55 lines
1.1 KiB
Go
55 lines
1.1 KiB
Go
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package part
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import (
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"github.com/cyrilix/robocar-base/mqttdevice"
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mqtt "github.com/eclipse/paho.mqtt.golang"
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"time"
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)
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type CommandValue struct {
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Value float64
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Confidence float64
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}
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type Steering CommandValue
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type Throttle CommandValue
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func NewPart(pub mqttdevice.Publisher, throttleTopic string, minValue, maxValue float64) *ThrottlePart {
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return &ThrottlePart{
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pub: pub,
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throttleTopic: throttleTopic,
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minThrottle: minValue,
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maxThrottle: maxValue,
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}
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}
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type ThrottlePart struct {
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client mqtt.Client
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pub mqttdevice.Publisher
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throttleTopic string
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minThrottle, maxThrottle float64
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cancel chan interface{}
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}
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func (p *ThrottlePart) Start() error {
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p.cancel = make(chan interface{})
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ticker := time.NewTicker(500 * time.Millisecond)
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for {
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p.pub.Publish(p.throttleTopic, mqttdevice.NewMqttValue(Throttle{
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Value: p.minThrottle,
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Confidence: 1.0,
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}))
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select {
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case <-ticker.C:
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case <-p.cancel:
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break
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}
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}
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}
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func (p *ThrottlePart) Stop() {
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close(p.cancel)
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}
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