my rust in my webots with my cad :)
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6 changed files with 602 additions and 18 deletions
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||||||
|
"windows_aarch64_msvc",
|
||||||
|
"windows_i686_gnu",
|
||||||
|
"windows_i686_gnullvm",
|
||||||
|
"windows_i686_msvc",
|
||||||
|
"windows_x86_64_gnu",
|
||||||
|
"windows_x86_64_gnullvm",
|
||||||
|
"windows_x86_64_msvc",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "windows_aarch64_gnullvm"
|
||||||
|
version = "0.52.6"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "32a4622180e7a0ec044bb555404c800bc9fd9ec262ec147edd5989ccd0c02cd3"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "windows_aarch64_msvc"
|
||||||
|
version = "0.52.6"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "09ec2a7bb152e2252b53fa7803150007879548bc709c039df7627cabbd05d469"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "windows_i686_gnu"
|
||||||
|
version = "0.52.6"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "8e9b5ad5ab802e97eb8e295ac6720e509ee4c243f69d781394014ebfe8bbfa0b"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "windows_i686_gnullvm"
|
||||||
|
version = "0.52.6"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "0eee52d38c090b3caa76c563b86c3a4bd71ef1a819287c19d586d7334ae8ed66"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "windows_i686_msvc"
|
||||||
|
version = "0.52.6"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "240948bc05c5e7c6dabba28bf89d89ffce3e303022809e73deaefe4f6ec56c66"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "windows_x86_64_gnu"
|
||||||
|
version = "0.52.6"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "147a5c80aabfbf0c7d901cb5895d1de30ef2907eb21fbbab29ca94c5b08b1a78"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "windows_x86_64_gnullvm"
|
||||||
|
version = "0.52.6"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "24d5b23dc417412679681396f2b49f3de8c1473deb516bd34410872eff51ed0d"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "windows_x86_64_msvc"
|
||||||
|
version = "0.52.6"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "589f6da84c646204747d1270a2a5661ea66ed1cced2631d546fdfb155959f9ec"
|
||||||
8
simcontroller/Cargo.toml
Normal file
8
simcontroller/Cargo.toml
Normal file
|
|
@ -0,0 +1,8 @@
|
||||||
|
[package]
|
||||||
|
name = "simcontroller"
|
||||||
|
version = "0.1.0"
|
||||||
|
edition = "2021"
|
||||||
|
|
||||||
|
[dependencies]
|
||||||
|
thiserror = "1.0.63"
|
||||||
|
webots = { git = "https://github.com/katharostech/webots-rust" }
|
||||||
122
simcontroller/src/camera.rs
Normal file
122
simcontroller/src/camera.rs
Normal file
|
|
@ -0,0 +1,122 @@
|
||||||
|
// MIT from HULKs
|
||||||
|
// https://github.com/HULKs/webots-rs/blob/5c4c36012c8cc0f0fe53f67b19294605a6867649/src/camera.rs
|
||||||
|
|
||||||
|
