diff --git a/cmd/main.go b/cmd/main.go index df2d7a1..08f0480 100644 --- a/cmd/main.go +++ b/cmd/main.go @@ -7,10 +7,10 @@ import ( "os/signal" "time" - //"github.com/arslab/robot_controller/robot" + //"github.com/unict-arslab/go-robot-controller/robot" - "github.com/arslab/robot_controller/robot" - "github.com/arslab/robot_controller/webserver" + "github.com/unict-arslab/go-robot-controller/robot" + "github.com/unict-arslab/go-robot-controller/webserver" ) func main() { diff --git a/go.mod b/go.mod index ace9baf..96d7d52 100644 --- a/go.mod +++ b/go.mod @@ -1,59 +1,52 @@ -module github.com/arslab/robot_controller +module github.com/unict-arslab/go-robot-controller go 1.15 require ( - github.com/brutella/can v0.0.2 // indirect - github.com/d2r2/go-i2c v0.0.0-20191123181816-73a8a799d6bc // indirect - github.com/d2r2/go-logger v0.0.0-20181221090742-9998a510495e // indirect + github.com/brutella/can v0.0.2 + github.com/bytedance/sonic v1.10.2 // indirect + github.com/chenzhuoyu/base64x v0.0.0-20230717121745-296ad89f973d // indirect + github.com/chenzhuoyu/iasm v0.9.1 // indirect github.com/davecgh/go-spew v1.1.1 // indirect - github.com/fatih/color v1.13.0 - github.com/gin-contrib/cors v1.3.1 + github.com/fatih/color v1.16.0 + github.com/gabriel-vasile/mimetype v1.4.3 // indirect + github.com/gin-contrib/cors v1.5.0 github.com/gin-contrib/sse v0.1.0 // indirect - github.com/gin-gonic/gin v1.7.7 - github.com/go-playground/assert/v2 v2.0.1 // indirect - github.com/go-playground/locales v0.14.0 // indirect - github.com/go-playground/universal-translator v0.18.0 // indirect - github.com/go-playground/validator/v10 v10.10.1 // indirect - github.com/gofrs/uuid v4.2.0+incompatible // indirect - github.com/golang/protobuf v1.5.2 // indirect - github.com/gomodule/redigo v1.8.8 // indirect - github.com/google/go-cmp v0.5.7 // indirect - github.com/googollee/go-socket.io v1.6.1 - github.com/gorilla/websocket v1.5.0 // indirect - github.com/jonboulle/clockwork v0.2.3 // indirect + github.com/gin-gonic/gin v1.9.1 + github.com/go-playground/assert/v2 v2.2.0 // indirect + github.com/go-playground/locales v0.14.1 // indirect + github.com/go-playground/universal-translator v0.18.1 // indirect + github.com/go-playground/validator/v10 v10.16.0 // indirect + github.com/goccy/go-json v0.10.2 // indirect + github.com/gofrs/uuid v4.4.0+incompatible // indirect + github.com/gomodule/redigo v1.8.9 // indirect + github.com/google/go-cmp v0.6.0 // indirect + github.com/googollee/go-socket.io v1.7.0 + github.com/gorilla/websocket v1.5.1 // indirect github.com/json-iterator/go v1.1.12 // indirect - github.com/kr/pretty v0.3.0 // indirect + github.com/klauspost/cpuid/v2 v2.2.6 // indirect + github.com/kr/pretty v0.3.1 // indirect github.com/kr/text v0.2.0 // indirect - github.com/labstack/echo v3.3.10+incompatible // indirect - github.com/labstack/gommon