diff --git a/.github/workflows/armv7.yml b/.github/workflows/armv7.yml
index c5caf2c..2dd142c 100644
--- a/.github/workflows/armv7.yml
+++ b/.github/workflows/armv7.yml
@@ -15,7 +15,7 @@ jobs:
container: ghcr.io/cross-rs/armv7-unknown-linux-gnueabihf:edge
steps:
- - uses: actions/checkout@v3
+ - uses: actions/checkout@v4
- name: Install latest nightly
uses: actions-rs/toolchain@v1
with:
@@ -24,7 +24,7 @@ jobs:
components: rustfmt, clippy
- name: submodule
run: git config --global --add safe.directory /__w/RustPilot/RustPilot && git submodule update --init
- - uses: actions/checkout@v3
+ - uses: actions/checkout@v4
- name: Build
run: rustup target add armv7-unknown-linux-gnueabihf && cargo build --verbose --target armv7-unknown-linux-gnueabihf
- name: Run tests
diff --git a/.github/workflows/gazebo.yml b/.github/workflows/gazebo.yml
index ac90575..ae4b845 100644
--- a/.github/workflows/gazebo.yml
+++ b/.github/workflows/gazebo.yml
@@ -22,7 +22,7 @@ jobs:
with:
packages: libgz-sim8-dev
version: 1.0
- - uses: actions/checkout@v3
+ - uses: actions/checkout@v4
- name: Install latest nightly
uses: actions-rs/toolchain@v1
with:
diff --git a/.github/workflows/rust.yml b/.github/workflows/rust.yml
index 60c9c42..1981a5a 100644
--- a/.github/workflows/rust.yml
+++ b/.github/workflows/rust.yml
@@ -17,7 +17,7 @@ jobs:
steps:
- name: update apt
run: sudo apt-get update
- - uses: actions/checkout@v3
+ - uses: actions/checkout@v4
- name: Install latest nightly
uses: actions-rs/toolchain@v1
with:
diff --git a/.gitignore b/.gitignore
index ea8c4bf..da2012c 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1 +1,2 @@
/target
+MUJOCO_LOG.TXT
\ No newline at end of file
diff --git a/Cargo.lock b/Cargo.lock
index 67329a9..ad51724 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -1,6 +1,12 @@
# This file is automatically @generated by Cargo.
# It is not intended for manual editing.
-version = 3
+version = 4
+
+[[package]]
+name = "adler2"
+version = "2.0.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "320119579fcad9c21884f5c4861d16174d0e06250625266f50fe6898340abefa"
[[package]]
name = "aho-corasick"
@@ -11,6 +17,15 @@ dependencies = [
"memchr",
]
+[[package]]
+name = "aligned-vec"
+version = "0.6.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "dc890384c8602f339876ded803c97ad529f3842aba97f6392b3dba0dd171769b"
+dependencies = [
+ "equator",
+]
+
[[package]]
name = "anstream"
version = "0.6.11"
@@ -46,7 +61,7 @@ version = "1.0.2"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "e28923312444cdd728e4738b3f9c9cac739500909bb3d3c94b43551b16517648"
dependencies = [
- "windows-sys",
+ "windows-sys 0.52.0",
]
[[package]]
@@ -56,15 +71,104 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "1cd54b81ec8d6180e24654d0b371ad22fc3dd083b6ff8ba325b72e00c87660a7"
dependencies = [
"anstyle",
- "windows-sys",
+ "windows-sys 0.52.0",
+]
+
+[[package]]
+name = "anyhow"
+version = "1.0.99"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b0674a1ddeecb70197781e945de4b3b8ffb61fa939a5597bcf48503737663100"
+
+[[package]]
+name = "approx"
+version = "0.5.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cab112f0a86d568ea0e627cc1d6be74a1e9cd55214684db5561995f6dad897c6"
+dependencies = [
+ "num-traits",
+]
+
+[[package]]
+name = "arbitrary"
+version = "1.4.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c3d036a3c4ab069c7b410a2ce876bd74808d2d0888a82667669f8e783a898bf1"
+
+[[package]]
+name = "arg_enum_proc_macro"
+version = "0.3.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0ae92a5119aa49cdbcf6b9f893fe4e1d98b04ccbf82ee0584ad948a44a734dea"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.106",
]
+[[package]]
+name = "arrayvec"
+version = "0.7.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7c02d123df017efcdfbd739ef81735b36c5ba83ec3c59c80a9d7ecc718f92e50"
+
[[package]]
name = "autocfg"
version = "1.1.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "d468802bab17cbc0cc575e9b053f41e72aa36bfa6b7f55e3529ffa43161b97fa"
+[[package]]
+name = "av1-grain"
+version = "0.2.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4f3efb2ca85bc610acfa917b5aaa36f3fcbebed5b3182d7f877b02531c4b80c8"
+dependencies = [
+ "anyhow",
+ "arrayvec",
+ "log",
+ "nom",
+ "num-rational",
+ "v_frame",
+]
+
+[[package]]
+name = "avif-serialize"
+version = "0.8.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "47c8fbc0f831f4519fe8b810b6a7a91410ec83031b8233f730a0480029f6a23f"
+dependencies = [
+ "arrayvec",
+]
+
+[[package]]
+name = "bindgen"
+version = "0.63.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "36d860121800b2a9a94f9b5604b332d5cffb234ce17609ea479d723dbc9d3885"
+dependencies = [
+ "bitflags 1.3.2",
+ "cexpr",
+ "clang-sys",
+ "lazy_static",
+ "lazycell",
+ "log",
+ "peeking_take_while",
+ "proc-macro2",
+ "quote",
+ "regex",
+ "rustc-hash",
+ "shlex",
+ "syn 1.0.109",
+ "which",
+]
+
+[[package]]
+name = "bit_field"
+version = "0.10.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "dc827186963e592360843fb5ba4b973e145841266c1357f7180c43526f2e5b61"
+
[[package]]
name = "bitfield"
version = "0.14.0"
