Upgrade robocar-base dependency
This commit is contained in:
@ -2,8 +2,8 @@ package arduino
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import (
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"bufio"
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"github.com/cyrilix/robocar-base/mode"
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"github.com/cyrilix/robocar-base/mqttdevice"
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"github.com/cyrilix/robocar-base/types"
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"github.com/tarm/serial"
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"io"
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"log"
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@ -32,11 +32,11 @@ type Part struct {
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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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steering float64
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throttle float64
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distanceCm int
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ctrlRecord bool
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driveMode mode.DriveMode
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driveMode types.DriveMode
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debug bool
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}
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@ -46,7 +46,7 @@ func NewPart(name string, baud int, pub mqttdevice.Publisher, topicBase string,
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if err != nil {
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log.Panicf("unable to open serial port: %v", err)
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}
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return &Part{serial: s, pub: pub, topicBase: topicBase, pubFrequency: pubFrequency, driveMode: mode.DriveModeInvalid, debug: debug}
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return &Part{serial: s, pub: pub, topicBase: topicBase, pubFrequency: pubFrequency, driveMode: types.DriveModeInvalid, debug: debug}
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}
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func (a *Part) Start() error {
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@ -106,7 +106,7 @@ func (a *Part) processChannel1(v string) {
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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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a.steering = ((float64(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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@ -122,7 +122,7 @@ func (a *Part) processChannel2(v string) {
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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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a.throttle = ((float64(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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@ -170,15 +170,15 @@ func (a *Part) processChannel6(v string) {
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return
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}
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if value > 1800 {
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if a.driveMode != mode.DriveModePilot {
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log.Printf("Update channel 6 with value %v, new user_mode: %v", value, mode.DriveModeUser)
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a.driveMode = mode.DriveModePilot
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if a.driveMode != types.DriveModePilot {
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log.Printf("Update channel 6 with value %v, new user_mode: %v", value, types.DriveModeUser)
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a.driveMode = types.DriveModePilot
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}
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} else {
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if a.driveMode != mode.DriveModeUser {
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log.Printf("Update channel 6 with value %v, new user_mode: %v", value, mode.DriveModeUser)
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if a.driveMode != types.DriveModeUser {
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log.Printf("Update channel 6 with value %v, new user_mode: %v", value, types.DriveModeUser)
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}
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a.driveMode = mode.DriveModeUser
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a.driveMode = types.DriveModeUser
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}
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}
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@ -202,9 +202,9 @@ func (a *Part) publishLoop() {
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func (a *Part) publishValues(prefix string) {
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a.mutex.Lock()
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defer a.mutex.Unlock()
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a.pub.Publish(prefix+"/throttle", mqttdevice.NewMqttValue(a.throttle))
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a.pub.Publish(prefix+"/steering", mqttdevice.NewMqttValue(a.steering))
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a.pub.Publish(prefix+"/drive_mode", mqttdevice.NewMqttValue(a.driveMode))
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a.pub.Publish(prefix+"/throttle", mqttdevice.NewMqttValue(types.Throttle{Value: a.throttle, Confidence: 1.}))
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a.pub.Publish(prefix+"/steering", mqttdevice.NewMqttValue(types.Steering{Value: a.steering, Confidence: 1.}))
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a.pub.Publish(prefix+"/drive_mode", mqttdevice.NewMqttValue(types.ToString(a.driveMode)))
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a.pub.Publish(prefix+"/switch_record", mqttdevice.NewMqttValue(a.ctrlRecord))
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a.pub.Publish(prefix+"/distance_cm", mqttdevice.NewMqttValue(a.distanceCm))
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}
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@ -3,9 +3,9 @@ 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-base/mode"
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"github.com/cyrilix/robocar-base/mqttdevice"
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"github.com/cyrilix/robocar-base/testtools"
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"github.com/cyrilix/robocar-base/types"
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"net"
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"testing"
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"time"
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@ -37,83 +37,83 @@ func TestArduinoPart_Update(t *testing.T) {
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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 mode.DriveMode
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expectedDriveMode types.DriveMode
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expectedSwitchRecord bool
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expectedDistanceCm int
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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., mode.DriveModeUser, false, distanceCm},
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-1., -1., types.DriveModeUser, false, distanceCm},
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{"Unparsable line",
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"12350,invalid line\n",
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-1., -1., mode.DriveModeUser, false, distanceCm},
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-1., -1., types.DriveModeUser, false, distanceCm},
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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., mode.DriveModeUser, true, distanceCm},
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-1., -1., types.DriveModeUser, true, distanceCm},
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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., mode.DriveModeUser, false, distanceCm},
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-1., -1., types.DriveModeUser, false, distanceCm},
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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., mode.DriveModeUser, false, distanceCm},
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-1., -1., types.DriveModeUser, false, distanceCm},
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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., mode.DriveModeUser, true, distanceCm},
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-1., -1., types.DriveModeUser, true, distanceCm},
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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., mode.DriveModeUser, false, distanceCm},
