refactor: rewrite and fix pca9685 controllers

* 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
build: upgrade to go 1.18 and dependencies
2022-05-30 16:03:39 +02:00 · 2022-04-12 18:06:10 +02:00 · 2022-03-29 19:47:22 +02:00 · 2022-03-29 19:47:09 +02:00 · 2022-02-25 19:05:58 +01:00
26 changed files with 636 additions and 406 deletions
--- a/2
+++ b/2
@ -1,4 +1,4 @@
-FROM --platform=$BUILDPLATFORM golang:1.17-alpine AS builder
+FROM --platform=$BUILDPLATFORM golang:1.18-alpine AS builder

 ARG TARGETPLATFORM
 ARG BUILDPLATFORM
--- a/cmd/rc-pca9685/rc-pca9685.go
+++ b/cmd/rc-pca9685/rc-pca9685.go
@ -3,11 +3,12 @@ package main
 import (
 	"flag"
 	"github.com/cyrilix/robocar-base/cli"
-	actuator2 "github.com/cyrilix/robocar-pca9685/pkg/actuator"
+	"github.com/cyrilix/robocar-pca9685/pkg/actuator"
 	"github.com/cyrilix/robocar-pca9685/pkg/part"
 	"go.uber.org/zap"
 	"log"
 	"os"
+	"periph.io/x/conn/v3/physic"
 )

 const (
@ -21,6 +22,8 @@ const (

 	SteeringLeftPWM  = 1004
 	SteeringRightPWM = 1986
+
+	DefaultFrequency = 60 * physic.Hertz
 )

 var (
@ -106,10 +109,47 @@ func main() {
 	}
 	defer client.Disconnect(50)

-	t := actuator2.NewThrottle(throttleChannel, throttleStoppedPWM, throttleMinPWM, throttleMaxPWM)
-	s := actuator2.NewSteering(steeringChannel, steeringLeftPWM, steeringRightPWM, steeringCenterPWM)
+	freq := DefaultFrequency
+
+	zap.S().Infof("throttle channel  : %v", throttleChannel)
+	zap.S().Infof("throttle frequency: %v", freq)
+	zap.S().Infof("throttle zero     : %v", throttleStoppedPWM)
+	zap.S().Infof("throttle min      : %v", throttleMinPWM)
+	zap.S().Infof("throttle max      : %v", throttleMaxPWM)
+
+	zap.S().Infof("steering channel  : %v", steeringChannel)
+	zap.S().Infof("steering frequency: %v", freq)
+	zap.S().Infof("steering center   : %v", steeringCenterPWM)
+	zap.S().Infof("steering left     : %v", steeringLeftPWM)
+	zap.S().Infof("steering right    : %v", steeringRightPWM)
+
+	dev := actuator.NewDevice(freq)
+
+	t, err := actuator.NewPca9685Controller(
+		dev,
+		throttleChannel,
+		actuator.PWM(throttleMinPWM), actuator.PWM(throttleMaxPWM), actuator.PWM(throttleStoppedPWM),
+		freq,
+	)
+	if err != nil {
+		zap.S().Panicf("unable to init throttle controller: %v", err)
+	}
+
+	s, err := actuator.NewPca9685Controller(
+		dev,
+		steeringChannel,
+		actuator.PWM(steeringLeftPWM), actuator.PWM(steeringRightPWM), actuator.PWM(steeringCenterPWM),
+		freq,
+	)
+	if err != nil {
+		zap.S().Panicf("unable to init steering controller: %v", err)
+	}

 	p := part.NewPca9685Part(client, t, s, updatePWMFrequency, topicThrottle, topicSteering)
+
+	cli.HandleExit(p)
+
+	zap.S().Info("devices ready, start event listener")
 	err = p.Start()
 	if err != nil {
 		zap.S().Fatalf("unable to start service: %v", err)
--- a/go.mod
+++ b/go.mod
@ -1,12 +1,12 @@
 module github.com/cyrilix/robocar-pca9685

