func main() {
panicChan := make(chan interface{})
go func() {
select {
case m := <-panicChan:
log.Fatal("Received a panic error - exiting: %v", m)
}
}()
////////////////////////////////////////
// a nice and delicate alarm
////////////////////////////////////////
alarmPwm := func(pin byte, pwmId byte) *pwm.Pwm {
// kill the process (via log.Fatal) in case we can't create the PWM
pwm, err := pwm.New(pwmId, pin)
if err != nil {
log.Fatal(err)
}
if !pwm.IsExported() {
err = pwm.Export()
if err != nil {
log.Fatal(err)
}
}
pwm.Disable()
if err = pwm.SetPeriodAndDutyCycle(200*time.Millisecond, 0.5); err != nil {
log.Fatal(err)
}
return pwm
}(conf.AlarmGpioPin, conf.AlarmGpioPWM)
// defer alarmPwm.Unexport() // Don't do that it can disable the alarms for the autopilot program
theAlarm := alarm.New(alarmPwm)
alarmChan := make(chan interface{})
theAlarm.SetInputChan(alarmChan)
theAlarm.SetPanicChan(panicChan)
theAlarm.Start()
alarmChan <- alarm.NewMessage(true)
for !theAlarm.Enabled() {
log.Info("Waiting for the alarm to come")
time.Sleep(10 * time.Millisecond)
}
theAlarm.Shutdown()
}
func (p Pilot) tellTheWorld() {
// Keep the alarm first - so at least we get notified something is wrong
p.alarmChan <- alarm.NewMessage(bool(p.alarm))
p.dashboardChan <- dashboard.NewMessage(p.leds)
}