zpzgone / ev3dev-lang-rust

Rust language bindings for http://ev3dev.org

Rust language bindings for ev3dev

Notice

Currently this project is not compatible with the BrickPi platform.

Usage

extern crate ev3dev_lang_rust;

use ev3dev_lang_rust::Ev3Result;
use ev3dev_lang_rust::motors::{LargeMotor, MotorPort};
use ev3dev_lang_rust::sensors::ColorSensor;

fn main() -> Ev3Result<()> {

    // Get large motor on port outA.
    let large_motor = LargeMotor::get(MotorPort::OutA)?;

    // Set command "run-direct".
    large_motor.run_direct()?;

    // Run motor.
    large_motor.set_duty_cycle_sp(50)?;

    // Find color sensor. Always returns the first recognised one.
    let color_sensor = ColorSensor::find()?;

    // Switch to rgb mode.
    color_sensor.set_mode_rgb_raw()?;

    // Get current rgb color tuple.
    println!("Current rgb color: {:?}", color_sensor.get_rgb()?);

    Ok(())
}

Cross compile for ev3 brick

1. Create target configuration .cargo/config

   [target.armv5te-unknown-linux-gnueabi]
   linker = "/usr/bin/arm-linux-gnueabi-gcc"

2. Create Dockerfile

   FROM debian:stretch
   
   RUN dpkg --add-architecture armel
   RUN apt update
   
   # Fix debian package alias
   RUN sed -i "s#deb http://security.debian.org/debian-security stretch/updates main#deb http://deb.debian.org/debian-security stretch/updates main#g" /etc/apt/sources.list
   
   # Install curl for rust installation
   # Install g++ as buildscript compiler
   # Install g++-arm-linux-gnueabi as cross compiler
   RUN apt --yes install curl g++ g++-arm-linux-gnueabi crossbuild-essential-armel
   
   # Instull rust for host platform
   RUN curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- -y
   
   ENV PATH "$PATH:/root/.cargo/bin"
   
   # Add stdlib for target platform
   RUN rustup target add armv5te-unknown-linux-gnueabi
   
   # docker run -it --rm -v $PWD:/build/ -w /build pixix4/ev3dev-rust-cross
   # cargo build --release --target armv5te-unknown-linux-gnueabi

3. Build docker image

   docker build . -t pixix4/ev3dev-rust-cross --no-cache

4. Start docker image

   docker run -it --rm -v $PWD:/build/ -w /build pixix4/ev3dev-rust-cross

5. Build binary for ev3dev

   cargo build --release --target armv5te-unknown-linux-gnueabi

   The --release flag is optional. However, it can speedup the execution time by a factor of 30.

The target binary is now in target/armv5te-unknown-linux-gnueabi/release/{application_name}