* @Author: Sebastien Soudan
* @Date: 2015-09-22 11:55:49
* @Last Modified by: Sebastien Soudan
* @Last Modified time: 2015-10-21 12:53:12
*/
package control
import (
"github.com/ssoudan/edisonIsThePilot/infrastructure/logger"
"github.com/ssoudan/edisonIsThePilot/infrastructure/types"
"time"
)
var log = logger.Log("control")
// Control is a component that monitors change on a types.Readable and Enable or Disable its target
type Control struct {
controlHandler types.Readable
target types.Enablable
stateEnable bool
// channels
shutdownChan chan interface{}
panicChan chan interface{}
}
// New creates a new Control component
func New(controlHandler types.Readable, target types.Enablable) *Control {
return &Control{controlHandler: controlHandler, target: target, shutdownChan: make(chan interface{})}
* @Author: Sebastien Soudan
* @Date: 2015-09-21 15:42:21
* @Last Modified by: Sebastien Soudan
* @Last Modified time: 2015-10-21 14:21:19
*/
package alarm
import (
"sync"
"github.com/ssoudan/edisonIsThePilot/infrastructure/logger"
"github.com/ssoudan/edisonIsThePilot/infrastructure/types"
)
var log = logger.Log("alarm")
// Alarm is the component that manage the external alarm
type Alarm struct {
alarmHandler types.Enablable
mu sync.RWMutex
alarmState bool // protected by mu
// channels
inputChan chan interface{}
shutdownChan chan interface{}
panicChan chan interface{}
}
// New creates a new Alarm component for an types.Enablable
*/
/*
* @Author: Sebastien Soudan
* @Date: 2015-10-13 17:12:30
* @Last Modified by: Sebastien Soudan
* @Last Modified time: 2015-10-19 15:34:13
*/
package ap100
import (
"github.com/ssoudan/edisonIsThePilot/infrastructure/logger"
)
var log = logger.Log("ap100")
// AP100 is the component that send the course to an external device (via a sin/cos interface)
type AP100 struct {
output Compass
// channels
inputChan chan interface{}
shutdownChan chan interface{}
panicChan chan interface{}
}
// Compass is something on which we can update the course (in degree)
type Compass interface {
UpdateCourse(course uint16) error
}
package webserver
import (
"fmt"
"io"
"net/http"
"github.com/ant0ine/go-json-rest/rest"
"github.com/ssoudan/edisonIsThePilot/infrastructure/logger"
"github.com/ssoudan/edisonIsThePilot/infrastructure/types"
"github.com/ssoudan/edisonIsThePilot/pilot"
)
var log = logger.Log("webserver")
// VersionEndpoint is the endpoint providing the version of this piece of software
func VersionEndpoint(version string) func(w http.ResponseWriter, r *http.Request) {
return func(w http.ResponseWriter, r *http.Request) {
io.WriteString(w, fmt.Sprintf("Edison is the pilot - %s", version))
}
}
func redirect(w http.ResponseWriter, r *http.Request) {
http.Redirect(w, r, "static/", 301)
}
// Control is the serializable structure used to change the autopilot state
type Control struct {
/*
* @Author: Sebastien Soudan
* @Date: 2015-10-21 15:37:36
* @Last Modified by: Sebastien Soudan
* @Last Modified time: 2015-10-22 18:10:06
*/
package tracer
import (
"github.com/ssoudan/edisonIsThePilot/infrastructure/logger"
"github.com/ssoudan/edisonIsThePilot/infrastructure/types"
)
var log = logger.Log("tracer")
// Tracer is the component that stores the recent position history
type Tracer struct {
maxPoints uint32
nextPosition uint32
points []types.Point
fullyInitialized bool
// Channels
inputChan chan interface{}
shutdownChan chan interface{}
panicChan chan interface{}
}
// New creates a new Tracer component
"encoding/json"
"fmt"
"net/http"
"os"
"sync"
"time"
"github.com/ssoudan/edisonIsThePilot/infrastructure/logger"
"github.com/ssoudan/edisonIsThePilot/infrastructure/types"
"github.com/ssoudan/edisonIsThePilot/pilot"
