113 lines
2.8 KiB
Go
113 lines
2.8 KiB
Go
package part
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import (
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"encoding/json"
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"fmt"
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"github.com/cyrilix/robocar-base/service"
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"github.com/cyrilix/robocar-base/types"
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"github.com/cyrilix/robocar-pca9685/actuator"
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MQTT "github.com/eclipse/paho.mqtt.golang"
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"log"
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"sync"
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"time"
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)
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type Pca9685Part struct {
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client MQTT.Client
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throttleCtrl *actuator.Throttle
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steeringCtrl *actuator.Steering
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muSteering sync.Mutex
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steeringValue float64
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muThrottle sync.Mutex
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throttleValue float64
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updateFrequency int
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throttleTopic string
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steeringTopic string
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cancel chan interface{}
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}
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func NewPca9685Part(client MQTT.Client, throttleCtrl *actuator.Throttle, steeringCtrl *actuator.Steering, updateFrequency int, throttleTopic, steeringTopic string) *Pca9685Part {
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return &Pca9685Part{
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client: client,
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throttleCtrl: throttleCtrl,
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steeringCtrl: steeringCtrl,
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updateFrequency: updateFrequency,
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throttleTopic: throttleTopic,
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steeringTopic: steeringTopic,
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cancel: make(chan interface{}),
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}
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}
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func (p *Pca9685Part) Start() error {
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if err := p.registerCallbacks(); err != nil {
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return fmt.Errorf("unable to start service: %v", err)
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}
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ticker := time.NewTicker(time.Second / time.Duration(p.updateFrequency))
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for {
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select {
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case <-ticker.C:
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p.updateCtrl()
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case <-p.cancel:
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return nil
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}
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}
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}
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func (p *Pca9685Part) Stop() {
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close(p.cancel)
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service.StopService("pca9685", p.client, p.throttleTopic, p.steeringTopic)
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}
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func (p *Pca9685Part) onThrottleChange(_ MQTT.Client, message MQTT.Message) {
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var throttle types.Throttle
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err := json.Unmarshal(message.Payload(), &throttle)
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if err != nil {
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log.Printf("[%v] unable to unmarshall throttle msg: %v", message.Topic(), err)
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return
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}
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p.muThrottle.Lock()
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defer p.muThrottle.Unlock()
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p.throttleCtrl.SetPercentValue(throttle.Value)
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}
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func (p *Pca9685Part) onSteeringChange(_ MQTT.Client, message MQTT.Message) {
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var steering types.Steering
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err := json.Unmarshal(message.Payload(), &steering)
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if err != nil {
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log.Printf("[%v] unable to unmarshall steering msg: %v", message.Topic(), err)
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return
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}
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p.muSteering.Lock()
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defer p.muSteering.Unlock()
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p.steeringCtrl.SetPercentValue(steering.Value)
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}
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func (p *Pca9685Part) registerCallbacks() error {
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err := service.RegisterCallback(p.client, p.throttleTopic, p.onThrottleChange)
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if err != nil {
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return fmt.Errorf("unable to register throttle callback: %v", err)
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}
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err = service.RegisterCallback(p.client, p.steeringTopic, p.onSteeringChange)
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if err != nil {
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return fmt.Errorf("unable to register steering callback: %v", err)
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}
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return nil
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}
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func (p *Pca9685Part) updateCtrl() {
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p.muThrottle.Lock()
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defer p.muThrottle.Unlock()
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p.throttleCtrl.SetPercentValue(p.throttleValue)
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p.muSteering.Lock()
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defer p.muSteering.Unlock()
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p.steeringCtrl.SetPercentValue(p.steeringValue)
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}
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