robocars/robocar-simulator
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fix: default values

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This commit is contained in:
Cyrille Nofficial
2021-10-12 22:13:44 +02:00
parent fdedd70471
commit 71c93f2e73
3 changed files with 28 additions and 27 deletions
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39
pkg/gateway/gateway.go
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@ -43,11 +43,11 @@ func New(addressSimulator string, car *simulator.CarConfigMsg, racer *simulator.
throttleSubscribers: make(map[chan<- *events.ThrottleMessage]interface{}),
telemetrySubscribers: make(map[chan *simulator.TelemetryMsg]interface{}),
carSubscribers: make(map[chan *simulator.Msg]interface{}),
racerSubscribers: make(map[chan *simulator.Msg]interface{}),
cameraSubscribers: make(map[chan *simulator.Msg]interface{}),
racerSubscribers: make(map[chan *simulator.Msg]interface{}),
cameraSubscribers: make(map[chan *simulator.Msg]interface{}),
carConfig: car,
racer: racer,
cameraConfig: camera,
cameraConfig: camera,
}
}
@ -72,11 +72,11 @@ type Gateway struct {
telemetrySubscribers map[chan *simulator.TelemetryMsg]interface{}
carSubscribers map[chan *simulator.Msg]interface{}
racerSubscribers map[chan *simulator.Msg]interface{}
cameraSubscribers map[chan *simulator.Msg]interface{}
racerSubscribers map[chan *simulator.Msg]interface{}
cameraSubscribers map[chan *simulator.Msg]interface{}
carConfig *simulator.CarConfigMsg
racer *simulator.RacerBioMsg
carConfig *simulator.CarConfigMsg
racer *simulator.RacerBioMsg
cameraConfig *simulator.CamConfigMsg
}
@ -87,14 +87,14 @@ func (g *Gateway) Start() error {
go g.run()
err := g.writeCarConfig()
if err != nil {
return fmt.Errorf("unable to configure car to server: %v", err)
}
err = g.writeRacerConfig()
err := g.writeRacerConfig()
if err != nil {
return fmt.Errorf("unable to configure racer to server: %v", err)
}
err = g.writeCarConfig()
if err != nil {
return fmt.Errorf("unable to configure car to server: %v", err)
}
err = g.writeCameraConfig()
if err != nil {
return fmt.Errorf("unable to configure camera to server: %v", err)
@ -398,7 +398,7 @@ func (g *Gateway) writeCommand(content []byte) error {
g.log.Errorf("unable to connect to simulator to send control command: %v", err)
return nil
}
log.Debugf("write command to simulator: %v", g.lastControl)
log.Debugf("write command to simulator: %v", string(content))
w := bufio.NewWriter(g.conn)
_, err := w.Write(append(content, '\n'))
@ -458,6 +458,7 @@ func (g *Gateway) writeCarConfig() error {
msg := <-carChan
g.log.Infof("Car loaded: %v", msg)
time.Sleep(250 * time.Millisecond)
return nil
}
@ -477,10 +478,10 @@ func (g *Gateway) writeRacerConfig() error {
return fmt.Errorf("unable to send racer config to simulator: %v", err)
}
select{
case msg := <-racerChan:
g.log.Infof("Racer loaded: %v", msg)
case <- time.Tick(25 * time.Millisecond):
select {
case msg := <-racerChan:
g.log.Infof("Racer loaded: %v", msg)
case <-time.Tick(250 * time.Millisecond):
}
return nil
}
@ -501,10 +502,10 @@ func (g *Gateway) writeCameraConfig() error {
return fmt.Errorf("unable to send camera config to simulator: %v", err)
}
select{
select {
case msg := <-cameraChan:
g.log.Infof("Camera configured: %v", msg)
case <- time.Tick(25 * time.Millisecond):
case <-time.Tick(250 * time.Millisecond):
}
return nil
}