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()
}
// New creates a new Motor for a stepper motor drived with GPIOs
func New(stepPin, stepPwmID, dirPin, sleepPin byte) *Motor {
// Create the dir GPIO
err := gpio.EnableGPIO(dirPin)
check(err)
dirGPIO := gpio.New(dirPin)
if !dirGPIO.IsExported() {
err = dirGPIO.Export()
check(err)
}
err = dirGPIO.SetDirection(gpio.OutDirection)
check(err)
// Test Disabled and Enabled state for each pin
err = dirGPIO.Disable()
check(err)
// Create the sleep GPIO
err = gpio.EnableGPIO(sleepPin)
check(err)
sleepGPIO := gpio.New(sleepPin)
if !sleepGPIO.IsExported() {
err = sleepGPIO.Export()
check(err)
}
err = sleepGPIO.SetDirection(gpio.OutDirection)
check(err)
// Test Disabled and Enabled state for each pin
err = sleepGPIO.Enable()
check(err)
// Create the Step pwm
stepPwm, err := pwm.New(stepPwmID, stepPin)
check(err)
if !stepPwm.IsExported() {
err = stepPwm.Export()
check(err)
}
err = stepPwm.Disable()
check(err)
return &Motor{dirGPIO: dirGPIO, sleepGPIO: sleepGPIO, stepPwm: stepPwm}
}
func main() {
log.Info("Starting -- version %s", Version)
panicChan := make(chan interface{})
defer func() {
if r := recover(); r != nil {
panicChan <- r
}
}()
go func() {
select {
case m := <-panicChan:
// kill the process (via log.Fatal) in case we can't create the PWM
if pwm, err := pwm.New(conf.AlarmGpioPWM, conf.AlarmGpioPin); err == nil {
if !pwm.IsExported() {
err = pwm.Export()
if err != nil {
log.Error("Failed to raise the alarm")
}
}
pwm.Enable()
} else {
log.Error("Failed to raise the alarm")
}
// The motor
motor := motor.New(
conf.MotorStepPin,
conf.MotorStepPwm,
conf.MotorDirPin,
conf.MotorSleepPin)
if err := motor.Disable(); err != nil {
log.Error("Failed to stop the motor")
}
motor.Unexport()
log.Fatalf("Version %v -- Received a panic error -- exiting: %v", Version, m)
}
}()
ws := webserver.New(Version)
ws.SetPanicChan(panicChan)
ws.Start()
////////////////////////////////////////
// Init the IO
////////////////////////////////////////
// the LEDs
mapMessageToGPIO := func(message string, pin byte) gpio.Gpio {
// kill the process (via log.Panic -> recover -> panicChan -> go routine -> log.Fatal) in case we can't create the GPIO
err := gpio.EnableGPIO(pin)
if err != nil {
log.Panic(err)
}
var g = gpio.New(pin)
if !g.IsExported() {
err = g.Export()
if err != nil {
log.Panic(err)
}
}
err = g.SetDirection(gpio.OutDirection)
if err != nil {
log.Panic(err)
}
// Test Disabled and Enabled state for each LEDs
err = g.Disable()
if err != nil {
log.Panic(err)
}
log.Info("[AUTOTEST] %s LED is ON", message)
time.Sleep(1 * time.Second)
err = g.Enable()
if err != nil {
log.Panic(err)
}
log.Info("[AUTOTEST] %s LED is OFF", message)
time.Sleep(1 * time.Second)
err = g.Disable()
if err != nil {
log.Panic(err)
}
return g
}
dashboardGPIOs := make(map[string]gpio.Gpio, len(conf.MessageToPin))
for _, v := range conf.MessageToPin {
g := mapMessageToGPIO(v.Message, v.Pin)
dashboardGPIOs[v.Message] = g
}
defer func() {
for _, g := range dashboardGPIOs {
g.Disable()
g.Unexport()
}
}()
// the input button
switchGpio := func(pin byte) gpio.Gpio {
// kill the process (via log.Panic) in case we can't create the GPIO
err := gpio.EnableGPIO(pin)
if err != nil {
log.Panic(err)
}
var g = gpio.New(pin)
if !g.IsExported() {
err = g.Export()
if err != nil {
log.Panic(err)
}
}
err = g.SetDirection(gpio.InDirection)
if err != nil {
log.Panic(err)
}
err = g.SetActiveLevel(gpio.ActiveHigh)
if err != nil {
log.Panic(err)
}
// Test we can read it and make we we don't go beyond this point until the switch is OFF
// to prevent the autopilot to be re-enabled when the system restart.