v0.3.0 // indirect - github.com/leodido/go-urn v1.2.1 // indirect - github.com/mattn/go-colorable v0.1.12 // indirect - github.com/mattn/go-isatty v0.0.14 // indirect - github.com/mitchellh/go-homedir v1.1.0 // indirect + github.com/leodido/go-urn v1.2.4 // indirect + github.com/mattn/go-colorable v0.1.13 // indirect + github.com/mattn/go-isatty v0.0.20 // indirect github.com/modern-go/concurrent v0.0.0-20180306012644-bacd9c7ef1dd // indirect github.com/modern-go/reflect2 v1.0.2 // indirect - github.com/pkg/errors v0.9.1 // indirect + github.com/pelletier/go-toml/v2 v2.1.0 // indirect github.com/pmezard/go-difflib v1.0.0 // indirect github.com/rakyll/statik v0.1.7 - github.com/rogpeppe/go-internal v1.8.1 // indirect - github.com/shirou/gopsutil v2.20.9+incompatible // indirect - github.com/stianeikeland/go-rpio v4.2.0+incompatible // indirect - github.com/stianeikeland/go-rpio/v4 v4.6.0 - github.com/stretchr/testify v1.7.1 // indirect - github.com/ugorji/go/codec v1.2.7 // indirect - golang.org/x/crypto v0.0.0-20220321153916-2c7772ba3064 // indirect - golang.org/x/sys v0.0.0-20220330033206-e17cdc41300f // indirect - golang.org/x/text v0.3.7 // indirect - golang.org/x/xerrors v0.0.0-20200804184101-5ec99f83aff1 // indirect - google.golang.org/genproto v0.0.0-20200526211855-cb27e3aa2013 // indirect - google.golang.org/protobuf v1.28.0 // indirect + github.com/rogpeppe/go-internal v1.11.0 // indirect + github.com/stretchr/testify v1.8.4 // indirect + github.com/twitchyliquid64/golang-asm v0.15.1 // indirect + github.com/ugorji/go/codec v1.2.12 // indirect + golang.org/x/arch v0.6.0 // indirect + golang.org/x/crypto v0.16.0 // indirect + golang.org/x/net v0.19.0 // indirect + golang.org/x/sys v0.15.0 // indirect + golang.org/x/text v0.14.0 // indirect + golang.org/x/xerrors v0.0.0-20231012003039-104605ab7028 // indirect + google.golang.org/protobuf v1.31.0 // indirect gopkg.in/check.v1 v1.0.0-20201130134442-10cb98267c6c // indirect gopkg.in/olahol/melody.v1 v1.0.0-20170518105555-d52139073376 - gopkg.in/yaml.v2 v2.4.0 // indirect - gopkg.in/yaml.v3 v3.0.0-20210107192922-496545a6307b // indirect - howett.net/plist v0.0.0-20200419221736-3b63eb3a43b5 // indirect - periph.io/x/cmd v0.0.0-20210209143150-1ecbfb85d79d // indirect - periph.io/x/conn/v3 v3.6.10 - periph.io/x/host/v3 v3.7.2 + gopkg.in/yaml.v3 v3.0.1 // indirect ) diff --git a/go.sum b/go.sum index 72130d2..1a75d80 100644 --- a/go.sum +++ b/go.sum @@ -1,317 +1,213 @@ -cloud.google.com/go v0.26.0/go.mod h1:aQUYkXzVsufM+DwF1aE+0xfcU+56JwCaLick0ClmMTw= -github.com/BurntSushi/toml v0.3.1/go.mod h1:xHWCNGjB5oqiDr8zfno3MHue2Ht5sIBksp03qcyfWMU= -github.com/bigbroproject/bigbrocore v0.0.6 h1:YBzQ3SubOmIVvnqx7H0PyGoyJ9wz47N5uwvS7FmYDLE= -github.com/bigbroproject/bigbrocore v0.0.6/go.mod h1:+F0RE+VboskNptnmyQA1aUcnH/NSLKztX1mGJucSm+s= github.com/brutella/can v0.0.2 