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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4
cmd/rc-steering/rc-steering.go
View File

@ -3,7 +3,7 @@ package main
import ( import (
"flag" "flag"
"github.com/cyrilix/robocar-base/cli" "github.com/cyrilix/robocar-base/cli"
"github.com/cyrilix/robocar-steering/pkg/part" "github.com/cyrilix/robocar-steering/pkg/steering"
"go.uber.org/zap" "go.uber.org/zap"
"log" "log"
"os" "os"
@ -57,7 +57,7 @@ func main() {
} }
defer client.Disconnect(50) defer client.Disconnect(50)
p := part.NewPart(client, steeringTopic, driveModeTopic, rcSteeringTopic, tfSteeringTopic, debug) p := steering.NewController(client, steeringTopic, driveModeTopic, rcSteeringTopic, tfSteeringTopic, debug)
defer p.Stop() defer p.Stop()
cli.HandleExit(p) cli.HandleExit(p)

20
pkg/part/part.go → pkg/steering/controller.go
View File

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

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

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