robocars/robocar-simulator
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Fix steering/throttle controls

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This commit is contained in:
Cyrille Nofficial
2021-02-08 23:07:09 +01:00
parent 5a99160f65
commit d0c8ef76fc
3 changed files with 72 additions and 70 deletions
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29
cmd/rc-simulator/rc-simultator.go
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@ -51,6 +51,7 @@ func main() {
gtw := gateway.New(address)
defer gtw.Stop()
msgPub := events.NewMsgPublisher(
gtw,
events.NewMqttPublisher(client),
@ -63,42 +64,42 @@ func main() {
cli.HandleExit(gtw)
err = gtw.Start()
if err != nil {
log.Fatalf("unable to start service: %v", err)
}
if topicCtrlSteering != "" {
log.Infof("configure mqtt route on steering command")
client.AddRoute(topicCtrlSteering, func(client mqtt.Client, message mqtt.Message) {
client.Subscribe(topicCtrlSteering, byte(mqttQos), func(client mqtt.Client, message mqtt.Message) {
onSteeringCommand(gtw, message)
})
}
if topicCtrlThrottle != "" {
log.Infof("configure mqtt route on throttle command")
client.AddRoute(topicCtrlThrottle, func(client mqtt.Client, message mqtt.Message) {
client.Subscribe(topicCtrlThrottle, byte(mqttQos), func(client mqtt.Client, message mqtt.Message) {
onThrottleCommand(gtw, message)
})
}
err = gtw.Start()
if err != nil {
log.Fatalf("unable to start service: %v", err)
}
}
func onSteeringCommand(c *gateway.Gateway, message mqtt.Message) {
var steeringMsg *events2.SteeringMessage
err := proto.Unmarshal(message.Payload(), steeringMsg)
var steeringMsg events2.SteeringMessage
err := proto.Unmarshal(message.Payload(), &steeringMsg)
if err != nil {
log.Errorf("unable to unmarshal steering msg: %v", err)
return
}
c.WriteSteering(steeringMsg)
c.WriteSteering(&steeringMsg)
}
func onThrottleCommand(c *gateway.Gateway, message mqtt.Message) {
var throttleMsg *events2.ThrottleMessage
err := proto.Unmarshal(message.Payload(), throttleMsg)
var throttleMsg events2.ThrottleMessage
err := proto.Unmarshal(message.Payload(), &throttleMsg)
if err != nil {
log.Errorf("unable to unmarshal throttle msg: %v", err)
return
}
c.WriteThrottle(throttleMsg)
c.WriteThrottle(&throttleMsg)
}