Refactor use protbof to send messages and remove unused "distance" metrics
This commit is contained in:
156
vendor/github.com/cyrilix/robocar-base/mqttdevice/mqttdevice.go
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vendored
156
vendor/github.com/cyrilix/robocar-base/mqttdevice/mqttdevice.go
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vendored
@ -1,156 +0,0 @@
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package mqttdevice
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import (
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"encoding/json"
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"fmt"
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"github.com/cyrilix/robocar-base/types"
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MQTT "github.com/eclipse/paho.mqtt.golang"
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"io"
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"log"
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"strconv"
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)
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type Publisher interface {
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Publish(topic string, payload MqttValue)
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}
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type Subscriber interface {
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Subscribe(topic string, mh MQTT.MessageHandler)
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}
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type MQTTPubSub interface {
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Publisher
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Subscriber
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io.Closer
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}
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type pahoMqttPubSub struct {
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Uri string
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Username string
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Password string
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ClientId string
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Qos int
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Retain bool
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client MQTT.Client
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}
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func NewPahoMqttPubSub(uri string, username string, password string, clientId string, qos int, retain bool) MQTTPubSub {
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p := pahoMqttPubSub{Uri: uri, Username: username, Password: password, ClientId: clientId, Qos: qos, Retain: retain}
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p.Connect()
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return &p
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}
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// Publish message to broker
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func (p *pahoMqttPubSub) Publish(topic string, payload MqttValue) {
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tokenResp := p.client.Publish(topic, byte(p.Qos), p.Retain, string(payload))
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if tokenResp.Error() != nil {
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log.Fatalf("%+v\n", tokenResp.Error())
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}
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}
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// Register func to execute on message
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func (p *pahoMqttPubSub) Subscribe(topic string, callback MQTT.MessageHandler) {
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tokenResp := p.client.Subscribe(topic, byte(p.Qos), callback)
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if tokenResp.Error() != nil {
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log.Fatalf("%+v\n", tokenResp.Error())
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}
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}
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// Close connection to broker
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func (p *pahoMqttPubSub) Close() error {
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p.client.Disconnect(500)
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return nil
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}
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func (p *pahoMqttPubSub) Connect() {
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if p.client != nil && p.client.IsConnected() {
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return
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}
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//create a ClientOptions struct setting the broker address, clientid, turn
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//off trace output and set the default message handler
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opts := MQTT.NewClientOptions().AddBroker(p.Uri)
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opts.SetUsername(p.Username)
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opts.SetPassword(p.Password)
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opts.SetClientID(p.ClientId)
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opts.SetAutoReconnect(true)
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opts.SetDefaultPublishHandler(
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//define a function for the default message handler
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func(client MQTT.Client, msg MQTT.Message) {
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fmt.Printf("TOPIC: %s\n", msg.Topic())
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fmt.Printf("MSG: %s\n", msg.Payload())
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})
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//create and start a client using the above ClientOptions
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p.client = MQTT.NewClient(opts)
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if token := p.client.Connect(); token.Wait() && token.Error() != nil {
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panic(token.Error())
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}
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}
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type MqttValue []byte
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func NewMqttValue(v interface{}) MqttValue {
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switch val := v.(type) {
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case string:
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return MqttValue(val)
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case float32, float64:
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return MqttValue(fmt.Sprintf("%0.2f", val))
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case int, int8, int16, int32, int64:
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return MqttValue(fmt.Sprintf("%d", val))
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case bool:
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if val {
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return []byte("ON")
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} else {
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return []byte("OFF")
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}
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case []byte:
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return val
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case MqttValue:
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return val
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default:
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jsonValue, err := json.Marshal(v)
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if err != nil {
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log.Printf("unable to mashall to json value '%v': %v", v, err)
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return nil
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}
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return jsonValue
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}
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}
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func (m *MqttValue) IntValue() (int, error) {
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return strconv.Atoi(string(*m))
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}
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func (m *MqttValue) Float32Value() (float32, error) {
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val := string(*m)
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r, err := strconv.ParseFloat(val, 32)
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return float32(r), err
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}
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func (m *MqttValue) Float64Value() (float64, error) {
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val := string(*m)
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return strconv.ParseFloat(val, 64)
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}
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func (m *MqttValue) StringValue() (string, error) {
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return string(*m), nil
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}