-go 1.17
+go 1.18

 require (
 	github.com/cyrilix/robocar-base v0.1.6
 	github.com/cyrilix/robocar-protobuf/go v1.0.4
 	github.com/eclipse/paho.mqtt.golang v1.3.5
-	go.uber.org/zap v1.19.1
+	go.uber.org/zap v1.21.0
 	google.golang.org/protobuf v1.27.1
 	periph.io/x/conn/v3 v3.6.10
 	periph.io/x/devices/v3 v3.6.13
--- a/go.sum
+++ b/go.sum
@ -1,13 +1,5 @@
-cloud.google.com/go v0.26.0/go.mod h1:aQUYkXzVsufM+DwF1aE+0xfcU+56JwCaLick0ClmMTw=
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@ -15,116 +7,55 @@ github.com/cyrilix/robocar-protobuf/go v1.0.4/go.mod h1:1fyGMVm4ZodfYRrbWCEQgtvK
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 golang.org/x/lint v0.0.0-20190930215403-16217165b5de/go.mod h1:6SW0HCj/g11FgYtHlgUYUwCkIfeOF89ocIRzGO/8vkc=
 golang.org/x/mod v0.4.2/go.mod h1:s0Qsj1ACt9ePp/hMypM3fl4fZqREWJwdYDEqhRiZZUA=
-golang.org/x/net v0.0.0-20180826012351-8a410e7b638d/go.mod h1:mL1N/T3taQHkDXs73rZJwtUhF3w3ftmwwsq0BUmARs4=
-golang.org/x/net v0.0.0-20180906233101-161cd47e91fd/go.mod h1:mL1N/T3taQHkDXs73rZJwtUhF3w3ftmwwsq0BUmARs4=
 golang.org/x/net v0.0.0-20190311183353-d8887717615a/go.mod h1:t9HGtf8HONx5eT2rtn7q6eTqICYqUVnKs3thJo3Qplg=
 golang.org/x/net v0.0.0-20190404232315-eb5bcb51f2a3/go.mod h1:t9HGtf8HONx5eT2rtn7q6eTqICYqUVnKs3thJo3Qplg=
 golang.org/x/net v0.0.0-20190620200207-3b0461eec859/go.mod h1:z5CRVTTTmAJ677TzLLGU+0bjPO0LkuOLi4/5GtJWs/s=
 golang.org/x/net v0.0.0-20200425230154-ff2c4b7c35a0/go.mod h1:qpuaurCH72eLCgpAm/N6yyVIVM9cpaDIP3A8BGJEC5A=
 golang.org/x/net v0.0.0-20210405180319-a5a99cb37ef4 h1:4nGaVu0QrbjT/AK2PRLuQfQuh6DJve+pELhqTdAj3x0=
 golang.org/x/net v0.0.0-20210405180319-a5a99cb37ef4/go.mod h1:p54w0d4576C0XHj96bSt6lcn1PtDYWL6XObtHCRCNQM=
-golang.org/x/oauth2 v0.0.0-20180821212333-d2e6202438be/go.mod h1:N/0e6XlmueqKjAGxoOufVs8QHGRruUQn6yWY3a++T0U=
-golang.org/x/sync v0.0.0-20180314180146-1d60e4601c6f/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM=
 golang.org/x/sync v0.0.0-20190423024810-112230192c58/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM=
 golang.org/x/sync v0.0.0-20210220032951-036812b2e83c/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM=
-golang.org/x/sys v0.0.0-20180830151530-49385e6e1522/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY=
-golang.org/x/sys v0.0.0-20180905080454-ebe1bf3edb33/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY=
-golang.org/x/sys v0.0.0-20180909124046-d0be0721c37e/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY=
 golang.org/x/sys v0.0.0-20190215142949-d0b11bdaac8a/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY=
 golang.org/x/sys v0.0.0-20190412213103-97732733099d/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
-golang.org/x/sys v0.0.0-20191026070338-33540a1f6037/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
-golang.org/x/sys v0.0.0-20200116001909-b77594299b42/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
 golang.org/x/sys v0.0.0-20200323222414-85ca7c5b95cd/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
 golang.org/x/sys v0.0.0-20201119102817-f84b799fce68/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
 golang.org/x/sys v0.0.0-20210330210617-4fbd30eecc44/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
@ -134,12 +65,8 @@ golang.org/x/sys v0.0.0-20210927094055-39ccf1dd6fa6/go.mod h1:oPkhp1MJrh7nUepCBc
 golang.org/x/sys v0.0.0-20211210111614-af8b64212486/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
 golang.org/x/term v0.0.0-20201126162022-7de9c90e9dd1/go.mod h1:bj7SfCRtBDWHUb9snDiAeCFNEtKQo2Wmx5Cou7ajbmo=
 golang.org/x/text v0.3.0/go.mod h1:NqM8EUOU14njkJ3fqMW+pc6Ldnwhi/IjpwHt7yyuwOQ=
-golang.org/x/text v0.3.2/go.mod h1:bEr9sfX3Q8Zfm5fL9x+3itogRgK3+ptLWKqgva+5dAk=
 golang.org/x/text v0.3.3/go.mod h1:5Zoc/QRtKVWzQhOtBMvqHzDpF6irO9z98xDceosuGiQ=
 golang.org/x/text v0.3.6/go.mod h1:5Zoc/QRtKVWzQhOtBMvqHzDpF6irO9z98xDceosuGiQ=
-golang.org/x/time v0.0.0-20181108054448-85acf8d2951c/go.mod h1:tRJNPiyCQ0inRvYxbN9jk5I+vvW/OXSQhTDSoE431IQ=
-golang.org/x/tools v0.0.0-20180810170437-e96c4e24768d/go.mod h1:n7NCudcB/nEzxVGmLbDWY5pfWTLqBcC2KZ6jyYvM4mQ=
-golang.org/x/tools v0.0.0-20180828015842-6cd1fcedba52/go.mod h1:n7NCudcB/nEzxVGmLbDWY5pfWTLqBcC2KZ6jyYvM4mQ=
 golang.org/x/tools v0.0.0-20180917221912-90fa682c2a6e/go.mod h1:n7NCudcB/nEzxVGmLbDWY5pfWTLqBcC2KZ6jyYvM4mQ=
 golang.org/x/tools v0.0.0-20190311212946-11955173bddd/go.mod h1:LCzVGOaR6xXOjkQ3onu1FJEFr0SW1gC7cKk1uF8kGRs=
 golang.org/x/tools v0.0.0-20191119224855-298f0cb1881e/go.mod h1:b+2E5dAYhXwXZwtnZ6UAqBI28+e2cm9otk0dWdXHAEo=
@ -149,27 +76,17 @@ golang.org/x/xerrors v0.0.0-20191011141410-1b5146add898/go.mod h1:I/5z698sn9Ka8T
 golang.org/x/xerrors v0.0.0-20191204190536-9bdfabe68543/go.mod h1:I/5z698sn9Ka8TeJc9MKroUUfqBBauWjQqLJ2OPfmY0=
 golang.org/x/xerrors v0.0.0-20200804184101-5ec99f83aff1 h1:go1bK/D/BFZV2I8cIQd1NKEZ+0owSTG1fDTci4IqFcE=
 golang.org/x/xerrors v0.0.0-20200804184101-5ec99f83aff1/go.mod h1:I/5z698sn9Ka8TeJc9MKroUUfqBBauWjQqLJ2OPfmY0=
-google.golang.org/appengine v1.1.0/go.mod h1:EbEs0AVv82hx2wNQdGPgUI5lhzA/G0D9YwlJXL52JkM=
-google.golang.org/genproto v0.0.0-20180817151627-c66870c02cf8/go.mod h1:JiN7NxoALGmiZfu7CAH4rXhgtRTLTxftemlI0sWmxmc=
-google.golang.org/grpc v1.17.0/go.mod h1:6QZJwpn2B+Zp71q/5VxRsJ6NXXVCE5NRUHRo+f3cWCs=
 google.golang.org/protobuf v1.26.0-rc.1/go.mod h1:jlhhOSvTdKEhbULTjvd4ARK9grFBp09yW+WbY/TyQbw=
 google.golang.org/protobuf v1.26.0/go.mod h1:9q0QmTI4eRPtz6boOQmLYwt+qCgq0jsYwAQnmE0givc=
 google.golang.org/protobuf v1.27.1 h1:SnqbnDw1V7RiZcXPx5MEeqPv2s79L9i7BJUlG/+RurQ=
 google.golang.org/protobuf v1.27.1/go.mod h1:9q0QmTI4eRPtz6boOQmLYwt+qCgq0jsYwAQnmE0givc=
 gopkg.in/check.v1 v0.0.0-20161208181325-20d25e280405/go.mod h1:Co6ibVJAznAaIkqp8huTwlJQCZ016jof/cbN4VW5Yz0=
 gopkg.in/check.v1 v1.0.0-20180628173108-788fd7840127/go.mod h1:Co6ibVJAznAaIkqp8huTwlJQCZ016jof/cbN4VW5Yz0=
-gopkg.in/fsnotify.v1 v1.4.7/go.mod h1:Tz8NjZHkW78fSQdbUxIjBTcgA1z1m8ZHf0WmKUhAMys=
-gopkg.in/tomb.v1 v1.0.0-20141024135613-dd632973f1e7/go.mod h1:dt/ZhP58zS4L8KSrWDmTeBkI65Dw0HsyUHuEVlX15mw=
-gopkg.in/yaml.v2 v2.2.1/go.mod h1:hI93XBmqTisBFMUTm0b8Fm+jr3Dg1NNxqwp+5A1VGuI=
-gopkg.in/yaml.v2 v2.2.2/go.mod h1:hI93XBmqTisBFMUTm0b8Fm+jr3Dg1NNxqwp+5A1VGuI=
 gopkg.in/yaml.v2 v2.2.8/go.mod h1:hI93XBmqTisBFMUTm0b8Fm+jr3Dg1NNxqwp+5A1VGuI=
 gopkg.in/yaml.v2 v2.3.0 h1:clyUAQHOM3G0M3f5vQj7LuJrETvjVot3Z5el9nffUtU=
-gopkg.in/yaml.v2 v2.3.0/go.mod h1:hI93XBmqTisBFMUTm0b8Fm+jr3Dg1NNxqwp+5A1VGuI=
 gopkg.in/yaml.v3 v3.0.0-20200313102051-9f266ea9e77c/go.mod h1:K4uyk7z7BCEPqu6E+C64Yfv1cQ7kz7rIZviUmN+EgEM=
 gopkg.in/yaml.v3 v3.0.0-20210107192922-496545a6307b h1:h8qDotaEPuJATrMmW04NCwg7v22aHH28wwpauUhK9Oo=
 gopkg.in/yaml.v3 v3.0.0-20210107192922-496545a6307b/go.mod h1:K4uyk7z7BCEPqu6E+C64Yfv1cQ7kz7rIZviUmN+EgEM=
-gotest.tools v0.0.0-20181223230014-1083505acf35/go.mod h1:R//lfYlUuTOTfblYI3lGoAAAebUdzjvbmQsuB7Ykd90=
-honnef.co/go/tools v0.0.0-20180728063816-88497007e858/go.mod h1:rf3lG4BRIbNafJWhAfAdb/ePZxsR/4RtNHQocxwk9r4=
 periph.io/x/conn/v3 v3.6.10 h1:gwU4ssmZkq1D/uz8hU91i/COo2c9DrRaS4PJZBbCd+c=
 periph.io/x/conn/v3 v3.6.10/go.mod h1:UqWNaPMosWmNCwtufoTSTTYhB2wXWsMRAJyo1PlxO4Q=
 periph.io/x/d2xx v0.0.4/go.mod h1:38Euaaj+s6l0faIRHh32a+PrjXvxFTFkPBEQI0TKg34=
--- a/pkg/actuator/pca9685.go
+++ b/pkg/actuator/pca9685.go
@ -1,39 +1,112 @@
 package actuator

 import (
+	"fmt"
+	"github.com/cyrilix/robocar-pca9685/pkg/util"
 	"go.uber.org/zap"
+	"periph.io/x/conn/v3/gpio"
 	"periph.io/x/conn/v3/i2c/i2creg"
 	"periph.io/x/conn/v3/physic"
 	"periph.io/x/devices/v3/pca9685"
 	"periph.io/x/host/v3"
 )