@@ -83,19 +187,76 @@ version = "2.4.2"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "ed570934406eb16438a4e976b1b4500774099c13b8cb96eec99f620f05090ddf"
+[[package]]
+name = "bitstream-io"
+version = "2.6.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6099cdc01846bc367c4e7dd630dc5966dccf36b652fae7a74e17b640411a91b2"
+
+[[package]]
+name = "built"
+version = "0.7.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "56ed6191a7e78c36abdb16ab65341eefd73d64d303fffccdbb00d51e4205967b"
+
+[[package]]
+name = "bumpalo"
+version = "3.19.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "46c5e41b57b8bba42a04676d81cb89e9ee8e859a1a66f80a5a72e1cb76b34d43"
+
[[package]]
name = "bytecount"
version = "0.6.7"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "e1e5f035d16fc623ae5f74981db80a439803888314e3a555fd6f04acd51a3205"
+[[package]]
+name = "bytemuck"
+version = "1.23.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5c76a5792e44e4abe34d3abf15636779261d45a7450612059293d1d2cfc63422"
+
+[[package]]
+name = "byteorder"
+version = "1.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
+
+[[package]]
+name = "byteorder-lite"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8f1fe948ff07f4bd06c30984e69f5b4899c516a3ef74f34df92a2df2ab535495"
+
[[package]]
name = "cc"
-version = "1.0.83"
+version = "1.2.33"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f1174fb0b6ec23863f8b971027804a42614e347eafb0a95bf0b12cdae21fc4d0"
+checksum = "3ee0f8803222ba5a7e2777dd72ca451868909b1ac410621b676adf07280e9b5f"
dependencies = [
+ "jobserver",
"libc 0.2.152",
+ "shlex",
+]
+
+[[package]]
+name = "cexpr"
+version = "0.6.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6fac387a98bb7c37292057cffc56d62ecb629900026402633ae9160df93a8766"
+dependencies = [
+ "nom",
+]
+
+[[package]]
+name = "cfg-expr"
+version = "0.15.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d067ad48b8650848b989a59a86c6c36a995d02d2bf778d45c3c5d57bc2718f02"
+dependencies = [
+ "smallvec",
+ "target-lexicon",
]
[[package]]
@@ -104,6 +265,17 @@ version = "1.0.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
+[[package]]
+name = "clang-sys"
+version = "1.8.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0b023947811758c97c59bf9d1c188fd619ad4718dcaa767947df1cadb14f39f4"
+dependencies = [
+ "glob",
+ "libc 0.2.152",
+ "libloading",
+]
+
[[package]]
name = "clap"
version = "4.4.18"
@@ -132,10 +304,10 @@ version = "4.4.7"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "cf9804afaaf59a91e75b022a30fb7229a7901f60c755489cc61c9b423b836442"
dependencies = [
- "heck",
+ "heck 0.4.1",
"proc-macro2",
"quote",
- "syn",
+ "syn 2.0.106",
]
[[package]]
@@ -144,6 +316,21 @@ version = "0.6.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "702fc72eb24e5a1e48ce58027a675bc24edd52096d5397d4aea7c6dd9eca0bd1"
+[[package]]
+name = "cmake"
+version = "0.1.54"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e7caa3f9de89ddbe2c607f4101924c5abec803763ae9534e4f4d7d8f84aa81f0"
+dependencies = [
+ "cc",
+]
+
+[[package]]
+name = "color_quant"
+version = "1.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3d7b894f5411737b7867f4827955924d7c254fc9f4d91a6aad6b097804b1018b"
+
[[package]]
name = "colorchoice"
version = "1.0.0"
@@ -174,12 +361,27 @@ dependencies = [
"crc-catalog",
]
+[[package]]
+name = "crc-any"
+version = "2.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a62ec9ff5f7965e4d7280bd5482acd20aadb50d632cf6c1d74493856b011fa73"
+
[[package]]
name = "crc-catalog"
version = "2.4.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "19d374276b40fb8bbdee95aef7c7fa6b5316ec764510eb64b8dd0e2ed0d7e7f5"
+[[package]]
+name = "crc32fast"
+version = "1.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9481c1c90cbf2ac953f07c8d4a58aa3945c425b7185c9154d67a65e4230da511"
+dependencies = [
+ "cfg-if",
+]
+
[[package]]
name = "crossbeam-channel"
version = "0.5.11"
@@ -189,6 +391,25 @@ dependencies = [
"crossbeam-utils",
]
+[[package]]
+name = "crossbeam-deque"
+version = "0.8.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9dd111b7b7f7d55b72c0a6ae361660ee5853c9af73f70c3c2ef6858b950e2e51"
+dependencies = [
+ "crossbeam-epoch",
+ "crossbeam-utils",
+]
+
+[[package]]
+name = "crossbeam-epoch"
+version = "0.9.18"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5b82ac4a3c2ca9c3460964f020e1402edd5753411d7737aa39c3714ad1b5420e"
+dependencies = [
+ "crossbeam-utils",
+]
+
[[package]]
name = "crossbeam-utils"
version = "0.8.19"
@@ -205,6 +426,12 @@ dependencies = [
"crc",
]
+[[package]]
+name = "crunchy"
+version = "0.2.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "460fbee9c2c2f33933d720630a6a0bac33ba7053db5344fac858d4b8952d77d5"
+
[[package]]
name = "ctor"
version = "0.2.6"
@@ -212,185 +439,766 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "30d2b3721e861707777e3195b0158f950ae6dc4a27e4d02ff9f67e3eb3de199e"
dependencies = [
"quote",
- "syn",
+ "syn 2.0.106",
]
[[package]]
-name = "equivalent"
-version = "1.0.1"
+name = "dashmap"
+version = "6.1.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5443807d6dff69373d433ab9ef5378ad8df50ca6298caf15de6e52e24aaf54d5"
+checksum = "5041cc499144891f3790297212f32a74fb938e5136a14943f338ef9e0ae276cf"
