refactor: mv arduino package to pkg dir
This commit is contained in:
261
pkg/arduino/arduino.go
Normal file
261
pkg/arduino/arduino.go
Normal file
@ -0,0 +1,261 @@
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package arduino
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import (
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"bufio"
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"github.com/cyrilix/robocar-protobuf/go/events"
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mqtt "github.com/eclipse/paho.mqtt.golang"
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"github.com/golang/protobuf/proto"
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"github.com/tarm/serial"
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"go.uber.org/zap"
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"io"
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"regexp"
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"strconv"
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"strings"
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"sync"
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"time"
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)
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const (
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MinPwmAngle = 960.0
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MaxPwmAngle = 1980.0
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MinPwmThrottle = 972.0
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MaxPwmThrottle = 1954.0
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)
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var (
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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<frequency>\d+),(?P<distance_cm>\d+)?`)
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)
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type Part struct {
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client mqtt.Client
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throttleTopic, steeringTopic, driveModeTopic, switchRecordTopic string
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pubFrequency float64
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serial io.Reader
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mutex sync.Mutex
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steering float32
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throttle float32
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ctrlRecord bool
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driveMode events.DriveMode
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cancel chan interface{}
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}
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func NewPart(client mqtt.Client, name string, baud int, throttleTopic, steeringTopic, driveModeTopic, switchRecordTopic string, pubFrequency float64) *Part {
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c := &serial.Config{Name: name, Baud: baud}
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s, err := serial.OpenPort(c)
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if err != nil {
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zap.S().Panicw("unable to open serial port: %v", err)
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}
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return &Part{
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client: client,
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serial: s,
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throttleTopic: throttleTopic,
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steeringTopic: steeringTopic,
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driveModeTopic: driveModeTopic,
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switchRecordTopic: switchRecordTopic,
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pubFrequency: pubFrequency,
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driveMode: events.DriveMode_INVALID,
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cancel: make(chan interface{}),
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}
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}
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func (a *Part) Start() error {
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zap.S().Info("start arduino part")
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go a.publishLoop()
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for {
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buff := bufio.NewReader(a.serial)
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line, err := buff.ReadString('\n')
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if err == io.EOF || line == "" {
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zap.S().Error("remote connection closed")
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break
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}
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if !serialLineRegex.MatchString(line) {
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zap.S().Errorf("invalid line: '%v'", line)
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continue
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}
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values := strings.Split(strings.TrimSuffix(strings.TrimSuffix(line, "\n"), "\r"), ",")
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a.updateValues(values)
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}
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return nil
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}
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func (a *Part) updateValues(values []string) {
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a.mutex.Lock()
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defer a.mutex.Unlock()
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a.processChannel1(values[1])
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a.processChannel2(values[2])
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a.processChannel3(values[3])
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a.processChannel4(values[4])
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a.processChannel5(values[5])
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a.processChannel6(values[6])
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}
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func (a *Part) Stop() {
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zap.S().Info("stop ArduinoPart")
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close(a.cancel)
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switch s := a.serial.(type) {
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case io.ReadCloser:
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if err := s.Close(); err != nil {
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zap.S().Fatalf("unable to close serial port: %v", err)
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}
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}
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}
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func (a *Part) processChannel1(v string) {
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zap.L().Debug("process new value for channel1", zap.String("value", v))
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value, err := strconv.Atoi(v)
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if err != nil {
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zap.S().Errorf("invalid value for channel1, should be an int: %v", err)
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}
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if value < MinPwmAngle {
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value = MinPwmAngle
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} else if value > MaxPwmAngle {
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value = MaxPwmAngle
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}
