Refactor gateway module to remove mqtt dependency
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cyrilix committed
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+496
-267
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+81
-100
@@ -7,8 +7,6 @@ import (
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"github.com/avast/retry-go"
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"github.com/cyrilix/robocar-protobuf/go/events"
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"github.com/cyrilix/robocar-simulator/pkg/simulator"
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mqtt "github.com/eclipse/paho.mqtt.golang"
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"github.com/golang/protobuf/proto"
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"github.com/golang/protobuf/ptypes/timestamp"
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log "github.com/sirupsen/logrus"
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"io"
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@@ -17,18 +15,36 @@ import (
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"time"
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)
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func New(publisher Publisher, addressSimulator string) *Gateway {
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type SimulatorSource interface {
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FrameSource
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SteeringSource
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ThrottleSource
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}
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type FrameSource interface {
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SubscribeFrame() <-chan *events.FrameMessage
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}
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type SteeringSource interface {
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SubscribeSteering() <-chan *events.SteeringMessage
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}
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type ThrottleSource interface {
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SubscribeThrottle() <-chan *events.ThrottleMessage
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}
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func New(addressSimulator string) *Gateway {
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l := log.WithField("simulator", addressSimulator)
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l.Info("run gateway from simulator")
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return &Gateway{
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address: addressSimulator,
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publisher: publisher,
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log: l,
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address: addressSimulator,
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log: l,
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frameSubscribers: make(map[chan<- *events.FrameMessage]interface{}),
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steeringSubscribers: make(map[chan<- *events.SteeringMessage]interface{}),
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throttleSubscribers: make(map[chan<- *events.ThrottleMessage]interface{}),
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}
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}
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/* Simulator interface to publish gateway frames into mqtt topicFrame */
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/* Simulator interface to events gateway frames into events topicFrame */
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type Gateway struct {
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cancel chan interface{}
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@@ -39,8 +55,11 @@ type Gateway struct {
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muControl sync.Mutex
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lastControl *simulator.ControlMsg
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publisher Publisher
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log *log.Entry
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log *log.Entry
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frameSubscribers map[chan<- *events.FrameMessage]interface{}
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steeringSubscribers map[chan<- *events.SteeringMessage]interface{}
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throttleSubscribers map[chan<- *events.ThrottleMessage]interface{}
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}
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func (p *Gateway) Start() error {
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@@ -53,9 +72,9 @@ func (p *Gateway) Start() error {
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for {
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select {
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case msg := <-msgChan:
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go p.publishFrame(msg)
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go p.publishInputSteering(msg)
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go p.publishInputThrottle(msg)
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fr := p.publishFrame(msg)
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go p.publishInputSteering(msg, fr)
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go p.publishInputThrottle(msg, fr)
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case <-p.cancel:
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return nil
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}
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@@ -72,6 +91,15 @@ func (p *Gateway) Stop() {
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}
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func (p *Gateway) Close() error {
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for c := range p.frameSubscribers {
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close(c)
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}
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for c := range p.steeringSubscribers {
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close(c)
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}
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for c := range p.throttleSubscribers {
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close(c)
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}
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if p.conn == nil {
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p.log.Warn("no connection to close")
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return nil
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@@ -144,54 +172,68 @@ func (p *Gateway) listen(msgChan chan<- *simulator.TelemetryMsg, reader *bufio.R
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}
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}
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func (p *Gateway) publishFrame(msgSim *simulator.TelemetryMsg) {
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func (p *Gateway) publishFrame(msgSim *simulator.TelemetryMsg) *events.FrameRef {
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now := time.Now()
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msg := &events.FrameMessage{
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Id: &events.FrameRef{
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Name: "gateway",
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Id: fmt.Sprintf("%d%03d", now.Unix(), now.Nanosecond()/1000/1000),
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CreatedAt: ×tamp.Timestamp{
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Seconds: now.Unix(),
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Nanos: int32(now.Nanosecond()),
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},
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frameRef := &events.FrameRef{
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Name: "gateway",
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Id: fmt.Sprintf("%d%03d", now.Unix(), now.Nanosecond()/1000/1000),
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CreatedAt: ×tamp.Timestamp{
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Seconds: now.Unix(),
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Nanos: int32(now.Nanosecond()),
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},
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}
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msg := &events.FrameMessage{
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Id: frameRef,
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Frame: msgSim.Image,
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}
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log.Debugf("publish frame '%v/%v'", msg.Id.Name, msg.Id.Id)
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payload, err := proto.Marshal(msg)
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if err != nil {
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p.log.Errorf("unable to marshal protobuf message: %v", err)
