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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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2
go.mod
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@ -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

4
go.sum
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@ -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=

36
part/part.go
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@ -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
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@ -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 {

30
vendor/github.com/cyrilix/robocar-base/cli/cli.go generated vendored
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@ -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
}
type Part interface {
Start() error
Stop()
func SetFloat64DefaultValueFromEnv(value *float64, key string, defaultValue float64) error {
var sVal string
if os.Getenv(key) != "" {
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

15
vendor/github.com/cyrilix/robocar-base/mqttdevice/mqttdevice.go generated vendored
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@ -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

33
vendor/github.com/cyrilix/robocar-base/service/part.go generated vendored Normal file
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@ -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()
}

3
vendor/github.com/cyrilix/robocar-base/mode/mode.go → vendor/github.com/cyrilix/robocar-base/types/mode.go generated vendored
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@ -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
}
}

10
vendor/github.com/cyrilix/robocar-base/types/rc.go generated vendored Normal file
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@ -0,0 +1,10 @@
package types
/* Radio control value */
type RCValue struct {
Value float64
Confidence float64
}
type Steering RCValue
type Throttle RCValue

5
vendor/modules.txt vendored
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@ -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