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a.steering = ((float32(value)-MinPwmAngle)/(MaxPwmAngle-MinPwmAngle))*2.0 - 1.0
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}
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func (a *Part) processChannel2(v string) {
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zap.L().Debug("process new value for channel2", zap.String("value", v))
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value, err := strconv.Atoi(v)
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if err != nil {
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zap.S().Errorf("invalid value for channel2, should be an int: %v", err)
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}
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if value < MinPwmThrottle {
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value = MinPwmThrottle
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} else if value > MaxPwmThrottle {
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value = MaxPwmThrottle
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}
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a.throttle = ((float32(value)-MinPwmThrottle)/(MaxPwmThrottle-MinPwmThrottle))*2.0 - 1.0
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}
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func (a *Part) processChannel3(v string) {
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zap.L().Debug("process new value for channel3", zap.String("value", v))
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}
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func (a *Part) processChannel4(v string) {
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zap.L().Debug("process new value for channel4", zap.String("value", v))
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}
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func (a *Part) processChannel5(v string) {
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zap.L().Debug("process new value for channel5", zap.String("value", v))
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value, err := strconv.Atoi(v)
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if err != nil {
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zap.S().Errorf("invalid value for channel5, should be an int: %v", err)
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}
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if value < 1800 {
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if !a.ctrlRecord {
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zap.S().Infof("Update channel 5 with value %v, record: %v", true, false)
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a.ctrlRecord = true
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}
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} else {
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if a.ctrlRecord {
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zap.S().Infof("Update channel 5 with value %v, record: %v", false, true)
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a.ctrlRecord = false
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}
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}
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}
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func (a *Part) processChannel6(v string) {
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zap.L().Debug("process new value for channel6", zap.String("value", v))
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value, err := strconv.Atoi(v)
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if err != nil {
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zap.S().Errorf("invalid value for channel6, should be an int: %v", err)
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return
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}
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if value > 1800 {
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if a.driveMode != events.DriveMode_PILOT {
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zap.S().Infof("Update channel 6 with value %v, new user_mode: %v", value, events.DriveMode_PILOT)
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a.driveMode = events.DriveMode_PILOT
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}
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} else {
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if a.driveMode != events.DriveMode_USER {
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zap.S().Infof("Update channel 6 with value %v, new user_mode: %v", value, events.DriveMode_USER)
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}
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a.driveMode = events.DriveMode_USER
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}
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}
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func (a *Part) publishLoop() {
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ticker := time.NewTicker(time.Second / time.Duration(int(a.pubFrequency)))
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for {
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select {
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case <-ticker.C:
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a.publishValues()
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case <-a.cancel:
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ticker.Stop()
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return
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}
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}
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}
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func (a *Part) publishValues() {
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a.mutex.Lock()
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defer a.mutex.Unlock()
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a.publishThrottle()
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a.publishSteering()
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a.publishDriveMode()
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a.publishSwitchRecord()
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}
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func (a *Part) publishThrottle() {
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throttle := events.ThrottleMessage{
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Throttle: a.throttle,
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Confidence: 1.0,
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}
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throttleMessage, err := proto.Marshal(&throttle)
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if err != nil {
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zap.S().Errorf("unable to marshal protobuf throttle message: %v", err)
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return
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}
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zap.L().Debug("throttle channel", zap.Float32("throttle", a.throttle))
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publish(a.client, a.throttleTopic, &throttleMessage)
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}
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func (a *Part) publishSteering() {
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steering := events.SteeringMessage{
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Steering: a.steering,
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Confidence: 1.0,
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}
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steeringMessage, err := proto.Marshal(&steering)
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if err != nil {
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zap.S().Errorf("unable to marshal protobuf steering message: %v", err)
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return
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}
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zap.L().Debug("steering channel", zap.Float32("steering", a.steering))
