robocars/robocar-throttle
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Fix execution on rpi

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This commit is contained in:
Cyrille Nofficial
2020-01-01 19:36:22 +01:00
parent c1286d2246
commit 7b0cb1c71f
334 changed files with 219664 additions and 93 deletions
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19
part/part.go
View File

@@ -1,11 +1,12 @@
package part
import (
"encoding/json"
"github.com/cyrilix/robocar-base/mqttdevice"
"github.com/cyrilix/robocar-base/service"
"github.com/cyrilix/robocar-base/types"
mqtt "github.com/eclipse/paho.mqtt.golang"
"log"
log "github.com/sirupsen/logrus"
"sync"
"time"
)
@@ -78,13 +79,7 @@ func (p *ThrottlePart) Stop() {
}
func (p *ThrottlePart) onDriveMode(_ mqtt.Client, message mqtt.Message) {
payload := message.Payload()
value := mqttdevice.NewMqttValue(payload)
m, err := value.DriveModeValue()
if err != nil {
log.Printf("invalid drive mode: %v", err)
return
}
m := types.ParseString(string(message.Payload()))
p.muDriveMode.Lock()
defer p.muDriveMode.Unlock()
@@ -93,17 +88,17 @@ func (p *ThrottlePart) onDriveMode(_ mqtt.Client, message mqtt.Message) {
func (p *ThrottlePart) onRCThrottle(_ mqtt.Client, message mqtt.Message) {
payload := message.Payload()
value := mqttdevice.NewMqttValue(payload)
val, err := value.Float64Value()
var throttle types.Throttle
err := json.Unmarshal(payload, &throttle)
if err != nil {
log.Printf("invalid throttle value from arduino: %v", err)
log.Errorf("unable to parse throttle json: %v", err)
return
}
p.muDriveMode.RLock()
defer p.muDriveMode.RUnlock()
if p.driveMode == types.DriveModeUser {
p.pub.Publish(p.throttleTopic, mqttdevice.NewMqttValue(types.Throttle{Value: val, Confidence: 1.0}))
p.pub.Publish(p.throttleTopic, mqttdevice.NewMqttValue(throttle))
}
}

20
part/part_test.go
View File

@@ -28,16 +28,16 @@ func TestDefaultThrottle(t *testing.T) {
p := NewPart(nil, pub, throttleTopic, driveModeTopic, rcThrottleTopic, minValue, 1., 200)
cases := []struct {
driveMode types.DriveMode
rcThrottle float64
expectedThrottle float64
driveMode string
rcThrottle types.Throttle
expectedThrottle types.Throttle
}{
{types.DriveModeUser, 0.3, 0.3},
{types.DriveModePilot, 0.5, minValue},
{types.DriveModePilot, 0.4, minValue},
{types.DriveModeUser, 0.5, 0.5},
{types.DriveModeUser, 0.4, 0.4},
{types.DriveModeUser, 0.6, 0.6},
{types.ToString(types.DriveModeUser), types.Throttle{Value: 0.3, Confidence: 1.0},types.Throttle{Value: 0.3, Confidence: 1.0}},
{types.ToString(types.DriveModePilot), types.Throttle{Value: 0.5, Confidence: 1.0}, types.Throttle{Value: minValue, Confidence: 1.0}},
{types.ToString(types.DriveModePilot), types.Throttle{Value: 0.4, Confidence: 1.0}, types.Throttle{Value: minValue, Confidence: 1.0}},
{types.ToString(types.DriveModeUser), types.Throttle{Value: 0.5, Confidence: 1.0}, types.Throttle{Value: 0.5, Confidence: 1.0}},
{types.ToString(types.DriveModeUser), types.Throttle{Value: 0.4, Confidence: 1.0}, types.Throttle{Value: 0.4, Confidence: 1.0}},
{types.ToString(types.DriveModeUser), types.Throttle{Value: 0.6, Confidence: 1.0}, types.Throttle{Value: 0.6, Confidence: 1.0}},
}
go p.Start()
@@ -60,7 +60,7 @@ func TestDefaultThrottle(t *testing.T) {
t.Fail()
}
if throttle.Value != c.expectedThrottle {
if throttle != c.expectedThrottle {
t.Errorf("bad throttle value for mode %v: %v, wants %v", c.driveMode, throttle.Value, c.expectedThrottle)
}
if throttle.Confidence != 1. {