119 lines
2.8 KiB
Go
119 lines
2.8 KiB
Go
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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