robocars/robocar-pca9685
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refactor: rewrite and fix pca9685 controllers

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* implement throttle controller directly with pca9685 pin
 * close actuator controllers on exit
 * add trace logs
 * handle TERM signals to properly exit
 * add info logs at startup
This commit is contained in:
Cyrille Nofficial
2022-05-24 20:02:26 +02:00
parent 8effe3b576
commit fa2a3ce53b
6 changed files with 238 additions and 128 deletions
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38
pkg/part/part.go
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@@ -3,18 +3,24 @@ package part
import (
"fmt"
"github.com/cyrilix/robocar-base/service"
"github.com/cyrilix/robocar-pca9685/pkg/actuator"
"github.com/cyrilix/robocar-protobuf/go/events"
MQTT "github.com/eclipse/paho.mqtt.golang"
"go.uber.org/zap"
"google.golang.org/protobuf/proto"
"io"
"sync"
)
type ActuatorController interface {
// SetPercentValue Set percent value
SetPercentValue(p float32) error
io.Closer
}
type Pca9685Part struct {
client MQTT.Client
throttleCtrl *actuator.Throttle
steeringCtrl *actuator.Steering
throttleCtrl ActuatorController
steeringCtrl ActuatorController
muSteering sync.Mutex
steeringValue float32
@@ -29,7 +35,7 @@ type Pca9685Part struct {
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 ActuatorController, steeringCtrl ActuatorController, updateFrequency int, throttleTopic, steeringTopic string) *Pca9685Part {
return &Pca9685Part{
client: client,
throttleCtrl: throttleCtrl,
@@ -46,8 +52,12 @@ func (p *Pca9685Part) Start() error {
return fmt.Errorf("unable to start service: %v", err)
}
p.steeringCtrl.SetPercentValue(0)
p.throttleCtrl.SetPercentValue(0)
if err := p.steeringCtrl.SetPercentValue(0); err != nil {
return fmt.Errorf("unable to start steering controller: %w", err)
}
if err := p.throttleCtrl.SetPercentValue(0); err != nil {
return fmt.Errorf("unable to set init value '0%%': %w", err)
}
for {
select {
@@ -59,6 +69,12 @@ func (p *Pca9685Part) Start() error {
func (p *Pca9685Part) Stop() {
close(p.cancel)
if err := p.steeringCtrl.Close(); err != nil {
zap.S().Errorf("unable to close steering controller: %v", err)
}
if err := p.throttleCtrl.Close(); err != nil {
zap.S().Errorf("unable to close throttle controller: %v", err)
}
service.StopService("pca9685", p.client, p.throttleTopic, p.steeringTopic)
}
@@ -74,7 +90,10 @@ func (p *Pca9685Part) onThrottleChange(_ MQTT.Client, message MQTT.Message) {
zap.S().Debugf("new throttle value: %v", throttle.GetThrottle())
p.muThrottle.Lock()
defer p.muThrottle.Unlock()
p.throttleCtrl.SetPercentValue(throttle.GetThrottle())
err = p.throttleCtrl.SetPercentValue(throttle.GetThrottle())
if err != nil {
zap.S().Errorf("unable to set steering value '%v': %w", throttle.GetThrottle(), err)
}
}
func (p *Pca9685Part) onSteeringChange(_ MQTT.Client, message MQTT.Message) {
@@ -90,7 +109,10 @@ func (p *Pca9685Part) onSteeringChange(_ MQTT.Client, message MQTT.Message) {
zap.S().Debugf("new steering value: %v", steering.GetSteering())
p.muSteering.Lock()
defer p.muSteering.Unlock()
p.steeringCtrl.SetPercentValue(steering.GetSteering())
err = p.steeringCtrl.SetPercentValue(steering.GetSteering())
if err != nil {
zap.S().Errorf("unable to set steering value '%v': %w", steering.GetSteering(), err)
}
}
func (p *Pca9685Part) registerCallbacks() error {