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This commit is contained in:
Sergey Savelyev
2025-03-30 10:58:46 -07:00
commit e59b3f3a5f
16 changed files with 547 additions and 0 deletions
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2
.cargo/config.toml Normal file
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[target.aarch64-unknown-linux-gnu]
linker = "aarch64-unknown-linux-gnu-gcc"

4
.gitignore vendored Normal file
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.idea/
/target
/logs

353
Cargo.lock generated Normal file
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# This file is automatically @generated by Cargo.
# It is not intended for manual editing.
version = 4
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Cargo.toml Normal file
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[workspace]
resolver = "3"
members = ["common", "flight", "ground"]

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README.md Normal file
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# Project Nautilus
## Prerequisites
1. Install `aarch64-unknown-linux-gnu` linker
1. macOS: https://github.com/messense/homebrew-macos-cross-toolchains
## Build Ground
`cargo build --bin nautilus-ground`
## Build Flight
`cargo build --target aarch64-unknown-linux-gnu --bin nautilus-flight --features raspi`

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common/Cargo.toml Normal file
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[package]
name = "nautilus_common"
version = "0.1.0"
edition = "2024"
[dependencies]

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common/src/lib.rs Normal file
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pub fn add(left: u64, right: u64) -> u64 {
left + right
}
#[cfg(test)]
mod tests {
use super::*;
#[test]
fn it_works() {
let result = add(2, 2);
assert_eq!(result, 4);
}
}

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flight/Cargo.toml Normal file
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[package]
name = "nautilus_flight"
version = "0.1.0"
edition = "2024"
[dependencies]
anyhow = "1.0.97"
fern = "0.7.1"
log = "0.4.27"
rppal = { version = "0.22.1", optional = true }
chrono = "0.4.40"
[features]
raspi = ["dep:rppal"]

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flight/src/hal/emulated/mod.rs Normal file
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use crate::hal::Hal;
use log::info;
pub struct EmulatedHal {}
impl EmulatedHal {
pub fn new() -> Self {
info!("Running in Emulated Hardware Mode");
Self {}
}
}
impl Hal for EmulatedHal {}

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flight/src/hal/mod.rs Normal file
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use anyhow::Result;
pub trait Hal {}
#[cfg(feature = "raspi")]
mod raspi;
#[cfg(feature = "raspi")]
pub fn initialize() -> Result<impl Hal> {
raspi::RaspiHal::new()
}
#[cfg(not(feature = "raspi"))]
mod emulated;
#[cfg(not(feature = "raspi"))]
pub fn initialize() -> Result<impl Hal> {
Ok(emulated::EmulatedHal::new())
}

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flight/src/hal/raspi/mod.rs Normal file
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use crate::hal::Hal;
use anyhow::Result;
use log::info;
use rppal::gpio::Gpio;
pub struct RaspiHal {
gpio: Gpio,
}
impl RaspiHal {
pub fn new() -> Result<Self> {
let device = rppal::system::DeviceInfo::new()?;
info!(
"Running on Raspberry Pi Emulated Hardware Model {} with {}",
device.model(),
device.soc()
);
Self { gpio: Gpio::new()? }
}
}
impl Hal for RaspiHal {}

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flight/src/lib.rs Normal file
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use crate::hal::initialize;
use crate::logger::setup_logger;
use anyhow::Result;
use log::info;
mod hal;
mod logger;
pub fn run() -> Result<()> {
setup_logger()?;
info!(
"Project Nautilus Flight Software {}",
env!("CARGO_PKG_VERSION")
);
let hal = initialize()?;
drop(hal);
Ok(())
}

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flight/src/logger.rs Normal file
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use anyhow::Result;
use std::env;
use std::fs::create_dir_all;
use std::str::FromStr;
pub fn setup_logger() -> Result<()> {
let log_file = env::var("LOG_FILE").or_else(|_| {
create_dir_all("logs/")?;
anyhow::Ok(format!(
"logs/{}_{}.log",
env!("CARGO_PKG_NAME"),
chrono::Local::now().format("%Y%m%d_%H%M%S")
))
})?;
let log_level = match env::var("LOG_LEVEL") {
Ok(log_level) => log::LevelFilter::from_str(&log_level).unwrap_or(log::LevelFilter::Info),
Err(_) => log::LevelFilter::Info,
};
fern::Dispatch::new()
.format(|out, message, record| {
out.finish(format_args!(
"[{}][{}][{}] {}",
chrono::Local::now().format("%Y-%m-%d %H:%M:%S"),
record.target(),
record.level(),
message
))
})
.chain(
fern::Dispatch::new()
.level(log_level)
.chain(std::io::stdout()),
)
.chain(fern::log_file(log_file)?)
.apply()?;
Ok(())
}

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flight/src/main.rs Normal file
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use log::error;
use nautilus_flight::run;
fn main() {
match run() {
Ok(_) => {}
Err(err) => {
error!("An unhandled error occurred: {}", err);
}
}
}

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ground/Cargo.toml Normal file
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[package]
name = "nautilus_ground"
version = "0.1.0"
edition = "2024"
[dependencies]

3
ground/src/main.rs Normal file
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fn main() {
println!("Hello, world!");
}