125 lines
3.2 KiB
Go
125 lines
3.2 KiB
Go
package part
|
|
|
|
import (
|
|
"github.com/cyrilix/robocar-base/service"
|
|
"github.com/cyrilix/robocar-protobuf/go/events"
|
|
mqtt "github.com/eclipse/paho.mqtt.golang"
|
|
"github.com/golang/protobuf/proto"
|
|
"go.uber.org/zap"
|
|
"sync"
|
|
)
|
|
|
|
func NewPart(client mqtt.Client, steeringTopic, driveModeTopic, rcSteeringTopic, tfSteeringTopic string, debug bool) *SteeringPart {
|
|
return &SteeringPart{
|
|
client: client,
|
|
steeringTopic: steeringTopic,
|
|
driveModeTopic: driveModeTopic,
|
|
rcSteeringTopic: rcSteeringTopic,
|
|
tfSteeringTopic: tfSteeringTopic,
|
|
driveMode: events.DriveMode_USER,
|
|
debug: debug,
|
|
}
|
|
|
|
}
|
|
|
|
type SteeringPart struct {
|
|
client mqtt.Client
|
|
steeringTopic string
|
|
|
|
muDriveMode sync.RWMutex
|
|
driveMode events.DriveMode
|
|
|
|
cancel chan interface{}
|
|
driveModeTopic, rcSteeringTopic, tfSteeringTopic string
|
|
|
|
debug bool
|
|
}
|
|
|
|
func (p *SteeringPart) Start() error {
|
|
if err := registerCallbacks(p); err != nil {
|
|
zap.S().Errorf("unable to rgeister callbacks: %v", err)
|
|
return err
|
|
}
|
|
|
|
p.cancel = make(chan interface{})
|
|
<-p.cancel
|
|
return nil
|
|
}
|
|
|
|
func (p *SteeringPart) Stop() {
|
|
close(p.cancel)
|
|
service.StopService("throttle", p.client, p.driveModeTopic, p.rcSteeringTopic, p.tfSteeringTopic)
|
|
}
|
|
|
|
func (p *SteeringPart) onDriveMode(_ mqtt.Client, message mqtt.Message) {
|
|
var msg events.DriveModeMessage
|
|
err := proto.Unmarshal(message.Payload(), &msg)
|
|
if err != nil {
|
|
zap.S().Errorf("unable to unmarshal protobuf %T message: %v", msg, err)
|
|
return
|
|
}
|
|
|
|
p.muDriveMode.Lock()
|
|
defer p.muDriveMode.Unlock()
|
|
p.driveMode = msg.GetDriveMode()
|
|
}
|
|
|
|
func (p *SteeringPart) onRCSteering(_ mqtt.Client, message mqtt.Message) {
|
|
p.muDriveMode.RLock()
|
|
defer p.muDriveMode.RUnlock()
|
|
if p.debug {
|
|
var evt events.SteeringMessage
|
|
err := proto.Unmarshal(message.Payload(), &evt)
|
|
if err != nil {
|
|
zap.S().Debugf("unable to unmarshal rc event: %v", err)
|
|
}else {
|
|
zap.S().Debugf("receive steering message from radio command: %0.00f", evt.GetSteering())
|
|
}
|
|
}
|
|
if p.driveMode == events.DriveMode_USER {
|
|
// Republish same content
|
|
payload := message.Payload()
|
|
publish(p.client, p.steeringTopic, &payload)
|
|
}
|
|
}
|
|
func (p *SteeringPart) onTFSteering(_ mqtt.Client, message mqtt.Message) {
|
|
p.muDriveMode.RLock()
|
|
defer p.muDriveMode.RUnlock()
|
|
if p.debug {
|
|
var evt events.SteeringMessage
|
|
err := proto.Unmarshal(message.Payload(), &evt)
|
|
if err != nil {
|
|
zap.S().Debugf("unable to unmarshal tensorflow event: %v", err)
|
|
}else {
|
|
zap.S().Debugf("receive steering message from tensorflow: %0.00f", evt.GetSteering())
|
|
}
|
|
}
|
|
if p.driveMode == events.DriveMode_PILOT {
|
|
// Republish same content
|
|
payload := message.Payload()
|
|
publish(p.client, p.steeringTopic, &payload)
|
|
}
|
|
}
|
|
|
|
var registerCallbacks = func(p *SteeringPart) error {
|
|
err := service.RegisterCallback(p.client, p.driveModeTopic, p.onDriveMode)
|
|
if err != nil {
|
|
return err
|
|
}
|
|
|
|
err = service.RegisterCallback(p.client, p.rcSteeringTopic, p.onRCSteering)
|
|
if err != nil {
|
|
return err
|
|
}
|
|
|
|
err = service.RegisterCallback(p.client, p.tfSteeringTopic, p.onTFSteering)
|
|
if err != nil {
|
|
return err
|
|
}
|
|
return nil
|
|
}
|
|
|
|
var publish = func(client mqtt.Client, topic string, payload *[]byte) {
|
|
client.Publish(topic, 0, false, *payload)
|
|
}
|