// Since the alarm has not been initialized yet, after a reboot it will be ON.
for value, err := g.Value(); value; value, err = g.Value() {
if err != nil {
log.Panic(err)
}
log.Info("[AUTOTEST] current autopilot switch position is ON - switch it OFF to proceed.")
time.Sleep(200 * time.Millisecond)
}
return g
}(conf.SwitchGpioPin)
defer switchGpio.Unexport()
// The motor
motor := motor.New(
conf.MotorStepPin,
conf.MotorStepPwm,
conf.MotorDirPin,
conf.MotorSleepPin)
defer motor.Disable()
defer motor.Unexport()
// The alarm
alarmPwm := func(pin byte, pwmId byte) *pwm.Pwm {
// kill the process (via log.Panic) in case we can't create the PWM
pwm, err := pwm.New(pwmId, pin)
if err != nil {
log.Panic(err)
}
if !pwm.IsExported() {
err = pwm.Export()
if err != nil {
log.Panic(err)
}
}
pwm.Disable()
if err = pwm.SetPeriodAndDutyCycle(200*time.Millisecond, 0.5); err != nil {
log.Panic(err)
}
if err = pwm.Enable(); err != nil {
log.Panic(err)
}
log.Info("[AUTOTEST] alarm is ON")
time.Sleep(2 * time.Second)
if err = pwm.Disable(); err != nil {
log.Panic(err)
}
log.Info("[AUTOTEST] alarm is OFF")
return pwm
}(conf.AlarmGpioPin, conf.AlarmGpioPWM)
defer alarmPwm.Unexport()
// The compass sincos output interface
compass := sincos.New(conf.I2CBus, conf.SinAddress, conf.CosAddress)
////////////////////////////////////////
// a nice and delicate alarm
////////////////////////////////////////
alarm := alarm.New(alarmPwm)
alarmChan := make(chan interface{})
alarm.SetInputChan(alarmChan)
alarm.SetPanicChan(panicChan)
////////////////////////////////////////
// a beautiful dashboard
////////////////////////////////////////
dashboard := dashboard.New()
dashboardChan := make(chan interface{})
dashboard.SetInputChan(dashboardChan)
dashboard.SetPanicChan(panicChan)
for m, g := range dashboardGPIOs {
dashboard.RegisterMessageHandler(m, g)
}
ws.SetDashboard(dashboard)
////////////////////////////////////////
// an astonishing steering
////////////////////////////////////////
steering := steering.New(motor)
steeringChan := make(chan interface{})
steering.SetInputChan(steeringChan)
steering.SetPanicChan(panicChan)
////////////////////////////////////////
// a stunning tracer
////////////////////////////////////////
tracer := tracer.New(conf.Conf.TraceSize)
tracerChan := make(chan interface{})
tracer.SetInputChan(tracerChan)
tracer.SetPanicChan(panicChan)
ws.SetTracer(tracer)
////////////////////////////////////////
// an amazing PID
////////////////////////////////////////
pidController := pid.New(
conf.Conf.P,
conf.Conf.I,
conf.Conf.D,
conf.Conf.N,
conf.Conf.MinPIDOutputLimits,
conf.Conf.MaxPIDOutputLimits)
////////////////////////////////////////
// a great pilot
////////////////////////////////////////
thePilot := pilot.New(pidController, conf.Conf.Bounds)
pilotChan := make(chan interface{})
thePilot.SetInputChan(pilotChan)
thePilot.SetDashboardChan(dashboardChan)
thePilot.SetAlarmChan(alarmChan)
thePilot.SetSteeringChan(steeringChan)
thePilot.SetPanicChan(panicChan)
ws.SetPilot(thePilot)
////////////////////////////////////////
// a surprising input
////////////////////////////////////////
control := control.New(switchGpio, thePilot)
control.SetPanicChan(panicChan)
////////////////////////////////////////
// a friendly interface to the AP100
////////////////////////////////////////
ap100 := ap100.New(compass)
headingChan := make(chan interface{})
ap100.SetInputChan(headingChan)
ap100.SetPanicChan(panicChan)
////////////////////////////////////////
// a wonderful gps
////////////////////////////////////////
gps := gps.New(conf.Conf.GpsSerialPort)
gps.SetMessagesChan(pilotChan)
gps.SetHeadingChan(headingChan)
gps.SetErrorChan(pilotChan)
gps.SetPanicChan(panicChan)
gps.SetTracerChan(tracerChan)
tracer.Start()
defer tracer.Shutdown()
ap100.Start()
defer ap100.Shutdown()
gps.Start()
control.Start()
defer control.Shutdown()
alarm.Start()
defer alarm.Shutdown()
dashboard.Start()
defer dashboard.Shutdown()
steering.Start()
defer steering.Shutdown()
thePilot.Start()
defer thePilot.Shutdown()
// Wait until we receive a signal
utils.WaitForInterrupt(func() {
log.Info("Interrupted - exiting")
log.Info("Exiting -- version %v", Version)
})
}