-var (
-	device *pca9685.Dev
+const (
+	MinPercent = -1.
+	MaxPercent = 1.
 )

-func init() {
-	zap.S().Info("init pca9685 controller")
+type PWM int
+
+func NewDevice(freq physic.Frequency) *pca9685.Dev {
+	zap.S().Info("NewDevice pca9685 controller")
 	_, err := host.Init()
 	if err != nil {
-		zap.S().Fatalf("unable to init host: %v", err)
+		zap.S().Fatalf("unable to NewDevice host: %v", err)
 	}

 	zap.S().Info("open i2c bus")
 	bus, err := i2creg.Open("")
 	if err != nil {
-		zap.S().Fatalf("unable to init i2c bus: %v", err)
+		zap.S().Fatalf("unable to NewDevice i2c bus: %v", err)
 	}
-	zap.S().Info("i2c bus opened")
+	zap.S().Infof("i2c bus opened: %v", bus)

-	device, err = pca9685.NewI2C(bus, pca9685.I2CAddr)
+	device, err := pca9685.NewI2C(bus, pca9685.I2CAddr)
 	if err != nil {
-		zap.S().Fatalf("unable to init pca9685 bus: %v", err)
+		zap.S().Fatalf("unable to NewDevice pca9685 bus: %v", err)
 	}
 	zap.S().Infof("set pwm frequency to %d", 60)
-	err = device.SetPwmFreq(60 * physic.Hertz)
+	err = device.SetPwmFreq(freq)
 	if err != nil {
 		zap.S().Panicf("unable to set pwm frequency: %v", err)
 	}
-	zap.S().Info("init done")
+	zap.S().Info("NewDevice done")
+	return device
+}
+
+func convertToDuty(percent float32, freq physic.Frequency, centerPWM, minPWM, maxPWM PWM) (gpio.Duty, error) {
+	// map absolute angle to angle that vehicle can implement.
+	pw := int(centerPWM)
+	if percent > 0 {
+		pw = util.MapRange(float64(percent), 0, MaxPercent, float64(centerPWM), float64(maxPWM))
+	} else if percent < 0 {
+		pw = util.MapRange(float64(percent), MinPercent, 0, float64(minPWM), float64(centerPWM))
+	}
+	zap.S().Debugf("convert value %v to pw: %v", percent, pw)
+
+	per := freq.Period().Microseconds()
+
+	draw := float64(pw) / float64(per)
+	d, err := gpio.ParseDuty(fmt.Sprintf("%.f%%", draw*100))
+	if err != nil {
+		return 0, fmt.Errorf("unable to parse duty, probably bad compute: %w", err)
+	}
+	return d, nil
+}
+
+type Pca9685Controller struct {
+	pin                        gpio.PinIO
+	minPWM, maxPWM, neutralPWM PWM
+	freq                       physic.Frequency
+}
+
+func (c *Pca9685Controller) Close() error {
+	return c.pin.Halt()
+}
+
+func (c *Pca9685Controller) SetDuty(d gpio.Duty) error {
+	err := c.pin.PWM(d, c.freq)
+	if err != nil {
+		return fmt.Errorf("unable to set pwm value: %v", err)
+	}
+	return nil
+}
+
+// SetPercentValue Set percent value
+func (c *Pca9685Controller) SetPercentValue(p float32) error {
+	d, err := convertToDuty(p, c.freq, c.neutralPWM, c.minPWM, c.maxPWM)
+	if err != nil {
+		return fmt.Errorf("unable to compute Duty value for steering: %w", err)
+	}
+	err = c.SetDuty(d)
+	if err != nil {
+		return fmt.Errorf("unable to apply duty value '%v' for pin '%v': '%w' ", d, c.pin.Name(), err)
+	}
+	return nil
+}
+
+func NewPca9685Controller(device *pca9685.Dev, channel int, minPWM, maxPWM, neutralPWM PWM, freq physic.Frequency) (*Pca9685Controller, error) {
+	p, err := device.CreatePin(channel)
+	if err != nil {
+		return nil, fmt.Errorf("unable to create pin for channel %v: %w", channel, err)
+	}
+	s := Pca9685Controller{
+		pin:        p,
+		minPWM:     minPWM,
+		maxPWM:     maxPWM,
+		neutralPWM: neutralPWM,
+		freq:       freq,
+	}
+	return &s, nil
 }
--- a/pkg/actuator/pca9685_test.go
+++ b/pkg/actuator/pca9685_test.go
@ -0,0 +1,81 @@
+package actuator
+
+import (
+	"go.uber.org/zap"
+	"periph.io/x/conn/v3/physic"
+	"testing"
+)
+
+func init() {
+	l, _ := zap.NewDevelopment()
+	zap.ReplaceGlobals(l)
+}
+
+func Test_convertToDuty(t *testing.T) {
+	type fields struct {
+	}
+	type args struct {
+		percent   float32
+		leftPWM   PWM
+		rightPWM  PWM
+		centerPWM PWM
+		freq      physic.Frequency
+	}
+	tests := []struct {
+		name    string
+		fields  fields
+		args    args
+		want    string
+		wantErr bool
+	}{
+		{
+			name: "center",
+			args: args{
+				percent:   0.,
+				leftPWM:   1000,
+				rightPWM:  2000,
+				centerPWM: 1500,
+				freq:      60 * physic.Hertz,
+			},
+			want: "9%",
+		},
+		{
+			name: "left",
+			args: args{
+				percent:   -1.,
+				leftPWM:   1000,
+				rightPWM:  2000,
+				centerPWM: 1500,
+				freq:      60 * physic.Hertz,
+			},
+			want: "6%",
+		},
+		{
+			name: "right",
+			args: args{
+				percent:   1.,
+				leftPWM:   1000,
+				rightPWM:  2000,
+				centerPWM: 1500,
+				freq:      60 * physic.Hertz,
+			},
+			want: "12%",
+		},
+	}
+	for _, tt := range tests {
+		t.Run(tt.name, func(t *testing.T) {
+
+			if got, err := convertToDuty(tt.args.percent, tt.args.freq, tt.args.centerPWM, tt.args.leftPWM, tt.args.rightPWM); got.String() != tt.want {
+				if tt.wantErr && err == nil {
+					t.Errorf("an error is expected")
+					return
+				}
+				if err != nil {
+					t.Errorf("unexpected error: %v", err)
+					return
+				}
+				t.Errorf("convertToDuty() = %v, want %v", got, tt.want)
+			}
+		})
+	}
+}
--- a/pkg/actuator/steering.go
+++ b/pkg/actuator/steering.go
@ -1,51 +0,0 @@
-package actuator
-
-import (
-	"github.com/cyrilix/robocar-pca9685/pkg/util"
-	"go.uber.org/zap"
-	"periph.io/x/conn/v3/gpio"
-	"periph.io/x/devices/v3/pca9685"
-)
-
-const (
-	LeftAngle  = -1.
-	RightAngle = 1.
-)
-
-type Steering struct {
-	channel                      int
-	leftPWM, rightPWM, centerPWM int
-	dev                          *pca9685.Dev
-}
-
-func (s *Steering) SetPulse(pulse int) {
-	err := s.dev.SetPwm(s.channel, 0, gpio.Duty(pulse))
-	if err != nil {
-		zap.S().Warnf("unable to set steering pwm value: %v", err)
-	}
-
-}
-
-// SetPercentValue Set percent value steering
-func (s *Steering) SetPercentValue(p float32) {
-	// map absolute angle to angle that vehicle can implement.
-
-	pulse := s.centerPWM
-	if p > 0 {
-		pulse = util.MapRange(float64(p), 0, RightAngle, float64(s.centerPWM), float64(s.rightPWM))
-	} else if p < 0 {
-		pulse = util.MapRange(float64(p), LeftAngle, 0, float64(s.leftPWM), float64(s.centerPWM))
-	}
-	s.SetPulse(pulse)
-}
-
-func NewSteering(channel, leftPWM, rightPWM, centerPWM int) *Steering {
-	s := Steering{
-		channel:   channel,
-		dev:       device,
-		leftPWM:   leftPWM,
-		rightPWM:  rightPWM,
-		centerPWM: centerPWM,
-	}
-	return &s
-}
--- a/pkg/actuator/throttle.go
+++ b/pkg/actuator/throttle.go
@ -1,54 +0,0 @@
-package actuator
-
-import (
-	"github.com/cyrilix/robocar-pca9685/pkg/util"
-	"go.uber.org/zap"
-	"periph.io/x/conn/v3/gpio"
-	"periph.io/x/devices/v3/pca9685"
-)
-
-const (
-	MinThrottle = -1
-	MaxThrottle = 1
-)
-
-type Throttle struct {
-	channel                       int
-	zeroPulse, minPulse, maxPulse int
-	dev                           *pca9685.Dev
-}
-
-func (t *Throttle) SetPulse(pulse int) {
-	err := t.dev.SetPwm(t.channel, 0, gpio.Duty(pulse))
-	if err != nil {
-		zap.S().Errorf("unable to set throttle pwm value: %v", err)
-	}
-
-}
-
-// Set percent value throttle
-func (t *Throttle) SetPercentValue(p float32) {
-	var pulse int
-	if p > 0 {
-		pulse = util.MapRange(float64(p), 0, MaxThrottle, float64(t.zeroPulse), float64(t.maxPulse))
-	} else {
-		pulse = util.MapRange(float64(p), MinThrottle, 0, float64(t.minPulse), float64(t.zeroPulse))
-	}
-	zap.S().Debugf("set throttle to %v-> %v (%v, %v, %v, %v, %v)", p, pulse, LeftAngle, RightAngle, t.minPulse, t.maxPulse, t.zeroPulse)
-	t.SetPulse(pulse)
-}
-
-func NewThrottle(channel, zeroPulse, minPulse, maxPulse int) *Throttle {
-	t := Throttle{
-		channel:   channel,
-		dev:       device,
-		zeroPulse: zeroPulse,
-		minPulse:  minPulse,
-		maxPulse:  maxPulse,
-	}
-
-	zap.S().Info("send zero pulse to calibrate ESC")
-	t.SetPercentValue(0)
-
-	return &t
-}
--- a/pkg/part/part.go
+++ b/pkg/part/part.go
@ -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) {
@ -87,9 +106,13 @@ func (p *Pca9685Part) onSteeringChange(_ MQTT.Client, message MQTT.Message) {
 		)
 		return
 	}
+	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 {
--- a/vendor/go.uber.org/zap/.readme.tmpl
+++ b/vendor/go.uber.org/zap/.readme.tmpl
@ -96,14 +96,14 @@ Released under the [MIT License](LICENSE.txt).

