This README refers to the serialbridge module used for the Hardware In the Loop (HIL) simulation.

How to Build

The following steps will generate a mex file that can be used in MATLAB.

With Just

Just takes care of setting the correct extension.

just build-env <MATLAB_PATH>

Where <MATLAB_PATH> is the path to the MATLAB installation directory. This can be found by running matlabroot in the MATLAB command window as follows:

fullfile(matlabroot(), 'bin', computer('arch'))

Manually

export MATLAB_LIB_DIR="<MATLAB_PATH>"
cargo build --release
mv target/release/libserial_bridge.dylib serialbridge.<EXT>

<EXT> is the extension of the library file (e.g. mexa64 for Linux, mexw64 for Windows, mexmaci64 for macOS).

Usage

serialbridge can be used in matlab in the following way:

• serialbridge("Open", string_serialPort, uint_baudrate):
  • "Open": specifies we want to open the serial port
  • string_serialPort: is the serial port we want to open (eg: "COM6")
  • uint_baudrate: is the baudrate of the port (eg: 256000)
• serialbridge("Write", singleArray_Data):
  • "Write": specifies that we want to write to the serial port
  • singleArray_Data: is the array of singles we want to write on serial (eg: [1 2 3 4.5 5.4])
• singleArray_Data = serialbridge("Read", uint_nData);
  • "Read": specifies that we want to read from the serial port
  • uint_nData: How many floats to read from serial (eg: 1)
  • singleArray_Data: array of floats read from the serial (eg: actuatorData)
• serialbridge("Close", string_serialPort, uint_baudrate):
  • "Close": specifies we want to close the serial port

Example in Matlab:

serialbridge("Open", "COM6", 256000); % Opens the serial port
serialbridge("Write", [1 2 3 4]);     % Sends the array "[1 2 3 4]" to the serial device
data = serialbridge("Read", 2);       % Receives 2 floats and stores them in the variable "data"
serialbridge("Close");                % Closes the serial port

Procedure in order to use the MatlabTransceiver module: https://git.skywarder.eu/scs/hermes/r2a-obsw/-/blob/Serial4Simulations-dev/src/tests/hardware_in_the_loop/README.md

WARNING:

• It's possible to open just ONE serial port with this module

Dev

Tho have rustanalyzer working properly, you need to add a config.toml in the .cargo directory at the root of this repository with the following content:

[env]
MATLAB_LIB_DIR = <MATLAB_PATH>

To get the <MATLAB_PATH> you can follow the instructions in the "How to Build" section.