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log.Debugf("events frame '%v/%v'", msg.Id.Name, msg.Id.Id)
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for fs := range p.frameSubscribers {
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fs <- msg
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}
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p.publisher.PublishFrame(payload)
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return frameRef
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}
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func (p *Gateway) publishInputSteering(msgSim *simulator.TelemetryMsg) {
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func (p *Gateway) publishInputSteering(msgSim *simulator.TelemetryMsg, frameRef *events.FrameRef) {
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steering := &events.SteeringMessage{
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FrameRef: frameRef,
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Steering: float32(msgSim.SteeringAngle),
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Confidence: 1.0,
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}
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log.Debugf("publish steering '%v'", steering.Steering)
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payload, err := proto.Marshal(steering)
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if err != nil {
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p.log.Errorf("unable to marshal protobuf message: %v", err)
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log.Debugf("events steering '%v'", steering.Steering)
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for ss := range p.steeringSubscribers {
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ss <- steering
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}
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p.publisher.PublishSteering(payload)
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}
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func (p *Gateway) publishInputThrottle(msgSim *simulator.TelemetryMsg) {
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steering := &events.ThrottleMessage{
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func (p *Gateway) publishInputThrottle(msgSim *simulator.TelemetryMsg, frameRef *events.FrameRef) {
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msg := &events.ThrottleMessage{
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FrameRef: frameRef,
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Throttle: float32(msgSim.Throttle),
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Confidence: 1.0,
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}
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log.Debugf("publish throttle '%v'", steering.Throttle)
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payload, err := proto.Marshal(steering)
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if err != nil {
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p.log.Errorf("unable to marshal protobuf message: %v", err)
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log.Debugf("events throttle '%v'", msg.Throttle)
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for ts := range p.throttleSubscribers {
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ts <- msg
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}
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p.publisher.PublishThrottle(payload)
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}
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func (p *Gateway) SubscribeFrame() <-chan *events.FrameMessage {
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frameChan := make(chan *events.FrameMessage)
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p.frameSubscribers[frameChan] = struct{}{}
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return frameChan
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}
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func (p *Gateway) SubscribeSteering() <-chan *events.SteeringMessage {
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steeringChan := make(chan *events.SteeringMessage)
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p.steeringSubscribers[steeringChan] = struct{}{}
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return steeringChan
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}
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func (p *Gateway) SubscribeThrottle() <-chan *events.ThrottleMessage {
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throttleChan := make(chan *events.ThrottleMessage)
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p.throttleSubscribers[throttleChan] = struct{}{}
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return throttleChan
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}
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var connect = func(address string) (io.ReadWriteCloser, error) {
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@@ -262,64 +304,3 @@ func (p *Gateway) initLastControlMsg() {
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Brake: 0.,
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}
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}
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type Publisher interface {
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PublishFrame(payload []byte)
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PublishThrottle(payload []byte)
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PublishSteering(payload []byte)
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}
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func NewMqttPublisher(client mqtt.Client, topicFrame, topicThrottle, topicSteering string) Publisher {
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return &MqttPublisher{
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client: client,
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topicFrame: topicFrame,
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topicSteering: topicSteering,
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topicThrottle: topicThrottle,
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}
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}
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type MqttPublisher struct {
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client mqtt.Client
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topicFrame string
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topicSteering string
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topicThrottle string
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}
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func (m *MqttPublisher) PublishThrottle(payload []byte) {
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if m.topicThrottle == "" {
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return
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}
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err := m.publish(m.topicThrottle, payload)
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if err != nil {
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log.Errorf("unable to publish throttle: %v", err)
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}
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}
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func (m *MqttPublisher) PublishSteering(payload []byte) {
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if m.topicSteering == "" {
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return
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}
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err := m.publish(m.topicSteering, payload)
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if err != nil {
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log.Errorf("unable to publish steering: %v", err)
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}
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}
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func (m *MqttPublisher) PublishFrame(payload []byte) {
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if m.topicFrame == "" {
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return
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}
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err := m.publish(m.topicFrame, payload)
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if err != nil {
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log.Errorf("unable to publish frame: %v", err)
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}
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}
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func (m *MqttPublisher) publish(topic string, payload []byte) error {
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token := m.client.Publish(topic, 0, false, payload)
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token.WaitTimeout(10 * time.Millisecond)
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if err := token.Error(); err != nil {
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return fmt.Errorf("unable to publish to topic: %v", err)
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}
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return nil
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}
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