 micro-rdk = { path = "./micro-rdk", default-features = false, features = [] }
 micro-rdk-macros = { path = "./micro-rdk-macros" }
+micro-rdk-nmea = { path = "./micro-rdk-nmea" }
 micro-rdk-nmea-macros = { path = "./micro-rdk-nmea-macros" }
 micro-rdk-modular-driver-example = {path = "./examples/modular-drivers" }
 once_cell = "1.20.2"

Makefile

@@ -70,6 +70,9 @@ upload: cargo-ver
 test:
 	cargo test --workspace --tests --no-fail-fast --features native,ota
 
+clippy-nmea:
+	cargo clippy -p micro-rdk-nmea --no-deps --features native -- -Dwarnings
+
 clippy-native:
 	cargo clippy -p micro-rdk --no-deps --features native,ota  -- -Dwarnings
 

examples/modular-drivers/src/moisture_sensor.rs

@@ -5,14 +5,11 @@ use std::{
 
 use micro_rdk::{
     common::{
-        analog::AnalogReaderType,
+        analog::{AnalogError, AnalogReader, AnalogReaderType},
         board::Board,
         config::ConfigType,
         registry::{get_board_from_dependencies, ComponentRegistry, Dependency, RegistryError},
-        sensor::{
-            GenericReadingsResult, Readings, Sensor, SensorError, SensorResult, SensorT,
-            SensorType, TypedReadingsResult,
-        },
+        sensor::{GenericReadingsResult, Readings, Sensor, SensorError, SensorResult, SensorType},
         status::{Status, StatusError},
     },
     google::protobuf,
@@ -25,11 +22,11 @@ pub fn register_models(registry: &mut ComponentRegistry) -> Result<(), RegistryE
 }
 
 #[derive(DoCommand)]
-pub struct MoistureSensor {
-    reader: AnalogReaderType<u16>,
+pub struct MoistureSensor<T: AnalogReader<u16, Error = AnalogError>> {
+    reader: T,
 }
 
-impl MoistureSensor {
+impl MoistureSensor<AnalogReaderType<u16>> {
     pub fn from_config(_cfg: ConfigType, deps: Vec<Dependency>) -> Result<SensorType, SensorError> {
         let board = get_board_from_dependencies(deps);
         if board.is_none() {
@@ -46,28 +43,20 @@ impl MoistureSensor {
     }
 }
 
-impl Sensor for MoistureSensor {}
+impl<T: AnalogReader<u16, Error = AnalogError>> Sensor for MoistureSensor<T> {}
 
-impl Readings for MoistureSensor {
+impl<T: AnalogReader<u16, Error = AnalogError>> Readings for MoistureSensor<T> {
     fn get_generic_readings(&mut self) -> Result<GenericReadingsResult, SensorError> {
-        Ok(self
-            .get_readings()?
-            .into_iter()
+        let mut x: HashMap<String, f64> = HashMap::new();
+        let reading = self.reader.read()?;
+        x.insert("millivolts".to_string(), reading as f64);
+        Ok(x.into_iter()
             .map(|v| (v.0, SensorResult::<f64> { value: v.1 }.into()))
             .collect())
     }
 }
 
-impl SensorT<f64> for MoistureSensor {
-    fn get_readings(&self) -> Result<TypedReadingsResult<f64>, SensorError> {
-        let reading = self.reader.lock().unwrap().read()?;
-        let mut x = HashMap::new();
-        x.insert("millivolts".to_string(), reading as f64);
-        Ok(x)
-    }
-}
-
-impl Status for MoistureSensor {
+impl<T: AnalogReader<u16, Error = AnalogError>> Status for MoistureSensor<T> {
     fn get_status(&self) -> Result<Option<micro_rdk::google::protobuf::Struct>, StatusError> {
         Ok(Some(protobuf::Struct {
             fields: HashMap::new(),

micro-rdk-ffi/Cargo.toml

@@ -15,6 +15,9 @@ publish = false
 name = "micrordk"
 crate-type = ["staticlib"] # Creates static lib
 