h1:8TyjZrBZSwQwSr5x3U9KtKzGW8HNE/NpUgsNcYDAVIM= github.com/brutella/can v0.0.2/go.mod h1:NYDxbQito3w4+4DcjWs/fpQ3xyaFdpXw/KYqtZFU98k= -github.com/census-instrumentation/opencensus-proto v0.2.1/go.mod h1:f6KPmirojxKA12rnyqOA5BBL4O983OfeGPqjHWSTneU= -github.com/client9/misspell v0.3.4/go.mod h1:qj6jICC3Q7zFZvVWo7KLAzC3yx5G7kyvSDkc90ppPyw= +github.com/bytedance/sonic v1.5.0/go.mod h1:ED5hyg4y6t3/9Ku1R6dU/4KyJ48DZ4jPhfY1O2AihPM= +github.com/bytedance/sonic v1.9.1/go.mod h1:i736AoUSYt75HyZLoJW9ERYxcy6eaN6h4BZXU064P/U= +github.com/bytedance/sonic v1.10.0-rc/go.mod h1:ElCzW+ufi8qKqNW0FY314xriJhyJhuoJ3gFZdAHF7NM= +github.com/bytedance/sonic v1.10.1/go.mod h1:iZcSUejdk5aukTND/Eu/ivjQuEL0Cu9/rf50Hi0u/g4= +github.com/bytedance/sonic v1.10.2 h1:GQebETVBxYB7JGWJtLBi07OVzWwt+8dWA00gEVW2ZFE= +github.com/bytedance/sonic v1.10.2/go.mod h1:iZcSUejdk5aukTND/Eu/ivjQuEL0Cu9/rf50Hi0u/g4= +github.com/chenzhuoyu/base64x v0.0.0-20211019084208-fb5309c8db06/go.mod h1:DH46F32mSOjUmXrMHnKwZdA8wcEefY7UVqBKYGjpdQY= +github.com/chenzhuoyu/base64x v0.0.0-20221115062448-fe3a3abad311/go.mod h1:b583jCggY9gE99b6G5LEC39OIiVsWj+R97kbl5odCEk= +github.com/chenzhuoyu/base64x v0.0.0-20230717121745-296ad89f973d h1:77cEq6EriyTZ0g/qfRdp61a3Uu/AWrgIq2s0ClJV1g0= +github.com/chenzhuoyu/base64x v0.0.0-20230717121745-296ad89f973d/go.mod h1:8EPpVsBuRksnlj1mLy4AWzRNQYxauNi62uWcE3to6eA= +github.com/chenzhuoyu/iasm v0.9.0/go.mod h1:Xjy2NpN3h7aUqeqM+woSuuvxmIe6+DDsiNLIrkAmYog= +github.com/chenzhuoyu/iasm v0.9.1 h1:tUHQJXo3NhBqw6s33wkGn9SP3bvrWLdlVIJ3hQBL7P0= +github.com/chenzhuoyu/iasm v0.9.1/go.mod h1:Xjy2NpN3h7aUqeqM+woSuuvxmIe6+DDsiNLIrkAmYog= github.com/creack/pty v1.1.9/go.mod h1:oKZEueFk5CKHvIhNR5MUki03XCEU+Q6VDXinZuGJ33E= -github.com/d2r2/go-i2c v0.0.0-20191123181816-73a8a799d6bc h1:HLRSIWzUGMLCq4ldt0W1GLs3nnAxa5EGoP+9qHgh6j0= -github.com/d2r2/go-i2c v0.0.0-20191123181816-73a8a799d6bc/go.mod h1:AwxDPnsgIpy47jbGXZHA9Rv7pDkOJvQbezPuK1Y+nNk= -github.com/d2r2/go-logger v0.0.0-20181221090742-9998a510495e h1:ZG3JBA6rPRl0xxQ+nNSfO7tor8w+CNCTs05DNJQYbLM= -github.com/d2r2/go-logger v0.0.0-20181221090742-9998a510495e/go.mod h1:oA+9PUt8F1aKJ6o4YU1T120i7sgo1T6/1LWEEBy0BSs= github.com/davecgh/go-spew v1.1.0/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38= github.com/davecgh/go-spew v1.1.1 h1:vj9j/u1bqnvCEfJOwUhtlOARqs3+rkHYY13jYWTU97c= github.com/davecgh/go-spew v1.1.1/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38= -github.com/envoyproxy/go-control-plane v0.9.1-0.20191026205805-5f8ba28d4473/go.mod h1:YTl/9mNaCwkRvm6d1a2C3ymFceY/DCBVvsKhRF0iEA4= -github.com/envoyproxy/protoc-gen-validate v0.1.0/go.mod h1:iSmxcyjqTsJpI2R4NaDN7+kN2VEUnK/pcBlmesArF7c= -github.com/fatih/color v1.9.0 h1:8xPHl4/q1VyqGIPif1F+1V3Y3lSmrq01EabUW3CoW5s= -github.com/fatih/color v1.9.0/go.mod h1:eQcE1qtQxscV5RaZvpXrrb8Drkc3/DdQ+uUYCNjL+zU= -github.com/fatih/color v1.10.0 h1:s36xzo75JdqLaaWoiEHk767eHiwo0598uUxyfiPkDsg= -github.com/fatih/color