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-1., -1., types.DriveModeUser, false, distanceCm},
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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., mode.DriveModePilot, false, distanceCm},
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-1., -1., types.DriveModePilot, false, distanceCm},
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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., mode.DriveModePilot, false, distanceCm},
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-1., -1., types.DriveModePilot, false, distanceCm},
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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., mode.DriveModeUser, false, distanceCm},
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-1., -1., types.DriveModeUser, false, distanceCm},
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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., mode.DriveModeUser, false, distanceCm},
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-1., -1., types.DriveModeUser, false, distanceCm},
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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, mode.DriveModeUser, false, distanceCm},
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-1., -0.93, types.DriveModeUser, false, distanceCm},
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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, mode.DriveModeUser, false, distanceCm},
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-1., -0.04, types.DriveModeUser, false, distanceCm},
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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, mode.DriveModeUser, false, distanceCm},
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-1., 0.96, types.DriveModeUser, false, distanceCm},
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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., mode.DriveModeUser, false, distanceCm},
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-1., 1., types.DriveModeUser, false, distanceCm},
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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., mode.DriveModeUser, false, distanceCm},
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-1., -1., types.DriveModeUser, false, distanceCm},
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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., mode.DriveModeUser, false, distanceCm},
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-0.95, -1., types.DriveModeUser, false, distanceCm},
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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., mode.DriveModeUser, false, distanceCm},
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-0.03, -1., types.DriveModeUser, false, distanceCm},
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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., mode.DriveModeUser, false, distanceCm},
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0.99, -1., types.DriveModeUser, false, distanceCm},
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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., mode.DriveModeUser, false, distanceCm},
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1., -1., types.DriveModeUser, false, distanceCm},
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{"Distance cm",
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fmt.Sprintf("12445,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, channel5, channel6, 43),
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-1., -1., mode.DriveModeUser, false, 43},
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-1., -1., types.DriveModeUser, false, 43},
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{"Distance cm with \r",
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fmt.Sprintf("12450,%d,%d,%d,%d,%d,%d,50,%d\r\n", channel1, channel2, channel3, channel4, channel5, channel6, 43),
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-1., -1., mode.DriveModeUser, false, 43},
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-1., -1., types.DriveModeUser, false, 43},
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}
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for _, c := range cases {
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@ -175,18 +175,30 @@ func TestPublish(t *testing.T) {
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defer a.Stop()
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cases := []struct {
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throttle, steering float32
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driveMode mode.DriveMode
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throttle, steering float64
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driveMode types.DriveMode
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switchRecord bool
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distanceCm int
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expectedThrottle, expectedSteering, expectedDriveMode, expectedSwitchRecord, expectedDistance mqttdevice.MqttValue
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}{
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{-1, 1, mode.DriveModeUser, false, 55,
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mqttdevice.NewMqttValue("-1.00"), mqttdevice.NewMqttValue("1.00"), mqttdevice.NewMqttValue("user"), mqttdevice.NewMqttValue("OFF"), mqttdevice.NewMqttValue("55")},
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{0, 0, mode.DriveModePilot, true, 43,
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mqttdevice.NewMqttValue("0.00"), mqttdevice.NewMqttValue("0.00"), mqttdevice.NewMqttValue("pilot"), mqttdevice.NewMqttValue("ON"), mqttdevice.NewMqttValue("43")},
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{0.87, -0.58, mode.DriveModePilot, true, 21,
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mqttdevice.NewMqttValue("0.87"), mqttdevice.NewMqttValue("-0.58"), mqttdevice.NewMqttValue("pilot"), mqttdevice.NewMqttValue("ON"), mqttdevice.NewMqttValue("21")},
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{-1, 1, types.DriveModeUser, false, 55,
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mqttdevice.NewMqttValue(types.Throttle{Value: -1., Confidence: 1.}),
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mqttdevice.NewMqttValue(types.Steering{Value: 1.0, Confidence: 1.}),
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mqttdevice.NewMqttValue("user"),
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mqttdevice.NewMqttValue("OFF"),
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mqttdevice.NewMqttValue("55")},
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{0, 0, types.DriveModePilot, true, 43,
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mqttdevice.NewMqttValue(types.Throttle{Confidence: 1.}),
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mqttdevice.NewMqttValue(types.Steering{Confidence: 1.}),
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mqttdevice.NewMqttValue("pilot"),
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mqttdevice.NewMqttValue("ON"),
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mqttdevice.NewMqttValue("43")},
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{0.87, -0.58, types.DriveModePilot, true, 21,
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mqttdevice.NewMqttValue(types.Throttle{Value: 0.87, Confidence: 1.}),
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mqttdevice.NewMqttValue(types.Steering{Value: -0.58, Confidence: 1.}),
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mqttdevice.NewMqttValue("pilot"),
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mqttdevice.NewMqttValue("ON"),
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mqttdevice.NewMqttValue("21")},
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}
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for _, c := range cases {
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@ -208,7 +220,8 @@ func TestPublish(t *testing.T) {
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t.Errorf("msg(car/part/arduino/steering): %v, wants %v", v, c.expectedSteering)
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}
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if v := p.PublishedEvent("car/part/arduino/drive_mode"); string(v) != string(c.expectedDriveMode) {
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t.Errorf("msg(car/part/arduino/drive_mode): %v, wants %v", v, c.expectedDriveMode)
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val, _ := v.StringValue()
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t.Errorf("msg(car/part/arduino/drive_mode): %v, wants %v", val, string(c.expectedDriveMode))
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}
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if v := p.PublishedEvent("car/part/arduino/switch_record"); string(v) != string(c.expectedSwitchRecord) {
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t.Errorf("msg(car/part/arduino/switch_record): %v, wants %v", v, c.expectedSwitchRecord)
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