+dependencies = [
+ "cfg-if",
+ "crossbeam-utils",
+ "hashbrown",
+ "lock_api",
+ "once_cell",
+ "parking_lot_core",
+]
[[package]]
-name = "errno"
-version = "0.3.8"
+name = "dirs"
+version = "4.0.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a258e46cdc063eb8519c00b9fc845fc47bcfca4130e2f08e88665ceda8474245"
+checksum = "ca3aa72a6f96ea37bbc5aa912f6788242832f75369bdfdadcb0e38423f100059"
dependencies = [
- "libc 0.2.152",
- "windows-sys",
+ "dirs-sys 0.3.7",
]
[[package]]
-name = "fdt"
-version = "0.1.5"
+name = "dirs"
+version = "5.0.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "784a4df722dc6267a04af36895398f59d21d07dce47232adf31ec0ff2fa45e67"
+checksum = "44c45a9d03d6676652bcb5e724c7e988de1acad23a711b5217ab9cbecbec2225"
+dependencies = [
+ "dirs-sys 0.4.1",
+]
[[package]]
-name = "getrandom"
-version = "0.2.12"
+name = "dirs-sys"
+version = "0.3.7"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "190092ea657667030ac6a35e305e62fc4dd69fd98ac98631e5d3a2b1575a12b5"
+checksum = "1b1d1d91c932ef41c0f2663aa8b0ca0342d444d842c06914aa0a7e352d0bada6"
dependencies = [
- "cfg-if",
"libc 0.2.152",
- "wasi",
+ "redox_users",
+ "winapi",
]
[[package]]
-name = "gz"
-version = "0.7.4"
+name = "dirs-sys"
+version = "0.4.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b38777944561088d2ba4f0940a21ef2ed792d699d57eef6025e1531d92761fb3"
+checksum = "520f05a5cbd335fae5a99ff7a6ab8627577660ee5cfd6a94a6a929b52ff0321c"
dependencies = [
- "gz-msgs",
- "gz-transport",
+ "libc 0.2.152",
+ "option-ext",
+ "redox_users",
+ "windows-sys 0.48.0",
]
[[package]]
-name = "gz-msgs"
-version = "0.7.4"
+name = "dlib"
+version = "0.5.2"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "215cbb4a1b535e25bc168cb9d9e66f5635f1a22f5f6c38c8ede283de854872b2"
+checksum = "330c60081dcc4c72131f8eb70510f1ac07223e5d4163db481a04a0befcffa412"
dependencies = [
- "gz-msgs-common",
- "pkg-config",
- "protobuf",
+ "libloading",
]
[[package]]
-name = "gz-msgs-common"
-version = "0.7.4"
+name = "downcast-rs"
+version = "1.2.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
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-dependencies = [
- "gz-msgs-derive",
- "protobuf",
-]
+checksum = "75b325c5dbd37f80359721ad39aca5a29fb04c89279657cffdda8736d0c0b9d2"
[[package]]
-name = "gz-msgs-derive"
-version = "0.7.4"
+name = "either"
+version = "1.15.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
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-dependencies = [
- "quote",
- "syn",
-]
+checksum = "48c757948c5ede0e46177b7add2e67155f70e33c07fea8284df6576da70b3719"
[[package]]
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-version = "0.7.4"
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source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "adfdf46a5a0816289dbce962e05980f20489f55019553e9f049d538c0eb06d44"
+checksum = "4711b213838dfee0117e3be6ac926007d7f433d7bbe33595975d4190cb07e6fc"
dependencies = [
- "crossbeam-channel",
- "gz-msgs-common",
- "gz-transport-sys",
- "log",
+ "equator-macro",
]
[[package]]
-name = "gz-transport-sys"
-version = "0.7.4"
+name = "equator-macro"
+version = "0.4.2"
source = "registry+https://github.com/rust-lang/crates.io-index"
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+checksum = "44f23cf4b44bfce11a86ace86f8a73ffdec849c9fd00a386a53d278bd9e81fb3"
dependencies = [
- "cc",
- "pkg-config",
+ "proc-macro2",
+ "quote",
+ "syn 2.0.106",
]
[[package]]
-name = "hashbrown"
-version = "0.14.3"
+name = "equivalent"
+version = "1.0.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
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+checksum = "5443807d6dff69373d433ab9ef5378ad8df50ca6298caf15de6e52e24aaf54d5"
[[package]]
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+name = "errno"
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source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "95505c38b4572b2d910cecb0281560f54b440a19336cbbcb27bf6ce6adc6f5a8"
+checksum = "a258e46cdc063eb8519c00b9fc845fc47bcfca4130e2f08e88665ceda8474245"
+dependencies = [
+ "libc 0.2.152",
+ "windows-sys 0.52.0",
+]
[[package]]
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-version = "2.1.0"
+name = "exr"
+version = "1.73.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d530e1a18b1cb4c484e6e34556a0d948706958449fca0cab753d649f2bce3d1f"
+checksum = "f83197f59927b46c04a183a619b7c29df34e63e63c7869320862268c0ef687e0"
dependencies = [
- "equivalent",
- "hashbrown",
+ "bit_field",
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+
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name = "windows_x86_64_gnullvm"
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checksum = "1a657e1e9d3f514745a572a6846d3c7aa7dbe1658c056ed9c3344c4109a6949e"
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name = "windows_x86_64_msvc"
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@@ -973,3 +2691,50 @@ checksum = "1931d78a9c73861da0134f453bb1f790ce49b2e30eba8410b4b79bac72b46a2d"
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diff --git a/Cargo.toml b/Cargo.toml