 <sup id="footnote-versions">1</sup> In particular, keep in mind that we may be
 benchmarking against slightly older versions of other packages. Versions are
-pinned in zap's [glide.lock][] file. [↩](#anchor-versions)
+pinned in the [benchmarks/go.mod][] file. [↩](#anchor-versions)

-[doc-img]: https://godoc.org/go.uber.org/zap?status.svg
-[doc]: https://godoc.org/go.uber.org/zap
-[ci-img]: https://travis-ci.com/uber-go/zap.svg?branch=master
-[ci]: https://travis-ci.com/uber-go/zap
+[doc-img]: https://pkg.go.dev/badge/go.uber.org/zap
+[doc]: https://pkg.go.dev/go.uber.org/zap
+[ci-img]: https://github.com/uber-go/zap/actions/workflows/go.yml/badge.svg
+[ci]: https://github.com/uber-go/zap/actions/workflows/go.yml
 [cov-img]: https://codecov.io/gh/uber-go/zap/branch/master/graph/badge.svg
 [cov]: https://codecov.io/gh/uber-go/zap
 [benchmarking suite]: https://github.com/uber-go/zap/tree/master/benchmarks
-[glide.lock]: https://github.com/uber-go/zap/blob/master/glide.lock
+[benchmarks/go.mod]: https://github.com/uber-go/zap/blob/master/benchmarks/go.mod

--- a/vendor/go.uber.org/zap/CHANGELOG.md
+++ b/vendor/go.uber.org/zap/CHANGELOG.md
@ -3,9 +3,57 @@ All notable changes to this project will be documented in this file.

 This project adheres to [Semantic Versioning](http://semver.org/spec/v2.0.0.html).

+## 1.21.0 (7 Feb 2022)
+
+Enhancements:
+*  [#1047][]: Add `zapcore.ParseLevel` to parse a `Level` from a string.
+*  [#1048][]: Add `zap.ParseAtomicLevel` to parse an `AtomicLevel` from a
+   string.
+
+Bugfixes:
+* [#1058][]: Fix panic in JSON encoder when `EncodeLevel` is unset.
+
+Other changes:
+* [#1052][]: Improve encoding performance when the `AddCaller` and
+  `AddStacktrace` options are used together.
+
+[#1047]: https://github.com/uber-go/zap/pull/1047
+[#1048]: https://github.com/uber-go/zap/pull/1048
+[#1052]: https://github.com/uber-go/zap/pull/1052
+[#1058]: https://github.com/uber-go/zap/pull/1058
+
+Thanks to @aerosol and @Techassi for their contributions to this release.
+
+## 1.20.0 (4 Jan 2022)
+
+Enhancements:
+* [#989][]: Add `EncoderConfig.SkipLineEnding` flag to disable adding newline
+  characters between log statements.
+* [#1039][]: Add `EncoderConfig.NewReflectedEncoder` field to customize JSON
+  encoding of reflected log fields.
+
+Bugfixes:
+* [#1011][]: Fix inaccurate precision when encoding complex64 as JSON.
+* [#554][], [#1017][]: Close JSON namespaces opened in `MarshalLogObject`
+  methods when the methods return.
+* [#1033][]: Avoid panicking in Sampler core if `thereafter` is zero.
+
+Other changes:
+* [#1028][]: Drop support for Go < 1.15.
+
+[#554]: https://github.com/uber-go/zap/pull/554
+[#989]: https://github.com/uber-go/zap/pull/989
+[#1011]: https://github.com/uber-go/zap/pull/1011
+[#1017]: https://github.com/uber-go/zap/pull/1017
+[#1028]: https://github.com/uber-go/zap/pull/1028
+[#1033]: https://github.com/uber-go/zap/pull/1033
+[#1039]: https://github.com/uber-go/zap/pull/1039
+
+Thanks to @psrajat, @lruggieri, @sammyrnycreal for their contributions to this release.
+
 ## 1.19.1 (8 Sep 2021)

-### Fixed
+Bugfixes:
 * [#1001][]: JSON: Fix complex number encoding with negative imaginary part. Thanks to @hemantjadon.
 * [#1003][]: JSON: Fix inaccurate precision when encoding float32.

