robocars/robocar-pca9685
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Use channel to exit start loop

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This commit is contained in:
Cyrille Nofficial 2020-01-01 20:43:13 +01:00
parent 3b228216fa
commit 6157e27850
1 changed files with 16 additions and 7 deletions
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23
part/part.go
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@ -26,6 +26,8 @@ type Pca9685Part struct {
throttleTopic string throttleTopic string
steeringTopic string steeringTopic string
cancel chan interface{}
} }
func NewPca9685Part(client MQTT.Client, throttleCtrl *actuator.Throttle, steeringCtrl *actuator.Steering, updateFrequency int, throttleTopic, steeringTopic string) *Pca9685Part { func NewPca9685Part(client MQTT.Client, throttleCtrl *actuator.Throttle, steeringCtrl *actuator.Steering, updateFrequency int, throttleTopic, steeringTopic string) *Pca9685Part {
@ -36,6 +38,7 @@ func NewPca9685Part(client MQTT.Client, throttleCtrl *actuator.Throttle, steerin
updateFrequency: updateFrequency, updateFrequency: updateFrequency,
throttleTopic: throttleTopic, throttleTopic: throttleTopic,
steeringTopic: steeringTopic, steeringTopic: steeringTopic,
cancel: make(chan interface{}),
} }
} }
@ -43,22 +46,28 @@ func (p *Pca9685Part) Start() error {
if err := p.registerCallbacks(); err != nil { if err := p.registerCallbacks(); err != nil {
return fmt.Errorf("unable to start service: %v", err) return fmt.Errorf("unable to start service: %v", err)
} }
defer p.Stop() ticker := time.NewTicker(time.Second / time.Duration(p.updateFrequency))
for { for {
time.Sleep(time.Second / time.Duration(p.updateFrequency)) select {
p.updateCtrl() case <-ticker.C:
p.updateCtrl()
case <-p.cancel:
return nil
}
} }
} }
func (p *Pca9685Part) Stop() { func (p *Pca9685Part) Stop() {
close(p.cancel)
service.StopService("pca9685", p.client, p.throttleTopic, p.steeringTopic) service.StopService("pca9685", p.client, p.throttleTopic, p.steeringTopic)
} }
func (p *Pca9685Part) onThrottleChange(_ MQTT.Client, message MQTT.Message) { func (p *Pca9685Part) onThrottleChange(_ MQTT.Client, message MQTT.Message) {
var throttle types.Throttle var throttle types.Throttle
err := json.Unmarshal(message.Payload(), throttle) err := json.Unmarshal(message.Payload(), &throttle)
if err != nil { if err != nil {
log.Printf("[%v] unable to unmarshall throttle msg: %v",message.Topic(), err) log.Printf("[%v] unable to unmarshall throttle msg: %v", message.Topic(), err)
return return
} }
p.muThrottle.Lock() p.muThrottle.Lock()
@ -68,9 +77,9 @@ func (p *Pca9685Part) onThrottleChange(_ MQTT.Client, message MQTT.Message) {
func (p *Pca9685Part) onSteeringChange(_ MQTT.Client, message MQTT.Message) { func (p *Pca9685Part) onSteeringChange(_ MQTT.Client, message MQTT.Message) {
var steering types.Steering var steering types.Steering
err := json.Unmarshal(message.Payload(), steering) err := json.Unmarshal(message.Payload(), &steering)
if err != nil { if err != nil {
log.Printf("[%v] unable to unmarshall steering msg: %v",message.Topic(), err) log.Printf("[%v] unable to unmarshall steering msg: %v", message.Topic(), err)
return return
} }
p.muSteering.Lock() p.muSteering.Lock()