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publish(a.client, a.steeringTopic, &steeringMessage)
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}
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func (a *Part) publishDriveMode() {
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dm := events.DriveModeMessage{
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DriveMode: a.driveMode,
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}
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driveModeMessage, err := proto.Marshal(&dm)
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if err != nil {
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zap.S().Errorf("unable to marshal protobuf driveMode message: %v", err)
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return
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}
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publish(a.client, a.driveModeTopic, &driveModeMessage)
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}
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func (a *Part) publishSwitchRecord() {
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sr := events.SwitchRecordMessage{
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Enabled: !a.ctrlRecord,
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}
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switchRecordMessage, err := proto.Marshal(&sr)
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if err != nil {
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zap.S().Errorf("unable to marshal protobuf SwitchRecord message: %v", err)
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return
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}
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publish(a.client, a.switchRecordTopic, &switchRecordMessage)
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}
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var publish = func(client mqtt.Client, topic string, payload *[]byte) {
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client.Publish(topic, 0, false, *payload)
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}
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287
pkg/arduino/arduino_test.go
Normal file
287
pkg/arduino/arduino_test.go
Normal file
@ -0,0 +1,287 @@
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package arduino
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import (
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"bufio"
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"fmt"
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"github.com/cyrilix/robocar-protobuf/go/events"
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mqtt "github.com/eclipse/paho.mqtt.golang"
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"github.com/golang/protobuf/proto"
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"net"
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"sync"
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"testing"
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"time"
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)
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func TestArduinoPart_Update(t *testing.T) {
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oldPublish := publish
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defer func() { publish = oldPublish }()
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publish = func(client mqtt.Client, topic string, payload *[]byte) {}
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ln, err := net.Listen("tcp", ":8080")
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if err != nil {
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t.Fatalf("unable to init connection for test")
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}
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defer func() {
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if err := ln.Close(); err != nil {
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t.Errorf("unable to close resource: %v", err)
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}
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}()
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serialClient, err := net.Dial("tcp", "localhost:8080")
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if err != nil {
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t.Fatalf("unable to init connection for test")
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}
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defer func() {
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if err := serialClient.Close(); err != nil {
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t.Errorf("unable to close resource: %v", err)
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}
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}()
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conn, err := ln.Accept()
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if err != nil {
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t.Fatalf("unable to init connection for test")
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}
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defer func() {
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if err := conn.Close(); err != nil {
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t.Errorf("unable to close resource: %v", err)
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}
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}()
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a := Part{client: nil, serial: conn, pubFrequency: 100}
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go func() {
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err := a.Start()
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if err != nil {
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t.Errorf("unsable to start part: %v", err)
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t.Fail()
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}
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}()
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channel1, channel2, channel3, channel4, channel5, channel6, distanceCm := 678, 910, 1112, 1678, 1910, 112, 128
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cases := []struct {
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name, content string
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expectedThrottle, expectedSteering float32
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expectedDriveMode events.DriveMode
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expectedSwitchRecord bool
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}{
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{"Good value",
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fmt.Sprintf("12345,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, channel5, channel6, distanceCm),
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-1., -1., events.DriveMode_USER, false},
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{"Unparsable line",
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"12350,invalid line\n",
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-1., -1., events.DriveMode_USER, false},
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{"Switch record on",
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fmt.Sprintf("12355,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, 998, channel6, distanceCm),
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-1., -1., events.DriveMode_USER, true},
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{"Switch record off",
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fmt.Sprintf("12360,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, 1987, channel6, distanceCm),
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-1., -1., events.DriveMode_USER, false},
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{"Switch record off",
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fmt.Sprintf("12365,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, 1850, channel6, distanceCm),
