robocars/robocar-led
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feat: update led on speed zone

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This commit is contained in:
Cyrille Nofficial 2023-03-09 19:42:47 +01:00
parent 8d88eb1274
commit c971d51015
5 changed files with 160 additions and 38 deletions
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5
cmd/rc-led/rc-led.go
View File

@ -15,7 +15,7 @@ const (
func main() {
var mqttBroker, username, password, clientId string
var driveModeTopic, recordTopic string
var driveModeTopic, recordTopic, speedZoneTopic string
mqttQos := cli.InitIntFlag("MQTT_QOS", 0)
_, mqttRetain := os.LookupEnv("MQTT_RETAIN")
@ -24,6 +24,7 @@ func main() {
flag.StringVar(&driveModeTopic, "mqtt-topic-drive-mode", os.Getenv("MQTT_TOPIC_DRIVE_MODE"), "Mqtt topic that contains DriveMode value, use MQTT_TOPIC_DRIVE_MODE if args not set")
flag.StringVar(&recordTopic, "mqtt-topic-record", os.Getenv("MQTT_TOPIC_RECORD"), "Mqtt topic that contains video recording state, use MQTT_TOPIC_RECORD if args not set")
flag.StringVar(&speedZoneTopic, "mqtt-topic-speed-zone", os.Getenv("MQTT_TOPIC_SPEED_ZONE"), "Mqtt topic that contains speed zone, use MQTT_TOPIC_SPEED_ZONE if args not set")
logLevel := zap.LevelFlag("log", zap.InfoLevel, "log level")
flag.Parse()
@ -52,7 +53,7 @@ func main() {
}
defer client.Disconnect(50)
p := part.NewPart(client, driveModeTopic, recordTopic)
p := part.NewPart(client, driveModeTopic, recordTopic, speedZoneTopic)
defer p.Stop()
cli.HandleExit(p)

10
pkg/led/led.go
View File

@ -19,10 +19,12 @@ func init() {
}
var (
ColorBlack = Color{0, 0, 0}
ColorRed = Color{255, 0, 0}
ColorGreen = Color{0, 255, 0}
ColorBlue = Color{0, 0, 255}
ColorBlack = Color{0, 0, 0}
ColorRed = Color{255, 0, 0}
ColorYellow = Color{255, 255, 0}
ColorGreen = Color{0, 255, 0}
ColorBlue = Color{0, 0, 255}
ColorWhite = Color{255, 255, 255}
)
func New() *PiColorLed {