use std::{ffi::CString, slice::from_raw_parts};
|
||||||
|
|
||||||
|
use thiserror::Error;
|
||||||
|
use webots::{robot::Device, sys::{
|
||||||
|
wb_camera_disable, wb_camera_enable, wb_camera_get_exposure, wb_camera_get_focal_distance,
|
||||||
|
wb_camera_get_focal_length, wb_camera_get_fov, wb_camera_get_height, wb_camera_get_image,
|
||||||
|
wb_camera_get_max_focal_distance, wb_camera_get_max_fov, wb_camera_get_min_focal_distance,
|
||||||
|
wb_camera_get_min_fov, wb_camera_get_near, wb_camera_get_sampling_period, wb_camera_get_width,
|
||||||
|
wb_camera_has_recognition, wb_camera_save_image, wb_camera_set_exposure,
|
||||||
|
wb_camera_set_focal_distance, wb_camera_set_fov, wb_device_get_node_type, WbDeviceTag,
|
||||||
|
WbNodeType_WB_NODE_CAMERA,
|
||||||
|
}};
|
||||||
|
|
||||||
|
#[derive(Debug, Error)]
|
||||||
|
pub enum CameraError {
|
||||||
|
#[error("failed to get image: image data is NULL")]
|
||||||
|
ImageDataIsNull,
|
||||||
|
}
|
||||||
|
|
||||||
|
pub struct Camera(WbDeviceTag);
|
||||||
|
|
||||||
|
impl Camera {
|
||||||
|
pub(crate) fn new(device: &str) -> Self {
|
||||||
|
let device = Device::new(device).tag;
|
||||||
|
assert_eq!(WbNodeType_WB_NODE_CAMERA, unsafe {
|
||||||
|
wb_device_get_node_type(device)
|
||||||
|
});
|
||||||
|
Self(device)
|
||||||
|
}
|
||||||
|
|
||||||
|
pub fn enable(&self, sampling_period: i32) {
|
||||||
|
unsafe { wb_camera_enable(self.0, sampling_period) }
|
||||||
|
}
|
||||||
|
|
||||||
|
pub fn disable(&self) {
|
||||||
|
unsafe { wb_camera_disable(self.0) }
|
||||||
|
}
|
||||||
|
|
||||||
|
pub fn get_sampling_period(&self) -> i32 {
|
||||||
|
unsafe { wb_camera_get_sampling_period(self.0) }
|
||||||
|
}
|
||||||
|
|
||||||
|
pub fn get_image(&self) -> Result<&[u8], CameraError> {
|
||||||
|
let width = self.get_width();
|
||||||
|
let height = self.get_height();
|
||||||
|
unsafe {
|
||||||
|
let image = wb_camera_get_image(self.0);
|
||||||
|
if image.is_null() {
|
||||||
|
return Err(CameraError::ImageDataIsNull);
|
||||||
|
}
|
||||||
|
Ok(from_raw_parts(image, (width * height * 4) as usize))
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
pub fn get_width(&self) -> i32 {
|
||||||
|
unsafe { wb_camera_get_width(self.0) }
|
||||||
|
}
|
||||||
|
|
||||||
|
pub fn get_height(&self) -> i32 {
|
||||||
|
unsafe { wb_camera_get_height(self.0) }
|
||||||
|
}
|
||||||
|
|
||||||
|
pub fn get_fov(&self) -> f64 {
|
||||||
|
unsafe { wb_camera_get_fov(self.0) }
|
||||||
|
}
|
||||||
|
|
||||||
|
pub fn get_max_fov(&self) -> f64 {
|
||||||
|
unsafe { wb_camera_get_max_fov(self.0) }
|
||||||
|
}
|
||||||
|
|
||||||
|
pub fn get_min_fov(&self) -> f64 {
|
||||||
|
unsafe { wb_camera_get_min_fov(self.0) }
|
||||||
|
}
|
||||||
|
|
||||||
|
pub fn set_fov(&self, fov: f64) {
|
||||||
|
unsafe { wb_camera_set_fov(self.0, fov) }
|
||||||
|
}
|
||||||
|
|