"github.com/ssoudan/edisonIsThePilot/steering"
"github.com/adrianmo/go-nmea"
)
var log = logger.Log("stepper")
// Input is the definition of a step
type Input struct {
Duration types.JSONDuration
Heading float64
Step float64
}
// Point is the structure collected when a step is RUNNING
type Point struct {
Timestamp types.JSONTime
FixTime string
FixDate string
Course float64
Speed float64
* @Last Modified time: 2015-10-21 12:59:58
*/
package main
import (
"github.com/jessevdk/go-flags"
"time"
"github.com/ssoudan/edisonIsThePilot/conf"
"github.com/ssoudan/edisonIsThePilot/drivers/motor"
"github.com/ssoudan/edisonIsThePilot/infrastructure/logger"
)
var log = logger.Log("motorControl")
// Options are the command line options for this tool
type Options struct {
Clockwise bool `short:"c" long:"clockwise" description:"clockwise rotation" default:"false"`
Speed uint32 `short:"s" long:"speed" description:"rotation speed pps" default:"600"`
Duration float64 `short:"d" long:"duration" description:"duration (seconds)" default:"1"`
Repetition int `short:"r" long:"rep" description:"repetitions" default:"1"`
Pause float64 `short:"p" long:"pause" description:"pause" default:"0"`
}
var opts Options
var parser = flags.NewParser(&opts, flags.Default)
func step(motor *motor.Motor, clockwise bool, stepsBySecond uint32, duration time.Duration) {
* @Last Modified time: 2015-10-21 14:23:56
*/
package main
import (
"github.com/jessevdk/go-flags"
"time"
"github.com/ssoudan/edisonIsThePilot/conf"
"github.com/ssoudan/edisonIsThePilot/drivers/motor"
"github.com/ssoudan/edisonIsThePilot/infrastructure/logger"
)
var log = logger.Log("mario")
// Options are the command line options for mario tool
type Options struct {
Clockwise bool `short:"c" long:"clockwise" description:"clockwise rotation" default:"false"`
// Speed uint32 `short:"s" long:"speed" description:"rotation speed pps" default:"600"`
// Duration float64 `short:"d" long:"duration" description:"duration (seconds)" default:"1"`
}
var opts Options
var parser = flags.NewParser(&opts, flags.Default)
func doStep(motor *motor.Motor, clockwise bool, stepsBySecond uint32, duration time.Duration) {
motor.Enable()
log.Info("Moving clockwise[%v] for %v at %v[steps/s]", clockwise, duration, stepsBySecond)
"net/http"
"time"
"github.com/ssoudan/edisonIsThePilot/conf"
"github.com/ssoudan/edisonIsThePilot/control"
"github.com/ssoudan/edisonIsThePilot/drivers/gpio"
"github.com/ssoudan/edisonIsThePilot/drivers/motor"
"github.com/ssoudan/edisonIsThePilot/gps"
"github.com/ssoudan/edisonIsThePilot/infrastructure/logger"
"github.com/ssoudan/edisonIsThePilot/infrastructure/utils"
"github.com/ssoudan/edisonIsThePilot/infrastructure/webserver"
"github.com/ssoudan/edisonIsThePilot/steering"
"github.com/ssoudan/edisonIsThePilot/stepper"
)
var log = logger.Log("systemCalibration")
// Version is the version of this code -- sets at compilation time
var Version = "unknown"
// Options are the command line options of this tool
type Options struct {
Step float64 `short:"s" long:"step" description:"step intensity (motor rotation in degree)" required:"true"`
Duration int64 `short:"d" long:"duration" description:"duration (seconds)" required:"true"`
Description string `short:"D" long:"description" description:"description of the test" required:"true"`
}
var opts Options
var parser = flags.NewParser(&opts, flags.Default)
"bufio"
"strconv"
"strings"
"time"
"github.com/ssoudan/edisonIsThePilot/ap100"
"github.com/ssoudan/edisonIsThePilot/infrastructure/logger"
"github.com/ssoudan/edisonIsThePilot/infrastructure/types"
"github.com/ssoudan/edisonIsThePilot/pilot"
"github.com/ssoudan/edisonIsThePilot/tracer"
"github.com/adrianmo/go-nmea"
"github.com/tarm/serial"