index 6acfb7b..d8c97a0 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -20,6 +20,12 @@ spidev = "0.6.0"
mavlink = "0.13.1"
dashmap = "6.1.0"
serde_json = "1.0.140"
+mujoco-rust = { version = "0.0.6", optional = true}
+mujoco-rs-sys = {version = "0.0.4", optional = true}
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+gl = { version = "0.14", optional = true}
+minifb = { version = "0.27", optional = true}
[dev-dependencies]
bitfield = "0.14"
@@ -30,6 +36,8 @@ rand = "0.8.4"
[features]
default = []
gzsim = ["rpos/lock_step_enabled","gz","gz-msgs-common"]
+mjsim = ["mujoco-rust","mujoco-rs-sys","image","glfw", "minifb","gl"]
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nom-kconfig = "0.2.0"
diff --git a/mixers/mj_mixer.json b/mixers/mj_mixer.json
new file mode 100644
index 0000000..098489c
--- /dev/null
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diff --git a/sim/mujoco_x2/assets/X2_lowpoly_texture_SpinningProps_1024.png b/sim/mujoco_x2/assets/X2_lowpoly_texture_SpinningProps_1024.png
new file mode 100644
index 0000000..95933a4
Binary files /dev/null and b/sim/mujoco_x2/assets/X2_lowpoly_texture_SpinningProps_1024.png differ
diff --git a/sim/mujoco_x2/axis_x2.xml b/sim/mujoco_x2/axis_x2.xml
new file mode 100644
index 0000000..5c6d641
--- /dev/null
+++ b/sim/mujoco_x2/axis_x2.xml
@@ -0,0 +1,72 @@
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diff --git a/sim/mujoco_x2/scene.xml b/sim/mujoco_x2/scene.xml
new file mode 100644
index 0000000..cc98a39
--- /dev/null
+++ b/sim/mujoco_x2/scene.xml
@@ -0,0 +1,38 @@
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diff --git a/sim/mujoco_x2/x2.xml b/sim/mujoco_x2/x2.xml
new file mode 100644
index 0000000..7000994
--- /dev/null
+++ b/sim/mujoco_x2/x2.xml
@@ -0,0 +1,148 @@
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diff --git a/sim/mujoco_x2/x_axis_scene.xml b/sim/mujoco_x2/x_axis_scene.xml
new file mode 100644
index 0000000..5e4656c
--- /dev/null
+++ b/sim/mujoco_x2/x_axis_scene.xml
@@ -0,0 +1,113 @@
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diff --git a/sim/mujoco_x2/y_axis_scene.xml b/sim/mujoco_x2/y_axis_scene.xml
new file mode 100644
index 0000000..137f926
--- /dev/null
+++ b/sim/mujoco_x2/y_axis_scene.xml
@@ -0,0 +1,113 @@
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diff --git a/sim/mujoco_x2/z_axis_scene.xml b/sim/mujoco_x2/z_axis_scene.xml
new file mode 100644
index 0000000..b2bc53f
--- /dev/null
+++ b/sim/mujoco_x2/z_axis_scene.xml
@@ -0,0 +1,115 @@
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diff --git a/src/main.rs b/src/main.rs
index 311f070..5b6ab50 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -1,5 +1,5 @@
-#![feature(trait_upcasting)]
-#![feature(once_cell_get_mut)]
+// #![feature(trait_upcasting)]
+// #![feature(once_cell_get_mut)]
mod msg_define;
mod param;
@@ -9,6 +9,12 @@ mod param;
mod gazebo_sim;
#[cfg(feature = "gzsim")]
mod gazebo_actuator;
+#[cfg(feature = "mjsim")]
+mod mujoco_sim;
+#[cfg(feature = "mjsim")]
+mod mujoco_display;
+#[cfg(feature = "mjsim")]
+mod mujoco_lidar;
mod fake_linux_input;
mod att_control;
@@ -28,6 +34,7 @@ use rpos::libc;
use clap::Parser;
use rpos::server_client::{server_init, Client};
+
#[derive(Parser)]
#[command(author, version, about, long_about = None, arg_required_else_help(true))]
struct Cli{
@@ -47,20 +54,25 @@ fn main() {
let cli = Cli::parse();
const SOCKET_PATH: &str = "./rpsocket";
+
+ #[cfg(not(feature = "mjsim"))]
unsafe {assert_eq!(libc::mlockall(1 | 2),0)};
- if cli.server{
+
+ if cli.server {
let hello_txt = r"
____ __ ____ _ __ __
/ __ \ __ __ _____ / /_ / __ \ (_) / / ____ / /_
/ /_/ / / / / / / ___/ / __/ / /_/ / / / / / / __ \ / __/
/ _, _/ / /_/ / (__ ) / /_ / ____/ / / / / / /_/ // /_
/_/ |_| \__,_/ /____/ \__/ /_/ /_/ /_/ \____/ \__/"; // slant
+
println!("{}",hello_txt);
+
+
server_init(SOCKET_PATH).unwrap();
- }else{
+ } else {
let mut client = Client::new(SOCKET_PATH).unwrap();
client.send_str(cli.other.unwrap().join(" ").as_str());
client.block_read();
}
-
-}
+}
\ No newline at end of file
diff --git a/src/mujoco_display.rs b/src/mujoco_display.rs
new file mode 100644
index 0000000..e13ef89
--- /dev/null
+++ b/src/mujoco_display.rs
@@ -0,0 +1,242 @@
+// ui.rs
+use mujoco_rs_sys::render;
+use mujoco_rs_sys::no_render;
+use glfw;
+use glfw::Context;
+use gl;
+use mujoco_rust::Simulation;
+use std::ptr;
+
+use mujoco_rust::model::ObjType;
+use image::{RgbImage, ImageBuffer};
+use std::process::{Command, Stdio};
+
+pub struct UIState {
+ pub cameras: Vec,
+ pub opt: render::mjvOption_,
+ pub scenes: Vec,
+ pub contexts: Vec,
+ pub window: glfw::Window,
+}
+
+pub fn glfw_init(simulation: &Simulation, cam_ids: &[i32]) -> UIState {
+ let mut glfw = glfw::init(glfw::FAIL_ON_ERRORS).unwrap();
+ glfw.default_window_hints();
+
+ let (mut window, events) = if cam_ids[0] == 0x7FFFFFFF {
+ glfw.create_window(1200, 900, "MuJoCo UI", glfw::WindowMode::Windowed)
+ .expect("Unable to create visible GLFW window.")
+ } else {
+ glfw.window_hint(glfw::WindowHint::Visible(false));
+ glfw.create_window(640, 480, "hidden", glfw::WindowMode::Windowed)
+ .expect("Unable to create hidden GLFW window.")