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func (m *MqttValue) DriveModeValue() (types.DriveMode, error) {
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val, err := m.IntValue()
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if err != nil {
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return types.DriveModeInvalid, err
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}
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return types.DriveMode(val), nil
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}
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func (m *MqttValue) ByteSliceValue() ([]byte, error) {
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return *m, nil
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}
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func (m *MqttValue) BoolValue() (bool, error) {
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val := string(*m)
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switch val {
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case "ON":
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return true, nil
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case "OFF":
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return false, nil
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default:
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return false, fmt.Errorf("value %v can't be converted to bool", val)
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}
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}
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73
vendor/github.com/cyrilix/robocar-base/testtools/testtools.go
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73
vendor/github.com/cyrilix/robocar-base/testtools/testtools.go
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@ -1,73 +0,0 @@
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package testtools
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import (
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"github.com/cyrilix/robocar-base/mqttdevice"
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mqtt "github.com/eclipse/paho.mqtt.golang"
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"sync"
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)
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func NewFakePublisher() *FakePublisher {
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return &FakePublisher{msg: make(map[string]mqttdevice.MqttValue)}
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}
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type FakePublisher struct {
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muMsg sync.Mutex
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msg map[string]mqttdevice.MqttValue
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}
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func (f *FakePublisher) Publish(topic string, payload mqttdevice.MqttValue) {
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f.muMsg.Lock()
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defer f.muMsg.Unlock()
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f.msg[topic] = payload
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}
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func (f *FakePublisher) PublishedEvent(topic string) mqttdevice.MqttValue {
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f.muMsg.Lock()
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defer f.muMsg.Unlock()
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return f.msg[topic]
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}
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type fakeMessage struct {
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qos byte
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topic string
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payload []byte
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acked bool
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}
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func (f *fakeMessage) Duplicate() bool {
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return false
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}
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func (f *fakeMessage) Qos() byte {
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return f.qos
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}
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func (f *fakeMessage) Retained() bool {
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return false
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}
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func (f *fakeMessage) Topic() string {
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return f.topic
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}
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func (f *fakeMessage) MessageID() uint16 {
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return 1234
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}
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func (f *fakeMessage) Payload() []byte {
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return f.payload
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}
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func (f *fakeMessage) Ack() {
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f.acked = true
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}
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func NewFakeMessage(topic string, payload []byte) mqtt.Message {
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return &fakeMessage{
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qos: 0,
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topic: topic,
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payload: payload,
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acked: false,
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}
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}
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36
vendor/github.com/cyrilix/robocar-base/types/mode.go
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36
vendor/github.com/cyrilix/robocar-base/types/mode.go
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@ -1,36 +0,0 @@
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package types
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import (
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"log"
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)
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type DriveMode int
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const (
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DriveModeInvalid = -1
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DriveModeUser = iota
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DriveModePilot
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)
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func ToString(mode DriveMode) string {
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switch mode {
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case DriveModeUser:
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return "user"
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case DriveModePilot:
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return "pilot"
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default:
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return ""
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}
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}
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func ParseString(val string) DriveMode {
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switch val {
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case "user":
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return DriveModeUser
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case "pilot":
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return DriveModePilot
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default:
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log.Printf("invalid DriveMode: %v", val)
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return DriveModeInvalid
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}
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}
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10
vendor/github.com/cyrilix/robocar-base/types/rc.go
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10
vendor/github.com/cyrilix/robocar-base/types/rc.go
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@ -1,10 +0,0 @@
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package types
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/* Radio control value */
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type RCValue struct {
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Value float64
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Confidence float64
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}
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type Steering RCValue
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type Throttle RCValue
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5
vendor/github.com/cyrilix/robocar-base/types/types.go
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5
vendor/github.com/cyrilix/robocar-base/types/types.go
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package types
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type BoundingBox struct {
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Left, Top, Right, Bottom int
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}
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