feat(app): add autoware module (lib.rs)

applications/autoware/Cargo.toml

@@ -13,6 +13,9 @@ libm = "0.2"
 csv-core = "0.1"
 awkernel_async_lib = { path = "../../awkernel_async_lib", default-features = false }
 awkernel_lib = { path = "../../awkernel_lib", default-features = false }
+common_types = { path = "./common_types", default-features = false }
 imu_driver = { path = "./imu_driver", default-features = false }
 imu_corrector = { path = "./imu_corrector", default-features = false }
 vehicle_velocity_converter = { path = "./vehicle_velocity_converter", default-features = false }
+gyro_odometer = { path = "./gyro_odometer", default-features = false}
+ekf_localizer = { path = "./ekf_localizer", default-features = false}

applications/autoware/build.rs

@@ -0,0 +1,31 @@
+use std::{env, fs, path::PathBuf};
+
+fn main() {
+    let out_dir = PathBuf::from(env::var("OUT_DIR").expect("OUT_DIR is not set"));
+    let csv_data_path = out_dir.join("csv_data.rs");
+
+    let imu_csv = read_csv_from_env("IMU_CSV_PATH");
+    let velocity_csv = read_csv_from_env("VELOCITY_CSV_PATH");
+
+    let generated = format!(
+        "pub const IMU_CSV_DATA_STR: &str = {imu:?};\npub const VELOCITY_CSV_DATA_STR: &str = {velocity:?};\n",
+        imu = imu_csv,
+        velocity = velocity_csv,
+    );
+
+    fs::write(&csv_data_path, generated).expect("failed to write generated csv constants");
+}
+
+fn read_csv_from_env(var_name: &str) -> String {
+    let Ok(path) = env::var(var_name) else {
+        return String::new();
+    };
+
+    match fs::read_to_string(&path) {
+        Ok(contents) => contents,
+        Err(err) => {
+            println!("cargo:warning=failed to read {var_name} from {path}: {err}");
+            String::new()
+        }
+    }
+}

applications/autoware/common_types/Cargo.toml

@@ -0,0 +1,6 @@
+[package]
+name = "common_types"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]

applications/autoware/common_types/src/lib.rs

@@ -0,0 +1,21 @@
+#![no_std]
+extern crate alloc;
+
+#[derive(Debug, Clone)]
+pub struct Header {
+    pub frame_id: &'static str,
+    pub timestamp: u64,
+}
+
+#[derive(Debug, Clone)]
+pub struct Vector3 {
+    pub x: f64,
+    pub y: f64,
+    pub z: f64,
+}
+
+impl Vector3 {
+    pub fn new(x: f64, y: f64, z: f64) -> Self {
+        Self { x, y, z }
+    }
+}

applications/autoware/ekf_localizer/Cargo.toml

@@ -0,0 +1,11 @@
+[package]
+name = "ekf_localizer"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+libm = "0.2"
+nalgebra = { version = "0.32", default-features = false}
+approx = "0.5" 
+common_types = { path = "../common_types", default-features = false }
+vehicle_velocity_converter = { path = "../vehicle_velocity_converter", default-features = false}