robocars/robocar-throttle
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refactor: rename part package

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This commit is contained in:
Cyrille Nofficial 2022-09-05 16:44:02 +02:00 committed by Cyrille Nofficial
parent 517e558081
commit c724c1170a
3 changed files with 38 additions and 38 deletions
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4
cmd/rc-throttle/rc-throttle.go
View File

@ -3,7 +3,7 @@ package main
import (
"flag"
"github.com/cyrilix/robocar-base/cli"
"github.com/cyrilix/robocar-throttle/pkg/part"
"github.com/cyrilix/robocar-throttle/pkg/throttle"
"go.uber.org/zap"
"log"
"os"
@ -65,7 +65,7 @@ func main() {
}
defer client.Disconnect(50)
p := part.NewPart(client, throttleTopic, driveModeTopic, rcThrottleTopic, float32(minThrottle), float32(maxThrottle), 2)
p := throttle.New(client, throttleTopic, driveModeTopic, rcThrottleTopic, float32(minThrottle), float32(maxThrottle), 2)
defer p.Stop()
cli.HandleExit(p)

66
pkg/part/part.go → pkg/throttle/throttle.go
View File

@ -1,4 +1,4 @@
package part
package throttle
import (
"github.com/cyrilix/robocar-base/service"
@ -10,8 +10,8 @@ import (
"time"
)
func NewPart(client mqtt.Client, throttleTopic, driveModeTopic, rcThrottleTopic string, minValue, maxValue float32, publishPilotFrequency int) *ThrottlePart {
return &ThrottlePart{
func New(client mqtt.Client, throttleTopic, driveModeTopic, rcThrottleTopic string, minValue, maxValue float32, publishPilotFrequency int) *Controller {
return &Controller{
client: client,
throttleTopic: throttleTopic,
driveModeTopic: driveModeTopic,
@ -24,7 +24,7 @@ func NewPart(client mqtt.Client, throttleTopic, driveModeTopic, rcThrottleTopic
}
type ThrottlePart struct {
type Controller struct {
client mqtt.Client
throttleTopic string
minThrottle, maxThrottle float32
@ -37,34 +37,34 @@ type ThrottlePart struct {
driveModeTopic, rcThrottleTopic string
}
func (p *ThrottlePart) Start() error {
if err := registerCallbacks(p); err != nil {
func (c *Controller) Start() error {
if err := registerCallbacks(c); err != nil {
zap.S().Errorf("unable to register callbacks: %v", err)
return err
}
p.cancel = make(chan interface{})
ticker := time.NewTicker(1 * time.Second / time.Duration(p.publishPilotFrequency))
c.cancel = make(chan interface{})
ticker := time.NewTicker(1 * time.Second / time.Duration(c.publishPilotFrequency))
for {
select {
case <-ticker.C:
p.onPublishPilotValue()
case <-p.cancel:
c.onPublishPilotValue()
case <-c.cancel:
break
}
}
}
func (p *ThrottlePart) onPublishPilotValue() {
p.muDriveMode.RLock()
defer p.muDriveMode.RUnlock()
func (c *Controller) onPublishPilotValue() {
c.muDriveMode.RLock()
defer c.muDriveMode.RUnlock()
if p.driveMode != events.DriveMode_PILOT {
if c.driveMode != events.DriveMode_PILOT {
return
}
throttleMsg := events.ThrottleMessage{
Throttle: p.minThrottle,
Throttle: c.minThrottle,
Confidence: 1.0,
}
payload, err := proto.Marshal(&throttleMsg)
@ -73,15 +73,15 @@ func (p *ThrottlePart) onPublishPilotValue() {
return
}
publish(p.client, p.throttleTopic, &payload)
publish(c.client, c.throttleTopic, &payload)
}
func (p *ThrottlePart) Stop() {
close(p.cancel)
service.StopService("throttle", p.client, p.driveModeTopic, p.rcThrottleTopic)
func (c *Controller) Stop() {
close(c.cancel)
service.StopService("throttle", c.client, c.driveModeTopic, c.rcThrottleTopic)
}
func (p *ThrottlePart) onDriveMode(_ mqtt.Client, message mqtt.Message) {
func (c *Controller) onDriveMode(_ mqtt.Client, message mqtt.Message) {
var msg events.DriveModeMessage
err := proto.Unmarshal(message.Payload(), &msg)
if err != nil {
@ -89,15 +89,15 @@ func (p *ThrottlePart) onDriveMode(_ mqtt.Client, message mqtt.Message) {
return
}
p.muDriveMode.Lock()
defer p.muDriveMode.Unlock()
p.driveMode = msg.GetDriveMode()
c.muDriveMode.Lock()
defer c.muDriveMode.Unlock()
c.driveMode = msg.GetDriveMode()
}
func (p *ThrottlePart) onRCThrottle(_ mqtt.Client, message mqtt.Message) {
p.muDriveMode.RLock()
defer p.muDriveMode.RUnlock()
if p.driveMode == events.DriveMode_USER {
func (c *Controller) onRCThrottle(_ mqtt.Client, message mqtt.Message) {
c.muDriveMode.RLock()
defer c.muDriveMode.RUnlock()
if c.driveMode == events.DriveMode_USER {
// Republish same content
payload := message.Payload()
var throttleMsg events.ThrottleMessage
@ -107,22 +107,22 @@ func (p *ThrottlePart) onRCThrottle(_ mqtt.Client, message mqtt.Message) {
return
}
zap.S().Debugf("publish new throttle value from rc: %v", throttleMsg.GetThrottle())
if throttleMsg.GetThrottle() > p.maxThrottle {
zap.S().Debugf("throttle upper that max value allowed, patch value from %v to %v", throttleMsg.GetThrottle(), p.maxThrottle)
throttleMsg.Throttle = p.maxThrottle
if throttleMsg.GetThrottle() > c.maxThrottle {
zap.S().Debugf("throttle upper that max value allowed, patch value from %v to %v", throttleMsg.GetThrottle(), c.maxThrottle)
throttleMsg.Throttle = c.maxThrottle
payloadPatched, err := proto.Marshal(&throttleMsg)
if err != nil {
zap.S().Errorf("unable to marshall throttle msg: %v", err)
return
}
publish(p.client, p.throttleTopic, &payloadPatched)
publish(c.client, c.throttleTopic, &payloadPatched)
return
}
publish(p.client, p.throttleTopic, &payload)
publish(c.client, c.throttleTopic, &payload)
}
}
var registerCallbacks = func(p *ThrottlePart) error {
var registerCallbacks = func(p *Controller) error {
err := service.RegisterCallback(p.client, p.driveModeTopic, p.onDriveMode)
if err != nil {
return err

6
pkg/part/part_test.go → pkg/throttle/throttle_test.go
View File

@ -1,4 +1,4 @@
package part
package throttle
import (
"github.com/cyrilix/robocar-base/testtools"
@ -17,7 +17,7 @@ func TestDefaultThrottle(t *testing.T) {
registerCallbacks = oldRegister
publish = oldPublish
}()
registerCallbacks = func(p *ThrottlePart) error {
registerCallbacks = func(p *Controller) error {
return nil
}
@ -35,7 +35,7 @@ func TestDefaultThrottle(t *testing.T) {
minValue := float32(0.56)
p := NewPart(nil, throttleTopic, driveModeTopic, rcThrottleTopic, minValue, 1., 200)
p := New(nil, throttleTopic, driveModeTopic, rcThrottleTopic, minValue, 1., 200)
cases := []struct {
name string