robocars/robocar-arduino
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refactor: log with zap

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This commit is contained in:
Cyrille Nofficial
2021-10-12 17:55:58 +02:00
parent b637ef9b5f
commit 164445b16c
443 changed files with 30977 additions and 39011 deletions
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45
arduino/arduino.go
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@@ -5,9 +5,10 @@ import (
"github.com/cyrilix/robocar-protobuf/go/events"
mqtt "github.com/eclipse/paho.mqtt.golang"
"github.com/golang/protobuf/proto"
log "github.com/sirupsen/logrus"
"github.com/tarm/serial"
"go.uber.org/zap"
"io"
"log"
"regexp"
"strconv"
"strings"
@@ -44,7 +45,7 @@ func NewPart(client mqtt.Client, name string, baud int, throttleTopic, steeringT
c := &serial.Config{Name: name, Baud: baud}
s, err := serial.OpenPort(c)
if err != nil {
log.Panicf("unable to open serial port: %v", err)
zap.S().Panicw("unable to open serial port: %v", err)
}
return &Part{
client: client,
@@ -104,10 +105,10 @@ func (a *Part) Stop() {
}
func (a *Part) processChannel1(v string) {
log.Debugf("channel1: %v", v)
zap.L().Debug("process new value for channel1", zap.String("value", v))
value, err := strconv.Atoi(v)
if err != nil {
log.Errorf("invalid value for channel1, should be an int: %v", err)
zap.S().Errorf("invalid value for channel1, should be an int: %v", err)
}
if value < MinPwmAngle {
value = MinPwmAngle
@@ -118,10 +119,10 @@ func (a *Part) processChannel1(v string) {
}
func (a *Part) processChannel2(v string) {
log.Debugf("channel2: %v", v)
zap.L().Debug("process new value for channel2", zap.String("value", v))
value, err := strconv.Atoi(v)
if err != nil {
log.Printf("invalid value for channel2, should be an int: %v", err)
zap.S().Errorf("invalid value for channel2, should be an int: %v", err)
}
if value < MinPwmThrottle {
value = MinPwmThrottle
@@ -132,49 +133,49 @@ func (a *Part) processChannel2(v string) {
}
func (a *Part) processChannel3(v string) {
log.Debugf("channel3: %v", v)
zap.L().Debug("process new value for channel3", zap.String("value", v))
}
func (a *Part) processChannel4(v string) {
log.Debugf("channel4: %v", v)
zap.L().Debug("process new value for channel4", zap.String("value", v))
}
func (a *Part) processChannel5(v string) {
log.Debugf("channel5: %v", v)
zap.L().Debug("process new value for channel5", zap.String("value", v))
value, err := strconv.Atoi(v)
if err != nil {
log.Errorf("invalid value for channel5, should be an int: %v", err)
zap.S().Errorf("invalid value for channel5, should be an int: %v", err)
}
if value < 1800 {
if !a.ctrlRecord {
log.Infof("Update channel 5 with value %v, record: %v", true, false)
zap.S().Infof("Update channel 5 with value %v, record: %v", true, false)
a.ctrlRecord = true
}
} else {
if a.ctrlRecord {
log.Infof("Update channel 5 with value %v, record: %v", false, true)
zap.S().Infof("Update channel 5 with value %v, record: %v", false, true)
a.ctrlRecord = false
}
}
}
func (a *Part) processChannel6(v string) {
log.Debugf("channel6: %v", v)
zap.L().Debug("process new value for channel6", zap.String("value", v))
value, err := strconv.Atoi(v)
if err != nil {
log.Errorf("invalid value for channel6, should be an int: %v", err)
zap.S().Errorf("invalid value for channel6, should be an int: %v", err)
return
}
if value > 1800 {
if a.driveMode != events.DriveMode_PILOT {
log.Infof("Update channel 6 with value %v, new user_mode: %v", value, events.DriveMode_PILOT)
zap.S().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.Infof("Update channel 6 with value %v, new user_mode: %v", value, events.DriveMode_USER)
zap.S().Infof("Update channel 6 with value %v, new user_mode: %v", value, events.DriveMode_USER)
}
a.driveMode = events.DriveMode_USER
}
@@ -211,10 +212,10 @@ func (a *Part) publishThrottle() {
}
throttleMessage, err := proto.Marshal(&throttle)
if err != nil {
log.Errorf("unable to marshal protobuf throttle message: %v", err)
zap.S().Errorf("unable to marshal protobuf throttle message: %v", err)
return
}
log.Debugf("throttle channel: %v", a.throttle)
zap.L().Debug("throttle channel", zap.Float32("throttle", a.throttle))
publish(a.client, a.throttleTopic, &throttleMessage)
}
@@ -225,10 +226,10 @@ func (a *Part) publishSteering() {
}
steeringMessage, err := proto.Marshal(&steering)
if err != nil {
log.Errorf("unable to marshal protobuf steering message: %v", err)
zap.S().Errorf("unable to marshal protobuf steering message: %v", err)
return
}
log.Debugf("steering channel: %v", a.steering)
zap.L().Debug("steering channel", zap.Float32("steering", a.steering))
publish(a.client, a.steeringTopic, &steeringMessage)
}
@@ -238,7 +239,7 @@ func (a *Part) publishDriveMode() {
}
driveModeMessage, err := proto.Marshal(&dm)
if err != nil {
log.Errorf("unable to marshal protobuf driveMode message: %v", err)
zap.S().Errorf("unable to marshal protobuf driveMode message: %v", err)
return
}
publish(a.client, a.driveModeTopic, &driveModeMessage)
@@ -250,7 +251,7 @@ func (a *Part) publishSwitchRecord() {
}
switchRecordMessage, err := proto.Marshal(&sr)
if err != nil {
log.Errorf("unable to marshal protobuf SwitchRecord message: %v", err)
zap.S().Errorf("unable to marshal protobuf SwitchRecord message: %v", err)
return
}
publish(a.client, a.switchRecordTopic, &switchRecordMessage)