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testings are going goods

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legop3
2026-09-08 21:10:04 -04:00
parent f654394636
commit 3859806fca
30 changed files with 3893 additions and 113 deletions
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pi/roverd/wsclient.go
+27 -8
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@@ -19,10 +19,11 @@ type WSClient struct {
sensorFrames <-chan []byte
events chan RoverEvent
media *MediaSupervisor
servo *CameraServo
servo CameraServoController
horn *HornSynth
headlight *GPIOToggle
laser *GPIOToggle
headlight ToggleController
laser ToggleController
peripherals *PeripheralManager
log *log.Logger
console *ConsoleNotifier
recoverMu sync.Mutex
@@ -45,7 +46,7 @@ type WSClient struct {
audioMu sync.RWMutex
}
func NewWSClient(cfg *Config, adapter *SerialAdapter, frames <-chan []byte, events chan RoverEvent, media *MediaSupervisor, servo *CameraServo, headlight *GPIOToggle, laser *GPIOToggle, logger *log.Logger, console *ConsoleNotifier) *WSClient {
func NewWSClient(cfg *Config, adapter *SerialAdapter, frames <-chan []byte, events chan RoverEvent, media *MediaSupervisor, servo CameraServoController, headlight ToggleController, laser ToggleController, peripherals *PeripheralManager, logger *log.Logger, console *ConsoleNotifier) *WSClient {
var ttsQueue chan *ttsPayload
if cfg.Audio.TTSEnabled {
ttsQueue = make(chan *ttsPayload, 2)
@@ -68,6 +69,7 @@ func NewWSClient(cfg *Config, adapter *SerialAdapter, frames <-chan []byte, even
horn: horn,
headlight: headlight,
laser: laser,
peripherals: peripherals,
log: logger,
console: console,
ttsQueue: ttsQueue,
@@ -129,6 +131,20 @@ func (c *WSClient) Run(ctx context.Context) error {
}
func (c *WSClient) sendHello(ctx context.Context, conn *websocket.Conn) error {
// Built-in metadata comes from the selected controller, not necessarily
// YAML. An ESP32 can enable a role whose native GPIO entry is disabled.
cameraServoConfig := CameraServoConfig{}
if c.servo != nil {
cameraServoConfig = c.servo.Configuration()
}
headlightConfig := GPIOToggleConfig{}
if c.headlight != nil {
headlightConfig = c.headlight.Configuration()
}
laserConfig := GPIOToggleConfig{}
if c.laser != nil {
laserConfig = c.laser.Configuration()
}
msg := helloMessage{
Type: "hello",
Name: c.cfg.Name,
@@ -137,11 +153,12 @@ func (c *WSClient) sendHello(ctx context.Context, conn *websocket.Conn) error {
Battery: c.cfg.Battery,
MaxWheelSpeed: c.cfg.MaxWheelMMs,
Media: c.cfg.Media,
CameraServo: c.cfg.CameraServo,
CameraServo: cameraServoConfig,
Audio: c.cfg.Audio,
Horn: c.cfg.Horn,
Headlight: c.cfg.Headlight,
Laser: c.cfg.Laser,
Headlight: headlightConfig,
Laser: laserConfig,
Peripherals: c.peripherals.Inventory(),
Private: c.cfg.Private,
}
c.log.Printf("sending hello (camera servo enabled=%v pin=%d)", msg.CameraServo.Enabled, msg.CameraServo.Pin)
@@ -238,6 +255,8 @@ func (c *WSClient) dispatch(ctx context.Context, msg *inboundMessage) error {
return c.handleToggleCommand("headlight", c.headlight, msg.Headlight)
case msg.Laser != nil:
return c.handleToggleCommand("laser", c.laser, msg.Laser)
case msg.Peripheral != nil:
return c.peripherals.SetControl(msg.Peripheral.ID, msg.Peripheral.Control, msg.Peripheral.Value)
case msg.Song != nil:
slot := 0
if msg.Song.Slot != nil {
@@ -253,7 +272,7 @@ func (c *WSClient) dispatch(ctx context.Context, msg *inboundMessage) error {
}
}
func (c *WSClient) handleToggleCommand(name string, toggle *GPIOToggle, payload *togglePayload) error {
func (c *WSClient) handleToggleCommand(name string, toggle ToggleController, payload *togglePayload) error {
if toggle == nil {
return fmt.Errorf("%s disabled", name)
}