+ };
+
+ // window settings init
+ window.make_current();
+ window.set_key_polling(true);
+ window.set_cursor_pos_polling(true);
+ window.set_mouse_button_polling(true);
+ window.set_scroll_polling(true);
+
+ gl::load_with(|symbol| window.get_proc_address(symbol) as *const _);
+
+ // init UIstate
+ let mut cameras = Vec::new();
+ let mut scenes = Vec::new();
+ let mut contexts = Vec::new();
+ let mut opt = render::mjvOption_::default();
+
+ for &cam_id in cam_ids {
+ let mut cam = render::mjvCamera_::default();
+ let mut scn = render::mjvScene_::default();
+ let mut con = render::mjrContext_::default();
+
+ unsafe {
+ // init camera & scene
+ no_render::mjv_defaultCamera(&mut cam);
+ render::mjv_defaultScene(&mut scn);
+ render::mjr_defaultContext(&mut con);
+
+ no_render::mjv_makeScene(simulation.model.ptr(), &mut scn, 2000);
+ render::mjr_makeContext(simulation.model.ptr(), &mut con, 200);
+ }
+ if cam_id == 0x7FFFFFFF {
+ cam.type_ = 1; // free viewport
+ cam.trackbodyid = 1; // Set tracked object ID
+ cam.distance = 5.0;
+ } else {
+ cam.fixedcamid = cam_id;
+ cam.type_ = 2; // fix camera
+ }
+
+ cameras.push(cam);
+ scenes.push(scn);
+ contexts.push(con);
+ }
+
+ unsafe {
+ no_render::mjv_defaultOption(&mut opt);
+ }
+
+ UIState {
+ cameras,
+ opt,
+ scenes,
+ contexts,
+ window,
+ }
+}
+
+pub fn glfw_update_scene(simulation: &Simulation, ui_state: &mut UIState) {
+ ui_state.window.make_current();
+ unsafe {
+ // get window size
+ let (width, height) = ui_state.window.get_framebuffer_size();
+ let num_cameras = ui_state.cameras.len().min(4);
+ let cols = if num_cameras < 2 { 1 } else { 2 };
+ let rows = if num_cameras <= 2 { 1 } else { 2 };
+ let sub_window_width = width / cols as i32;
+ let sub_window_height = height / rows as i32;
+
+ // clear buffer
+ gl::Clear(gl::COLOR_BUFFER_BIT | gl::DEPTH_BUFFER_BIT);
+
+ // update & render
+ for i in 0..num_cameras {
+ no_render::mjv_updateScene(
+ simulation.model.ptr(),
+ simulation.state.ptr(),
+ &ui_state.opt,
+ ptr::null(),
+ &mut ui_state.cameras[i],
+ 0xFFFFFF,
+ &mut ui_state.scenes[i],
+ );
+
+ // calc sub window's pos in the main window
+ let row = i / cols;
+ let col = i % cols;
+
+ // define sub window viewport
+ let viewport = render::mjrRect_ {
+ left: col as i32 * sub_window_width,
+ bottom: (rows - 1 - row) as i32 * sub_window_height, // 从底部开始，翻转行顺序
+ width: sub_window_width,
+ height: sub_window_height,
+ };
+
+ // render scene
+ render::mjr_render(viewport, &mut ui_state.scenes[i], &mut ui_state.contexts[i]);
+ }
+
+ // swap buffer to display render scene
+ ui_state.window.swap_buffers();
+ }
+}
+
+pub fn init_ffmpeg() -> std::process::Child {
+ let rtsp_url = "rtsp://localhost:8554/mystream".to_string();
+ let mut ffmpeg = Command::new("ffmpeg")
+ .args([
+ "-f", "rawvideo",
+ "-pixel_format", "rgb24",
+ "-video_size", "640x480",
+ "-framerate", "30",
+ "-i", "pipe:",
+ "-c:v", "libx264",
+ "-pix_fmt", "yuv420p",
+ "-preset", "ultrafast",
+ "-tune", "zerolatency",
+ "-f", "rtsp",
+ "-rtsp_transport", "tcp",
+ &rtsp_url
+ ])
+ .stdin(Stdio::piped())
+ .stderr(Stdio::piped())
+ .spawn() // Spawn the process
+ .expect("Failed to start FFmpeg");
+
+ ffmpeg
+}
+
+pub fn update_mjscene(simulation: &Simulation, ui_state: &mut UIState) -> Vec {
+ ui_state.window.make_current();
+ unsafe {
+ // get window size
+ let (width, height) = ui_state.window.get_framebuffer_size();
+ let num_cameras = ui_state.cameras.len().min(4);
+ let cols = if num_cameras < 2 { 1 } else { 2 };
+ let rows = if num_cameras <= 2 { 1 } else { 2 };
+ let sub_window_width = width / cols as i32;
+ let sub_window_height = height / rows as i32;
+
+ // clear buffer
+ gl::Clear(gl::COLOR_BUFFER_BIT | gl::DEPTH_BUFFER_BIT);
+
+ // update & render
+ for i in 0..num_cameras {
+ no_render::mjv_updateScene(
+ simulation.model.ptr(),
+ simulation.state.ptr(),
+ &ui_state.opt,
+ ptr::null(),
+ &mut ui_state.cameras[i],
+ 0xFFFFFF,
+ &mut ui_state.scenes[i],
+ );
+ // calc sub window's pos in the main window
+ let row = i / cols;
+ let col = i % cols;
+
+ // sub window viewport
+ let viewport = render::mjrRect_ {
+ left: col as i32 * sub_window_width,
+ bottom: (rows - 1 - row) as i32 * sub_window_height, // 从底部开始，翻转行顺序
+ width: sub_window_width,
+ height: sub_window_height,
+ };
+
+ // render the scene
+ render::mjr_render(viewport, &mut ui_state.scenes[i], &mut ui_state.contexts[i]);
+ }
+
+ //
+ let mut rgb = vec![0u8; (width * height * 3) as usize];
+
+ // define full viewport rather than a partial viewport
+ let full_viewport = render::mjrRect_ {
+ left: 0,
+ bottom: 0,
+ width: width,
+ height: height,
+ };
+
+ gl::PixelStorei(gl::PACK_ALIGNMENT, 1);
+
+ // read the main window's Pixels
+ render::mjr_readPixels(rgb.as_mut_ptr(), ptr::null_mut(), full_viewport, &mut ui_state.contexts[0]);