--- a/vendor/go.uber.org/zap/README.md
+++ b/vendor/go.uber.org/zap/README.md
@ -66,38 +66,38 @@ Log a message and 10 fields:

 | Package | Time | Time % to zap | Objects Allocated |
 | :------ | :--: | :-----------: | :---------------: |
-| :zap: zap | 862 ns/op | +0% | 5 allocs/op
-| :zap: zap (sugared) | 1250 ns/op | +45% | 11 allocs/op
-| zerolog | 4021 ns/op | +366% | 76 allocs/op
-| go-kit | 4542 ns/op | +427% | 105 allocs/op
-| apex/log | 26785 ns/op | +3007% | 115 allocs/op
-| logrus | 29501 ns/op | +3322% | 125 allocs/op
-| log15 | 29906 ns/op | +3369% | 122 allocs/op
+| :zap: zap | 2900 ns/op | +0% | 5 allocs/op
+| :zap: zap (sugared) | 3475 ns/op | +20% | 10 allocs/op
+| zerolog | 10639 ns/op | +267% | 32 allocs/op
+| go-kit | 14434 ns/op | +398% | 59 allocs/op
+| logrus | 17104 ns/op | +490% | 81 allocs/op
+| apex/log | 32424 ns/op | +1018% | 66 allocs/op
+| log15 | 33579 ns/op | +1058% | 76 allocs/op

 Log a message with a logger that already has 10 fields of context:

 | Package | Time | Time % to zap | Objects Allocated |
 | :------ | :--: | :-----------: | :---------------: |
-| :zap: zap | 126 ns/op | +0% | 0 allocs/op
-| :zap: zap (sugared) | 187 ns/op | +48% | 2 allocs/op
-| zerolog | 88 ns/op | -30% | 0 allocs/op
-| go-kit | 5087 ns/op | +3937% | 103 allocs/op
-| log15 | 18548 ns/op | +14621% | 73 allocs/op
-| apex/log | 26012 ns/op | +20544% | 104 allocs/op
-| logrus | 27236 ns/op | +21516% | 113 allocs/op
+| :zap: zap | 373 ns/op | +0% | 0 allocs/op
+| :zap: zap (sugared) | 452 ns/op | +21% | 1 allocs/op
+| zerolog | 288 ns/op | -23% | 0 allocs/op
+| go-kit | 11785 ns/op | +3060% | 58 allocs/op
+| logrus | 19629 ns/op | +5162% | 70 allocs/op
+| log15 | 21866 ns/op | +5762% | 72 allocs/op
+| apex/log | 30890 ns/op | +8182% | 55 allocs/op

 Log a static string, without any context or `printf`-style templating:

 | Package | Time | Time % to zap | Objects Allocated |
 | :------ | :--: | :-----------: | :---------------: |
-| :zap: zap | 118 ns/op | +0% | 0 allocs/op
-| :zap: zap (sugared) | 191 ns/op | +62% | 2 allocs/op
-| zerolog | 93 ns/op | -21% | 0 allocs/op
-| go-kit | 280 ns/op | +137% | 11 allocs/op
-| standard library | 499 ns/op | +323% | 2 allocs/op
-| apex/log | 1990 ns/op | +1586% | 10 allocs/op
-| logrus | 3129 ns/op | +2552% | 24 allocs/op
-| log15 | 3887 ns/op | +3194% | 23 allocs/op
+| :zap: zap | 381 ns/op | +0% | 0 allocs/op
+| :zap: zap (sugared) | 410 ns/op | +8% | 1 allocs/op
+| zerolog | 369 ns/op | -3% | 0 allocs/op
+| standard library | 385 ns/op | +1% | 2 allocs/op
+| go-kit | 606 ns/op | +59% | 11 allocs/op
+| logrus | 1730 ns/op | +354% | 25 allocs/op
+| apex/log | 1998 ns/op | +424% | 7 allocs/op
+| log15 | 4546 ns/op | +1093% | 22 allocs/op

 ## Development Status: Stable

--- a/vendor/go.uber.org/zap/global.go
+++ b/vendor/go.uber.org/zap/global.go
@ -31,6 +31,7 @@ import (
 )

 const (
+	_stdLogDefaultDepth      = 1
 	_loggerWriterDepth       = 2
 	_programmerErrorTemplate = "You've found a bug in zap! Please file a bug at " +
 		"https://github.com/uber-go/zap/issues/new and reference this error: %v"
--- a/vendor/go.uber.org/zap/global_prego112.go
+++ b/vendor/go.uber.org/zap/global_prego112.go
@ -1,26 +0,0 @@
-// Copyright (c) 2019 Uber Technologies, Inc.
-//
-// Permission is hereby granted, free of charge, to any person obtaining a copy
-// of this software and associated documentation files (the "Software"), to deal
-// in the Software without restriction, including without limitation the rights
-// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-// copies of the Software, and to permit persons to whom the Software is
-// furnished to do so, subject to the following conditions:
-//
-// The above copyright notice and this permission notice shall be included in
-// all copies or substantial portions of the Software.
-//
-// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-// THE SOFTWARE.
-
-// See #682 for more information.
-// +build !go1.12
-
-package zap
-
-const _stdLogDefaultDepth = 2
--- a/vendor/go.uber.org/zap/level.go
+++ b/vendor/go.uber.org/zap/level.go
@ -86,6 +86,23 @@ func NewAtomicLevelAt(l zapcore.Level) AtomicLevel {
 	return a
 }

+// ParseAtomicLevel parses an AtomicLevel based on a lowercase or all-caps ASCII
+// representation of the log level. If the provided ASCII representation is
+// invalid an error is returned.
+//
+// This is particularly useful when dealing with text input to configure log
+// levels.
+func ParseAtomicLevel(text string) (AtomicLevel, error) {
+	a := NewAtomicLevel()
+	l, err := zapcore.ParseLevel(text)
+	if err != nil {
+		return a, err
+	}
+
+	a.SetLevel(l)
+	return a, nil
+}
+
 // Enabled implements the zapcore.LevelEnabler interface, which allows the
 // AtomicLevel to be used in place of traditional static levels.
 func (lvl AtomicLevel) Enabled(l zapcore.Level) bool {
--- a/vendor/go.uber.org/zap/logger.go
+++ b/vendor/go.uber.org/zap/logger.go
@ -24,9 +24,9 @@ import (
 	"fmt"
 	"io/ioutil"
 	"os"
-	"runtime"
 	"strings"

+	"go.uber.org/zap/internal/bufferpool"
 	"go.uber.org/zap/zapcore"
 )

@ -259,8 +259,10 @@ func (log *Logger) clone() *Logger {
 }

 func (log *Logger) check(lvl zapcore.Level, msg string) *zapcore.CheckedEntry {
-	// check must always be called directly by a method in the Logger interface
-	// (e.g., Check, Info, Fatal).
+	// Logger.check must always be called directly by a method in the
+	// Logger interface (e.g., Check, Info, Fatal).
+	// This skips Logger.check and the Info/Fatal/Check/etc. method that
+	// called it.
 	const callerSkipOffset = 2

 	// Check the level first to reduce the cost of disabled log calls.
@ -307,42 +309,55 @@ func (log *Logger) check(lvl zapcore.Level, msg string) *zapcore.CheckedEntry {

 	// Thread the error output through to the CheckedEntry.
 	ce.ErrorOutput = log.errorOutput
+
+	addStack := log.addStack.Enabled(ce.Level)
+	if !log.addCaller && !addStack {
+		return ce
+	}
+
+	// Adding the caller or stack trace requires capturing the callers of
+	// this function. We'll share information between these two.
+	stackDepth := stacktraceFirst
+	if addStack {
+		stackDepth = stacktraceFull
+	}
+	stack := captureStacktrace(log.callerSkip+callerSkipOffset, stackDepth)
+	defer stack.Free()
+
+	if stack.Count() == 0 {
 		if log.addCaller {
-		frame, defined := getCallerFrame(log.callerSkip + callerSkipOffset)
-		if !defined {
 			fmt.Fprintf(log.errorOutput, "%v Logger.check error: failed to get caller\n", ent.Time.UTC())
 			log.errorOutput.Sync()
 		}
+		return ce
+	}