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-1., -1., events.DriveMode_USER, false},
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{"Switch record on",
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fmt.Sprintf("12370,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, 1003, channel6, distanceCm),
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-1., -1., events.DriveMode_USER, true},
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{"DriveMode: user",
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fmt.Sprintf("12375,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, channel5, 998, distanceCm),
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-1., -1., events.DriveMode_USER, false},
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{"DriveMode: pilot",
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fmt.Sprintf("12380,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, channel5, 1987, distanceCm),
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-1., -1., events.DriveMode_PILOT, false},
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{"DriveMode: pilot",
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fmt.Sprintf("12385,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, channel5, 1850, distanceCm),
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-1., -1., events.DriveMode_PILOT, false},
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// DriveMode: user
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{"DriveMode: user",
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fmt.Sprintf("12390,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, channel5, 1003, distanceCm),
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-1., -1., events.DriveMode_USER, false},
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{"Sterring: over left",
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fmt.Sprintf("12395,%d,%d,%d,%d,%d,%d,50,%d\n", 99, channel2, channel3, channel4, channel5, channel6, distanceCm),
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-1., -1., events.DriveMode_USER, false},
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{"Sterring: left",
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fmt.Sprintf("12400,%d,%d,%d,%d,%d,%d,50,%d\n", 998, channel2, channel3, channel4, channel5, channel6, distanceCm),
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-1., -0.93, events.DriveMode_USER, false},
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{"Sterring: middle",
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fmt.Sprintf("12405,%d,%d,%d,%d,%d,%d,50,%d\n", 1450, channel2, channel3, channel4, channel5, channel6, distanceCm),
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-1., -0.04, events.DriveMode_USER, false},
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{"Sterring: right",
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fmt.Sprintf("12410,%d,%d,%d,%d,%d,%d,50,%d\n", 1958, channel2, channel3, channel4, channel5, channel6, distanceCm),
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-1., 0.96, events.DriveMode_USER, false},
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{"Sterring: over right",
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fmt.Sprintf("12415,%d,%d,%d,%d,%d,%d,50,%d\n", 2998, channel2, channel3, channel4, channel5, channel6, distanceCm),
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-1., 1., events.DriveMode_USER, false},
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{"Throttle: over down",
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fmt.Sprintf("12420,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, 99, channel3, channel4, channel5, channel6, distanceCm),
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-1., -1., events.DriveMode_USER, false},
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{"Throttle: down",
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fmt.Sprintf("12425,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, 998, channel3, channel4, channel5, channel6, distanceCm),
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-0.95, -1., events.DriveMode_USER, false},
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{"Throttle: stop",
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fmt.Sprintf("12430,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, 1450, channel3, channel4, channel5, channel6, distanceCm),
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-0.03, -1., events.DriveMode_USER, false},
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{"Throttle: up",
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fmt.Sprintf("12435,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, 1948, channel3, channel4, channel5, channel6, distanceCm),
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0.99, -1., events.DriveMode_USER, false},
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{"Throttle: over up",
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fmt.Sprintf("12440,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, 2998, channel3, channel4, channel5, channel6, distanceCm),
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1., -1., events.DriveMode_USER, false},
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}
|
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for _, c := range cases {
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w := bufio.NewWriter(serialClient)
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_, err := w.WriteString(c.content)
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if err != nil {
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t.Errorf("unable to send test content: %v", c.content)
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}
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err = w.Flush()
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if err != nil {
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t.Error("unable to flush content")
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}
|
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time.Sleep(10 * time.Millisecond)
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a.mutex.Lock()
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if fmt.Sprintf("%0.2f", a.throttle) != fmt.Sprintf("%0.2f", c.expectedThrottle) {
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t.Errorf("%s: bad throttle value, expected: %0.2f, actual: %.2f", c.name, c.expectedThrottle, a.throttle)
|
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}
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if fmt.Sprintf("%0.2f", a.steering) != fmt.Sprintf("%0.2f", c.expectedSteering) {
|
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t.Errorf("%s: bad steering value, expected: %0.2f, actual: %.2f", c.name, c.expectedSteering, a.steering)
|
||||
}
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if a.driveMode != c.expectedDriveMode {
|
||||
t.Errorf("%s: bad drive mode, expected: %v, actual:%v", c.name, c.expectedDriveMode, a.driveMode)
|
||||
}
|
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if a.ctrlRecord != c.expectedSwitchRecord {
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||||
t.Errorf("%s: bad switch record, expected: %v, actual:%v", c.name, c.expectedSwitchRecord, a.ctrlRecord)
|
||||
}
|
||||
a.mutex.Unlock()
|
||||
}
|
||||
}
|
||||
|
||||
func TestPublish(t *testing.T) {
|
||||
oldPublish := publish
|
||||
defer func() { publish = oldPublish }()
|
||||
|
||||
var muPublishedEvents sync.Mutex
|
||||
pulishedEvents := make(map[string][]byte)
|
||||
publish = func(client mqtt.Client, topic string, payload *[]byte) {
|
||||
muPublishedEvents.Lock()
|
||||
defer muPublishedEvents.Unlock()
|
||||
pulishedEvents[topic] = *payload
|
||||
}
|
||||
|
||||
ln, err := net.Listen("tcp", ":8080")
|
||||
if err != nil {
|
||||
t.Fatalf("unable to init connection for test")
|
||||
}
|
||||
defer ln.Close()
|
||||
|
||||
client, err := net.Dial("tcp", "localhost:8080")
|
||||
if err != nil {
|
||||
t.Fatalf("unable to init connection for test")
|
||||
}
|
||||
defer client.Close()
|
||||
|
||||
conn, err := ln.Accept()
|
||||
if err != nil {
|
||||
t.Fatalf("unable to init connection for test")
|
||||
}
|
||||
defer conn.Close()
|
||||
|
||||
pubFrequency := 100.