)
var log = logger.Log("gps")
// GPS is a driver for a serial attached NMEA GPS
type GPS struct {
deviceName string
baud int
// channels
messagesChan chan interface{}
headingChan chan interface{}
errorChan chan interface{}
panicChan chan interface{}
tracerChan chan interface{}
}
// New creates a new GPS component
* @Last Modified by: Sebastien Soudan
* @Last Modified time: 2015-10-21 12:48:18
*/
package pilot
import (
"github.com/ssoudan/edisonIsThePilot/alarm"
"github.com/ssoudan/edisonIsThePilot/conf"
"github.com/ssoudan/edisonIsThePilot/dashboard"
"github.com/ssoudan/edisonIsThePilot/infrastructure/logger"
"github.com/ssoudan/edisonIsThePilot/steering"
"time"
)
var log = logger.Log("pilot")
// Pilot is the main type for the component that decide what correction to apply depending
// on the provided course and setpoint and various other configuration parameters
type Pilot struct {
heading float64 // target heading (set point)
headingOffset float64
bound float64
course float64
speed float64
alarm Alarm
enabled bool
headingSet bool
leds map[string]bool
* @Last Modified by: Sebastien Soudan
* @Last Modified time: 2015-10-21 14:25:26
*/
package mcp4725
import (
"bitbucket.org/gmcbay/i2c"
"encoding/binary"
"github.com/ssoudan/edisonIsThePilot/drivers/gpio"
"github.com/ssoudan/edisonIsThePilot/infrastructure/logger"
)
var log = logger.Log("mcp4725")
const (
// writeDacCommand is the MCP4725 command to set the output
writeDacCommand = 0x40
// writedacEepromCommand is the MCP4725 command to set the output and store the value in the eeprom
writedacEepromCommand = 0x60
)
// MCP4725 is a driver for the MCP4725 i2c 12 bits DAC
type MCP4725 struct {
bus byte
address byte
i2c *i2c.I2CBus
}
* @Author: Sebastien Soudan
* @Date: 2015-09-22 13:18:01
* @Last Modified by: Sebastien Soudan
* @Last Modified time: 2015-10-22 15:13:00
*/
package conf
import (
"github.com/spf13/viper"
"github.com/ssoudan/edisonIsThePilot/dashboard"
"github.com/ssoudan/edisonIsThePilot/infrastructure/logger"
)
var log = logger.Log("conf")
// MessagePin is the mapping of pin to a message
type MessagePin struct {
Message string
Pin byte
}
// MessageToPin contains the mapping of the dashboard messages to the LED pin
var MessageToPin = []MessagePin{
{dashboard.NoGPSFix, 43}, // J19 - pin 11
{dashboard.InvalidGPSData, 48}, // J19 - pin 6
{dashboard.SpeedTooLow, 40}, // J19 - pin 10
{dashboard.HeadingErrorOutOfBounds, 82}, // J19 - pin 13
{dashboard.CorrectionAtLimit, 83}, // J19 - pin 14
}
import (
"github.com/ssoudan/edisonIsThePilot/infrastructure/logger"
"github.com/ssoudan/edisonIsThePilot/infrastructure/types"
)
// Warning/Error leds
const (
NoGPSFix = "NoGPSFix"
InvalidGPSData = "InvalidGPSData"
SpeedTooLow = "SpeedTooLow"
HeadingErrorOutOfBounds = "HeadingErrorOutOfBounds"
CorrectionAtLimit = "CorrectionAtLimit"
)
var log = logger.Log("dashboard")
// Dashboard is the component that receives the alarms and warnings and enable or disable the corresponding LEDs
type Dashboard struct {
leds map[string]bool
ledHandler map[string]types.Enablable
// channels
inputChan chan interface{}
shutdownChan chan interface{}
panicChan chan interface{}
}
// New creates a new Dashboard component
func New() *Dashboard {
return &Dashboard{
* @Author: Sebastien Soudan
* @Date: 2015-10-12 19:20:55
* @Last Modified by: Sebastien Soudan
* @Last Modified time: 2015-10-21 12:12:32
*/
package sincos
import (
"math"
"github.com/ssoudan/edisonIsThePilot/drivers/mcp4725"
"github.com/ssoudan/edisonIsThePilot/infrastructure/logger"
)
var log = logger.Log("sincos")
// ToSinCos returns the Sine/Cosine values as expected by the Robertson autopilots (+/- 2V centered on 2.5V)
