robocars/robocar-arduino
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fix(channel6): ignore 'no value' signal for drive mode

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cyrilix committed 2022-08-18 18:22:24 +02:00
1 parent 4f17175e01
commit 14d5c605e7
2 files changed
+17 -3
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pkg/arduino/arduino.go
+5 -1
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@@ -21,7 +21,7 @@ const (
)
var (
serialLineRegex = regexp.MustCompile(`(?P<timestamp>\d+),(?P<channel_1>\d+),(?P<channel_2>\d+),(?P<channel_3>\d+),(?P<channel_4>\d+),(?P<channel_5>\d+),(?P<channel_6>\d+),(?P<channel_7>\d+),(?P<channel_8>\d+),(?P<frequency>\d+)`)
serialLineRegex = regexp.MustCompile(`(?P<timestamp>\d+),(?P<channel_1>\d+),(?P<channel_2>\d+),(?P<channel_3>\d+),(?P<channel_4>\d+),(?P<channel_5>\d+),(?P<channel_6>-?\d+),(?P<channel_7>\d+),(?P<channel_8>\d+),(?P<frequency>\d+)`)
DefaultPwmThrottle = PWMConfig{
Min: MinPwmThrottle,
Max: MaxPwmThrottle,
@@ -255,6 +255,10 @@ func (a *Part) processChannel6(v string) {
zap.S().Errorf("invalid value for channel6 'drive-mode', should be an int: %v", err)
return
}
if value < 0 {
// No value, ignore it
return
}
if value > 1800 {
if a.driveMode != events.DriveMode_PILOT {
zap.S().Infof("Update channel 6 'drive-mode' with value %v, new user_mode: %v", value, events.DriveMode_PILOT)