robocars/robocar-pca9685
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refactor: add context logs

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This commit is contained in:
Cyrille Nofficial 2022-06-15 19:53:02 +02:00
parent e9440a6501
commit 79193c1d69
3 changed files with 22 additions and 10 deletions
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2
cmd/rc-pca9685/rc-pca9685.go
View File

@ -129,6 +129,7 @@ func main() {
throttleChannel,
actuator.PWM(throttleMinPWM), actuator.PWM(throttleMaxPWM), actuator.PWM(throttleStoppedPWM),
freq,
zap.S().With("actuator", "throttle"),
)
if err != nil {
zap.S().Panicf("unable to init throttle controller: %v", err)
@ -139,6 +140,7 @@ func main() {
steeringChannel,
actuator.PWM(steeringLeftPWM), actuator.PWM(steeringRightPWM), actuator.PWM(steeringCenterPWM),
freq,
zap.S().With("actuator", "steering"),
)
if err != nil {
zap.S().Panicf("unable to init steering controller: %v", err)

20
pkg/actuator/pca9685.go
View File

@ -36,7 +36,7 @@ func NewDevice(freq physic.Frequency) *pca9685.Dev {
if err != nil {
zap.S().Fatalf("unable to NewDevice pca9685 bus: %v", err)
}
zap.S().Infof("set pwm frequency to %d", 60)
zap.S().Infof("set pwm frequency to %v", freq)
err = device.SetPwmFreq(freq)
if err != nil {
zap.S().Panicf("unable to set pwm frequency: %v", err)
@ -45,17 +45,17 @@ func NewDevice(freq physic.Frequency) *pca9685.Dev {
return device
}
func convertToDuty(percent float32, freq physic.Frequency, centerPWM, minPWM, maxPWM PWM) (gpio.Duty, error) {
func (c *Pca9685Controller) convertToDuty(percent float32) (gpio.Duty, error) {
// map absolute angle to angle that vehicle can implement.
pw := int(centerPWM)
pw := int(c.neutralPWM)
if percent > 0 {
pw = util.MapRange(float64(percent), 0, MaxPercent, float64(centerPWM), float64(maxPWM))
pw = util.MapRange(float64(percent), 0, MaxPercent, float64(c.neutralPWM), float64(c.maxPWM))
} else if percent < 0 {
pw = util.MapRange(float64(percent), MinPercent, 0, float64(minPWM), float64(centerPWM))
pw = util.MapRange(float64(percent), MinPercent, 0, float64(c.minPWM), float64(c.neutralPWM))
}
zap.S().Debugf("convert value %v to pw: %v", percent, pw)
c.logr.Debugf("convert value %v to pw: %v", percent, pw)
per := freq.Period().Microseconds()
per := c.freq.Period().Microseconds()
draw := float64(pw) / float64(per)
d, err := gpio.ParseDuty(fmt.Sprintf("%.f%%", draw*100))
@ -66,6 +66,7 @@ func convertToDuty(percent float32, freq physic.Frequency, centerPWM, minPWM, ma
}
type Pca9685Controller struct {
logr *zap.SugaredLogger
pin gpio.PinIO
minPWM, maxPWM, neutralPWM PWM
freq physic.Frequency
@ -85,7 +86,7 @@ func (c *Pca9685Controller) SetDuty(d gpio.Duty) error {
// SetPercentValue Set percent value
func (c *Pca9685Controller) SetPercentValue(p float32) error {
d, err := convertToDuty(p, c.freq, c.neutralPWM, c.minPWM, c.maxPWM)
d, err := c.convertToDuty(p)
if err != nil {
return fmt.Errorf("unable to compute Duty value for steering: %w", err)
}
@ -96,7 +97,7 @@ func (c *Pca9685Controller) SetPercentValue(p float32) error {
return nil
}
func NewPca9685Controller(device *pca9685.Dev, channel int, minPWM, maxPWM, neutralPWM PWM, freq physic.Frequency) (*Pca9685Controller, error) {
func NewPca9685Controller(device *pca9685.Dev, channel int, minPWM, maxPWM, neutralPWM PWM, freq physic.Frequency, logr *zap.SugaredLogger) (*Pca9685Controller, error) {
p, err := device.CreatePin(channel)
if err != nil {
return nil, fmt.Errorf("unable to create pin for channel %v: %w", channel, err)
@ -107,6 +108,7 @@ func NewPca9685Controller(device *pca9685.Dev, channel int, minPWM, maxPWM, neut
maxPWM: maxPWM,
neutralPWM: neutralPWM,
freq: freq,
logr: logr,
}
return &s, nil
}

10
pkg/actuator/pca9685_test.go
View File

@ -64,8 +64,16 @@ func Test_convertToDuty(t *testing.T) {
}
for _, tt := range tests {
t.Run(tt.name, func(t *testing.T) {
c := Pca9685Controller{
logr: zap.S(),
pin: nil,
minPWM: tt.args.leftPWM,
maxPWM: tt.args.rightPWM,
neutralPWM: tt.args.centerPWM,
freq: tt.args.freq,
}
if got, err := convertToDuty(tt.args.percent, tt.args.freq, tt.args.centerPWM, tt.args.leftPWM, tt.args.rightPWM); got.String() != tt.want {
if got, err := c.convertToDuty(tt.args.percent); got.String() != tt.want {
if tt.wantErr && err == nil {
t.Errorf("an error is expected")
return