debug: add debug logs on message receive

donkeycar/parts/actuator.py

@@ -141,6 +141,7 @@ class PWMSteering:
         self.pulse = dk.utils.map_range(angle,
                                         self.LEFT_ANGLE, self.RIGHT_ANGLE,
                                         self.left_pulse, self.right_pulse)
+        logger.debug(f"new steering value {angle} -> {self.pulse}")
 
     def run(self, angle):
         self.run_threaded(angle)
@@ -197,6 +198,7 @@ class PWMThrottle:
         else:
             self.pulse = dk.utils.map_range(throttle, self.MIN_THROTTLE, 0,
                                             self.min_pulse, self.zero_pulse)
+        logger.debug(f"new steering value {throttle} -> {self.pulse}")
 
     def run(self, throttle):
         self.run_threaded(throttle)

pca9685/cli.py

@@ -5,7 +5,7 @@ Usage:
 rc-pca9685 [steering|throttle] [-u USERNAME | --mqtt-username=USERNAME] [--mqtt-password=PASSWORD] \
         [--mqtt-broker=HOSTNAME] [--mqtt-topic=TOPIC] [--mqtt-client-id=CLIENT_ID] [--i2c-bus=BUS] \
         [--i2c-address=ADDRESS] [--pca9685-channel=CHANNEL] [--left-pulse=LEFT_PULSE] [--right-pulse=RIGHT_PULSE] \
-        [--max-pulse=MAX_PULSE] [--min-pulse=MIN_PULSE] [--zero-pulse=ZEO_PULSE]
+        [--max-pulse=MAX_PULSE] [--min-pulse=MIN_PULSE] [--zero-pulse=ZEO_PULSE] [--debug]
 
 Options:
 -h --help                                                Show this screen.
@@ -22,9 +22,11 @@ Options:
 -M MAX_PULSE   --max-pulse=MAX_PULSE                     Max Pulse for throttle
 -m MIN_PULSE   --min-pulse=MIN_PULSE                     Min Pulse for throttle
 -z ZERO_PULE   --zero-pulse=ZEO_PULSE                    Zero Pulse for throttle
+-d --debug                                               Debug logging
 """
 import logging
 import os
+import signal, sys
 
 from docopt import docopt
 import paho.mqtt.client as mqtt
@@ -41,12 +43,22 @@ logging.basicConfig(level=logging.INFO)
 default_client_id = "robocar-pca9685-python"
 
 
+class SignalHandler:
+    def __init__(self, client: mqtt.Client):
+        self._client = client
+
+    def sigterm_handler(self, _signo, _stack_frame):
+        logger.info("exit on SIG_TERM")
+        self._client.disconnect()
+        sys.exit(0)
+
+
 def init_mqtt_steering_client(steering_controller: actuator.PWMSteering, broker_host: str, user: str, password: str, client_id: str,
                      steering_topic: str) -> mqtt.Client:
     logger.info("Start steering part")
     client = mqtt.Client(client_id=client_id, clean_session=True, userdata=None, protocol=mqtt.MQTTv311)
 
-    def on_connect(client, userdata, flags, rc):
+    def on_connect(client: mqtt.Client, userdata, flags, rc):
         logger.info("Register callback on topic %s", steering_topic)
         # Subscribing in on_connect() means that if we lose the connection and
         # reconnect then subscriptions will be renewed.
@@ -56,9 +68,9 @@ def init_mqtt_steering_client(steering_controller: actuator.PWMSteering, broker_
         try:
             steering_msg = SteeringMessage()
             steering_msg.ParseFromString(msg.payload)
-            steering_controller.run_threaded(steering_msg.Steering)
+            steering_controller.run_threaded(steering_msg.steering)
         except:
-            logger.debug("unexpected error: unable to process steering, skip message")
+            logger.exception("unexpected error: unable to process steering, skip message")
 
     client.username_pw_set(user, password)
     client.on_connect = on_connect
@@ -84,9 +96,9 @@ def init_mqtt_throttle_client(throttle_controller: actuator.PWMThrottle, broker_
         try:
             throttle_msg = ThrottleMessage()
             throttle_msg.ParseFromString(msg.payload)
-            throttle_controller.run_threaded(throttle_msg.Throttle)
+            throttle_controller.run_threaded(throttle_msg.throttle)
         except:
-            logger.debug("unexpected error: unable to process throttle, skip message")
+            logger.exception("unexpected error: unable to process throttle, skip message")
 
     client.username_pw_set(user, password)
     client.on_connect = on_connect
@@ -111,22 +123,31 @@ def execute_from_command_line():
     i2c_address = get_default_value(args["--i2c-address"], "I2C_ADDRESS", 40)
     pca9685_channel = get_default_value(args["--pca9685-channel"], "PCA9685_CHANNEL", 0)
 
+    debug = bool(args["--debug"])
+    if debug:
+        logging.basicConfig(level=logging.DEBUG)
+
     pin_id = "PCA9685.{bus}:{address}.{channel}".format(bus=i2c_bus, address=i2c_address,channel=pca9685_channel)
 
     if args["steering"]:
         steering_pin = donkeycar.parts.pins.pwm_pin_by_id(pin_id)
-        steering = actuator.PWMSteering(steering_pin, left_pulse=args["--left-pulse"], right_pulse=args["--right-pulse"])
+        controller = actuator.PulseController(steering_pin)
+        steering = actuator.PWMSteering(controller=controller, left_pulse=int(args["--left-pulse"]), right_pulse=int(args["--right-pulse"]))
         client = init_mqtt_steering_client(steering_controller=steering, broker_host=broker_host, user=user,
                                            password=password, client_id=client_id, steering_topic=topic)
     elif args["throttle"]:
-        throttle_pin = donkeycar.parts.pins.pwm_pin_by_id("PCA9685.0:40.7")
-        throttle = actuator.PWMThrottle(throttle_pin, max_pulse=args["--max-pulse"], min_pulse=args["--min-pulse"],
-                                        zero_pulse=args["--zero-pulse"])
+        throttle_pin = donkeycar.parts.pins.pwm_pin_by_id(pin_id)
+        controller = actuator.PulseController(throttle_pin)
+        throttle = actuator.PWMThrottle(controller=controller, max_pulse=int(args["--max-pulse"]), min_pulse=int(args["--min-pulse"]),
+                                        zero_pulse=int(args["--zero-pulse"]))
         client = init_mqtt_throttle_client(throttle_controller=throttle, broker_host=broker_host, user=user,
                                            password=password, client_id=client_id, throttle_topic=topic)
     else:
         raise Exception('invalid mode selected, must be steering or throttle')
 
+    sh = SignalHandler(client)
+    signal.signal(signal.SIGTERM, sh.sigterm_handler)
+
     client.loop_forever()
 
 

requirements.txt

@@ -4,3 +4,5 @@ google~=3.0.0
 google-api-core~=2.4.0
 setuptools==60.5.0
 adafruit-pca9685
+pigpio
+RPi.GPIO

setup.py

@@ -32,6 +32,8 @@ setup(name='robocar-pca9685-python',
                         'protobuf3',
                         'google',
                         'adafruit-pca9685',
+                        'pigpio',
+                        'RPi.GPIO',
                         ],
       tests_require=tests_require,
       extras_require={