75
pkg/led/led_test.go
View File

@ -11,27 +11,38 @@ func TestColorLed_Red(t *testing.T) {
setLedBackup := setLed
defer func() { setLed = setLedBackup }()
ledColors := make(map[gpio.PinIO]int)
l := New()
fakeLed := struct {
redValue int
greenValue int
blueValue int
}{}
setLed = func(v int, led gpio.PinIO, mutex *sync.Mutex) {
mutex.Lock()
defer mutex.Unlock()
ledColors[led] = v
switch led {
case l.pinRed:
fakeLed.redValue = v
case l.pinGreen:
fakeLed.greenValue = v
case l.pinBlue:
fakeLed.blueValue = v
}
}
l := New()
if l.Red() != 0 {
t.Errorf("%T.Red(): %v, wants %v", l, l.Red(), 0)
}
if ledColors[l.pinRed] != 0 {
t.Errorf("colorValue: %v, wants %v", ledColors[l.pinRed], 0)
if fakeLed.redValue != 0 {
t.Errorf("colorValue: %v, wants %v", fakeLed.redValue, 0)
}
l.SetColor(ColorRed)
if l.Red() != 255 {
t.Errorf("%T.Red(): %v, wants %v", l, l.Red(), 255)
}
if ledColors[l.pinRed] != 255 {
t.Errorf("colorValue: %v, wants %v", ledColors[l.pinRed], 255)
if fakeLed.redValue != 255 {
t.Errorf("colorValue: %v, wants %v", fakeLed.redValue, 255)
}
}
@ -39,27 +50,38 @@ func TestColorLed_Green(t *testing.T) {
setLedBackup := setLed
defer func() { setLed = setLedBackup }()
ledColors := make(map[gpio.PinIO]int)
l := New()
fakeLed := struct {
redValue int
greenValue int
blueValue int
}{}
setLed = func(v int, led gpio.PinIO, mutex *sync.Mutex) {
mutex.Lock()
defer mutex.Unlock()
ledColors[led] = v
switch led {
case l.pinRed:
fakeLed.redValue = v
case l.pinGreen:
fakeLed.greenValue = v
case l.pinBlue:
fakeLed.blueValue = v
}
}
l := New()
if l.Green() != 0 {
t.Errorf("%T.Green(): %v, wants %v", l, l.Green(), 0)
}
if ledColors[l.pinGreen] != 0 {
t.Errorf("colorValue: %v, wants %v", ledColors[l.pinGreen], 0)
if fakeLed.greenValue != 0 {
t.Errorf("colorValue: %v, wants %v", fakeLed.greenValue, 0)
}
l.SetColor(ColorGreen)
if l.Green() != 255 {
t.Errorf("%T.Green(): %v, wants %v", l, l.Green(), 255)
}
if ledColors[l.pinGreen] != 255 {
t.Errorf("colorValue: %v, wants %v", ledColors[l.pinGreen], 255)
if fakeLed.greenValue != 255 {
t.Errorf("colorValue: %v, wants %v", fakeLed.greenValue, 255)
}
}
@ -67,27 +89,38 @@ func TestColorLed_Blue(t *testing.T) {
setLedBackup := setLed
defer func() { setLed = setLedBackup }()
ledColors := make(map[gpio.PinIO]int)
l := New()
fakeLed := struct {
redValue int
greenValue int
blueValue int
}{}
setLed = func(v int, led gpio.PinIO, mutex *sync.Mutex) {
mutex.Lock()
defer mutex.Unlock()
ledColors[led] = v
switch led {
case l.pinRed:
fakeLed.redValue = v
case l.pinGreen:
fakeLed.greenValue = v
case l.pinBlue:
fakeLed.blueValue = v
}
}
l := New()
if l.Blue() != 0 {
t.Errorf("%T.Blue(): %v, wants %v", l, l.Blue(), 0)
}
if ledColors[l.pinBlue] != 0 {
t.Errorf("colorValue: %v, wants %v", ledColors[l.pinBlue], 0)
if fakeLed.blueValue != 0 {
t.Errorf("colorValue: %v, wants %v", fakeLed.blueValue, 0)
}
l.SetColor(ColorBlue)
if l.Blue() != 255 {
t.Errorf("%T.Blue(): %v, wants %v", l, l.Blue(), 255)
}
if ledColors[l.pinBlue] != 255 {
t.Errorf("colorValue: %v, wants %v", ledColors[l.pinBlue], 255)
if fakeLed.blueValue != 255 {
t.Errorf("colorValue: %v, wants %v", fakeLed.blueValue, 255)
}
}

