Merge pull request #5 from kscalelabs/kos-kbot-dev

Compile kbot on mac
kscalelabs · Nov 15, 2024 · c9367e6 · c9367e6
2 parents dbd6392 + e60c329
commit c9367e6
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Showing 3 changed files with 31 additions and 4 deletions.
diff --git a/daemon/Cargo.toml b/daemon/Cargo.toml
@@ -21,8 +21,6 @@ tower = "0.5"
 kos-sim = { version = "0.1.0", path = "../platforms/sim", optional = true }
 kos-stub = { version = "0.1.0", path = "../platforms/stub", optional = true }
 kos-zeroth-01 = { version = "0.1.0", path = "../platforms/zeroth-01", optional = true }
-
-[target.'cfg(target_os = "linux")'.dependencies]
 kos-kbot = { version = "0.1.0", path = "../platforms/kbot", optional = true }
 
 [features]

diff --git a/platforms/kbot/Cargo.toml b/platforms/kbot/Cargo.toml
@@ -13,4 +13,6 @@ eyre = "0.6"
 tracing = "0.1"
 async-trait = "0.1"
 robstride = "0.2.8"
-imu = "0.1.4"
+
+[target.'cfg(target_os = "linux")'.dependencies]
+imu = "0.1.4"
diff --git a/platforms/kbot/src/lib.rs b/platforms/kbot/src/lib.rs
@@ -1,7 +1,11 @@
 mod actuator;
+
+#[cfg(target_os = "linux")]
 mod hexmove;
 
 pub use actuator::*;
+
+#[cfg(target_os = "linux")]
 pub use hexmove::*;
 
 use eyre::{Result, WrapErr};
@@ -48,6 +52,7 @@ impl Platform for KbotPlatform {
         &self,
         operations_service: Arc<OperationsServiceImpl>,
     ) -> Result<Vec<ServiceEnum>> {
+        #[cfg(target_os = "linux")]
         Ok(vec![
             ServiceEnum::Imu(ImuServiceServer::new(IMUServiceImpl::new(Arc::new(
                 KBotIMU::new(operations_service.clone(), "can0", 1, 1)
@@ -73,7 +78,29 @@ impl Platform for KbotPlatform {
                     .wrap_err("Failed to create actuator")?,
                 ),
             ))),
-        ])
+        ]);
+
+        #[cfg(not(target_os = "linux"))]
+        Ok(vec![ServiceEnum::Actuator(ActuatorServiceServer::new(
+            ActuatorServiceImpl::new(Arc::new(
+                KBotActuator::new(
+                    operations_service,
+                    "/dev/ttyCH341USB0",
+                    HashMap::from([
+                        (1, MotorType::Type04),
+                        (2, MotorType::Type04),
+                        (3, MotorType::Type04),
+                        (4, MotorType::Type04),
+                        (5, MotorType::Type04),
+                        (6, MotorType::Type01),
+                    ]),
+                    None,
+                    None,
+                    None,
+                )
+                .wrap_err("Failed to create actuator")?,
+            )),
+        ))])
     }
 
     fn shutdown(&mut self) -> eyre::Result<()> {