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

After the build, your file will be available in the target/release/ folder with the name libserial_bridge.dylib for mac systems and serial_bridge.dll for windows systems.

mv libserial_bridge.dylib serialbridge.

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

Usage

All string arguments should be char arrays (e.g. 'main' instead of "main").

serialbridge can be used in matlab in the following way:

• serialbridge('Open', '<PORT_ID>', '<PORT_PATH>', 115200):
  • 'Open': specifies we want to open the serial port
  • <PORT_ID>: is the name of the serial port (e.g. 'main', 'payload', etc.)
  • <PORT_PATH>: is the serial port we want to open (e.g. 'COM6')
  • 115200: is the baudrate of the port
• serialbridge('Write', '<PORT_ID>', single([0, 1, 2])):
  • 'Write': specifies that we want to write to the serial port
  • <PORT_ID>: is the name of the serial port (e.g. 'main', 'payload', etc.)
  • [0, 1.2, 2.3]: is the array of singles we want to write on serial.
• data = serialbridge('Read', '<PORT_ID>', 10);
  • 'Read': specifies that we want to read from the serial port
  • <PORT_ID>: is the name of the serial port (e.g. 'main', 'payload', etc.)
  • 10: How many floats to read from serial
  • data: array of floats read from the serial (e.g. actuatorData)
• serialbridge('Close', '<PORT_ID>'):
  • 'Close': specifies we want to close the serial port
  • <PORT_ID>: is the name of the serial port (e.g. 'main', 'payload', etc.)

Example in Matlab:

serialbridge('Open', 'main', '/dev/ttyACM0', 115200); % Opens the serial port
serialbridge('Write', 'main', single([1 2 3 4]));     % Sends the array "[1 2 3 4]" to the serial device
data = serialbridge('Read', 'main', 2);               % Receives 2 floats and stores them in the variable "data"
serialbridge('Close', 'main');                        % Closes the serial port

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.