-		ce.Entry.Caller = zapcore.EntryCaller{
-			Defined:  defined,
+	frame, more := stack.Next()
+
+	if log.addCaller {
+		ce.Caller = zapcore.EntryCaller{
+			Defined:  frame.PC != 0,
 			PC:       frame.PC,
 			File:     frame.File,
 			Line:     frame.Line,
 			Function: frame.Function,
 		}
 	}
-	if log.addStack.Enabled(ce.Entry.Level) {
-		ce.Entry.Stack = StackSkip("", log.callerSkip+callerSkipOffset).String
+
+	if addStack {
+		buffer := bufferpool.Get()
+		defer buffer.Free()
+
+		stackfmt := newStackFormatter(buffer)
+
+		// We've already extracted the first frame, so format that
+		// separately and defer to stackfmt for the rest.
+		stackfmt.FormatFrame(frame)
+		if more {
+			stackfmt.FormatStack(stack)
+		}
+		ce.Stack = buffer.String()
 	}

 	return ce
 }
-
-// getCallerFrame gets caller frame. The argument skip is the number of stack
-// frames to ascend, with 0 identifying the caller of getCallerFrame. The
-// boolean ok is false if it was not possible to recover the information.
-//
-// Note: This implementation is similar to runtime.Caller, but it returns the whole frame.
-func getCallerFrame(skip int) (frame runtime.Frame, ok bool) {
-	const skipOffset = 2 // skip getCallerFrame and Callers
-
-	pc := make([]uintptr, 1)
-	numFrames := runtime.Callers(skip+skipOffset, pc)
-	if numFrames < 1 {
-		return
-	}
-
-	frame, _ = runtime.CallersFrames(pc).Next()
-	return frame, frame.PC != 0
-}
--- a/vendor/go.uber.org/zap/stacktrace.go
+++ b/vendor/go.uber.org/zap/stacktrace.go
@ -24,62 +24,153 @@ import (
 	"runtime"
 	"sync"

+	"go.uber.org/zap/buffer"
 	"go.uber.org/zap/internal/bufferpool"
 )

-var (
-	_stacktracePool = sync.Pool{
+var _stacktracePool = sync.Pool{
 	New: func() interface{} {
-			return newProgramCounters(64)
-		},
+		return &stacktrace{
+			storage: make([]uintptr, 64),
 		}
+	},
+}
+
+type stacktrace struct {
+	pcs    []uintptr // program counters; always a subslice of storage
+	frames *runtime.Frames
+
+	// The size of pcs varies depending on requirements:
+	// it will be one if the only the first frame was requested,
+	// and otherwise it will reflect the depth of the call stack.
+	//
+	// storage decouples the slice we need (pcs) from the slice we pool.
+	// We will always allocate a reasonably large storage, but we'll use
+	// only as much of it as we need.
+	storage []uintptr
+}
+
+// stacktraceDepth specifies how deep of a stack trace should be captured.
+type stacktraceDepth int
+
+const (
+	// stacktraceFirst captures only the first frame.
+	stacktraceFirst stacktraceDepth = iota
+
+	// stacktraceFull captures the entire call stack, allocating more
+	// storage for it if needed.
+	stacktraceFull
 )

+// captureStacktrace captures a stack trace of the specified depth, skipping
+// the provided number of frames. skip=0 identifies the caller of
+// captureStacktrace.
+//
+// The caller must call Free on the returned stacktrace after using it.
+func captureStacktrace(skip int, depth stacktraceDepth) *stacktrace {
+	stack := _stacktracePool.Get().(*stacktrace)
+
+	switch depth {
+	case stacktraceFirst:
+		stack.pcs = stack.storage[:1]
+	case stacktraceFull:
+		stack.pcs = stack.storage
+	}
+
+	// Unlike other "skip"-based APIs, skip=0 identifies runtime.Callers
+	// itself. +2 to skip captureStacktrace and runtime.Callers.
+	numFrames := runtime.Callers(
+		skip+2,
+		stack.pcs,
+	)
+
+	// runtime.Callers truncates the recorded stacktrace if there is no
+	// room in the provided slice. For the full stack trace, keep expanding
+	// storage until there are fewer frames than there is room.
+	if depth == stacktraceFull {
+		pcs := stack.pcs
+		for numFrames == len(pcs) {
+			pcs = make([]uintptr, len(pcs)*2)
+			numFrames = runtime.Callers(skip+2, pcs)
+		}
+
+		// Discard old storage instead of returning it to the pool.
+		// This will adjust the pool size over time if stack traces are
+		// consistently very deep.
+		stack.storage = pcs
+		stack.pcs = pcs[:numFrames]
+	} else {
+		stack.pcs = stack.pcs[:numFrames]
+	}
+
+	stack.frames = runtime.CallersFrames(stack.pcs)
+	return stack
+}
+
+// Free releases resources associated with this stacktrace
+// and returns it back to the pool.
+func (st *stacktrace) Free() {
+	st.frames = nil
+	st.pcs = nil
+	_stacktracePool.Put(st)
+}
+
+// Count reports the total number of frames in this stacktrace.
+// Count DOES NOT change as Next is called.
+func (st *stacktrace) Count() int {
+	return len(st.pcs)
+}
+
+// Next returns the next frame in the stack trace,
+// and a boolean indicating whether there are more after it.
+func (st *stacktrace) Next() (_ runtime.Frame, more bool) {
+	return st.frames.Next()
+}
+
 func takeStacktrace(skip int) string {
+	stack := captureStacktrace(skip+1, stacktraceFull)
+	defer stack.Free()
+
 	buffer := bufferpool.Get()
 	defer buffer.Free()
-	programCounters := _stacktracePool.Get().(*programCounters)
-	defer _stacktracePool.Put(programCounters)
-
-	var numFrames int
-	for {
-		// Skip the call to runtime.Callers and takeStacktrace so that the
-		// program counters start at the caller of takeStacktrace.
-		numFrames = runtime.Callers(skip+2, programCounters.pcs)
-		if numFrames < len(programCounters.pcs) {
-			break
-		}
-		// Don't put the too-short counter slice back into the pool; this lets
-		// the pool adjust if we consistently take deep stacktraces.
-		programCounters = newProgramCounters(len(programCounters.pcs) * 2)
-	}
-
-	i := 0
-	frames := runtime.CallersFrames(programCounters.pcs[:numFrames])
-
-	// Note: On the last iteration, frames.Next() returns false, with a valid
-	// frame, but we ignore this frame. The last frame is a a runtime frame which
-	// adds noise, since it's only either runtime.main or runtime.goexit.
-	for frame, more := frames.Next(); more; frame, more = frames.Next() {
-		if i != 0 {
-			buffer.AppendByte('\n')
-		}
-		i++
-		buffer.AppendString(frame.Function)
-		buffer.AppendByte('\n')
-		buffer.AppendByte('\t')
-		buffer.AppendString(frame.File)
-		buffer.AppendByte(':')
-		buffer.AppendInt(int64(frame.Line))
-	}

+	stackfmt := newStackFormatter(buffer)
+	stackfmt.FormatStack(stack)
 	return buffer.String()
 }

-type programCounters struct {
-	pcs []uintptr
+// stackFormatter formats a stack trace into a readable string representation.
+type stackFormatter struct {
+	b        *buffer.Buffer
+	nonEmpty bool // whehther we've written at least one frame already
 }

