legop3/MultiRoombaRover
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add some automation to pi side

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legop3
2025-11-11 21:04:04 -05:00
parent 3bc2921f25
commit 74a460a980
11 changed files with 278 additions and 17 deletions
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pi/roverd/cmd/roverd/main.go
+8 -2
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@@ -44,7 +44,10 @@ func main() {
}
sensorFrames := make(chan []byte, 8)
streamer := roverd.NewSensorStreamer(serialPort, sensorFrames, logger)
sensorSamples := make(chan roverd.SensorSample, 8)
eventStream := make(chan roverd.RoverEvent, 16)
streamer := roverd.NewSensorStreamer(serialPort, sensorFrames, sensorSamples, logger)
go streamer.Run(ctx)
adapter := roverd.NewSerialAdapter(serialPort, logger)
@@ -54,7 +57,10 @@ func main() {
mediaSupervisor.Start(ctx)
}
client := roverd.NewWSClient(cfg, adapter, sensorFrames, mediaSupervisor, logger)
autoCharge := roverd.NewAutoChargeController(adapter, eventStream, logger)
go autoCharge.Run(ctx, sensorSamples)
client := roverd.NewWSClient(cfg, adapter, sensorFrames, eventStream, mediaSupervisor, logger)
retryDelay := time.Second
for ctx.Err() == nil {