testing actuators

daemon/Cargo.toml

@@ -29,7 +29,7 @@ kos-kbot = { version = "0.1.0", path = "../platforms/kbot", optional = true }
 kos-zeroth-01 = ["dep:kos-zeroth-01"]
 kos-sim = ["dep:kos-sim"]
 kos-stub = ["dep:kos-stub"]
-default = ["kos-stub"]
+default = ["kos-kbot"]
 
 [[bin]]
 name = "kos"

daemon/src/main.rs

@@ -42,7 +42,7 @@ async fn run_server(
     platform: &(dyn Platform + Send + Sync),
     operations_service: Arc<OperationsServiceImpl>,
 ) -> Result<(), Box<dyn std::error::Error>> {
-    let addr = "[::1]:50051".parse()?;
+    let addr = "0.0.0.0:50051".parse()?;
     let mut server_builder = Server::builder();
 
     let services = platform.create_services(operations_service.clone())?;

platforms/kbot/src/hexmove.rs

@@ -17,7 +17,12 @@ pub struct KBotIMU {
 }
 
 impl KBotIMU {
-    pub fn new(operations_service: Arc<OperationsServiceImpl>, interface: &str, can_id: u32, model: u32) -> Result<Self> {
+    pub fn new(
+        operations_service: Arc<OperationsServiceImpl>,
+        interface: &str,
+        can_id: u32,
+        model: u32,
+    ) -> Result<Self> {
         info!(
             "Initializing KBotIMU with interface: {}, CAN ID: {}, model: {}",
             interface, can_id, model

platforms/kbot/src/lib.rs

@@ -12,6 +12,7 @@ use kos_core::kos_proto::{
 };
 use kos_core::services::{ActuatorServiceImpl, IMUServiceImpl};
 use kos_core::{services::OperationsServiceImpl, Platform, ServiceEnum};
+use robstride::MotorType;
 use std::collections::HashMap;
 use std::sync::Arc;
 
@@ -49,12 +50,24 @@ impl Platform for KbotPlatform {
     ) -> Result<Vec<ServiceEnum>> {
         Ok(vec![
             ServiceEnum::Imu(ImuServiceServer::new(IMUServiceImpl::new(Arc::new(
-                KBotIMU::new(operations_service.clone(), "can0", 1, 1).wrap_err("Failed to create IMU")?,
+                KBotIMU::new(operations_service.clone(), "can0", 1, 1)
+                    .wrap_err("Failed to create IMU")?,
             )))),
             ServiceEnum::Actuator(ActuatorServiceServer::new(ActuatorServiceImpl::new(
                 Arc::new(
-                    KBotActuator::new(operations_service, "/dev/ttyCH341USB0", HashMap::new(), None, None, None)
-                        .wrap_err("Failed to create actuator")?,
+                    KBotActuator::new(
+                        operations_service,
+                        "/dev/ttyCH341USB0",
+                        HashMap::from([
+                            (1, MotorType::Type04),
+                            (2, MotorType::Type04),
+                            (3, MotorType::Type04),
+                        ]),
+                        None,
+                        None,
+                        None,
+                    )
+                    .wrap_err("Failed to create actuator")?,
                 ),
             ))),
         ])