108 lines
2.7 KiB
Go
108 lines
2.7 KiB
Go
package part
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import (
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"fmt"
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"github.com/cyrilix/robocar-base/service"
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"github.com/cyrilix/robocar-pca9685/actuator"
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"github.com/cyrilix/robocar-protobuf/go/events"
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MQTT "github.com/eclipse/paho.mqtt.golang"
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"github.com/golang/protobuf/proto"
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"go.uber.org/zap"
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"sync"
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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 float32
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muThrottle sync.Mutex
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throttleValue float32
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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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p.steeringCtrl.SetPercentValue(0)
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p.throttleCtrl.SetPercentValue(0)
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for {
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select {
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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 events.ThrottleMessage
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err := proto.Unmarshal(message.Payload(), &throttle)
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if err != nil {
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zap.S().Warnw("unable to unmarshall throttle msg", "topic",
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message.Topic(),
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"error", err)
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return
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}
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zap.S().Debugf("new throttle value: %v", throttle.GetThrottle())
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p.muThrottle.Lock()
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defer p.muThrottle.Unlock()
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p.throttleCtrl.SetPercentValue(throttle.GetThrottle())
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}
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func (p *Pca9685Part) onSteeringChange(_ MQTT.Client, message MQTT.Message) {
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var steering events.SteeringMessage
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err := proto.Unmarshal(message.Payload(), &steering)
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if err != nil {
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zap.S().Warnw("unable to unmarshal steering msg",
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"topic", message.Topic(),
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"error", err,
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)
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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.GetSteering())
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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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