460 lines
13 KiB
Go
460 lines
13 KiB
Go
package arduino
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import (
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"bufio"
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"github.com/cyrilix/robocar-arduino/pkg/tools"
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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/tarm/serial"
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"go.uber.org/zap"
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"google.golang.org/protobuf/proto"
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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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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<channel_7>\d+),(?P<channel_8>\d+),(?P<channel_9>\d+),(?P<frequency>\d+)`)
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DefaultPwmThrottle = PWMConfig{
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Min: MinPwmThrottle,
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Max: MaxPwmThrottle,
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Middle: MinPwmThrottle + (MaxPwmThrottle-MinPwmThrottle)/2,
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}
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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, throttleFeedbackTopic 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, secondarySteering float32
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throttle, secondaryThrottle float32
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throttleFeedback 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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useSecondaryRc bool
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pwmSteeringConfig *PWMConfig
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pwmSecondarySteeringConfig *PWMConfig
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pwmThrottleConfig *PWMConfig
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pwmSecondaryThrottleConfig *PWMConfig
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throttleFeedbackThresholds *tools.ThresholdConfig
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}
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type PWMConfig struct {
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Min int
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Max int
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Middle int
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}
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func NewPWMConfig(min, max int) *PWMConfig {
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return &PWMConfig{
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Min: min,
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Max: max,
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Middle: min + (max-min)/2,
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}
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}
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func NewAsymetricPWMConfig(min, max, middle int) *PWMConfig {
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c := NewPWMConfig(min, max)
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c.Middle = middle
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return c
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}
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type Option func(p *Part)
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func WithThrottleConfig(throttleConfig *PWMConfig) Option {
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return func(p *Part) {
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p.pwmThrottleConfig = throttleConfig
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}
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}
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func WithSteeringConfig(steeringConfig *PWMConfig) Option {
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return func(p *Part) {
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p.pwmSteeringConfig = steeringConfig
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}
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}
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func WithSecondaryRC(throttleConfig, steeringConfig *PWMConfig) Option {
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return func(p *Part) {
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p.pwmSecondaryThrottleConfig = throttleConfig
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p.pwmSecondarySteeringConfig = steeringConfig
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}
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}
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func WithThrottleFeedbackConfig(filename string) Option {
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return func(p *Part) {
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if filename == "" {
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p.throttleFeedbackThresholds = tools.NewThresholdConfig()
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return
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}
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tc, err := tools.NewThresholdConfigFromJson(filename)
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if err != nil {
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zap.S().Panicf("unable to load ThresholdConfig from file %v: %v", filename, err)
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}
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p.throttleFeedbackThresholds = tc
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}
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}
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func NewPart(client mqtt.Client, name string, baud int, throttleTopic, steeringTopic, driveModeTopic,
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switchRecordTopic, throttleFeedbackTopic string, pubFrequency float64, options ...Option) *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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p := &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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throttleFeedbackTopic: throttleFeedbackTopic,
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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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pwmSteeringConfig: &DefaultPwmThrottle,
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pwmSecondarySteeringConfig: &DefaultPwmThrottle,
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pwmThrottleConfig: &DefaultPwmThrottle,
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pwmSecondaryThrottleConfig: &DefaultPwmThrottle,
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throttleFeedbackThresholds: tools.NewThresholdConfig(),
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}
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for _, o := range options {
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o(p)
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}
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return p
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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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zap.L().Debug("raw line: %s", zap.String("raw", line))
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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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a.processChannel7(values[7])
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a.processChannel8(values[8])
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a.processChannel9(values[9])
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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 steering on 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 steering value for channel1, should be an int: %v", err)
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}
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a.steering = convertPwmSteeringToPercent(value, a.pwmSteeringConfig)
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}
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func convertPwmSteeringToPercent(value int, c *PWMConfig) float32 {
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if value < c.Min {
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value = c.Min
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} else if value > c.Max {
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value = c.Max
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}
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if value == c.Middle {
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return 0.