v1.10.0/go.mod h1:ELkj/draVOlAH/xkhN6mQ50Qd0MPOk5AAr3maGEBuJM= -github.com/fatih/color v1.13.0 h1:8LOYc1KYPPmyKMuN8QV2DNRWNbLo6LZ0iLs8+mlH53w= -github.com/fatih/color v1.13.0/go.mod h1:kLAiJbzzSOZDVNGyDpeOxJ47H46qBXwg5ILebYFFOfk= -github.com/gin-contrib/cors v1.3.1 h1:doAsuITavI4IOcd0Y19U4B+O0dNWihRyX//nn4sEmgA= -github.com/gin-contrib/cors v1.3.1/go.mod h1:jjEJ4268OPZUcU7k9Pm653S7lXUGcqMADzFA61xsmDk= +github.com/fatih/color v1.16.0 h1:zmkK9Ngbjj+K0yRhTVONQh1p/HknKYSlNT+vZCzyokM= +github.com/fatih/color v1.16.0/go.mod h1:fL2Sau1YI5c0pdGEVCbKQbLXB6edEj1ZgiY4NijnWvE= +github.com/gabriel-vasile/mimetype v1.4.2/go.mod h1:zApsH/mKG4w07erKIaJPFiX0Tsq9BFQgN3qGY5GnNgA= +github.com/gabriel-vasile/mimetype v1.4.3 h1:in2uUcidCuFcDKtdcBxlR0rJ1+fsokWf+uqxgUFjbI0= +github.com/gabriel-vasile/mimetype v1.4.3/go.mod h1:d8uq/6HKRL6CGdk+aubisF/M5GcPfT7nKyLpA0lbSSk= +github.com/gin-contrib/cors v1.5.0 h1:DgGKV7DDoOn36DFkNtbHrjoRiT5ExCe+PC9/xp7aKvk= +github.com/gin-contrib/cors v1.5.0/go.mod h1:TvU7MAZ3EwrPLI2ztzTt3tqgvBCq+wn8WpZmfADjupI= github.com/gin-contrib/sse v0.1.0 h1:Y/yl/+YNO8GZSjAhjMsSuLt29uWRFHdHYUb5lYOV9qE= github.com/gin-contrib/sse v0.1.0/go.mod h1:RHrZQHXnP2xjPF+u1gW/2HnVO7nvIa9PG3Gm+fLHvGI= -github.com/gin-gonic/gin v1.5.0/go.mod h1:Nd6IXA8m5kNZdNEHMBd93KT+mdY3+bewLgRvmCsR2Do= -github.com/gin-gonic/gin v1.6.3 h1:ahKqKTFpO5KTPHxWZjEdPScmYaGtLo8Y4DMHoEsnp14= -github.com/gin-gonic/gin v1.6.3/go.mod h1:75u5sXoLsGZoRN5Sgbi1eraJ4GU3++wFwWzhwvtwp4M= -github.com/gin-gonic/gin v1.7.7 h1:3DoBmSbJbZAWqXJC3SLjAPfutPJJRN1U5pALB7EeTTs= -github.com/gin-gonic/gin v1.7.7/go.mod h1:axIBovoeJpVj8S3BwE0uPMTeReE4+AfFtqpqaZ1qq1U= -github.com/go-playground/assert/v2 v2.0.1 h1:MsBgLAaY856+nPRTKrp3/OZK38U/wa0CcBYNjji3q3A= -github.com/go-playground/assert/v2 v2.0.1/go.mod h1:VDjEfimB/XKnb+ZQfWdccd7VUvScMdVu0Titje2rxJ4= -github.com/go-playground/locales v0.12.1/go.mod h1:IUMDtCfWo/w/mtMfIE/IG2K+Ey3ygWanZIBtBW0W2TM= -github.com/go-playground/locales v0.13.0 h1:HyWk6mgj5qFqCT5fjGBuRArbVDfE4hi8+e8ceBS/t7Q= -github.com/go-playground/locales v0.13.0/go.mod h1:taPMhCMXrRLJO55olJkUXHZBHCxTMfnGwq/HNwmWNS8= -github.com/go-playground/locales v0.14.0 h1:u50s323jtVGugKlcYeyzC0etD1HifMjqmJqb8WugfUU= -github.com/go-playground/locales v0.14.0/go.mod h1:sawfccIbzZTqEDETgFXqTho0QybSa7l++s0DH+LDiLs= -github.com/go-playground/universal-translator v0.16.0/go.mod h1:1AnU7NaIRDWWzGEKwgtJRd2xk99HeFyHw3yid4rvQIY= -github.com/go-playground/universal-translator v0.17.0 h1:icxd5fm+REJzpZx7ZfpaD876Lmtgy7VtROAbHHXk8no= -github.com/go-playground/universal-translator v0.17.0/go.mod h1:UkSxE5sNxxRwHyU+Scu5vgOQjsIJAF8j9muTVoKLVtA= -github.com/go-playground/universal-translator v0.18.0 h1:82dyy6p4OuJq4/CByFNOn/jYrnRPArHwAcmLoJZxyho= -github.com/go-playground/universal-translator v0.18.0/go.mod h1:UvRDBj+xPUEGrFYl+lu/H90nyDXpg0fqeB/AQUGNTVA= -github.com/go-playground/validator/v10 