Lidar hw merge

.env

@@ -0,0 +1,2 @@
+COMPOSE_PROJECT_NAME=truck-abs-new
+CONTAINER_NAME=truck-abs-new

.gitignore

@@ -15,3 +15,6 @@ packages/navigation/test/data
 packages/simulator_2d/test/data
 packages/svg_debug_drawer/test/data/im*_out.svg
 packages/lidar_map/data
+
+# Platformio
+.pio

.tmux.conf

@@ -0,0 +1,7 @@
+set -g default-terminal "screen-256color"  # Поддержка цветов
+set -g base-index 1                       # Нумерация окон с 1
+set -g pane-base-index 1                  # Нумерация панелей с 1
+set -g renumber-windows on                # Автоперенумерация окон
+set -g history-limit 10000                # Увеличиваем историю прокрутки
+set -g mouse on                           # Включаем мышь (переключение, ресайз)
+set -g focus-events on                    # Для совместимости с vim/nvim

Dockerfile

@@ -342,7 +342,6 @@ ENV ROS_PYTHON_VERSION=3
 
 RUN wget -q https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O /usr/share/keyrings/ros-archive-keyring.gpg \
     && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2.list \
-
     ENV RMW_IMPLEMENTATION="rmw_cyclonedds_cpp"
 
 RUN apt-get update -q \
@@ -528,6 +527,25 @@ RUN wget -qO - https://github.com/borglab/gtsam/archive/refs/tags/${GTSAM_VERSIO
     && make -j$(nproc) install \
     && rm -rf /tmp/*
 
+### INSTALL LIVOX SDK2
+
+ARG LIVOX_VERSION="1.2.5"
+
+RUN wget -qO - https://github.com/Livox-SDK/Livox-SDK2/archive/refs/tags/v${LIVOX_VERSION}.tar.gz | tar -xz \
+    && cd Livox-SDK2-${LIVOX_VERSION} && mkdir build && cd build \
+    && cmake .. && make -j$(nproc) && make install \
+    && rm -rf /tmp/*
+
+### INSTALL RAPIDJSON
+
+ARG RAPIDJSON_VERSION="1.1.0"
+
+RUN wget -qO - https://github.com/Tencent/rapidjson/archive/refs/tags/v${RAPIDJSON_VERSION}.tar.gz | tar -xz \
+    && cd rapidjson-${RAPIDJSON_VERSION} && mkdir build && cd build \
+    && cmake .. -DRAPIDJSON_BUILD_DOC=OFF -DRAPIDJSON_BUILD_EXAMPLES=OFF -DRAPIDJSON_BUILD_TESTS=OFF \
+    && make -j$(nproc) && make install \
+    && rm -rf /tmp/*
+
 ### INSTALL DEV PKGS
 
 COPY requirements.txt /tmp/requirements.txt

docker-compose.yaml

@@ -1,7 +1,7 @@
 services:
   truck:
     container_name: "${CONTAINER_NAME:-truck-${USER}}"
-    image: "registry.robotics-lab.ru/truck:1.0.0"
+    image: "registry.robotics-lab.ru/truck:1.1.0"
     privileged: true
     runtime: "${DOCKER_RUNTIME:-runc}"
     build:
@@ -19,11 +19,25 @@ services:
           # - type=registry,ref=registry.robotics-lab.ru/truck:cache-amd64
     ports:
       - "${FOXGLOVE_PORT:-8765}:8765"
-      - "${VIDEO_STREAMING_PORT:-8889}:8889"
+      - "${MEDIAMTX_HTTP_PORT:-8889}:8889"
+      - "${MEDIAMTX_WEBRTC_PORT:-8189}:${MEDIAMTX_WEBRTC_PORT:-8189}/udp"
     volumes:
       - "${PWD}:/truck"
       - "/dev:/dev"
+    # networks:
+    #   default:
+    #   z-lidar-net:
 
 networks:
   default:
     name: "${CONTAINER_NAME:-truck-${USER}}"
+  # z-lidar-net:
+  #   name: z-lidar-net
+  #   driver: macvlan
+  #   driver_opts:
+  #     parent: eth0
+  #   ipam:
+  #     config:
+  #       - subnet: 192.168.3.0/24
+  #         gateway: 192.168.3.1
+  #         ip_range: 192.168.3.2/32