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}
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if value < c.Middle {
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return (float32(value) - float32(c.Middle)) / float32(c.Middle-c.Min)
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}
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// middle < value < max
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return (float32(value) - float32(c.Middle)) / float32(c.Max-c.Middle)
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}
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func (a *Part) processChannel2(v string) {
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zap.L().Debug("process new throttle value on 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 throttle value for channel2, should be an int: %v", err)
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}
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if value < a.pwmThrottleConfig.Min {
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value = a.pwmThrottleConfig.Min
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} else if value > a.pwmThrottleConfig.Max {
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value = a.pwmThrottleConfig.Max
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}
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throttle := 0.
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if value > a.pwmThrottleConfig.Middle {
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throttle = (float64(value) - float64(a.pwmThrottleConfig.Middle)) / float64(a.pwmThrottleConfig.Max-a.pwmThrottleConfig.Middle)
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}
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if value < a.pwmThrottleConfig.Middle {
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throttle = -1. * (float64(a.pwmThrottleConfig.Middle) - float64(value)) / (float64(a.pwmThrottleConfig.Middle - a.pwmThrottleConfig.Min))
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}
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a.throttle = float32(throttle)
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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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value, err := strconv.Atoi(v)
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if err != nil {
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zap.S().Errorf("invalid throttle value for channel2, should be an int: %v", err)
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}
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a.useSecondaryRc = value > 1900
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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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value, err := strconv.Atoi(v)
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if err != nil {
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zap.S().Errorf("invalid throttle value for channel2, should be an int: %v", err)
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}
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a.throttleFeedback = a.convertPwmFeedBackToPercent(value)
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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 'record', 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 'drive-mode', should be an int: %v", err)
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return
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}
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if value < 0 {
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// No value, ignore it
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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 'drive-mode' 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 'drive-mode' 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) processChannel7(v string) {
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zap.L().Debug("process new value for secondary steering on channel7", 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 steering value for channel7, should be an int: %v", err)
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}
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a.secondarySteering = convertPwmSteeringToPercent(value, a.pwmSecondarySteeringConfig)
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}
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func (a *Part) processChannel8(v string) {
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zap.L().Debug("process new throttle value on channel8", 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 throttle value for channel8, should be an int: %v", err)
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}
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if value < a.pwmSecondaryThrottleConfig.Min {
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value = a.pwmSecondaryThrottleConfig.Min
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} else if value > a.pwmSecondaryThrottleConfig.Max {
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value = a.pwmSecondaryThrottleConfig.Max
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}
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a.secondaryThrottle = ((float32(value)-float32(a.pwmSecondaryThrottleConfig.Min))/float32(a.pwmSecondaryThrottleConfig.Max-a.pwmSecondaryThrottleConfig.Min))*2.0 - 1.0
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}
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func (a *Part) processChannel9(v string) {
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zap.L().Debug("process new value for channel9", zap.String("value", v))
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}
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func (a *Part) Throttle() float32 {
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a.mutex.Lock()
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defer a.mutex.Unlock()
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if a.useSecondaryRc {
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return a.secondaryThrottle
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}
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return a.throttle
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}
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func (a *Part) ThrottleFeedback() float32 {
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a.mutex.Lock()
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defer a.mutex.Unlock()
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return a.throttleFeedback
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}
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func (a *Part) Steering() float32 {
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a.mutex.Lock()
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defer a.mutex.Unlock()
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if a.useSecondaryRc {
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return a.secondarySteering
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}
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return a.steering
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}
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func (a *Part) DriveMode() events.DriveMode {
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a.mutex.Lock()
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defer a.mutex.Unlock()
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return a.driveMode
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}
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func (a *Part) SwitchRecord() bool {
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a.mutex.Lock()
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defer a.mutex.Unlock()
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return a.ctrlRecord
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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.publishThrottle()
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a.publishThrottleFeedback()
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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) publishThrottleFeedback() {
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tm := events.ThrottleMessage{
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Throttle: a.ThrottleFeedback(),
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Confidence: 1.,
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}
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tfMessage, err := proto.Marshal(&tm)
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if err != nil {
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zap.S().Errorf("unable to marshal protobuf throttleFeedback message: %v", err)
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return
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}
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publish(a.client, a.throttleFeedbackTopic, tfMessage)
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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.SwitchRecord(),
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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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func (a *Part) convertPwmFeedBackToPercent(value int) float32 {
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return float32(a.throttleFeedbackThresholds.ValueOf(value))
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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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