107 lines
2.5 KiB
Go
107 lines
2.5 KiB
Go
package part
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import (
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"fmt"
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"github.com/cyrilix/robocar-base/service"
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"github.com/cyrilix/robocar-led/pkg/led"
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"github.com/cyrilix/robocar-protobuf/go/events"
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mqtt "github.com/eclipse/paho.mqtt.golang"
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"go.uber.org/zap"
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"google.golang.org/protobuf/proto"
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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: events.DriveMode_INVALID,
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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 events.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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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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defer p.led.SetBlink(0)
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defer p.led.SetColor(led.ColorBlack)
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service.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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var driveModeMessage events.DriveModeMessage
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err := proto.Unmarshal(message.Payload(), &driveModeMessage)
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if err != nil {
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zap.S().Errorf("unable to unmarshal %T message: %v", driveModeMessage, err)
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return
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}
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switch driveModeMessage.GetDriveMode() {
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case events.DriveMode_USER:
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p.led.SetColor(led.ColorGreen)
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case events.DriveMode_PILOT:
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p.led.SetColor(led.ColorBlue)
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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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var switchRecord events.SwitchRecordMessage
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err := proto.Unmarshal(message.Payload(), &switchRecord)
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if err != nil {
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zap.S().Errorf("unable to unmarchal %T message: %v", switchRecord, err)
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return
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}
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p.muRecord.Lock()
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defer p.muRecord.Unlock()
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if p.recordEnabled == switchRecord.GetEnabled() {
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return
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}
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p.recordEnabled = switchRecord.GetEnabled()
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if switchRecord.GetEnabled() {
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zap.S().Info("record mode enabled")
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p.led.SetBlink(2)
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} else {
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zap.S().Info("record mode disabled")
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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 := service.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 = service.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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