76
pkg/part/part.go
View File

@ -12,16 +12,19 @@ import (
"time"
)
func NewPart(client mqtt.Client, driveModeTopic, recordTopic string) *LedPart {
func NewPart(client mqtt.Client, driveModeTopic, recordTopic, speedZoneTopic string) *LedPart {
return &LedPart{
led: led.New(),
client: client,
onDriveModeTopic: driveModeTopic,
onRecordTopic: recordTopic,
onSpeedZoneTopic: speedZoneTopic,
muDriveMode: sync.Mutex{},
m: events.DriveMode_INVALID,
driveMode: events.DriveMode_INVALID,
muRecord: sync.Mutex{},
recordEnabled: false,
muSpeedZone: sync.Mutex{},
speedZone: events.SpeedZone_UNKNOWN,
}
}
@ -31,11 +34,15 @@ type LedPart struct {
client mqtt.Client
onDriveModeTopic string
onRecordTopic string
onSpeedZoneTopic string
muDriveMode sync.Mutex
m events.DriveMode
driveMode events.DriveMode
muRecord sync.Mutex
recordEnabled bool
muSpeedZone sync.Mutex
speedZone events.SpeedZone
}
func (p *LedPart) Start() error {
@ -50,7 +57,13 @@ func (p *LedPart) Start() error {
func (p *LedPart) Stop() {
defer p.led.SetBlink(0)
defer p.led.SetColor(led.ColorBlack)
service.StopService("led", p.client, p.onDriveModeTopic, p.onRecordTopic)
service.StopService("led", p.client, p.onDriveModeTopic, p.onRecordTopic, p.onSpeedZoneTopic)
}
func (p *LedPart) setDriveMode(m events.DriveMode) {
p.muDriveMode.Lock()
defer p.muDriveMode.Unlock()
p.driveMode = m
}
func (p *LedPart) onDriveMode(_ mqtt.Client, message mqtt.Message) {
@ -60,12 +73,8 @@ func (p *LedPart) onDriveMode(_ mqtt.Client, message mqtt.Message) {
zap.S().Errorf("unable to unmarshal %T message: %v", driveModeMessage, err)
return
}
switch driveModeMessage.GetDriveMode() {
case events.DriveMode_USER:
p.led.SetColor(led.ColorGreen)
case events.DriveMode_PILOT:
p.led.SetColor(led.ColorBlue)
}
p.setDriveMode(driveModeMessage.GetDriveMode())
p.updateColor()
}
func (p *LedPart) onRecord(client mqtt.Client, message mqtt.Message) {
@ -92,6 +101,47 @@ func (p *LedPart) onRecord(client mqtt.Client, message mqtt.Message) {
}
}
func (p *LedPart) setSpeedZone(sz events.SpeedZone) {
p.muSpeedZone.Lock()
defer p.muSpeedZone.Unlock()
p.speedZone = sz
}
func (p *LedPart) onSpeedZone(_ mqtt.Client, message mqtt.Message) {
var speedZoneMessage events.SpeedZoneMessage
err := proto.Unmarshal(message.Payload(), &speedZoneMessage)
if err != nil {
zap.S().Errorf("unable to unmarshal %T message: %v", speedZoneMessage, err)
return
}
p.setSpeedZone(speedZoneMessage.GetSpeedZone())
p.updateColor()
}
func (p *LedPart) updateColor() {
p.muSpeedZone.Lock()
defer p.muSpeedZone.Unlock()
p.muDriveMode.Lock()
defer p.muDriveMode.Unlock()
switch p.driveMode {
case events.DriveMode_USER:
p.led.SetColor(led.ColorGreen)
case events.DriveMode_PILOT:
switch p.speedZone {
case events.SpeedZone_UNKNOWN:
p.led.SetColor(led.ColorWhite)
case events.SpeedZone_SLOW:
p.led.SetColor(led.ColorRed)
case events.SpeedZone_NORMAL:
p.led.SetColor(led.ColorYellow)
case events.SpeedZone_FAST:
p.led.SetColor(led.ColorBlue)
}
}
}
func (p *LedPart) registerCallbacks() error {
err := service.RegisterCallback(p.client, p.onDriveModeTopic, p.onDriveMode)
if err != nil {
@ -102,5 +152,11 @@ func (p *LedPart) registerCallbacks() error {
if err != nil {
return err
}
err = service.RegisterCallback(p.client, p.onSpeedZoneTopic, p.onSpeedZone)
if err != nil {
return err
}
return nil
}

32
pkg/part/part_test.go
View File

@ -29,7 +29,7 @@ func (f *fakeLed) SetBlink(freq float64) {
func TestLedPart_OnDriveMode(t *testing.T) {
l := fakeLed{}
p := LedPart{led: &l}
p := LedPart{led: &l, speedZone: events.SpeedZone_FAST}
cases := []struct {
msg mqtt.Message
@ -54,6 +54,7 @@ func TestLedPart_OnDriveMode(t *testing.T) {
}
}
}
func TestLedPart_OnRecord(t *testing.T) {
led := fakeLed{}
p := LedPart{led: &led}
@ -83,3 +84,32 @@ func TestLedPart_OnRecord(t *testing.T) {
}
}
}
func TestLedPart_OnSpeedZone(t *testing.T) {
l := fakeLed{}
p := LedPart{led: &l, driveMode: events.DriveMode_PILOT}
cases := []struct {
msg mqtt.Message
color led.Color
}{
{testtools.NewFakeMessageFromProtobuf("speedzone", &events.SpeedZoneMessage{SpeedZone: events.SpeedZone_SLOW}), led.ColorRed},
{testtools.NewFakeMessageFromProtobuf("speedzone", &events.SpeedZoneMessage{SpeedZone: events.SpeedZone_NORMAL}), led.ColorYellow},
{testtools.NewFakeMessageFromProtobuf("speedzone", &events.SpeedZoneMessage{SpeedZone: events.SpeedZone_FAST}), led.ColorBlue},
{testtools.NewFakeMessageFromProtobuf("speedzone", &events.SpeedZoneMessage{SpeedZone: events.SpeedZone_UNKNOWN}), led.ColorWhite},
}
for _, c := range cases {
p.onSpeedZone(nil, c.msg)
time.Sleep(1 * time.Millisecond)
var msg events.SpeedZoneMessage
err := proto.Unmarshal(c.msg.Payload(), &msg)
if err != nil {
t.Errorf("unable to unmarshal drive mode message: %v", err)
}
value := msg.GetSpeedZone()
if l.color != c.color {
t.Errorf("driveMode(%v)=invalid value for color: %v, wants %v", value, l.color, c.color)
}
}
}