+
+ // flips the image
+ let mut flipped_rgb = vec![0u8; (width * height * 3) as usize];
+ for y in 0..height {
+ for x in 0..width {
+ let src_idx = ((y * width + x) * 3) as usize;
+ let dst_idx = (((height - 1 - y) * width + x) * 3) as usize;
+ flipped_rgb[dst_idx] = rgb[src_idx];
+ flipped_rgb[dst_idx + 1] = rgb[src_idx + 1];
+ flipped_rgb[dst_idx + 2] = rgb[src_idx + 2];
+ }
+ }
+ flipped_rgb
+ }
+}
+
+pub fn free_resource(ui_state: &mut UIState){
+ unsafe {
+ for i in 0..ui_state.scenes.len() {
+ render::mjv_freeScene(&mut ui_state.scenes[i]);
+ render::mjr_freeContext(&mut ui_state.contexts[i]);
+ }
+ }
+}
\ No newline at end of file
diff --git a/src/mujoco_lidar.rs b/src/mujoco_lidar.rs
new file mode 100644
index 0000000..ae93306
--- /dev/null
+++ b/src/mujoco_lidar.rs
@@ -0,0 +1,147 @@
+use minifb::{Window, WindowOptions};
+use std::f64::consts::PI;
+
+pub fn init_lidar_window(width: usize, height: usize) -> Result> {
+ let window = Window::new(
+ "LiDAR Scan",
+ width,
+ height,
+ WindowOptions {
+ borderless: true, // Disable window decoration
+ ..WindowOptions::default()
+ }
+ )?;
+ Ok(window)
+}
+
+pub fn update_lidar_buffer(
+ lidar_width: usize,
+ lidar_height: usize,
+ buffer: &mut [u32],
+ rf_ids: &[u16],
+ angles: &[u16],
+ simulation: &mujoco_rust::Simulation,
+) {
+ // Lidar coordinate line
+ let center_x = lidar_width as f64 / 2.0;
+ let center_y = lidar_height as f64 / 2.0;
+ let max_radius = 10.0; // max distance:10m
+ let pixels_per_meter = (lidar_width as f64 / 2.0 - 20.0) / max_radius;
+
+ // update lidar window to clear the last recorded point
+ buffer.fill(0xFFFFFFFF);
+
+ for r in 1..=10 {
+ let radius = r as f64 * pixels_per_meter;
+ draw_circle_outline(buffer, lidar_width, lidar_height, center_x, center_y, radius, 0x800000);
+ }
+
+ for theta in (0..360).step_by(30) {
+ let theta_rad = theta as f64 * PI / 180.0;
+ let x1 = center_x;
+ let y1 = center_y;
+ let x2 = center_x + (max_radius * pixels_per_meter) * theta_rad.cos();
+ let y2 = center_y + (max_radius * pixels_per_meter) * theta_rad.sin();
+ draw_line(buffer, lidar_width, lidar_height, x1, y1, x2, y2, 0xFF000000); // black angle line
+ }
+
+ let mut points = Vec::new();
+ for (i, &id) in rf_ids.iter().enumerate() {
+ let distance = simulation.sensordata()[(id +1) as usize];
+ let theta = angles[i] as f64 * PI / 180.0;
+ if distance >= 0.0 && distance <= 10.0 {
+ points.push((theta, distance));
+ }
+ }
+
+ // Draw black lidar dots
+ for (theta, r) in &points {
+ let x = center_x + (r * pixels_per_meter) * theta.cos();
+ let y = center_y + (r * pixels_per_meter) * theta.sin();
+ draw_circle(buffer, lidar_width, lidar_height, x, y, 3.0, 0xFF000000);
+ }
+}
+
+pub fn draw_circle(buffer: &mut [u32], width: usize, height: usize, cx: f64, cy: f64, radius: f64, color: u32) {
+ let cx = cx.round() as i32;
+ let cy = cy.round() as i32;
+ let radius = radius.round() as i32;
+ for y in (cy - radius).max(0)..(cy + radius + 1).min(height as i32) {
+ for x in (cx - radius).max(0)..(cx + radius + 1).min(width as i32) {
+ let dx = x - cx;
+ let dy = y - cy;
+ if dx * dx + dy * dy <= radius * radius {
+ buffer[(y * width as i32 + x) as usize] = color;
+ }
+ }
+ }
+}
+
+
+//Draw hollow rings
+pub fn draw_circle_outline(buffer: &mut [u32], width: usize, height: usize, cx: f64, cy: f64, radius: f64, color: u32) {
+ let cx = cx.round() as i32;
+ let cy = cy.round() as i32;
+ let radius = radius.round() as i32;
+ let mut x = radius;
+ let mut y = 0;
+ let mut err = 0;
+
+ while x >= y {
+ let points = [
+ (cx + x, cy + y),
+ (cx + y, cy + x),
+ (cx - y, cy + x),
+ (cx - x, cy + y),
+ (cx - x, cy - y),
+ (cx - y, cy - x),
+ (cx + y, cy - x),
+ (cx + x, cy - y),
+ ];
+
+ for (px, py) in points.iter() {
+ if *px >= 0 && *px < width as i32 && *py >= 0 && *py < height as i32 {
+ buffer[(*py * width as i32 + *px) as usize] = color;
+ }
+ }
+
+ y += 1;
+ err += 1 + 2 * y;
+ if 2 * (err - x) + 1 > 0 {
+ x -= 1;
+ err += 1 - 2 * x;
+ }
+ }
+}
+
+//Draw lines in Bresenham algorithm
+pub fn draw_line(buffer: &mut [u32], width: usize, height: usize, x1: f64, y1: f64, x2: f64, y2: f64, color: u32) {
+ let mut x1 = x1.round() as i32;
+ let mut y1 = y1.round() as i32;
+ let x2 = x2.round() as i32;
+ let y2 = y2.round() as i32;
+
+ let dx = (x2 - x1).abs();
+ let dy = (y2 - y1).abs();
+ let sx = if x1 < x2 { 1 } else { -1 };
+ let sy = if y1 < y2 { 1 } else { -1 };
+ let mut err = dx - dy;
+
+ loop {
+ if x1 >= 0 && x1 < width as i32 && y1 >= 0 && y1 < height as i32 {
+ buffer[(y1 * width as i32 + x1) as usize] = color;
+ }
+ if x1 == x2 && y1 == y2 {
+ break;
+ }
+ let e2 = 2 * err;
+ if e2 > -dy {
+ err -= dy;
+ x1 += sx;
+ }
+ if e2 < dx {
+ err += dx;
+ y1 += sy;
+ }
+ }
+}
\ No newline at end of file
diff --git a/src/mujoco_sim.rs b/src/mujoco_sim.rs