-func newProgramCounters(size int) *programCounters {
-	return &programCounters{make([]uintptr, size)}
+// newStackFormatter builds a new stackFormatter.
+func newStackFormatter(b *buffer.Buffer) stackFormatter {
+	return stackFormatter{b: b}
+}
+
+// FormatStack formats all remaining frames in the provided stacktrace -- minus
+// the final runtime.main/runtime.goexit frame.
+func (sf *stackFormatter) FormatStack(stack *stacktrace) {
+	// Note: On the last iteration, frames.Next() returns false, with a valid
+	// frame, but we ignore this frame. The last frame is a a runtime frame which
+	// adds noise, since it's only either runtime.main or runtime.goexit.
+	for frame, more := stack.Next(); more; frame, more = stack.Next() {
+		sf.FormatFrame(frame)
+	}
+}
+
+// FormatFrame formats the given frame.
+func (sf *stackFormatter) FormatFrame(frame runtime.Frame) {
+	if sf.nonEmpty {
+		sf.b.AppendByte('\n')
+	}
+	sf.nonEmpty = true
+	sf.b.AppendString(frame.Function)
+	sf.b.AppendByte('\n')
+	sf.b.AppendByte('\t')
+	sf.b.AppendString(frame.File)
+	sf.b.AppendByte(':')
+	sf.b.AppendInt(int64(frame.Line))
 }
--- a/vendor/go.uber.org/zap/zapcore/clock.go
+++ b/vendor/go.uber.org/zap/zapcore/clock.go
@ -20,9 +20,7 @@

 package zapcore

-import (
-	"time"
-)
+import "time"

 // DefaultClock is the default clock used by Zap in operations that require
 // time. This clock uses the system clock for all operations.
--- a/vendor/go.uber.org/zap/zapcore/console_encoder.go
+++ b/vendor/go.uber.org/zap/zapcore/console_encoder.go
@ -125,11 +125,7 @@ func (c consoleEncoder) EncodeEntry(ent Entry, fields []Field) (*buffer.Buffer,
 		line.AppendString(ent.Stack)
 	}

-	if c.LineEnding != "" {
 	line.AppendString(c.LineEnding)
-	} else {
-		line.AppendString(DefaultLineEnding)
-	}
 	return line, nil
 }

--- a/vendor/go.uber.org/zap/zapcore/encoder.go
+++ b/vendor/go.uber.org/zap/zapcore/encoder.go
@ -22,6 +22,7 @@ package zapcore

 import (
 	"encoding/json"
+	"io"
 	"time"

 	"go.uber.org/zap/buffer"
@ -319,6 +320,7 @@ type EncoderConfig struct {
 	CallerKey      string `json:"callerKey" yaml:"callerKey"`
 	FunctionKey    string `json:"functionKey" yaml:"functionKey"`
 	StacktraceKey  string `json:"stacktraceKey" yaml:"stacktraceKey"`
+	SkipLineEnding bool   `json:"skipLineEnding" yaml:"skipLineEnding"`
 	LineEnding     string `json:"lineEnding" yaml:"lineEnding"`
 	// Configure the primitive representations of common complex types. For
 	// example, some users may want all time.Times serialized as floating-point
@ -330,6 +332,9 @@ type EncoderConfig struct {
 	// Unlike the other primitive type encoders, EncodeName is optional. The
 	// zero value falls back to FullNameEncoder.
 	EncodeName NameEncoder `json:"nameEncoder" yaml:"nameEncoder"`
+	// Configure the encoder for interface{} type objects.
+	// If not provided, objects are encoded using json.Encoder
+	NewReflectedEncoder func(io.Writer) ReflectedEncoder `json:"-" yaml:"-"`
 	// Configures the field separator used by the console encoder. Defaults
 	// to tab.
 	ConsoleSeparator string `json:"consoleSeparator" yaml:"consoleSeparator"`
--- a/vendor/go.uber.org/zap/zapcore/json_encoder.go
+++ b/vendor/go.uber.org/zap/zapcore/json_encoder.go
@ -22,7 +22,6 @@ package zapcore

 import (
 	"encoding/base64"
-	"encoding/json"
 	"math"
 	"sync"
 	"time"
@ -64,7 +63,7 @@ type jsonEncoder struct {

 	// for encoding generic values by reflection
 	reflectBuf *buffer.Buffer
-	reflectEnc *json.Encoder
+	reflectEnc ReflectedEncoder
 }

 // NewJSONEncoder creates a fast, low-allocation JSON encoder. The encoder
@ -82,6 +81,17 @@ func NewJSONEncoder(cfg EncoderConfig) Encoder {
 }

 func newJSONEncoder(cfg EncoderConfig, spaced bool) *jsonEncoder {
+	if cfg.SkipLineEnding {
+		cfg.LineEnding = ""
+	} else if cfg.LineEnding == "" {
+		cfg.LineEnding = DefaultLineEnding
+	}
+
+	// If no EncoderConfig.NewReflectedEncoder is provided by the user, then use default
+	if cfg.NewReflectedEncoder == nil {
+		cfg.NewReflectedEncoder = defaultReflectedEncoder
+	}
+
 	return &jsonEncoder{
 		EncoderConfig: &cfg,
 		buf:           bufferpool.Get(),
@ -118,6 +128,11 @@ func (enc *jsonEncoder) AddComplex128(key string, val complex128) {
 	enc.AppendComplex128(val)
 }

+func (enc *jsonEncoder) AddComplex64(key string, val complex64) {
+	enc.addKey(key)
+	enc.AppendComplex64(val)
+}
+
 func (enc *jsonEncoder) AddDuration(key string, val time.Duration) {
 	enc.addKey(key)
 	enc.AppendDuration(val)
@ -141,10 +156,7 @@ func (enc *jsonEncoder) AddInt64(key string, val int64) {
 func (enc *jsonEncoder) resetReflectBuf() {
 	if enc.reflectBuf == nil {
 		enc.reflectBuf = bufferpool.Get()
-		enc.reflectEnc = json.NewEncoder(enc.reflectBuf)
-
-		// For consistency with our custom JSON encoder.
-		enc.reflectEnc.SetEscapeHTML(false)
+		enc.reflectEnc = enc.NewReflectedEncoder(enc.reflectBuf)
 	} else {
 		enc.reflectBuf.Reset()
 	}
@ -206,10 +218,16 @@ func (enc *jsonEncoder) AppendArray(arr ArrayMarshaler) error {
 }

 func (enc *jsonEncoder) AppendObject(obj ObjectMarshaler) error {
+	// Close ONLY new openNamespaces that are created during
+	// AppendObject().
+	old := enc.openNamespaces
+	enc.openNamespaces = 0
 	enc.addElementSeparator()
 	enc.buf.AppendByte('{')
 	err := obj.MarshalLogObject(enc)
 	enc.buf.AppendByte('}')
+	enc.closeOpenNamespaces()
+	enc.openNamespaces = old
 	return err
 }

@ -225,20 +243,23 @@ func (enc *jsonEncoder) AppendByteString(val []byte) {
 	enc.buf.AppendByte('"')
 }

-func (enc *jsonEncoder) AppendComplex128(val complex128) {
+// appendComplex appends the encoded form of the provided complex128 value.
+// precision specifies the encoding precision for the real and imaginary
+// components of the complex number.
+func (enc *jsonEncoder) appendComplex(val complex128, precision int) {
 	enc.addElementSeparator()
 	// Cast to a platform-independent, fixed-size type.
 	r, i := float64(real(val)), float64(imag(val))
 	enc.buf.AppendByte('"')
 	// Because we're always in a quoted string, we can use strconv without
 	// special-casing NaN and +/-Inf.
-	enc.buf.AppendFloat(r, 64)
+	enc.buf.AppendFloat(r, precision)
 	// If imaginary part is less than 0, minus (-) sign is added by default
 	// by AppendFloat.
 	if i >= 0 {
 		enc.buf.AppendByte('+')
 	}
-	enc.buf.AppendFloat(i, 64)
+	enc.buf.AppendFloat(i, precision)
 	enc.buf.AppendByte('i')
 	enc.buf.AppendByte('"')
 }
@ -301,7 +322,6 @@ func (enc *jsonEncoder) AppendUint64(val uint64) {
 	enc.buf.AppendUint(val)
 }

