robocars/robocar-led
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Update robocar-base dependencies

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This commit is contained in:
Cyrille Nofficial
2019-12-27 16:51:39 +01:00
parent a4c228ed94
commit 1f5f36a9cf
10 changed files with 101 additions and 47 deletions
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36
part/part.go
View File

@ -2,8 +2,9 @@ package part
import (
"fmt"
"github.com/cyrilix/robocar-base/mode"
"github.com/cyrilix/robocar-base/mqttdevice"
"github.com/cyrilix/robocar-base/service"
"github.com/cyrilix/robocar-base/types"
"github.com/cyrilix/robocar-led/led"
mqtt "github.com/eclipse/paho.mqtt.golang"
"log"
@ -18,7 +19,7 @@ func NewPart(client mqtt.Client, driveModeTopic, recordTopic string) *LedPart {
onDriveModeTopic: driveModeTopic,
onRecordTopic: recordTopic,
muDriveMode: sync.Mutex{},
m: mode.DriveModeInvalid,
m: types.DriveModeInvalid,
muRecord: sync.Mutex{},
recordEnabled: false,
}
@ -32,7 +33,7 @@ type LedPart struct {
onRecordTopic string
muDriveMode sync.Mutex
m mode.DriveMode
m types.DriveMode
muRecord sync.Mutex
recordEnabled bool
}
@ -51,7 +52,7 @@ func (p *LedPart) Stop() {
defer p.led.SetGreen(0)
defer p.led.SetBlue(0)
defer p.led.SetRed(0)
StopService("led", p.client, p.onDriveModeTopic, p.onRecordTopic)
service.StopService("led", p.client, p.onDriveModeTopic, p.onRecordTopic)
}
func (p *LedPart) onDriveMode(_ mqtt.Client, message mqtt.Message) {
@ -63,11 +64,11 @@ func (p *LedPart) onDriveMode(_ mqtt.Client, message mqtt.Message) {
return
}
switch m {
case mode.DriveModeUser:
case types.DriveModeUser:
p.led.SetRed(0)
p.led.SetGreen(255)
p.led.SetBlue(0)
case mode.DriveModePilot:
case types.DriveModePilot:
p.led.SetRed(0)
p.led.SetGreen(0)
p.led.SetBlue(255)
@ -89,34 +90,15 @@ func (p *LedPart) onRecord(client mqtt.Client, message mqtt.Message) {
}
func (p *LedPart) registerCallbacks() error {
err := RegisterCallback(p.client, p.onDriveModeTopic, p.onDriveMode)
err := service.RegisterCallback(p.client, p.onDriveModeTopic, p.onDriveMode)
if err != nil {
return err
}
err = RegisterCallback(p.client, p.onRecordTopic, p.onRecord)
err = service.RegisterCallback(p.client, p.onRecordTopic, p.onRecord)
if err != nil {
return err
}
return nil
}
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
}

8
part/part_test.go
View File

@ -1,9 +1,9 @@
package part
import (
"github.com/cyrilix/robocar-base/mode"
"github.com/cyrilix/robocar-base/mqttdevice"
"github.com/cyrilix/robocar-base/testtools"
"github.com/cyrilix/robocar-base/types"
mqtt "github.com/eclipse/paho.mqtt.golang"
"testing"
"time"
@ -42,9 +42,9 @@ func TestLedPart_OnDriveMode(t *testing.T) {
msg mqtt.Message
red, green, blue int
}{
{testtools.NewFakeMessage("drive", mqttdevice.NewMqttValue(mode.DriveModeUser)), 0, 255, 0},
{testtools.NewFakeMessage("drive", mqttdevice.NewMqttValue(mode.DriveModePilot)), 0, 0, 255},
{testtools.NewFakeMessage("drive", mqttdevice.NewMqttValue(mode.DriveModeInvalid)), 0, 0, 255},
{testtools.NewFakeMessage("drive", mqttdevice.NewMqttValue(types.DriveModeUser)), 0, 255, 0},
{testtools.NewFakeMessage("drive", mqttdevice.NewMqttValue(types.DriveModePilot)), 0, 0, 255},
{testtools.NewFakeMessage("drive", mqttdevice.NewMqttValue(types.DriveModeInvalid)), 0, 0, 255},
}
for _, c := range cases {