robocars/robocar-pca9685
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Use protobuf messages

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This commit is contained in:
Cyrille Nofficial
2020-01-01 20:54:38 +01:00
parent 6157e27850
commit 5e9b47970a
357 changed files with 232188 additions and 83 deletions
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26
part/part.go
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@ -1,13 +1,13 @@
package part
import (
"encoding/json"
"fmt"
"github.com/cyrilix/robocar-base/service"
"github.com/cyrilix/robocar-base/types"
"github.com/cyrilix/robocar-pca9685/actuator"
"github.com/cyrilix/robocar-protobuf/go/events"
MQTT "github.com/eclipse/paho.mqtt.golang"
"log"
"github.com/golang/protobuf/proto"
log "github.com/sirupsen/logrus"
"sync"
"time"
)
@ -18,9 +18,9 @@ type Pca9685Part struct {
steeringCtrl *actuator.Steering
muSteering sync.Mutex
steeringValue float64
steeringValue float32
muThrottle sync.Mutex
throttleValue float64
throttleValue float32
updateFrequency int
@ -64,27 +64,27 @@ func (p *Pca9685Part) Stop() {
}
func (p *Pca9685Part) onThrottleChange(_ MQTT.Client, message MQTT.Message) {
var throttle types.Throttle
err := json.Unmarshal(message.Payload(), &throttle)
var throttle events.ThrottleMessage
err := proto.Unmarshal(message.Payload(), &throttle)
if err != nil {
log.Printf("[%v] unable to unmarshall throttle msg: %v", message.Topic(), err)
log.Infof("[%v] unable to unmarshall throttle msg: %v", message.Topic(), err)
return
}
p.muThrottle.Lock()
defer p.muThrottle.Unlock()
p.throttleCtrl.SetPercentValue(throttle.Value)
p.throttleCtrl.SetPercentValue(throttle.GetThrottle())
}
func (p *Pca9685Part) onSteeringChange(_ MQTT.Client, message MQTT.Message) {
var steering types.Steering
err := json.Unmarshal(message.Payload(), &steering)
var steering events.SteeringMessage
err := proto.Unmarshal(message.Payload(), &steering)
if err != nil {
log.Printf("[%v] unable to unmarshall steering msg: %v", message.Topic(), err)
log.Infof("[%v] unable to unmarshall steering msg: %v", message.Topic(), err)
return
}
p.muSteering.Lock()
defer p.muSteering.Unlock()
p.steeringCtrl.SetPercentValue(steering.Value)
p.steeringCtrl.SetPercentValue(steering.GetSteering())
}
func (p *Pca9685Part) registerCallbacks() error {