robocars/robocar-steering
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refactor: rename part to controller

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This commit is contained in:
Cyrille Nofficial
2022-08-20 21:33:45 +02:00
parent ee02b09657
commit 5a386de4ab
3 changed files with 15 additions and 15 deletions
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20
pkg/part/part.go → pkg/steering/controller.go
View File

@@ -1,4 +1,4 @@
package part
package steering
import (
"github.com/cyrilix/robocar-base/service"
@@ -9,8 +9,8 @@ import (
"sync"
)
func NewPart(client mqtt.Client, steeringTopic, driveModeTopic, rcSteeringTopic, tfSteeringTopic string, debug bool) *SteeringPart {
return &SteeringPart{
func NewController(client mqtt.Client, steeringTopic, driveModeTopic, rcSteeringTopic, tfSteeringTopic string, debug bool) *SteeringController {
return &SteeringController{
client: client,
steeringTopic: steeringTopic,
driveModeTopic: driveModeTopic,
@@ -21,7 +21,7 @@ func NewPart(client mqtt.Client, steeringTopic, driveModeTopic, rcSteeringTopic,
}
type SteeringPart struct {
type SteeringController struct {
client mqtt.Client
steeringTopic string
@@ -34,7 +34,7 @@ type SteeringPart struct {
debug bool
}
func (p *SteeringPart) Start() error {
func (p *SteeringController) Start() error {
if err := registerCallbacks(p); err != nil {
zap.S().Errorf("unable to rgeister callbacks: %v", err)
return err
@@ -45,12 +45,12 @@ func (p *SteeringPart) Start() error {
return nil
}
func (p *SteeringPart) Stop() {
func (p *SteeringController) Stop() {
close(p.cancel)
service.StopService("throttle", p.client, p.driveModeTopic, p.rcSteeringTopic, p.tfSteeringTopic)
}
func (p *SteeringPart) onDriveMode(_ mqtt.Client, message mqtt.Message) {
func (p *SteeringController) onDriveMode(_ mqtt.Client, message mqtt.Message) {
var msg events.DriveModeMessage
err := proto.Unmarshal(message.Payload(), &msg)
if err != nil {
@@ -63,7 +63,7 @@ func (p *SteeringPart) onDriveMode(_ mqtt.Client, message mqtt.Message) {
p.driveMode = msg.GetDriveMode()
}
func (p *SteeringPart) onRCSteering(_ mqtt.Client, message mqtt.Message) {
func (p *SteeringController) onRCSteering(_ mqtt.Client, message mqtt.Message) {
p.muDriveMode.RLock()
defer p.muDriveMode.RUnlock()
if p.debug {
@@ -81,7 +81,7 @@ func (p *SteeringPart) onRCSteering(_ mqtt.Client, message mqtt.Message) {
publish(p.client, p.steeringTopic, &payload)
}
}
func (p *SteeringPart) onTFSteering(_ mqtt.Client, message mqtt.Message) {
func (p *SteeringController) onTFSteering(_ mqtt.Client, message mqtt.Message) {
p.muDriveMode.RLock()
defer p.muDriveMode.RUnlock()
if p.debug {
@@ -100,7 +100,7 @@ func (p *SteeringPart) onTFSteering(_ mqtt.Client, message mqtt.Message) {
}
}
var registerCallbacks = func(p *SteeringPart) error {
var registerCallbacks = func(p *SteeringController) error {
err := service.RegisterCallback(p.client, p.driveModeTopic, p.onDriveMode)
if err != nil {
return err

6
pkg/part/part_test.go → pkg/steering/controller_test.go
View File

@@ -1,4 +1,4 @@
package part
package steering
import (
"github.com/cyrilix/robocar-base/testtools"
@@ -17,7 +17,7 @@ func TestDefaultSteering(t *testing.T) {
registerCallbacks = oldRegister
publish = oldPublish
}()
registerCallbacks = func(p *SteeringPart) error {
registerCallbacks = func(p *SteeringController) error {
return nil
}
@@ -34,7 +34,7 @@ func TestDefaultSteering(t *testing.T) {
rcSteeringTopic := "topic/rcSteering"
tfSteeringTopic := "topic/tfSteering"
p := NewPart(nil, steeringTopic, driveModeTopic, rcSteeringTopic, tfSteeringTopic, true)
p := NewController(nil, steeringTopic, driveModeTopic, rcSteeringTopic, tfSteeringTopic, true)
cases := []struct {
driveMode events.DriveModeMessage