First implementation
This commit is contained in:
118
part/part.go
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118
part/part.go
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@ -0,0 +1,118 @@
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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/mode"
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"github.com/cyrilix/robocar-base/mqttdevice"
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"github.com/cyrilix/robocar-led/led"
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mqtt "github.com/eclipse/paho.mqtt.golang"
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"log"
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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: mode.DriveModeInvalid,
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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 mode.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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defer p.Stop()
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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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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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mqttValue := mqttdevice.NewMqttValue(message.Payload())
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m, err := mqttValue.IntValue()
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if err != nil {
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log.Printf("unable to convert message payload '%v' to DriveMode: %v", message.Payload(), err)
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return
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}
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switch m {
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case mode.DriveModeUser:
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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 mode.DriveModePilot:
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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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mqttValue := mqttdevice.NewMqttValue(message.Payload())
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rec, err := mqttValue.BoolValue()
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if err != nil {
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log.Printf("unable to convert message payload '%v' to bool: %v", message.Payload(), err)
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return
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}
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if rec {
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p.led.SetBlink(2)
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} else {
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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 := 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 = 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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func StopService(name string, client mqtt.Client, topics ...string) {
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log.Printf("Stop %s service", name)
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token := client.Unsubscribe(topics...)
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token.Wait()
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if token.Error() != nil {
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log.Printf("unable to unsubscribe service: %v", token.Error())
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}
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client.Disconnect(50)
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}
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func RegisterCallback(client mqtt.Client, topic string, callback mqtt.MessageHandler) error {
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log.Printf("Register callback on topic %v", topic)
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token := client.Subscribe(topic, 0, callback)
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token.Wait()
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if token.Error() != nil {
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return fmt.Errorf("unable to register callback on topic %s: %v", topic, token.Error())
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}
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return nil
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}
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105
part/part_test.go
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105
part/part_test.go
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@ -0,0 +1,105 @@
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package part
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import (
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"github.com/cyrilix/robocar-base/mode"
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"github.com/cyrilix/robocar-base/mqttdevice"
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"github.com/cyrilix/robocar-base/testtools"
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mqtt "github.com/eclipse/paho.mqtt.golang"
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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.NewFakeMessage("drive", mqttdevice.NewMqttValue(mode.DriveModeUser)), 0, 255, 0},
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{testtools.NewFakeMessage("drive", mqttdevice.NewMqttValue(mode.DriveModePilot)), 0, 0, 255},
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{testtools.NewFakeMessage("drive", mqttdevice.NewMqttValue(mode.DriveModeInvalid)), 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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if led.red != c.red {
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payload := mqttdevice.NewMqttValue(c.msg.Payload())
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value, err := payload.IntValue()
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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 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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payload := mqttdevice.NewMqttValue(c.msg.Payload())
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value, err := payload.IntValue()
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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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payload := mqttdevice.NewMqttValue(c.msg.Payload())
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value, err := payload.IntValue()
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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.NewFakeMessage("record", mqttdevice.NewMqttValue(false)), true, false},
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{testtools.NewFakeMessage("record", mqttdevice.NewMqttValue(true)), false, true},
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{testtools.NewFakeMessage("record", mqttdevice.NewMqttValue(false)), true, false},
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{testtools.NewFakeMessage("record", mqttdevice.NewMqttValue(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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payload := mqttdevice.NewMqttValue(c.msg.Payload())
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value, err := payload.BoolValue()
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if err != nil {
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t.Errorf("payload isn't a bool value: %v", err)
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}
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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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