new file mode 100644
index 0000000..b9d15d4
--- /dev/null
+++ b/src/mujoco_sim.rs
@@ -0,0 +1,223 @@
+use crate::msg_define::*;
+use crate::basic::rotation::Rotation;
+use core::slice;
+use rpos::channel::Sender;
+use rpos::ctor::ctor;
+use rpos::module::Module;
+use rpos::msg::{get_new_tx_of_message, get_new_rx_of_message};
+use std::sync::Arc;
+use std::io::Write;
+use std::thread;
+use std::ptr;
+
+use mujoco_rust::model::ObjType;
+use crate::mujoco_display;
+use crate::mujoco_lidar;
+
+unsafe impl Send for MujocoSim {}
+unsafe impl Sync for MujocoSim {}
+
+enum SimEvent {
+ MixerUpdate(Vec),
+ TimerTick,
+ Quit,
+}
+
+struct MujocoSim {
+ model: mujoco_rust::Model,
+ simulation: mujoco_rust::Simulation,
+ gyro_tx: Sender,
+ acc_tx: Sender,
+ attitude_tx: Sender,
+ rf_ids: Vec,
+ angles: Vec,
+}
+
+impl MujocoSim{
+ pub fn update_mj_sensor(&self) {
+ // Update the Mujoco sensor data
+ let mj_model = unsafe { *self.model.ptr() };
+ // 0: gyro
+ let gyro_start = unsafe { *mj_model.sensor_adr.add(0) } as usize;
+ let gyro_dim = unsafe { *mj_model.sensor_dim.add(0) } as usize;
+ let gyro_data = &self.simulation.sensordata()[gyro_start..gyro_start + gyro_dim];
+
+ // 1: accelerometer
+ let acc_start = unsafe { *mj_model.sensor_adr.add(1) } as usize;
+ let acc_dim = unsafe { *mj_model.sensor_dim.add(1) } as usize;
+ let acc_data = &self.simulation.sensordata()[acc_start..acc_start + acc_dim];
+
+ // 2: framequat (attitude quaternion)
+ let att_start = unsafe { *mj_model.sensor_adr.add(2) } as usize;
+ let att_dim = unsafe { *mj_model.sensor_dim.add(2) } as usize;
+ let att_data = &self.simulation.sensordata()[att_start..att_start + att_dim];
+
+
+ let rotation = Rotation::Yaw270;
+ self.gyro_tx.send(rotation.rotate_v(Vector3 {
+ x: gyro_data[0] as f32,
+ y: gyro_data[1] as f32,
+ z: gyro_data[2] as f32,
+ }));
+ self.acc_tx.send(rotation.rotate_v(Vector3 {
+ x: acc_data[0] as f32,
+ y: acc_data[1] as f32,
+ z: acc_data[2] as f32,
+ }));
+ let imu_q: quaternion_core::Quaternion = (
+ att_data[0] as f32,
+ [
+ att_data[1] as f32,
+ att_data[2] as f32,
+ att_data[3] as f32,
+ ],
+ );
+ let imu_q = rotation.rotate_q(imu_q);
+
+ self.attitude_tx.send(Vector4 {
+ w: imu_q.0,
+ x: imu_q.1[0],
+ y: imu_q.1[1],
+ z: imu_q.1[2],
+ });
+
+ }
+
+ fn mujoco_sim_event_loop(sim: Arc, actuator_num: usize) -> Result<(), Box> {
+ let mut mixer_rx = get_new_rx_of_message::("mixer_output").unwrap();
+
+ let mut ctrl: Vec = vec![0.0; actuator_num as usize];
+
+ // init lidar
+ let lidar_width = 800;
+ let lidar_height = 800;
+ let mut buffer: Vec = vec![0; lidar_width * lidar_height];
+ let mut lidar_window = minifb::Window::new(
+ "LiDAR Scan",
+ lidar_width,
+ lidar_height,
+ minifb::WindowOptions {
+ borderless: true,
+ ..minifb::WindowOptions::default()
+ },
+ )?;
+
+ let front_cam = sim.simulation.model.name_to_id(ObjType::CAMERA, "front_cam").unwrap() as i32;
+ let down_cam = sim.simulation.model.name_to_id(ObjType::CAMERA, "down_cam").unwrap() as i32;
+ let rear_cam = sim.simulation.model.name_to_id(ObjType::CAMERA, "rear_cam").unwrap() as i32;
+ let right_cam = sim.simulation.model.name_to_id(ObjType::CAMERA, "right_cam").unwrap() as i32;
+
+ let body_id = sim.simulation.model.name_to_id(ObjType::BODY, "x2").unwrap() as i32;
+
+ // UI with 3rd-person view
+ let mut ui_state_3rd = mujoco_display::glfw_init(&sim.simulation, &[0x7FFFFFFF]);
+
+ // vedio streaming with 1st-person view
+ let mut ffmpeg = mujoco_display::init_ffmpeg();
+ let mut stdin = ffmpeg.stdin.take().unwrap();
+ let mut ui_state_1st = mujoco_display::glfw_init(&sim.simulation, &[down_cam, front_cam, right_cam, rear_cam]);
+
+ sim.simulation.control(&ctrl);
+ loop {
+ if let Some(mixer) = mixer_rx.try_read() {
+ for (i, val) in mixer.output.iter().enumerate() {
+ if i < ctrl.len() {
+ ctrl[i] = *val as f64;
+ }
+ }
+ }
+ let ctrl_f64: Vec = ctrl.iter().map(|&x| x as f64).collect();
+
+ // update Lidar window
+ mujoco_lidar::update_lidar_buffer(lidar_width, lidar_height, &mut buffer, &sim.rf_ids, &sim.angles, &sim.simulation);
+ lidar_window.update_with_buffer(&buffer, lidar_width, lidar_height)?;
+
+ sim.simulation.control(&ctrl);
+
+ sim.simulation.step();
+
+ let pos = sim.simulation.qpos();
+ sim.update_mj_sensor();
+
+ let frame = mujoco_display::update_mjscene(&sim.simulation, &mut ui_state_1st);
+ let _ = stdin.write_all(&frame);
+
+ // ui render update
+ mujoco_display::glfw_update_scene(&sim.simulation, &mut ui_state_3rd);
+
+ // time step setting
+ std::thread::sleep(std::time::Duration::from_millis(10));
+ }
+ mujoco_display::free_resource(&mut ui_state_1st);
+ mujoco_display::free_resource(&mut ui_state_3rd);
+
+ // close stdin
+ drop(stdin);
+
+ // wait for FFmpeg end
+ match ffmpeg.wait_with_output() {
+ Ok(output) => {