func ToSinCos(theta uint16) (uint16, uint16) {
s, c := math.Sincos(float64(theta) * math.Pi / 180)
// MCP4725 is a 12 bits DAC between 0 and Vcc(=5V)
sf := float64(0xfff) * (0.5 + 0.4*s)
cf := float64(0xfff) * (0.5 + 0.4*c)
return uint16(sf), uint16(cf)
}
// SinCos is a Sine/Cosine interace -- based on two MCP4725 DACs -- as used by AP100 autopilot to get the heading
type SinCos struct {
sin *mcp4725.MCP4725
* @Last Modified by: Sebastien Soudan
* @Last Modified time: 2015-10-21 14:21:42
*/
package main
import (
"time"
"github.com/ssoudan/edisonIsThePilot/alarm"
"github.com/ssoudan/edisonIsThePilot/conf"
"github.com/ssoudan/edisonIsThePilot/drivers/pwm"
"github.com/ssoudan/edisonIsThePilot/infrastructure/logger"
)
var log = logger.Log("alarmControl")
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 {
* @Date: 2015-09-21 18:58:22
* @Last Modified by: Sebastien Soudan
* @Last Modified time: 2015-10-21 13:09:34
*/
package motor
import (
"time"
"github.com/ssoudan/edisonIsThePilot/drivers/gpio"
"github.com/ssoudan/edisonIsThePilot/drivers/pwm"
"github.com/ssoudan/edisonIsThePilot/infrastructure/logger"
)
var log = logger.Log("motor")
// Motor is a driver for a stepper motor
type Motor struct {
dirGPIO gpio.Gpio
sleepGPIO gpio.Gpio
stepPwm *pwm.Pwm
}
func check(err error) {
if err != nil {
log.Fatal(err)
}
}
* @Last Modified by: Sebastien Soudan
* @Last Modified time: 2015-09-25 11:59:31
*/
package main
import (
"fmt"
"github.com/ssoudan/edisonIsThePilot/conf"
"github.com/ssoudan/edisonIsThePilot/drivers/motor"
"github.com/ssoudan/edisonIsThePilot/infrastructure/logger"
"math"
"time"
)
var log = logger.Log("motorCalibration")
var numberOfSteps = float64(200)
func rotationInDegreeToMove(speed uint32, rotationInDegree float64) (clockwise bool, duration time.Duration) {
clockwise = rotationInDegree > 0.
duration = time.Duration(
math.Abs(rotationInDegree/360.*numberOfSteps/float64(speed)) * float64(time.Second))
return
}
func doStep(motor *motor.Motor, s step) {
clockwise, duration := rotationInDegreeToMove(s.stepsBySecond, s.rotationInDegree)
motor.Enable()
* @Date: 2015-09-21 17:40:00
* @Last Modified by: Sebastien Soudan
* @Last Modified time: 2015-10-21 12:31:39
*/
package steering
import (
"math"
"time"
"github.com/ssoudan/edisonIsThePilot/infrastructure/logger"
"github.com/ssoudan/edisonIsThePilot/infrastructure/types"
)
var log = logger.Log("steering")
const (
numberOfSteps = 200
rotationSpeedInStepPerSeconds = 2 * numberOfSteps // aka 2 rotation per second
)
// Steering is the component driving the steering wheel through an Actionner
type Steering struct {
actionner Actionner
// channels
inputChan chan interface{}
shutdownChan chan interface{}
panicChan chan interface{}
}
"github.com/ssoudan/edisonIsThePilot/dashboard"
"github.com/ssoudan/edisonIsThePilot/drivers/gpio"
"github.com/ssoudan/edisonIsThePilot/drivers/motor"
"github.com/ssoudan/edisonIsThePilot/drivers/pwm"
"github.com/ssoudan/edisonIsThePilot/drivers/sincos"
"github.com/ssoudan/edisonIsThePilot/gps"
"github.com/ssoudan/edisonIsThePilot/infrastructure/logger"
"github.com/ssoudan/edisonIsThePilot/infrastructure/pid"
"github.com/ssoudan/edisonIsThePilot/infrastructure/utils"
"github.com/ssoudan/edisonIsThePilot/infrastructure/webserver"
"github.com/ssoudan/edisonIsThePilot/pilot"
"github.com/ssoudan/edisonIsThePilot/steering"
"github.com/ssoudan/edisonIsThePilot/tracer"
)
var log = logger.Log("edisonIsThePilot")
// Version is the version of this code -- sets at compilation time
var Version = "unknown"
func main() {
log.Info("Starting -- version %s", Version)
panicChan := make(chan interface{})
defer func() {
if r := recover(); r != nil {
panicChan <- r
}
}()
go func() {
