Upgrade robocar-base dependency

vendor/github.com/cyrilix/robocar-base/cli/cli.go

@@ -3,6 +3,7 @@ package cli
 import (
 	"flag"
 	"fmt"
+	"github.com/cyrilix/robocar-base/service"
 	MQTT "github.com/eclipse/paho.mqtt.golang"
 	"log"
 	"os"
@@ -33,13 +34,23 @@ func SetIntDefaultValueFromEnv(value *int, key string, defaultValue int) error {
 	}
 	return nil
 }
-
-type Part interface {
-	Start() error
-	Stop()
+func SetFloat64DefaultValueFromEnv(value *float64, key string, defaultValue float64) error {
+	var sVal string
+	if os.Getenv(key) != "" {
+		sVal = os.Getenv(key)
+		val, err := strconv.ParseFloat(sVal, 64)
+		if err != nil {
+			log.Printf("unable to convert string to float: %v", err)
+			return err
+		}
+		*value = val
+	} else {
+		*value = defaultValue
+	}
+	return nil
 }
 
-func HandleExit(p Part) {
+func HandleExit(p service.Part) {
 	signals := make(chan os.Signal, 1)
 	signal.Notify(signals, os.Kill, os.Interrupt, syscall.SIGTERM)
 
@@ -71,6 +82,15 @@ func InitIntFlag(key string, defValue int) int {
 	return value
 }
 
+func InitFloat64Flag(key string, defValue float64) float64 {
+	var value float64
+	err := SetFloat64DefaultValueFromEnv(&value, key, defValue)
+	if err != nil {
+		log.Panicf("invalid value: %v", err)
+	}
+	return value
+}
+
 func Connect(uri, username, password, clientId string) (MQTT.Client, error) {
 	//create a ClientOptions struct setting the broker address, clientid, turn
 	//off trace output and set the default message handler

vendor/github.com/cyrilix/robocar-base/mqttdevice/mqttdevice.go

@@ -1,8 +1,9 @@
 package mqttdevice
 
 import (
+	"encoding/json"
 	"fmt"
-	"github.com/cyrilix/robocar-base/mode"
+	"github.com/cyrilix/robocar-base/types"
 	MQTT "github.com/eclipse/paho.mqtt.golang"
 	"io"
 	"log"
@@ -96,8 +97,6 @@ func NewMqttValue(v interface{}) MqttValue {
 		return MqttValue(fmt.Sprintf("%0.2f", val))
 	case int, int8, int16, int32, int64:
 		return MqttValue(fmt.Sprintf("%d", val))
-	case mode.DriveMode:
-		return MqttValue(mode.ToString(val))
 	case bool:
 		if val {
 			return []byte("ON")
@@ -109,8 +108,12 @@ func NewMqttValue(v interface{}) MqttValue {
 	case MqttValue:
 		return val
 	default:
-		log.Printf("invalid mqtt value: %v", val)
-		return nil
+		jsonValue, err := json.Marshal(v)
+		if err != nil {
+			log.Printf("unable to mashall to json value '%v': %v", v, err)
+			return nil
+		}
+		return jsonValue
 	}
 }
 
@@ -130,6 +133,13 @@ func (m *MqttValue) Float64Value() (float64, error) {
 func (m *MqttValue) StringValue() (string, error) {
 	return string(*m), nil
 }
+func (m *MqttValue) DriveModeValue() (types.DriveMode, error) {
+	val, err := m.IntValue()
+	if err != nil {
+		return types.DriveModeInvalid, err
+	}
+	return types.DriveMode(val), nil
+}
 func (m *MqttValue) ByteSliceValue() ([]byte, error) {
 	return *m, nil
 }

vendor/github.com/cyrilix/robocar-base/service/part.go

@@ -0,0 +1,33 @@
+package service
+
+import (
+	"fmt"
+	mqtt "github.com/eclipse/paho.mqtt.golang"
+	"log"
+)
+
+func StopService(name string, client mqtt.Client, topics ...string) {
+	log.Printf("Stop %s service", name)
+	token := client.Unsubscribe(topics...)
+	token.Wait()
+	if token.Error() != nil {
+		log.Printf("unable to unsubscribe service: %v", token.Error())
+	}
+	client.Disconnect(50)
+}
+
+func RegisterCallback(client mqtt.Client, topic string, callback mqtt.MessageHandler) error {
+	log.Printf("Register callback on topic %v", topic)
+	token := client.Subscribe(topic, 0, callback)
+	token.Wait()
+	if token.Error() != nil {
+		return fmt.Errorf("unable to register callback on topic %s: %v", topic, token.Error())
+	}
+	return nil
+}
+
+type Part interface {
+	Start() error
+	Stop()
+}
+

vendor/github.com/cyrilix/robocar-base/testtools/testtools.go

@@ -1,43 +1,11 @@
 package testtools
 
 import (
-	"context"
-	"fmt"
 	"github.com/cyrilix/robocar-base/mqttdevice"
 	mqtt "github.com/eclipse/paho.mqtt.golang"
-	"github.com/testcontainers/testcontainers-go"
-	"github.com/testcontainers/testcontainers-go/wait"
 	"sync"
-	"testing"
 )
 
-func MqttContainer(t *testing.T) (context.Context, testcontainers.Container, string) {
-	ctx := context.Background()
-	req := testcontainers.ContainerRequest{
-		Image:        "eclipse-mosquitto",
-		ExposedPorts: []string{"1883/tcp"},
-		WaitingFor:   wait.ForLog("listen socket on port 1883."),
-	}
-	mqttC, err := testcontainers.GenericContainer(ctx, testcontainers.GenericContainerRequest{
-		ContainerRequest: req,
-		Started:          true,
-	})
-	if err != nil {
-		t.Error(err)
-	}
-
-	ip, err := mqttC.Host(ctx)
-	if err != nil {
-		t.Error(err)
-	}
-	port, err := mqttC.MappedPort(ctx, "1883/tcp")
-	if err != nil {
-		t.Error(err)
-	}
-
-	mqttUri := fmt.Sprintf("tcp://%s:%d", ip, port.Int())
-	return ctx, mqttC, mqttUri
-}
 
 func NewFakePublisher() *FakePublisher {
 	return &FakePublisher{msg: make(map[string]mqttdevice.MqttValue)}

vendor/github.com/cyrilix/robocar-base/types/mode.go

@@ -1,4 +1,4 @@
-package mode
+package types
 
 import (
 	"log"
@@ -32,6 +32,5 @@ func ParseString(val string) DriveMode {
 	default:
 		log.Printf("invalid DriveMode: %v", val)
 		return DriveModeInvalid
-
 	}
 }

vendor/github.com/cyrilix/robocar-base/types/rc.go

@@ -0,0 +1,10 @@
+package types
+
+/* Radio control value */
+type RCValue struct {
+	Value      float64
+	Confidence float64
+}
+
+type Steering RCValue
+type Throttle RCValue

vendor/github.com/cyrilix/robocar-base/types/types.go

@@ -0,0 +1,5 @@
+package types
+
+type BoundingBox struct {
+	Left, Top, Right, Bottom int
+}