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headlight rework and laser addition

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legop3
2026-06-27 15:57:47 -04:00
parent 3c1b1dab6e
commit 8e322ed57b
45 changed files with 596 additions and 373 deletions
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pi/roverd/cmd/roverd/main.go
+15 -6
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@@ -69,19 +69,28 @@ func main() {
defer cameraServo.Close()
}
var nightVision *roverd.NightVisionLight
if cfg.NightVision.Enabled {
nightVision, err = roverd.NewNightVisionLight(cfg.NightVision, logger)
var headlight *roverd.GPIOToggle
if cfg.Headlight.Enabled {
headlight, err = roverd.NewGPIOToggle("headlight", cfg.Headlight, logger)
if err != nil {
logger.Fatalf("init night vision: %v", err)
logger.Fatalf("init headlight: %v", err)
}
defer nightVision.Close()
defer headlight.Close()
}
var laser *roverd.GPIOToggle
if cfg.Laser.Enabled {
laser, err = roverd.NewGPIOToggle("laser", cfg.Laser, logger)
if err != nil {
logger.Fatalf("init laser: %v", err)
}
defer laser.Close()
}
autoCharge := roverd.NewAutoChargeController(adapter, eventStream, logger)
go autoCharge.Run(ctx, sensorSamples)
client := roverd.NewWSClient(cfg, adapter, sensorFrames, eventStream, mediaSupervisor, cameraServo, nightVision, logger)
client := roverd.NewWSClient(cfg, adapter, sensorFrames, eventStream, mediaSupervisor, cameraServo, headlight, laser, logger)
retryDelay := time.Second
for ctx.Err() == nil {