debian-laptop

pi/roverd/Makefile

@@ -3,18 +3,22 @@ GOOS ?= linux
 GOARCH ?= arm
 GOARM ?= 6
 
-.PHONY: build pi-build dummy clean
+.PHONY: build pi-build debian-laptop dummy verifier-tools clean
 
-build:
-	go build -o $(BIN_DIR)/roverd ./cmd/roverd
+build: pi-build debian-laptop dummy
 
-pi-build:
-	GOOS=$(GOOS) GOARCH=$(GOARCH) GOARM=$(GOARM) go build -trimpath -ldflags="-s -w" -o $(BIN_DIR)/roverd ./cmd/roverd
+verifier-tools:
 	GOOS=$(GOOS) GOARCH=$(GOARCH) GOARM=$(GOARM) go build -trimpath -ldflags="-s -w" -o $(BIN_DIR)/servoverifier ./cmd/servoverifier
 	GOOS=$(GOOS) GOARCH=$(GOARCH) GOARM=$(GOARM) go build -trimpath -ldflags="-s -w" -o $(BIN_DIR)/hornverifier ./cmd/hornverifier
 
+pi-build: verifier-tools
+	GOOS=$(GOOS) GOARCH=$(GOARCH) GOARM=$(GOARM) go build -trimpath -ldflags="-s -w" -o $(BIN_DIR)/roverd ./cmd/roverd
+
+debian-laptop:
+	GOOS=linux GOARCH=amd64 go build -trimpath -ldflags="-s -w" -tags debian_laptop -o $(BIN_DIR)/roverd-debian-laptop ./cmd/roverd
+
 dummy:
 	GOOS=linux GOARCH=amd64 go build -tags dummy -o $(BIN_DIR)/roverd-dummy ./cmd/roverd
 
 clean:
-	rm -f $(BIN_DIR)/roverd $(BIN_DIR)/servoverifier $(BIN_DIR)/hornverifier
+	rm -f $(BIN_DIR)/roverd $(BIN_DIR)/roverd-debian-laptop $(BIN_DIR)/roverd-dummy $(BIN_DIR)/servoverifier $(BIN_DIR)/hornverifier

pi/roverd/brc.go

@@ -1,4 +1,4 @@
-//go:build !dummy
+//go:build !dummy && !debian_laptop
 
 package roverd
 

pi/roverd/brc_debian_laptop.go

@@ -0,0 +1,25 @@
+//go:build debian_laptop
+
+package roverd
+
+import (
+	"context"
+	"fmt"
+	"log"
+)
+
+type BRCPulser struct{}
+
+func NewBRCPulser(_ BRCConfig, _ *log.Logger) (*BRCPulser, error) {
+	/*
+		The first Debian laptop profile keeps BRC disabled instead of pretending a
+		USB serial modem-control line has already been selected and tested. The
+		config can set brc.gpioPin: -1 to skip construction entirely; if someone
+		enables it, fail loudly so the rover does not silently miss wake pulses.
+	*/
+	return nil, fmt.Errorf("brc is not supported in the debian-laptop build yet")
+}
+
+func (b *BRCPulser) Close() {}
+
+func (b *BRCPulser) Start(ctx context.Context) {}

pi/roverd/camera_servo.go

@@ -1,4 +1,4 @@
-//go:build !dummy
+//go:build !dummy && !debian_laptop
 
 package roverd
 

pi/roverd/camera_servo_debian_laptop.go

@@ -0,0 +1,38 @@
+//go:build debian_laptop
+
+package roverd
+
+import (
+	"fmt"
+	"log"
+)
+
+type CameraServo struct{}
+
+func NewCameraServo(_ CameraServoConfig, _ *log.Logger) (*CameraServo, error) {
+	/*
+		The Debian laptop profile starts with the laptop's built-in webcam and no
+		Pi PWM servo. If a laptop rover eventually grows an external servo board,
+		it should get its own implementation instead of reusing Raspberry Pi GPIO
+		assumptions.
+	*/
+	return nil, fmt.Errorf("camera servo not supported in the debian-laptop build")
+}
+
+func (c *CameraServo) Close() {}
+
+func (c *CameraServo) SetAngle(angle float64) error {
+	return fmt.Errorf("camera servo disabled")
+}
+
+func (c *CameraServo) Nudge(delta float64) error {
+	return fmt.Errorf("camera servo disabled")
+}
+
+func (c *CameraServo) SetPulseWidth(micros int) error {
+	return fmt.Errorf("camera servo disabled")
+}
+
+func (c *CameraServo) CurrentAngle() float64 {
+	return 0
+}