|
||||
a := Part{
|
||||
client: nil,
|
||||
serial: conn,
|
||||
pubFrequency: pubFrequency,
|
||||
throttleTopic: "car/part/arduino/throttle",
|
||||
steeringTopic: "car/part/arduino/steering",
|
||||
driveModeTopic: "car/part/arduino/drive_mode",
|
||||
switchRecordTopic: "car/part/arduino/switch_record",
|
||||
cancel: make(chan interface{}),
|
||||
}
|
||||
go a.Start()
|
||||
defer a.Stop()
|
||||
|
||||
cases := []struct {
|
||||
throttle, steering float32
|
||||
driveMode events.DriveMode
|
||||
switchRecord bool
|
||||
expectedThrottle events.ThrottleMessage
|
||||
expectedSteering events.SteeringMessage
|
||||
expectedDriveMode events.DriveModeMessage
|
||||
expectedSwitchRecord events.SwitchRecordMessage
|
||||
}{
|
||||
{-1, 1, events.DriveMode_USER, true,
|
||||
events.ThrottleMessage{Throttle: -1., Confidence: 1.},
|
||||
events.SteeringMessage{Steering: 1.0, Confidence: 1.},
|
||||
events.DriveModeMessage{DriveMode: events.DriveMode_USER},
|
||||
events.SwitchRecordMessage{Enabled: false},
|
||||
},
|
||||
{0, 0, events.DriveMode_PILOT, false,
|
||||
events.ThrottleMessage{Throttle: 0., Confidence: 1.},
|
||||
events.SteeringMessage{Steering: 0., Confidence: 1.},
|
||||
events.DriveModeMessage{DriveMode: events.DriveMode_PILOT},
|
||||
events.SwitchRecordMessage{Enabled: true},
|
||||
},
|
||||
{0.87, -0.58, events.DriveMode_PILOT, false,
|
||||
events.ThrottleMessage{Throttle: 0.87, Confidence: 1.},
|
||||
events.SteeringMessage{Steering: -0.58, Confidence: 1.},
|
||||
events.DriveModeMessage{DriveMode: events.DriveMode_PILOT},
|
||||
events.SwitchRecordMessage{Enabled: true},
|
||||
},
|
||||
}
|
||||
|
||||
for _, c := range cases {
|
||||
a.mutex.Lock()
|
||||
a.throttle = c.throttle
|
||||
a.steering = c.steering
|
||||
a.driveMode = c.driveMode
|
||||
a.ctrlRecord = c.switchRecord
|
||||
a.mutex.Unlock()
|
||||
|
||||
time.Sleep(time.Second / time.Duration(int(pubFrequency)))
|
||||
time.Sleep(500 * time.Millisecond)
|
||||
|
||||
var throttleMsg events.ThrottleMessage
|
||||
muPublishedEvents.Lock()
|
||||
unmarshalMsg(t, pulishedEvents["car/part/arduino/throttle"], &throttleMsg)
|
||||
muPublishedEvents.Unlock()
|
||||
if throttleMsg.String() != c.expectedThrottle.String() {
|
||||
t.Errorf("msg(car/part/arduino/throttle): %v, wants %v", throttleMsg, c.expectedThrottle)
|
||||
}
|
||||
|
||||
var steeringMsg events.SteeringMessage
|
||||
muPublishedEvents.Lock()
|
||||
unmarshalMsg(t, pulishedEvents["car/part/arduino/steering"], &steeringMsg)
|
||||
muPublishedEvents.Unlock()
|
||||
if steeringMsg.String() != c.expectedSteering.String() {
|
||||
t.Errorf("msg(car/part/arduino/steering): %v, wants %v", steeringMsg, c.expectedSteering)
|
||||
}
|
||||
|
||||
var driveModeMsg events.DriveModeMessage
|
||||
muPublishedEvents.Lock()
|
||||
unmarshalMsg(t, pulishedEvents["car/part/arduino/drive_mode"], &driveModeMsg)
|
||||
muPublishedEvents.Unlock()
|
||||
if driveModeMsg.String() != c.expectedDriveMode.String() {
|
||||
t.Errorf("msg(car/part/arduino/drive_mode): %v, wants %v", driveModeMsg, c.expectedDriveMode)
|
||||
}
|
||||
|
||||
var switchRecordMsg events.SwitchRecordMessage
|
||||
muPublishedEvents.Lock()
|
||||
unmarshalMsg(t, pulishedEvents["car/part/arduino/switch_record"], &switchRecordMsg)
|
||||
muPublishedEvents.Unlock()
|
||||
if switchRecordMsg.String() != c.expectedSwitchRecord.String() {
|
||||
t.Errorf("msg(car/part/arduino/switch_record): %v, wants %v", switchRecordMsg, c.expectedSwitchRecord)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
func unmarshalMsg(t *testing.T, payload []byte, msg proto.Message) {
|
||||
err := proto.Unmarshal(payload, msg)
|
||||
if err != nil {
|
||||
t.Errorf("unable to unmarshal protobuf content to %T: %v", msg, err)
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user