141 lines
3.7 KiB
Go
141 lines
3.7 KiB
Go
package part
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import (
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"github.com/cyrilix/robocar-base/service"
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"github.com/cyrilix/robocar-protobuf/go/events"
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mqtt "github.com/eclipse/paho.mqtt.golang"
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"go.uber.org/zap"
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"google.golang.org/protobuf/proto"
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"sync"
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"time"
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)
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func NewPart(client mqtt.Client, throttleTopic, driveModeTopic, rcThrottleTopic string, minValue, maxValue float32, publishPilotFrequency int) *ThrottlePart {
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return &ThrottlePart{
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client: client,
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throttleTopic: throttleTopic,
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driveModeTopic: driveModeTopic,
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rcThrottleTopic: rcThrottleTopic,
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minThrottle: minValue,
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maxThrottle: maxValue,
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driveMode: events.DriveMode_USER,
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publishPilotFrequency: publishPilotFrequency,
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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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throttleTopic string
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minThrottle, maxThrottle float32
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muDriveMode sync.RWMutex
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driveMode events.DriveMode
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cancel chan interface{}
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publishPilotFrequency int
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driveModeTopic, rcThrottleTopic string
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}
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func (p *ThrottlePart) Start() error {
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if err := registerCallbacks(p); err != nil {
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zap.S().Errorf("unable to register callbacks: %v", err)
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return err
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}
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p.cancel = make(chan interface{})
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ticker := time.NewTicker(1 * time.Second / time.Duration(p.publishPilotFrequency))
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for {
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select {
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case <-ticker.C:
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p.onPublishPilotValue()
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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) onPublishPilotValue() {
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p.muDriveMode.RLock()
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defer p.muDriveMode.RUnlock()
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if p.driveMode != events.DriveMode_PILOT {
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return
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}
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throttleMsg := events.ThrottleMessage{
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Throttle: p.minThrottle,
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Confidence: 1.0,
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}
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payload, err := proto.Marshal(&throttleMsg)
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if err != nil {
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zap.S().Errorf("unable to marshal %T protobuf content: %err", throttleMsg, err)
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return
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}
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publish(p.client, p.throttleTopic, &payload)
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}
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func (p *ThrottlePart) Stop() {
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close(p.cancel)
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service.StopService("throttle", p.client, p.driveModeTopic, p.rcThrottleTopic)
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}
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func (p *ThrottlePart) onDriveMode(_ mqtt.Client, message mqtt.Message) {
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var msg events.DriveModeMessage
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err := proto.Unmarshal(message.Payload(), &msg)
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if err != nil {
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zap.S().Errorf("unable to unmarshal protobuf %T message: %v", msg, err)
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return
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}
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p.muDriveMode.Lock()
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defer p.muDriveMode.Unlock()
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p.driveMode = msg.GetDriveMode()
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}
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func (p *ThrottlePart) onRCThrottle(_ mqtt.Client, message mqtt.Message) {
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p.muDriveMode.RLock()
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defer p.muDriveMode.RUnlock()
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if p.driveMode == events.DriveMode_USER {
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// Republish same content
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payload := message.Payload()
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var throttleMsg events.ThrottleMessage
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err := proto.Unmarshal(payload, &throttleMsg)
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if err != nil {
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zap.S().Errorf("unable to unmarshall throttle msg to check throttle value: %v", err)
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return
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}
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zap.S().Debugf("publish new throttle value from rc: %v", throttleMsg.GetThrottle())
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if throttleMsg.GetThrottle() > p.maxThrottle {
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zap.S().Debugf("throttle upper that max value allowed, patch value from %v to %v", throttleMsg.GetThrottle(), p.maxThrottle)
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throttleMsg.Throttle = p.maxThrottle
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payloadPatched, err := proto.Marshal(&throttleMsg)
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if err != nil {
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zap.S().Errorf("unable to marshall throttle msg: %v", err)
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return
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}
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publish(p.client, p.throttleTopic, &payloadPatched)
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return
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}
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publish(p.client, p.throttleTopic, &payload)
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}
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}
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var registerCallbacks = func(p *ThrottlePart) error {
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err := service.RegisterCallback(p.client, p.driveModeTopic, p.onDriveMode)
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if err != nil {
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return err
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}
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err = service.RegisterCallback(p.client, p.rcThrottleTopic, p.onRCThrottle)
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if err != nil {
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return err
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}
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return nil
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}
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var publish = func(client mqtt.Client, topic string, payload *[]byte) {
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client.Publish(topic, 0, false, *payload)
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}
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