+[features]
+viamboat = ["dep:micro-rdk-nmea"]
+
 [target.'cfg(not(target_os = "espidf"))'.dependencies]
 env_logger.workspace = true
 local-ip-address.workspace = true
@@ -26,6 +29,7 @@ embedded-hal.workspace = true
 embedded-svc.workspace = true
 futures-lite.workspace = true
 micro-rdk = { workspace = true, features = ["esp32", "data", "data-upload-hook-unstable"], default-features = true }
+micro-rdk-nmea = { workspace = true, features = ["esp32"], optional = true }
 
 [dependencies]
 base64.workspace = true

micro-rdk-ffi/build.rs

@@ -70,7 +70,7 @@ fn main() {
             .id
             .clone();
 
-        let viam_modules: Vec<_> = metadata
+        let viam_modules_filter = metadata
             // Obtain the dependency graph from the metadata and iterate its nodes
             .resolve
             .as_ref()
@@ -95,8 +95,14 @@ fn main() {
                 metadata[&dep.pkg].metadata["com"]["viam"]["module"]
                     .as_bool()
                     .unwrap_or(false)
-            })
-            .collect();
+            });
+        // this is because feature-based dependency resolution only occurs after the build script
+        // runs
+        #[cfg(not(feature = "viamboat"))]
+        let viam_modules_filter =
+            viam_modules_filter.filter(|dep| dep.name.as_str() != "micro_rdk_nmea");
+        let viam_modules: Vec<_> = viam_modules_filter.collect();
+
         let out_dir = env::var_os("OUT_DIR").expect("OUT_DIR environment variable unset");
 
         let mut modules_rs_content = String::new();

micro-rdk-ffi/src/ffi/runtime.rs

@@ -11,7 +11,7 @@ use micro_rdk::common::{
     exec::Executor,
     log::initialize_logger,
     provisioning::server::ProvisioningInfo,
-    registry::{ComponentRegistry, Dependency},
+    registry::{ComponentRegistry, Dependency, RegistryError},
     sensor::{SensorError, SensorType},
     webrtc::certificate::Certificate,
 };
@@ -35,6 +35,21 @@ extern "C" {
     pub static g_spiram_ok: bool;
 }
 
+macro_rules! generate_register_modules {
+    ($($module:ident),*) => {
+        #[allow(unused_variables)]
+        fn register_modules(registry: &mut ComponentRegistry) -> Result<(), RegistryError> {
+            $(
+                log::info!("registering micro-rdk module '{}'", stringify!($module));
+                $module::register_models(registry)?;
+            )*
+                Ok(())
+        }
+    }
+}
+
+include!(concat!(env!("OUT_DIR"), "/modules.rs"));
+
 /// Creates a new Viam server context
 ///
 /// Use the returned pointer to register your own components using the C API
@@ -43,6 +58,8 @@ extern "C" {
 #[no_mangle]
 pub extern "C" fn init_viam_server_context() -> *mut viam_server_context {
     let registry = Box::<ComponentRegistry>::default();
+    #[cfg(target_os = "espidf")]
+    initialize_logger::<micro_rdk::esp32::esp_idf_svc::log::EspLogger>();
     let mut provisioning_info = ProvisioningInfo::default();
     provisioning_info.set_manufacturer("viam".to_owned());
     provisioning_info.set_model("ffi-provisioning".to_owned());
@@ -239,7 +256,7 @@ pub unsafe extern "C" fn viam_server_start(ctx: *mut viam_server_context) -> via
         return viam_code::VIAM_INVALID_ARG;
     }
 
-    let ctx = unsafe { Box::from_raw(ctx) };
+    let mut ctx = unsafe { Box::from_raw(ctx) };
 