firmware/STM32G431CBUx_FLASH.ld

@@ -0,0 +1,189 @@
+/*
+******************************************************************************
+**
+
+**  File        : LinkerScript.ld
+**
+**  Author		: STM32CubeMX
+**
+**  Abstract    : Linker script for STM32G431CBUx series
+**                128Kbytes FLASH and 32Kbytes RAM
+**
+**                Set heap size, stack size and stack location according
+**                to application requirements.
+**
+**                Set memory bank area and size if external memory is used.
+**
+**  Target      : STMicroelectronics STM32
+**
+**  Distribution: The file is distributed “as is,” without any warranty
+**                of any kind.
+**
+*****************************************************************************
+** @attention
+**
+** <h2><center>&copy; COPYRIGHT(c) 2019 STMicroelectronics</center></h2>
+**
+** Redistribution and use in source and binary forms, with or without modification,
+** are permitted provided that the following conditions are met:
+**   1. Redistributions of source code must retain the above copyright notice,
+**      this list of conditions and the following disclaimer.
+**   2. Redistributions in binary form must reproduce the above copyright notice,
+**      this list of conditions and the following disclaimer in the documentation
+**      and/or other materials provided with the distribution.
+**   3. Neither the name of STMicroelectronics nor the names of its contributors
+**      may be used to endorse or promote products derived from this software
+**      without specific prior written permission.
+**
+** THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+** AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+** IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+** DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+** FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+** DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+** SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+** CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+** OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+** OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+**
+*****************************************************************************
+*/
+
+/* Entry Point */
+ENTRY(Reset_Handler)
+
+/* Highest address of the user mode stack */
+_estack = ORIGIN(RAM) + LENGTH(RAM);    /* end of RAM */
+/* Generate a link error if heap and stack don't fit into RAM */
+_Min_Heap_Size = 0x200;      /* required amount of heap  */
+_Min_Stack_Size = 0x400; /* required amount of stack */
+
+/* Specify the memory areas */
+MEMORY
+{
+RAM (xrw)      : ORIGIN = 0x20000000, LENGTH = 32K
+FLASH (rx)      : ORIGIN = 0x8000000, LENGTH = 128K
+}
+
+/* Define output sections */
+SECTIONS
+{
+  /* The startup code goes first into FLASH */
+  .isr_vector :
+  {
+    . = ALIGN(4);
+    KEEP(*(.isr_vector)) /* Startup code */
+    . = ALIGN(4);
+  } >FLASH
+
+  /* The program code and other data goes into FLASH */
+  .text :
+  {
+    . = ALIGN(4);
+    *(.text)           /* .text sections (code) */
+    *(.text*)          /* .text* sections (code) */
+    *(.glue_7)         /* glue arm to thumb code */
+    *(.glue_7t)        /* glue thumb to arm code */
+    *(.eh_frame)
+
+    KEEP (*(.init))
+    KEEP (*(.fini))
+
+    . = ALIGN(4);
+    _etext = .;        /* define a global symbols at end of code */
+  } >FLASH
+
+  /* Constant data goes into FLASH */
+  .rodata :
+  {
+    . = ALIGN(4);
+    *(.rodata)         /* .rodata sections (constants, strings, etc.) */
+    *(.rodata*)        /* .rodata* sections (constants, strings, etc.) */
+    . = ALIGN(4);
+  } >FLASH
+
+  .ARM.extab   : { *(.ARM.extab* .gnu.linkonce.armextab.*) } >FLASH
+  .ARM : {
+    __exidx_start = .;
+    *(.ARM.exidx*)
+    __exidx_end = .;
+  } >FLASH
+
+  .preinit_array     :
+  {
+    PROVIDE_HIDDEN (__preinit_array_start = .);
+    KEEP (*(.preinit_array*))
+    PROVIDE_HIDDEN (__preinit_array_end = .);
+  } >FLASH
+  .init_array :
+  {
+    PROVIDE_HIDDEN (__init_array_start = .);
+    KEEP (*(SORT(.init_array.*)))
+    KEEP (*(.init_array*))
+    PROVIDE_HIDDEN (__init_array_end = .);
+  } >FLASH
+  .fini_array :
+  {
+    PROVIDE_HIDDEN (__fini_array_start = .);
+    KEEP (*(SORT(.fini_array.*)))
+    KEEP (*(.fini_array*))
+    PROVIDE_HIDDEN (__fini_array_end = .);
+  } >FLASH
+
+  /* used by the startup to initialize data */
+  _sidata = LOADADDR(.data);
+
+  /* Initialized data sections goes into RAM, load LMA copy after code */
+  .data :
+  {
+    . = ALIGN(4);
+    _sdata = .;        /* create a global symbol at data start */
+    *(.data)           /* .data sections */
+    *(.data*)          /* .data* sections */
+
+    . = ALIGN(4);
+    _edata = .;        /* define a global symbol at data end */
+  } >RAM AT> FLASH
+
+
+  /* Uninitialized data section */
+  . = ALIGN(4);
+  .bss :
+  {
+    /* This is used by the startup in order to initialize the .bss secion */
+    _sbss = .;         /* define a global symbol at bss start */
+    __bss_start__ = _sbss;
+    *(.bss)
+    *(.bss*)
+    *(COMMON)
+
+    . = ALIGN(4);
+    _ebss = .;         /* define a global symbol at bss end */
+    __bss_end__ = _ebss;
+  } >RAM
+
+  /* User_heap_stack section, used to check that there is enough RAM left */
+  ._user_heap_stack :
+  {
+    . = ALIGN(8);
+    PROVIDE ( end = . );
+    PROVIDE ( _end = . );
+    . = . + _Min_Heap_Size;
+    . = . + _Min_Stack_Size;
+    . = ALIGN(8);
+  } >RAM
+
+
+
+  /* Remove information from the standard libraries */
+  /DISCARD/ :
+  {
+    libc.a ( * )
+    libm.a ( * )
+    libgcc.a ( * )
+  }
+
+  .ARM.attributes 0 : { *(.ARM.attributes) }
+}
+
+