||||||
|
pub fn get_exposure(&self) -> f64 {
|
||||||
|
unsafe { wb_camera_get_exposure(self.0) }
|
||||||
|
}
|
||||||
|
|
||||||
|
pub fn set_exposure(&self, exposure: f64) {
|
||||||
|
unsafe { wb_camera_set_exposure(self.0, exposure) }
|
||||||
|
}
|
||||||
|
|
||||||
|
pub fn get_focal_length(&self) -> f64 {
|
||||||
|
unsafe { wb_camera_get_focal_length(self.0) }
|
||||||
|
}
|
||||||
|
|
||||||
|
pub fn get_focal_distance(&self) -> f64 {
|
||||||
|
unsafe { wb_camera_get_focal_distance(self.0) }
|
||||||
|
}
|
||||||
|
|
||||||
|
pub fn get_max_focal_distance(&self) -> f64 {
|
||||||
|
unsafe { wb_camera_get_max_focal_distance(self.0) }
|
||||||
|
}
|
||||||
|
|
||||||
|
pub fn get_min_focal_distance(&self) -> f64 {
|
||||||
|
unsafe { wb_camera_get_min_focal_distance(self.0) }
|
||||||
|
}
|
||||||
|
|
||||||
|
pub fn set_focal_distance(&self, focal_distance: f64) {
|
||||||
|
unsafe { wb_camera_set_focal_distance(self.0, focal_distance) }
|
||||||
|
}
|
||||||
|
|
||||||
|
pub fn get_near(&self) -> f64 {
|
||||||
|
unsafe { wb_camera_get_near(self.0) }
|
||||||
|
}
|
||||||
|
|
||||||
|
pub fn save_image(&self, filename: &str, quality: i32) -> i32 {
|
||||||
|
let filename = CString::new(filename).expect("CString::new failed");
|
||||||
|
unsafe { wb_camera_save_image(self.0, filename.as_ptr(), quality) }
|
||||||
|
}
|
||||||
|
|
||||||
|
pub fn has_recognition(&self) -> bool {
|
||||||
|
unsafe { wb_camera_has_recognition(self.0) != 0 }
|
||||||
|
}
|
||||||
|
}
|
||||||
54
simcontroller/src/main.rs
Normal file
54
simcontroller/src/main.rs
Normal file
|
|
@ -0,0 +1,54 @@
|
||||||
|
use camera::Camera;
|
||||||
|
use webots::prelude::*;
|
||||||
|
use std::{f64::consts::TAU, time::Duration};
|
||||||
|
mod camera;
|
||||||
|
|
||||||
|
const TIME_STEP: Duration = Duration::from_millis(20);
|
||||||
|
const MAX_SPEED: f64 = TAU;
|
||||||
|
|
||||||
|
struct MyRobot {
|
||||||
|
camera: Camera,
|
||||||
|
left_motor: Motor,
|
||||||
|
right_motor: Motor,
|
||||||
|
}
|
||||||
|
|
||||||
|
impl Robot for MyRobot {
|
||||||
|
fn time_step(&self) -> Duration {
|
||||||
|
TIME_STEP
|
||||||
|
}
|
||||||
|
|
||||||
|
fn init() -> Self {
|
||||||
|
let camera = Camera::new("camera7");
|
||||||
|
|
||||||
|
let left_motor = Motor::new("motorl");
|
||||||
|
let right_motor = Motor::new("motorr");
|
||||||
|
|
||||||
|
left_motor.set_position(f64::INFINITY);
|
||||||
|
right_motor.set_position(f64::INFINITY);
|
||||||
|
left_motor.set_velocity(0.1 * MAX_SPEED);
|
||||||
|
right_motor.set_velocity(0.1 * MAX_SPEED);
|
||||||
|
|
||||||
|
Self {
|
||||||
|
camera,
|
||||||
|
left_motor,
|
||||||
|
right_motor,
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
fn step(&mut self, _time: StepTime) {
|
||||||
|
|
||||||
|
self.camera.enable(20);
|
||||||
|
|
||||||
|
// initialize motor speeds at 50% of MAX_SPEED.