pi/roverd/gpio_toggle.go

@@ -1,4 +1,4 @@
-//go:build !dummy
+//go:build !dummy && !debian_laptop
 
 package roverd
 

pi/roverd/gpio_toggle_debian_laptop.go

@@ -0,0 +1,32 @@
+//go:build debian_laptop
+
+package roverd
+
+import (
+	"fmt"
+	"log"
+)
+
+type GPIOToggle struct {
+	name string
+}
+
+func NewGPIOToggle(name string, _ GPIOToggleConfig, _ *log.Logger) (*GPIOToggle, error) {
+	/*
+		A Debian laptop has no Raspberry Pi GPIO character-device contract for
+		headlights or lasers. Returning an error when enabled makes bad laptop
+		configs fail during startup instead of advertising controls that cannot
+		change any hardware.
+	*/
+	return nil, fmt.Errorf("%s not supported in the debian-laptop build", name)
+}
+
+func (g *GPIOToggle) Close() {}
+
+func (g *GPIOToggle) HandleAction(action string) error {
+	return fmt.Errorf("%s not supported in the debian-laptop build", g.name)
+}
+
+func (g *GPIOToggle) On() bool {
+	return false
+}

pi/roverd/roverd.debian-laptop.sample.yaml

@@ -0,0 +1,84 @@
+# Sample configuration for roverd on a Debian laptop rover.
+name: laptop-rover
+description: "Debian laptop rover using USB serial, webcam, mic, and speakers."
+color: "#4DB6AC"
+serverUrl: ws://control-server.local:8080/rover
+
+serial:
+  device: /dev/ttyUSB0
+  baud: 115200
+
+# BRC is disabled in the first Debian laptop profile because USB serial
+# RTS/DTR wake-pulse support needs adapter-specific testing before it should be
+# trusted to keep a Roomba awake.
+brc:
+  gpioPin: -1
+
+battery:
+  full: 2068
+  warn: 1700
+  urgent: 1650
+
+maxWheelSpeed: 350
+
+media:
+  publishPort: 9000
+  manage: true
+  healthUrl: ""
+  healthInterval: 30s
+  video:
+    enabled: true
+    service: debian-laptop-video-publisher.service
+    publisher: debian-laptop-v4l2
+    device: /dev/video0
+    width: 640
+    height: 480
+    fps: 30
+    bitrate: 2000000
+    inverted: false
+  audioCapture:
+    enabled: true
+    service: audio-only-publisher.service
+    device: default
+    sampleRate: 48000
+    channels: 2
+    bitrate: 510000
+  audioPlayback:
+    enabled: true
+    service: audio-forward-listener.service
+    device: default
+    normalize: true
+
+cameraServo:
+  enabled: false
+
+audio:
+  ttsEnabled: false
+
+horn:
+  enabled: false
+
+headlight:
+  enabled: false
+
+laser:
+  enabled: false
+
+autoSideBrush:
+  enabled: true
+  speed: 20
+
+private:
+  enabled: false
+  safety:
+    speedLimitEnabled: false
+    speedLimitMaxWheelSpeed: 250
+    hardOvercurrentEnabled: false
+    overcurrentStopMs: 300
+    hardBumpEnabled: false
+    bumpBackoffSpeed: 250
+    bumpBackoffMs: 350
+    cliffEnabled: false
+    cliffBackoffSpeed: 250
+    cliffBackoffMs: 500
+    triggerCooldownMs: 800