+ if !output.status.success() {
+ eprintln!("FFmpeg error: {}", String::from_utf8_lossy(&output.stderr));
+ return Ok(());
+ }
+ Ok(())
+ }
+ Err(e) => {
+ eprintln!("Error: wait for FFmpeg failed: {}", e);
+ return Ok(());
+ }
+ }
+ }
+
+
+ fn new(xml_filename: &str) -> Arc {
+ let model = mujoco_rust::Model::from_xml(xml_filename).unwrap();
+ let simulation = mujoco_rust::Simulation::new(model.clone());
+
+ // Lidar
+ let angles = vec![0, 15, 30, 45, 60, 75, 90, 105, 120, 135, 150, 165, 180, 195, 210, 225, 240, 255, 270, 285, 300, 315, 330, 345];
+ let mut rf_ids = Vec::new();
+ for angle in angles.iter() {
+ let sensor_name = format!("rf_{}", angle);
+ let id = model.name_to_id(ObjType::SITE, &sensor_name).unwrap();
+ rf_ids.push(id as u16);
+ }
+
+ let sim = Arc::new_cyclic(|_| {
+ let tmp = MujocoSim {
+ model: model.clone(),
+ simulation: simulation,
+ gyro_tx: get_new_tx_of_message("gyro").unwrap(),
+ acc_tx: get_new_tx_of_message("acc").unwrap(),
+ attitude_tx: get_new_tx_of_message("attitude").unwrap(),
+ rf_ids: rf_ids,
+ angles: angles
+ };
+ tmp
+ });
+ sim
+ }
+
+}
+
+pub fn init_mujoco_sim(_argc: u32, _argv: *const &str){
+ assert!(_argc == 2);
+ let argv = unsafe { slice::from_raw_parts(_argv, _argc as usize) };
+ let sim = MujocoSim::new(argv[1]);
+ let actuator_num = unsafe { (*sim.simulation.model.ptr()).nu as usize};
+
+ println!("MujocoSim inited!");
+
+ std::thread::spawn(move || {
+ if let Err(e) = MujocoSim::mujoco_sim_event_loop(sim, actuator_num) {
+ eprintln!("Simulated thread error: {:?}", e);
+ }
+ });
+}
+
+
+#[ctor]
+fn register() {
+ Module::register("mujoco_sim", init_mujoco_sim);
+}
\ No newline at end of file
diff --git a/start_scripts/car.sh b/start_scripts/car.sh
index 110195c..2a4be6b 100644
--- a/start_scripts/car.sh
+++ b/start_scripts/car.sh
@@ -1,11 +1,11 @@
-./rust_pilot --server &
+./target/debug/rust_pilot --server &
sleep 1
-./rust_pilot -- elrs /dev/ttyS2
+./target/debug/rust_pilot -- elrs /dev/ttyS2
# set spi mode tempolarily, as it's a FPGA module bug.
# I have fix the bug in dshot mode, while pwm mode i have never test yet
# so just set spi-mode to 0, in which the module could work
-./rust_pilot -- fpga_spi_pwm -d /dev/spidev0.2 --predivider 4 -f ../fpga/spi_pwm.bin --spi-mode 0
-./rust_pilot -- mixer ./car_mixer.json
-./rust_pilot -- manual_ctrl -d
+./target/debug/rust_pilot -- fpga_spi_pwm -d /dev/spidev0.2 --predivider 4 -f ../fpga/spi_pwm.bin --spi-mode 0
+./target/debug/rust_pilot -- mixer ./car_mixer.json
+./target/debug/rust_pilot -- manual_ctrl -d
diff --git a/start_scripts/gz_sim.sh b/start_scripts/gz_sim.sh
old mode 100644
new mode 100755
index 58a73df..2a1a41f
--- a/start_scripts/gz_sim.sh
+++ b/start_scripts/gz_sim.sh
@@ -1,12 +1,12 @@
-./rust_pilot gazebo_sim /home/ncer/RustPilot/sim/quadcopter.toml
+./target/debug/rust_pilot gazebo_sim ~/project/RustPilot/sim/quadcopter.toml
-./rust_pilot gazebo_actuator
+./target/debug/rust_pilot gazebo_actuator
-./rust_pilot mixer /home/ncer/RustPilot/mixers/gz_mixer.json
+./target/debug/rust_pilot mixer ~/project/RustPilot/mixers/gz_mixer.json
-./rust_pilot att_control
+./target/debug/rust_pilot att_control
-./rust_pilot -- manual_ctrl
+./target/debug/rust_pilot -- manual_ctrl
-./rust_pilot -- mavlink_gs --addr localhost:14550 --joystick
\ No newline at end of file
+./target/debug/rust_pilot -- mavlink_gs --addr 127.0.0.1:14550 --joystick
diff --git a/start_scripts/gz_sim_imu_update.sh b/start_scripts/gz_sim_imu_update.sh
old mode 100644
new mode 100755
index b6d0e96..9a800c3
--- a/start_scripts/gz_sim_imu_update.sh
+++ b/start_scripts/gz_sim_imu_update.sh
@@ -1,12 +1,12 @@
-./target/debug//rust_pilot gazebo_sim /home/ncer/RustPilot/sim/quadcopter.toml
+./target/debug/rust_pilot gazebo_sim ~/project/RustPilot/sim/quadcopter.toml
./target/debug/rust_pilot gazebo_actuator
-./target/debug/rust_pilot mixer /home/ncer/RustPilot/mixers/gz_mixer.json
+./target/debug/rust_pilot mixer ~/project/RustPilot/mixers/gz_mixer.json
#./target/debug/rust_pilot att_control
./target/debug/rust_pilot -- imu_update
-#./target/debug/rust_pilot -- mavlink_gs --addr localhost:14550 --joystickW
\ No newline at end of file
+#./target/debug/rust_pilot -- mavlink_gs --addr localhost:14550 --joystick
\ No newline at end of file
diff --git a/start_scripts/mj_sim.sh b/start_scripts/mj_sim.sh
new file mode 100755
index 0000000..538cf93
--- /dev/null
+++ b/start_scripts/mj_sim.sh
@@ -0,0 +1,10 @@
+
+./target/debug/rust_pilot mujoco_sim ~/project/RustPilot/sim/mujoco_x2/scene.xml
+
+./target/debug/rust_pilot mixer ~/project/RustPilot/mixers/mj_mixer.json
+
+./target/debug/rust_pilot att_control
+
+./target/debug/rust_pilot -- manual_ctrl
+
+./target/debug/rust_pilot -- mavlink_gs --addr 127.0.0.1:14550 --joystick
\ No newline at end of file