|
||||||
|
let mut left_speed = 0.5 * MAX_SPEED;
|
||||||
|
let mut right_speed = 0.5 * MAX_SPEED;
|
||||||
|
|
||||||
|
self.left_motor.set_velocity(left_speed);
|
||||||
|
self.right_motor.set_velocity(right_speed);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
fn main() {
|
||||||
|
println!("Rust controller has started");
|
||||||
|
webots::run_robot::<MyRobot>();
|
||||||
|
}
|
||||||
|
|
@ -1,10 +1,10 @@
|
||||||
Webots Project File version R2023b
|
Webots Project File version R2023b
|
||||||
perspectives: 000000ff00000000fd0000000300000000000001ca0000039ffc0200000001fb00000012005300630065006e0065005400720065006501000000000000039f00000000000000000000000100000075000003a6fc0200000001fb0000001400540065007800740045006400690074006f00720100000016000003a60000003f00ffffff000000030000076c00000039fc0100000002fb0000000e0043006f006e0073006f006c0065010000000000000a010000000000000000fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c01000000000000076c0000006900ffffff000006f5000003a600000004000000040000000100000008fc00000000
|
perspectives: 000000ff00000000fd0000000300000000000001ca0000039ffc0200000001fb00000012005300630065006e0065005400720065006501000000000000039f000000000000000000000001000001f3000003e1fc0200000001fb0000001400540065007800740045006400690074006f00720000000016000003e10000003f00ffffff000000030000076c00000110fc0100000002fb0000000e0043006f006e0073006f006c0065010000000000000a010000000000000000fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c01000000000000076c0000000000000000000007800000040c00000004000000040000000100000008fc00000000
|
||||||
simulationViewPerspectives: 000000ff00000001000000020000014d000003550100000002010000000101
|
simulationViewPerspectives: 000000ff000000010000000200000100000002af0100000002010000000101
|
||||||
sceneTreePerspectives: 000000ff00000001000000030000001f0000024d000000fa0100000002010000000201
|
sceneTreePerspectives: 000000ff00000001000000030000001f000000c0000000fa0100000002010000000201
|
||||||
maximizedDockId: -1
|
maximizedDockId: -1
|
||||||
centralWidgetVisible: 1
|
centralWidgetVisible: 1
|
||||||
|
renderingMode: PLAIN
|
||||||
orthographicViewHeight: 1
|
orthographicViewHeight: 1
|
||||||
textFiles: -1
|
textFiles: -1
|
||||||
consoles: Console:All:All
|
renderingDevicePerspectives: robot:camera7;0;0.133333;0;0.119402;1920;1080;1128;752;0
|
||||||
renderingDevicePerspectives: robot:camera7;1;0.15;0;0
|
|
||||||
|
|
|
||||||
|
|
@ -12,8 +12,8 @@ WorldInfo {
|
||||||
basicTimeStep 16
|
basicTimeStep 16
|
||||||
}
|
}
|
||||||
Viewpoint {
|
Viewpoint {
|
||||||
orientation 0.005373553293139983 -0.5150879002726926 0.8571205165655963 5.779758402826299
|
orientation -0.20252767285431608 -0.0674248654048158 0.9769526238530493 3.4959887657000683
|
||||||
position -2.481287100883719 1.1754982535361718 0.8184941756963482
|
position 2.9865434559469093 0.7208082034535581 1.392316514841507
|
||||||
followType "Pan and Tilt Shot"
|
followType "Pan and Tilt Shot"
|
||||||
}
|
}
|
||||||
TexturedBackground {
|
TexturedBackground {
|
||||||
|
|
@ -21,12 +21,12 @@ TexturedBackground {
|
||||||
TexturedBackgroundLight {
|
TexturedBackgroundLight {
|
||||||
}
|
}
|
||||||
Robot {
|
Robot {
|
||||||
translation 0.601627781577624 0.3310424902905001 0.09097176702440847
|
translation 0.4259829256496424 0.6130076483711184 0.09121779991306146
|
||||||
rotation -0.07117315016156012 -0.006014052836253844 0.9974458450786 -2.973138225661935
