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Serial driver the Lynxmotion Smart Servo (LSS)

Home Page: https://docs.rs/lss_driver/

License: Apache License 2.0

Rust 100.00%

lynxmotion lynxmotion-smart-servos servos rust

lss_driver's Introduction

Lynxmotion Smart Servo Driver

This crate provides an asynchronous serial driver the the Lynxmotion smart servos.

You can read more about the servos on the official robotshop wiki

Driver

The Smart servos are controlled over a serial UART protocol.

You can read about the protocol here It's highly recommended to at least skim the protocol page before trying to use this driver.

This driver currently doesn't implement all features from the protocol.
Some missing features are modifiers and setup commands.
If there are any missing commands or features you'd like added feel free to raise a PR or an issue.

This driver uses async/await. As a result you will need to use an async runtime. The driver is based on tokio-serial so tokio would be a good choice but any should work.

Usage

This crate comes with multiple examples.
These are a good start if you want to learn how to use it.

#[tokio::main]
async fn main() {
    // Create a driver on port `COM14` or `/dev/ttyUSB0`...
    let mut driver = lss_driver::LSSDriver::new("COM14").unwrap();
    // In case there is only one servo connected
    // we can query it's ID using the broadcast ID
    let id = driver.query_id(lss_driver::BROADCAST_ID).await.unwrap();
    // move motor with ID 5 to 90.0 degrees
    driver.move_to_position(5, 90.0).await.unwrap();
    // Set color of servo with ID 5 to Magenta
    driver.set_color(5, lss_driver::LedColor::Magenta).await.unwrap();
}

Building

This package shouldn't depend on any native libraries.
Rust serialport depends on pkg-config and libudev-dev on GNU Linux but they should be disabled for this crate.
If you do run into issues with them failing it may be worth looking into their dependencies and raising an issue here.

Changelog

Version 0.5.0 - (2020-01-13)

Windows support

Version 0.6.1 - (2021-09-28)

Tokio 1.0 support (Now also on windows!)

Disclaimer

This software is not officially endorsed by Lynxmotion or Robotshop!

All product names, logos, and brands are property of their respective owners. All company, product and service names used in this website are for identification purposes only. Use of these names, logos, and brands does not imply endorsement.

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michielhegemans

lss_driver's Issues

Multiple CommandModifiers do not seem to work

I only have a HT1 model to test on, so perhaps it works for the other models.

When I send a move_to_position_with_modifiers and I use Speed + CurrentHold, it seems it will only process the first modifier and not the second.

RUSTSEC-2021-0119: Out-of-bounds write in nix::unistd::getgrouplist

Out-of-bounds write in nix::unistd::getgrouplist

Details
Package	`nix`
Version	`0.16.1`
URL	nix-rust/nix#1541
Date	2021-09-27
Patched versions	`^0.20.2,^0.21.2,^0.22.2,>=0.23.0`
Unaffected versions	`<0.16.0`

On certain platforms, if a user has more than 16 groups, the
nix::unistd::getgrouplist function will call the libc getgrouplist
function with a length parameter greater than the size of the buffer it
provides, resulting in an out-of-bounds write and memory corruption.

The libc getgrouplist function takes an in/out parameter ngroups
specifying the size of the group buffer. When the buffer is too small to
hold all of the reqested user's group memberships, some libc
implementations, including glibc and Solaris libc, will modify ngroups
to indicate the actual number of groups for the user, in addition to
returning an error. The version of nix::unistd::getgrouplist in nix
0.16.0 and up will resize the buffer to twice its size, but will not
read or modify the ngroups variable. Thus, if the user has more than
twice as many groups as the initial buffer size of 8, the next call to
getgrouplist will then write past the end of the buffer.

The issue would require editing /etc/groups to exploit, which is usually
only editable by the root user.

See advisory page for additional details.

RUSTSEC-2020-0016: `net2` crate has been deprecated; use `socket2` instead

net2 crate has been deprecated; use socket2 instead

Details
Status	unmaintained
Package	`net2`
Version	`0.2.37`
URL	deprecrated/net2-rs@`3350e38`
Date	2020-05-01

The net2 crate has been deprecated
and users are encouraged to considered socket2 instead.