refactor: move led and part modules to pkg
This commit is contained in:
112
pkg/part/part.go
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112
pkg/part/part.go
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@@ -0,0 +1,112 @@
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package part
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import (
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"fmt"
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"github.com/cyrilix/robocar-base/service"
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"github.com/cyrilix/robocar-led/pkg/led"
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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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"go.uber.org/zap"
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"sync"
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"time"
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)
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func NewPart(client mqtt.Client, driveModeTopic, recordTopic string) *LedPart {
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return &LedPart{
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led: led.New(),
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client: client,
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onDriveModeTopic: driveModeTopic,
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onRecordTopic: recordTopic,
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muDriveMode: sync.Mutex{},
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m: events.DriveMode_INVALID,
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muRecord: sync.Mutex{},
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recordEnabled: false,
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}
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}
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type LedPart struct {
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led led.ColoredLed
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client mqtt.Client
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onDriveModeTopic string
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onRecordTopic string
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muDriveMode sync.Mutex
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m events.DriveMode
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muRecord sync.Mutex
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recordEnabled bool
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}
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func (p *LedPart) Start() error {
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if err := p.registerCallbacks(); err != nil {
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return fmt.Errorf("unable to start service: %v", err)
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}
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for {
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time.Sleep(1 * time.Hour)
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}
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}
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func (p *LedPart) Stop() {
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defer p.led.SetBlink(0)
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defer p.led.SetGreen(0)
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defer p.led.SetBlue(0)
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defer p.led.SetRed(0)
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service.StopService("led", p.client, p.onDriveModeTopic, p.onRecordTopic)
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}
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func (p *LedPart) onDriveMode(_ mqtt.Client, message mqtt.Message) {
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var driveModeMessage events.DriveModeMessage
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err := proto.Unmarshal(message.Payload(), &driveModeMessage)
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if err != nil {
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zap.S().Errorf("unable to unmarshal %T message: %v", driveModeMessage, err)
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return
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}
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switch driveModeMessage.GetDriveMode() {
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case events.DriveMode_USER:
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p.led.SetRed(0)
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p.led.SetGreen(255)
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p.led.SetBlue(0)
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case events.DriveMode_PILOT:
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p.led.SetRed(0)
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p.led.SetGreen(0)
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p.led.SetBlue(255)
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}
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}
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func (p *LedPart) onRecord(client mqtt.Client, message mqtt.Message) {
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var switchRecord events.SwitchRecordMessage
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err := proto.Unmarshal(message.Payload(), &switchRecord)
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if err != nil {
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zap.S().Errorf("unable to unmarchal %T message: %v", switchRecord, err)
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return
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}
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p.muRecord.Lock()
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defer p.muRecord.Unlock()
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if p.recordEnabled == switchRecord.GetEnabled() {
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return
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}
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p.recordEnabled = switchRecord.GetEnabled()
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if switchRecord.GetEnabled() {
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zap.S().Info("record mode enabled")
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p.led.SetBlink(2)
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} else {
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zap.S().Info("record mode disabled")
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p.led.SetBlink(0)
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}
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}
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func (p *LedPart) registerCallbacks() error {
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err := service.RegisterCallback(p.client, p.onDriveModeTopic, p.onDriveMode)
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if err != nil {
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return err
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}
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err = service.RegisterCallback(p.client, p.onRecordTopic, p.onRecord)
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if err != nil {
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return err
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}
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return nil
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}
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104
pkg/part/part_test.go
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104
pkg/part/part_test.go
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@@ -0,0 +1,104 @@
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package part
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import (
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"github.com/cyrilix/robocar-base/testtools"
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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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"testing"
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"time"
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)
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type fakeLed struct {
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red, green, blue int
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blink bool
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}
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func (f *fakeLed) SetBlink(freq float64) {
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if freq > 0 {
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f.blink = true
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} else {
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f.blink = false
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}
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}
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func (f *fakeLed) SetRed(value int) {
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f.red = value
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}
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func (f *fakeLed) SetGreen(value int) {
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f.green = value
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}
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func (f *fakeLed) SetBlue(value int) {
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f.blue = value
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}
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func TestLedPart_OnDriveMode(t *testing.T) {
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led := fakeLed{}
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p := LedPart{led: &led}
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cases := []struct {
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msg mqtt.Message
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red, green, blue int
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}{
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{testtools.NewFakeMessageFromProtobuf("drive", &events.DriveModeMessage{DriveMode: events.DriveMode_USER}), 0, 255, 0},
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{testtools.NewFakeMessageFromProtobuf("drive", &events.DriveModeMessage{DriveMode: events.DriveMode_PILOT}), 0, 0, 255},
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{testtools.NewFakeMessageFromProtobuf("drive", &events.DriveModeMessage{DriveMode: events.DriveMode_INVALID}), 0, 0, 255},
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}
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for _, c := range cases {
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p.onDriveMode(nil, c.msg)
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time.Sleep(1 * time.Millisecond)
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var msg events.DriveModeMessage
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err := proto.Unmarshal(c.msg.Payload(), &msg)
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if err != nil {
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t.Errorf("unable to unmarshal drive mode message: %v", err)
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}
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value := msg.DriveMode
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if led.red != c.red {
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t.Errorf("driveMode(%v)=invalid value for red channel: %v, wants %v", value, led.red, c.red)
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}
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if led.green != c.green {
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if err != nil {
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t.Errorf("payload isn't a led value: %v", err)
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}
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t.Errorf("driveMode(%v)=invalid value for green channel: %v, wants %v", value, led.green, c.green)
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}
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if led.blue != c.blue {
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if err != nil {
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t.Errorf("payload isn't a led value: %v", err)
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}
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t.Errorf("driveMode(%v)=invalid value for blue channel: %v, wants %v", value, led.blue, c.blue)
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}
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}
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}
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func TestLedPart_OnRecord(t *testing.T) {
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led := fakeLed{}
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p := LedPart{led: &led}
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cases := []struct {
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msg mqtt.Message
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record bool
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blink bool
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}{
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{testtools.NewFakeMessageFromProtobuf("record", &events.SwitchRecordMessage{Enabled: false}), true, false},
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{testtools.NewFakeMessageFromProtobuf("record", &events.SwitchRecordMessage{Enabled: true}), false, true},
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{testtools.NewFakeMessageFromProtobuf("record", &events.SwitchRecordMessage{Enabled: false}), true, false},
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{testtools.NewFakeMessageFromProtobuf("record", &events.SwitchRecordMessage{Enabled: true}), false, true},
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}
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for _, c := range cases {
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p.onRecord(nil, c.msg)
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if led.blink != c.blink {
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var msg events.SwitchRecordMessage
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err := proto.Unmarshal(c.msg.Payload(), &msg)
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if err != nil {
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t.Errorf("unable to unmarshal %T message: %v", msg, err)
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}
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value := msg.Enabled
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t.Errorf("onRecord(%v): %v, wants %v", value, c.record, led.blink)
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}
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}
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}
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