robocars/robocar-arduino
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Refactor debug logs

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This commit is contained in:
Cyrille Nofficial
2020-02-03 19:00:21 +01:00
parent 245029b759
commit 0d6b195b99
2 changed files with 37 additions and 47 deletions
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76
arduino/arduino.go
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@ -28,36 +28,34 @@ var (
)
type Part struct {
client mqtt.Client
client mqtt.Client
throttleTopic, steeringTopic, driveModeTopic, switchRecordTopic string
pubFrequency float64
serial io.Reader
mutex sync.Mutex
steering float32
throttle float32
ctrlRecord bool
driveMode events.DriveMode
debug bool
cancel chan interface{}
pubFrequency float64
serial io.Reader
mutex sync.Mutex
steering float32
throttle float32
ctrlRecord bool
driveMode events.DriveMode
cancel chan interface{}
}
func NewPart(client mqtt.Client, name string, baud int, throttleTopic, steeringTopic, driveModeTopic, switchRecordTopic string, pubFrequency float64, debug bool) *Part {
func NewPart(client mqtt.Client, name string, baud int, throttleTopic, steeringTopic, driveModeTopic, switchRecordTopic string, pubFrequency float64) *Part {
c := &serial.Config{Name: name, Baud: baud}
s, err := serial.OpenPort(c)
if err != nil {
log.Panicf("unable to open serial port: %v", err)
}
return &Part{
client: client,
serial: s,
throttleTopic: throttleTopic,
steeringTopic: steeringTopic,
driveModeTopic:driveModeTopic,
switchRecordTopic:switchRecordTopic,
pubFrequency: pubFrequency,
driveMode: events.DriveMode_INVALID,
debug: debug,
cancel: make(chan interface{}),
client: client,
serial: s,
throttleTopic: throttleTopic,
steeringTopic: steeringTopic,
driveModeTopic: driveModeTopic,
switchRecordTopic: switchRecordTopic,
pubFrequency: pubFrequency,
driveMode: events.DriveMode_INVALID,
cancel: make(chan interface{}),
}
}
@ -106,9 +104,7 @@ func (a *Part) Stop() {
}
func (a *Part) processChannel1(v string) {
if a.debug {
log.Printf("channel1: %v", v)
}
log.Debugf("channel1: %v", v)
value, err := strconv.Atoi(v)
if err != nil {
log.Printf("invalid value for channel1, should be an int: %v", err)
@ -122,9 +118,7 @@ func (a *Part) processChannel1(v string) {
}
func (a *Part) processChannel2(v string) {
if a.debug {
log.Printf("channel2: %v", v)
}
log.Debugf("channel2: %v", v)
value, err := strconv.Atoi(v)
if err != nil {
log.Printf("invalid value for channel2, should be an int: %v", err)
@ -138,57 +132,49 @@ func (a *Part) processChannel2(v string) {
}
func (a *Part) processChannel3(v string) {
if a.debug {
log.Printf("channel3: %v", v)
}
log.Debugf("channel3: %v", v)
}
func (a *Part) processChannel4(v string) {
if a.debug {
log.Printf("channel4: %v", v)
}
log.Debugf("channel4: %v", v)
}
func (a *Part) processChannel5(v string) {
if a.debug {
log.Printf("channel5: %v", v)
}
log.Debugf("channel5: %v", v)
value, err := strconv.Atoi(v)
if err != nil {
log.Printf("invalid value for channel5, should be an int: %v", err)
log.Errorf("invalid value for channel5, should be an int: %v", err)
}
if value < 1800 {
if !a.ctrlRecord {
log.Printf("Update channel 5 with value %v, record: %v", true, false)
log.Infof("Update channel 5 with value %v, record: %v", true, false)
a.ctrlRecord = true
}
} else {
if a.ctrlRecord {
log.Printf("Update channel 5 with value %v, record: %v", false, true)
log.Infof("Update channel 5 with value %v, record: %v", false, true)
a.ctrlRecord = false
}
}
}
func (a *Part) processChannel6(v string) {
if a.debug {
log.Printf("channel6: %v", v)
}
log.Debugf("channel6: %v", v)
value, err := strconv.Atoi(v)
if err != nil {
log.Printf("invalid value for channel6, should be an int: %v", err)
log.Errorf("invalid value for channel6, should be an int: %v", err)
return
}
if value > 1800 {
if a.driveMode != events.DriveMode_PILOT {
log.Printf("Update channel 6 with value %v, new user_mode: %v", value, events.DriveMode_PILOT)
log.Infof("Update channel 6 with value %v, new user_mode: %v", value, events.DriveMode_PILOT)
a.driveMode = events.DriveMode_PILOT
}
} else {
if a.driveMode != events.DriveMode_USER {
log.Printf("Update channel 6 with value %v, new user_mode: %v", value, events.DriveMode_USER)
log.Infof("Update channel 6 with value %v, new user_mode: %v", value, events.DriveMode_USER)
}
a.driveMode = events.DriveMode_USER
}