     #[cfg(not(target_os = "espidf"))]
     {
@@ -248,7 +265,6 @@ pub unsafe extern "C" fn viam_server_start(ctx: *mut viam_server_context) -> via
     #[cfg(target_os = "espidf")]
     {
         micro_rdk::esp32::esp_idf_svc::sys::link_patches();
-        initialize_logger::<micro_rdk::esp32::esp_idf_svc::log::EspLogger>();
         micro_rdk::esp32::esp_idf_svc::sys::esp!(unsafe {
             micro_rdk::esp32::esp_idf_svc::sys::esp_vfs_eventfd_register(
                 &micro_rdk::esp32::esp_idf_svc::sys::esp_vfs_eventfd_config_t { max_fds: 5 },
@@ -333,6 +349,10 @@ pub unsafe extern "C" fn viam_server_start(ctx: *mut viam_server_context) -> via
         storage
     };
 
+    if let Err(e) = register_modules(&mut ctx.registry) {
+        log::error!("couldn't register modules {:?}", e);
+    }
+
     let mut builder = ViamServerBuilder::new(storage);
     builder
         .with_provisioning_info(ctx.provisioning_info)

micro-rdk-nmea-macros/src/utils.rs

@@ -15,6 +15,8 @@ pub(crate) enum UnitConversion {
     PascalToBar,
     RadianToDegree,
     RadPerSecToDegPerSec,
+    MetersPerSecToKnots,
+    MetersToNauticalMiles,
 }
 
 impl TryFrom<&str> for UnitConversion {
@@ -26,6 +28,8 @@ impl TryFrom<&str> for UnitConversion {
             "C" => Ok(Self::KelvinToCelsius),
             "deg" => Ok(Self::RadianToDegree),
             "deg/s" => Ok(Self::RadPerSecToDegPerSec),
+            "knots" => Ok(Self::MetersPerSecToKnots),
+            "M" => Ok(Self::MetersToNauticalMiles),
             x => Err(error_tokens(
                 format!("encountered unsupported unit {:?}", x).as_str(),
             )),
@@ -48,6 +52,12 @@ impl UnitConversion {
             Self::RadianToDegree | Self::RadPerSecToDegPerSec => quote! {
                 let result = (result as f64) * (180.0 / std::f64::consts::PI);
             },
+            Self::MetersPerSecToKnots => quote! {
+                let result = (result as f64) * 1.94384;
+            },
+            Self::MetersToNauticalMiles => quote! {
+                let result = (result as f64) * 0.539957;
+            },
         }
     }
 }

micro-rdk-nmea/Cargo.toml

@@ -10,9 +10,17 @@ rust-version.workspace = true
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
+[features]
+esp32 = ['micro-rdk/esp32']
+native = ['micro-rdk/native']
+
 [dependencies]
 base64 = { workspace = true }
 chrono = { workspace = true }
-micro-rdk = { workspace = true, features = ["native"] }
+log = { workspace = true }
+micro-rdk = { workspace = true }
 micro-rdk-nmea-macros = { workspace = true }
 thiserror = { workspace = true }
+
+[package.metadata.com.viam]
+module = true

micro-rdk-nmea/src/lib.rs

@@ -1,5 +1,12 @@
+use micro_rdk::common::registry::{ComponentRegistry, RegistryError};
+
 pub mod messages;
 pub mod parse_helpers;
+pub mod viamboat;
+
+pub fn register_models(registry: &mut ComponentRegistry) -> Result<(), RegistryError> {
+    viamboat::register_models(registry)
+}
 
 #[cfg(test)]
 mod tests {
@@ -36,9 +43,7 @@ mod tests {
         let message = WaterDepth::from_cursor(cursor);
         assert!(message.is_ok());
         let message = message.unwrap();
-        let source_id = message.source_id();
-        assert!(source_id.is_ok());
-        assert_eq!(source_id.unwrap(), 255);
+        assert_eq!(message.source_id().unwrap(), 255);
         let depth = message.depth();
         assert!(depth.is_ok());
         assert_eq!(depth.unwrap(), 2.12);