|
rotation -0.07132084831144353 -0.05983736629860717 0.9956569821934573 -1.7556638990412452
|
||||||
children [
|
children [
|
||||||
HingeJoint {
|
HingeJoint {
|
||||||
jointParameters HingeJointParameters {
|
jointParameters HingeJointParameters {
|
||||||
position 1.4523620848631533e-05
|
position 1.452387894238653e-05
|
||||||
axis 0 1 0
|
axis 0 1 0
|
||||||
minStop -1.7
|
minStop -1.7
|
||||||
}
|
}
|
||||||
|
|
@ -38,8 +38,8 @@ Robot {
|
||||||
}
|
}
|
||||||
]
|
]
|
||||||
endPoint Solid {
|
endPoint Solid {
|
||||||
translation 0.20999536585258985 -6.60630822546525e-08 -0.0001466143078223891
|
translation 0.20999536585255046 -6.606308225465158e-08 -0.0001466143620208815
|
||||||
rotation 0.00818412898038644 0.9998859644401825 -0.012691656643578396 1.4463555563889593e-05
|
rotation 0.00818361643944395 0.9998859787237327 -0.012690861816878403 1.4463801193914388e-05
|
||||||
children [
|
children [
|
||||||
Shape {
|
Shape {
|
||||||
appearance DamascusSteel {
|
appearance DamascusSteel {
|
||||||
|
|
@ -67,12 +67,13 @@ Robot {
|
||||||
}
|
}
|
||||||
]
|
]
|
||||||
name "camera7"
|
name "camera7"
|
||||||
|
fieldOfView 1.0856
|
||||||
width 320
|
width 320
|
||||||
height 240
|
height 240
|
||||||
}
|
}
|
||||||
HingeJoint {
|
HingeJoint {
|
||||||
jointParameters HingeJointParameters {
|
jointParameters HingeJointParameters {
|
||||||
position 255.74933007077615
|
position 255.23737744608914
|
||||||
axis 0 1 0
|
axis 0 1 0
|
||||||
}
|
}
|
||||||
device [
|
device [
|
||||||
|
|
@ -81,8 +82,8 @@ Robot {
|
||||||
}
|
}
|
||||||
]
|
]
|
||||||
endPoint Solid {
|
endPoint Solid {
|
||||||
translation -4.7705786756717797e-05 0.3496188333737429 0.0001312094398698585
|
translation -0.00010586635003879364 0.3496188333737463 9.10168947531339e-05
|
||||||
rotation 0.4654921954528252 -0.6251558035816978 0.6264959993652238 2.268904614112613
|
rotation 0.2742044798475611 -0.6794935439895432 0.6805148248995456 2.6043433955761808
|
||||||
children [
|
children [
|
||||||
DEF wheel-l Shape {
|
DEF wheel-l Shape {
|
||||||
appearance TireRubber {
|
appearance TireRubber {
|
||||||
|
|
@ -101,7 +102,7 @@ Robot {
|
||||||
}
|
}
|
||||||
HingeJoint {
|
HingeJoint {
|
||||||
jointParameters HingeJointParameters {
|
jointParameters HingeJointParameters {
|
||||||
position -30.019721658991458
|
position -21.122075062215625
|
||||||
axis 0 1 0
|
axis 0 1 0
|
||||||
}
|
}
|
||||||
device [
|
device [
|
||||||
|
|
@ -110,8 +111,8 @@ Robot {
|
||||||
}
|
}
|
||||||
]
|
]
|
||||||
endPoint DEF wheel Solid {
|
endPoint DEF wheel Solid {
|
||||||
translation 0.00031435994125281755 -0.34981416744574356 0.00019375228355231422
|
translation -0.00017421846075908173 -0.3498141674457398 -0.00032559184261425796
|
||||||
rotation 0.6432373535723704 0.542298500072152 -0.5405164602384536 1.9939183181133648
|
rotation 0.3117156454776022 -0.6734193996637559 0.6703280305350422 2.535812857851766
|
||||||
children [
|
children [
|
||||||
DEF wheel-s Shape {
|
DEF wheel-s Shape {
|
||||||
appearance GenericTireAppearance {
|
appearance GenericTireAppearance {
|
||||||
|
|
@ -154,6 +155,7 @@ Robot {
|
||||||
}
|
}
|
||||||
physics Physics {
|
physics Physics {
|
||||||
}
|
}
|
||||||
|
controller "cruise"
|
||||||
}
|
}
|
||||||
Solid {
|
Solid {
|
||||||
children [
|
children [
|
||||||
|
|
|
||||||
Loading…
Reference in a new issue