Naive implementation that always return min value

part/part.go

@@ -0,0 +1,54 @@
+package part
+
+import (
+	"github.com/cyrilix/robocar-base/mqttdevice"
+	mqtt "github.com/eclipse/paho.mqtt.golang"
+	"time"
+)
+
+type CommandValue struct {
+	Value      float64
+	Confidence float64
+}
+type Steering CommandValue
+type Throttle CommandValue
+
+func NewPart(pub mqttdevice.Publisher, throttleTopic string, minValue, maxValue float64) *ThrottlePart {
+	return &ThrottlePart{
+		pub:           pub,
+		throttleTopic: throttleTopic,
+		minThrottle:   minValue,
+		maxThrottle:   maxValue,
+	}
+
+}
+
+type ThrottlePart struct {
+	client                   mqtt.Client
+	pub                      mqttdevice.Publisher
+	throttleTopic            string
+	minThrottle, maxThrottle float64
+	cancel                   chan interface{}
+}
+
+func (p *ThrottlePart) Start() error {
+	p.cancel = make(chan interface{})
+	ticker := time.NewTicker(500 * time.Millisecond)
+	for {
+
+		p.pub.Publish(p.throttleTopic, mqttdevice.NewMqttValue(Throttle{
+			Value:      p.minThrottle,
+			Confidence: 1.0,
+		}))
+
+		select {
+		case <-ticker.C:
+		case <-p.cancel:
+			break
+		}
+	}
+}
+
+func (p *ThrottlePart) Stop() {
+	close(p.cancel)
+}