Update robocar-base dependencies

go.mod

@@ -3,7 +3,7 @@ module github.com/cyrilix/robocar-led
 go 1.13
 
 require (
-	github.com/cyrilix/robocar-base v0.0.0-20191218200846-a0dedb056b1a
+	github.com/cyrilix/robocar-base v0.0.0-20191227154304-47d48c39b0a2
 	github.com/eclipse/paho.mqtt.golang v1.2.0
 	golang.org/x/net v0.0.0-20191209160850-c0dbc17a3553 // indirect
 	periph.io/x/periph v3.6.2+incompatible

go.sum

@@ -12,6 +12,10 @@ github.com/containerd/continuity v0.0.0-20190426062206-aaeac12a7ffc h1:TP+534wVl
 github.com/containerd/continuity v0.0.0-20190426062206-aaeac12a7ffc/go.mod h1:GL3xCUCBDV3CZiTSEKksMWbLE66hEyuu9qyDOOqM47Y=
 github.com/cyrilix/robocar-base v0.0.0-20191218200846-a0dedb056b1a h1:SGF8hqFYFNqebPn+F7xFx8riwGgVEGOADhmlEAhoNEQ=
 github.com/cyrilix/robocar-base v0.0.0-20191218200846-a0dedb056b1a/go.mod h1:/KZidG8Y4sKxCCkTcswpKz20oFN3j62tJvamEHcSgLM=
+github.com/cyrilix/robocar-base v0.0.0-20191227142243-e35d6f13814e h1:g7pMRmVOpaP71VcXE7JNQCjGp6/Wx3GKUASX8hhO4+Q=
+github.com/cyrilix/robocar-base v0.0.0-20191227142243-e35d6f13814e/go.mod h1:/KZidG8Y4sKxCCkTcswpKz20oFN3j62tJvamEHcSgLM=
+github.com/cyrilix/robocar-base v0.0.0-20191227154304-47d48c39b0a2 h1:7E0P2+YXKtRM++vnBZtaNVlhKEMkp+X3qYdd0CzseJY=
+github.com/cyrilix/robocar-base v0.0.0-20191227154304-47d48c39b0a2/go.mod h1:/KZidG8Y4sKxCCkTcswpKz20oFN3j62tJvamEHcSgLM=
 github.com/davecgh/go-spew v1.1.1 h1:vj9j/u1bqnvCEfJOwUhtlOARqs3+rkHYY13jYWTU97c=
 github.com/davecgh/go-spew v1.1.1/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
 github.com/docker/distribution v2.7.1-0.20190205005809-0d3efadf0154+incompatible h1:dvc1KSkIYTVjZgHf/CTC2diTYC8PzhaA5sFISRfNVrE=

part/part.go

@@ -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
-}

part/part_test.go

@@ -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(types.DriveModeUser)), 0, 255, 0},
-		{testtools.NewFakeMessage("drive", mqttdevice.NewMqttValue(mode.DriveModePilot)), 0, 0, 255},
+		{testtools.NewFakeMessage("drive", mqttdevice.NewMqttValue(types.DriveModePilot)), 0, 0, 255},
-		{testtools.NewFakeMessage("drive", mqttdevice.NewMqttValue(mode.DriveModeInvalid)), 0, 0, 255},
+		{testtools.NewFakeMessage("drive", mqttdevice.NewMqttValue(types.DriveModeInvalid)), 0, 0, 255},
 	}
 
 	for _, c := range cases {

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
 }
-
+func SetFloat64DefaultValueFromEnv(value *float64, key string, defaultValue float64) error {
-type Part interface {
+	var sVal string
-	Start() error
+	if os.Getenv(key) != "" {
-	Stop()
+		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"
@@ -107,9 +108,13 @@ func NewMqttValue(v interface{}) MqttValue {
 	case MqttValue:
 		return val
 	default:
-		log.Printf("invalid mqtt value: %v", val)
+		jsonValue, err := json.Marshal(v)
+		if err != nil {
+			log.Printf("unable to mashall to json value '%v': %v", v, err)
 			return nil
 		}
+		return jsonValue
+	}
 }
 
 func (m *MqttValue) IntValue() (int, error) {
@@ -128,12 +133,12 @@ func (m *MqttValue) Float64Value() (float64, error) {
 func (m *MqttValue) StringValue() (string, error) {
 	return string(*m), nil
 }
-func (m *MqttValue) DriveModeValue() (mode.DriveMode, error) {
+func (m *MqttValue) DriveModeValue() (types.DriveMode, error) {
 	val, err := m.IntValue()
 	if err != nil {
-		return mode.DriveModeInvalid, err
+		return types.DriveModeInvalid, err
 	}
-	return mode.DriveMode(val), nil
+	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/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/modules.txt

@@ -1,8 +1,9 @@
-# github.com/cyrilix/robocar-base v0.0.0-20191218200846-a0dedb056b1a
+# github.com/cyrilix/robocar-base v0.0.0-20191227154304-47d48c39b0a2
 github.com/cyrilix/robocar-base/cli
-github.com/cyrilix/robocar-base/mode
 github.com/cyrilix/robocar-base/mqttdevice
+github.com/cyrilix/robocar-base/service
 github.com/cyrilix/robocar-base/testtools
+github.com/cyrilix/robocar-base/types
 # github.com/eclipse/paho.mqtt.golang v1.2.0
 github.com/eclipse/paho.mqtt.golang
 github.com/eclipse/paho.mqtt.golang/packets