-func (enc *jsonEncoder) AddComplex64(k string, v complex64) { enc.AddComplex128(k, complex128(v)) }
 func (enc *jsonEncoder) AddInt(k string, v int)         { enc.AddInt64(k, int64(v)) }
 func (enc *jsonEncoder) AddInt32(k string, v int32)     { enc.AddInt64(k, int64(v)) }
 func (enc *jsonEncoder) AddInt16(k string, v int16)     { enc.AddInt64(k, int64(v)) }
@ -311,7 +331,8 @@ func (enc *jsonEncoder) AddUint32(k string, v uint32)       { enc.AddUint64(k, u
 func (enc *jsonEncoder) AddUint16(k string, v uint16)   { enc.AddUint64(k, uint64(v)) }
 func (enc *jsonEncoder) AddUint8(k string, v uint8)     { enc.AddUint64(k, uint64(v)) }
 func (enc *jsonEncoder) AddUintptr(k string, v uintptr) { enc.AddUint64(k, uint64(v)) }
-func (enc *jsonEncoder) AppendComplex64(v complex64)        { enc.AppendComplex128(complex128(v)) }
+func (enc *jsonEncoder) AppendComplex64(v complex64)    { enc.appendComplex(complex128(v), 32) }
+func (enc *jsonEncoder) AppendComplex128(v complex128)  { enc.appendComplex(complex128(v), 64) }
 func (enc *jsonEncoder) AppendFloat64(v float64)        { enc.appendFloat(v, 64) }
 func (enc *jsonEncoder) AppendFloat32(v float32)        { enc.appendFloat(float64(v), 32) }
 func (enc *jsonEncoder) AppendInt(v int)                { enc.AppendInt64(int64(v)) }
@ -343,7 +364,7 @@ func (enc *jsonEncoder) EncodeEntry(ent Entry, fields []Field) (*buffer.Buffer,
 	final := enc.clone()
 	final.buf.AppendByte('{')

-	if final.LevelKey != "" {
+	if final.LevelKey != "" && final.EncodeLevel != nil {
 		final.addKey(final.LevelKey)
 		cur := final.buf.Len()
 		final.EncodeLevel(ent.Level, final)
@ -404,11 +425,7 @@ func (enc *jsonEncoder) EncodeEntry(ent Entry, fields []Field) (*buffer.Buffer,
 		final.AddString(final.StacktraceKey, ent.Stack)
 	}
 	final.buf.AppendByte('}')
-	if final.LineEnding != "" {
 	final.buf.AppendString(final.LineEnding)
-	} else {
-		final.buf.AppendString(DefaultLineEnding)
-	}

 	ret := final.buf
 	putJSONEncoder(final)
@ -423,6 +440,7 @@ func (enc *jsonEncoder) closeOpenNamespaces() {
 	for i := 0; i < enc.openNamespaces; i++ {
 		enc.buf.AppendByte('}')
 	}
+	enc.openNamespaces = 0
 }

 func (enc *jsonEncoder) addKey(key string) {
--- a/vendor/go.uber.org/zap/zapcore/level.go
+++ b/vendor/go.uber.org/zap/zapcore/level.go
@ -55,6 +55,18 @@ const (
 	_maxLevel = FatalLevel
 )

+// ParseLevel parses a level based on the lower-case or all-caps ASCII
+// representation of the log level. If the provided ASCII representation is
+// invalid an error is returned.
+//
+// This is particularly useful when dealing with text input to configure log
+// levels.
+func ParseLevel(text string) (Level, error) {
+	var level Level
+	err := level.UnmarshalText([]byte(text))
+	return level, err
+}
+
 // String returns a lower-case ASCII representation of the log level.
 func (l Level) String() string {
 	switch l {
--- a/vendor/go.uber.org/zap/zapcore/reflected_encoder.go
+++ b/vendor/go.uber.org/zap/zapcore/reflected_encoder.go
@ -1,4 +1,4 @@
-// Copyright (c) 2019 Uber Technologies, Inc.
+// Copyright (c) 2016 Uber Technologies, Inc.
 //
 // Permission is hereby granted, free of charge, to any person obtaining a copy
 // of this software and associated documentation files (the "Software"), to deal
@ -18,9 +18,24 @@
 // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 // THE SOFTWARE.

-// See #682 for more information.
-// +build go1.12
+package zapcore

-package zap
+import (
+	"encoding/json"
+	"io"
+)

-const _stdLogDefaultDepth = 1
+// ReflectedEncoder serializes log fields that can't be serialized with Zap's
+// JSON encoder. These have the ReflectType field type.
+// Use EncoderConfig.NewReflectedEncoder to set this.
+type ReflectedEncoder interface {
+	// Encode encodes and writes to the underlying data stream.
+	Encode(interface{}) error
+}
+
+func defaultReflectedEncoder(w io.Writer) ReflectedEncoder {
+	enc := json.NewEncoder(w)
+	// For consistency with our custom JSON encoder.
+	enc.SetEscapeHTML(false)
+	return enc
+}
--- a/vendor/go.uber.org/zap/zapcore/sampler.go
+++ b/vendor/go.uber.org/zap/zapcore/sampler.go
@ -133,10 +133,21 @@ func SamplerHook(hook func(entry Entry, dec SamplingDecision)) SamplerOption {
 // each tick. If more Entries with the same level and message are seen during
 // the same interval, every Mth message is logged and the rest are dropped.
 //
+// For example,
+//
+//   core = NewSamplerWithOptions(core, time.Second, 10, 5)
+//
+// This will log the first 10 log entries with the same level and message
+// in a one second interval as-is. Following that, it will allow through
+// every 5th log entry with the same level and message in that interval.
+//
+// If thereafter is zero, the Core will drop all log entries after the first N
+// in that interval.
+//
 // Sampler can be configured to report sampling decisions with the SamplerHook
 // option.
 //
-// Keep in mind that zap's sampling implementation is optimized for speed over
+// Keep in mind that Zap's sampling implementation is optimized for speed over
 // absolute precision; under load, each tick may be slightly over- or
 // under-sampled.
 func NewSamplerWithOptions(core Core, tick time.Duration, first, thereafter int, opts ...SamplerOption) Core {
@ -200,7 +211,7 @@ func (s *sampler) Check(ent Entry, ce *CheckedEntry) *CheckedEntry {
 	if ent.Level >= _minLevel && ent.Level <= _maxLevel {
 		counter := s.counts.get(ent.Level, ent.Message)
 		n := counter.IncCheckReset(ent.Time, s.tick)
-		if n > s.first && (n-s.first)%s.thereafter != 0 {
+		if n > s.first && (s.thereafter == 0 || (n-s.first)%s.thereafter != 0) {
 			s.hook(ent, LogDropped)
 			return ce
 		}
--- a/vendor/modules.txt
+++ b/vendor/modules.txt
@ -21,7 +21,7 @@ go.uber.org/atomic
 # go.uber.org/multierr v1.6.0
 ## explicit; go 1.12
 go.uber.org/multierr
-# go.uber.org/zap v1.19.1
+# go.uber.org/zap v1.21.0
 ## explicit; go 1.13
 go.uber.org/zap
 go.uber.org/zap/buffer
Author	SHA1	Message	Date
Cyrille Nofficial	fa2a3ce53b	refactor: rewrite and fix pca9685 controllers * 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	2022-05-30 16:03:39 +02:00
Cyrille Nofficial	8effe3b576	build: upgrade to go 1.18 and dependencies	2022-04-12 18:06:10 +02:00
Cyrille Nofficial	c24e0103e2	test default value	2022-03-29 19:47:22 +02:00
Cyrille Nofficial	5b5de07311	add debug logs	2022-03-29 19:47:09 +02:00
Cyrille Nofficial	a17b818962	debug: add trace to debug steering	2022-02-25 19:05:58 +01:00