✨ Add hal::rmd::drc_angular_velocity_sensor (#69)

Author: Coreyboy1820

conanfile.py

@@ -24,7 +24,7 @@
 
 class libhal_rmd_conan(ConanFile):
     name = "libhal-rmd"
-    version = "3.0.1"
+    version = "3.1.0"
     license = "Apache-2.0"
     url = "https://github.com/conan-io/conan-center-index"
     homepage = "https://libhal.github.io/libhal-rmd"
@@ -64,7 +64,7 @@ def build_requirements(self):
         self.test_requires("boost-ext-ut/1.1.9")
 
     def requirements(self):
-        self.requires("libhal/[^2.0.3]", transitive_headers=True)
+        self.requires("libhal/[^2.1.0]", transitive_headers=True)
         self.requires("libhal-util/[^3.0.1]")
         self.requires("libhal-canrouter/[^1.0.0]")
 

include/libhal-rmd/drc.hpp

@@ -17,6 +17,7 @@
 #include <cstdint>
 
 #include <libhal-canrouter/can_router.hpp>
+#include <libhal/angular_velocity_sensor.hpp>
 #include <libhal/can.hpp>
 #include <libhal/motor.hpp>
 #include <libhal/rotation_sensor.hpp>
@@ -336,13 +337,39 @@ class drc_servo : public hal::servo
  *
  * @param p_drc - reference to a drc driver. This object's lifetime must
  * exceed the lifetime of the returned object.
- * @param p_max_speed - maximum speed of the motor when moving to an angle
- * @return result<drc_servo> - motor implementation based on the drc driver
+ * @param p_max_speed - maximum speed of the servo when moving to an angle
+ * @return result<drc_servo> - servo implementation based on the drc driver
  */
 result<drc_servo> make_servo(drc& p_drc, hal::rpm p_max_speed);
+
+/**
+ * @brief angular velocity sensor adaptor for DRC
+ *
+ */
+class drc_angular_velocity_sensor : public hal::angular_velocity_sensor
+{
+private:
+  drc_angular_velocity_sensor(drc& p_drc);
+  result<angular_velocity_sensor::read_t> driver_read() override;
+  friend result<drc_angular_velocity_sensor> make_angular_velocity_sensor(
+    drc& p_drc);
+  drc* m_drc = nullptr;
+};
+
+/**
+ * @brief Create a hal::angular_velocity_sensor driver using the drc driver
+ *
+ * @param p_drc - reference to a drc driver. This object's lifetime must exceed
+ * the lifetime of the returned object
+ * @return result<angular_velocity_sensor> - angular_velocity_sensor
+ * implementation based on the drc driver
+ */
+result<drc_angular_velocity_sensor> make_angular_velocity_sensor(drc& p_drc);
+
 }  // namespace hal::rmd
 
 namespace hal {
+using rmd::make_angular_velocity_sensor;
 using rmd::make_motor;
 using rmd::make_rotation_sensor;
 using rmd::make_servo;

src/drc_adaptors.cpp

@@ -94,4 +94,23 @@ result<int> make_servo(hal::rpm p_max_speed)
 {
   return static_cast<int>(5 * p_max_speed);
 }
+
+drc_angular_velocity_sensor::drc_angular_velocity_sensor(drc& p_drc)
+  : m_drc(&p_drc)
+{
+}
+
+result<angular_velocity_sensor::read_t>
+drc_angular_velocity_sensor::driver_read()
+{
+  HAL_CHECK(m_drc->feedback_request(drc::read::status_2));
+
+  return angular_velocity_sensor::read_t{ .angular_velocity =
+                                            m_drc->feedback().speed() };
+}
+
+result<drc_angular_velocity_sensor> make_angular_velocity_sensor(drc& p_drc)
+{
+  return drc_angular_velocity_sensor(p_drc);
+}
 }  // namespace hal::rmd