v10.2.0/go.mod h1:uOYAAleCW8F/7oMFd6aG0GOhaH6EGOAJShg8Id5JGkI= -github.com/go-playground/validator/v10 v10.4.1 h1:pH2c5ADXtd66mxoE0Zm9SUhxE20r7aM3F26W0hOn+GE= -github.com/go-playground/validator/v10 v10.4.1/go.mod h1:nlOn6nFhuKACm19sB/8EGNn9GlaMV7XkbRSipzJ0Ii4= -github.com/go-playground/validator/v10 v10.10.1 h1:uA0+amWMiglNZKZ9FJRKUAe9U3RX91eVn1JYXMWt7ig= -github.com/go-playground/validator/v10 v10.10.1/go.mod h1:i+3WkQ1FvaUjjxh1kSvIA4dMGDBiPU55YFDl0WbKdWU= -github.com/gofrs/uuid v4.0.0+incompatible h1:1SD/1F5pU8p29ybwgQSwpQk+mwdRrXCYuPhW6m+TnJw= +github.com/gin-gonic/gin v1.9.1 h1:4idEAncQnU5cB7BeOkPtxjfCSye0AAm1R0RVIqJ+Jmg= +github.com/gin-gonic/gin v1.9.1/go.mod h1:hPrL7YrpYKXt5YId3A/Tnip5kqbEAP+KLuI3SUcPTeU= +github.com/go-playground/assert/v2 v2.2.0 h1:JvknZsQTYeFEAhQwI4qEt9cyV5ONwRHC+lYKSsYSR8s= +github.com/go-playground/assert/v2 v2.2.0/go.mod h1:VDjEfimB/XKnb+ZQfWdccd7VUvScMdVu0Titje2rxJ4= +github.com/go-playground/locales v0.14.1 h1:EWaQ/wswjilfKLTECiXz7Rh+3BjFhfDFKv/oXslEjJA= +github.com/go-playground/locales v0.14.1/go.mod h1:hxrqLVvrK65+Rwrd5Fc6F2O76J/NuW9t0sjnWqG1slY= +github.com/go-playground/universal-translator v0.18.1 h1:Bcnm0ZwsGyWbCzImXv+pAJnYK9S473LQFuzCbDbfSFY= +github.com/go-playground/universal-translator v0.18.1/go.mod h1:xekY+UJKNuX9WP91TpwSH2VMlDf28Uj24BCp08ZFTUY= +github.com/go-playground/validator/v10 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h1:K4uyk7z7BCEPqu6E+C64Yfv1cQ7kz7rIZviUmN+EgEM= +nullprogram.com/x/optparse v1.0.0/go.mod h1:KdyPE+Igbe0jQUrVfMqDMeJQIJZEuyV7pjYmp6pbG50= +rsc.io/pdf v0.1.1/go.mod h1:n8OzWcQ6Sp37PL01nO98y4iUCRdTGarVfzxY20ICaU4= diff --git a/robot/connection.go b/robot/connection.go index cc4477c..23f0a33 100644 --- a/robot/connection.go +++ b/robot/connection.go @@ -12,12 +12,12 @@ import ( //"time" - "github.com/arslab/robot_controller/utilities" "github.com/brutella/can" "github.com/fatih/color" + "github.com/unict-arslab/go-robot-controller/utilities" ) -//Connection is the interface between the logical Robot and the i2C Bus +// Connection is the interface between the logical Robot and the i2C Bus type Connection struct { Interface string Bus *can.Bus @@ -63,7 +63,7 @@ type Connection struct { // //log.Printf("%-3s %-4x %-3s % -24X '%s'\n", "can0", frm.ID, length, data, printableString(data[:])) // } -//NewConnection return a new I2C Connection specifying the GPIO Pin and the Address of the device +// NewConnection return a new I2C Connection specifying the GPIO Pin and the Address of the device func NewConnection(networkInterface string) *Connection { bus, err := can.NewBusForInterfaceWithName(networkInterface) @@ -85,7 +85,7 @@ func (conn *Connection) OnReceiveCallback(cb func(data can.Frame)) { conn.Bus.SubscribeFunc(conn.OnReceive) } -//Init initialise the CAN connection +// Init initialise the CAN connection func (conn *Connection) Init() error { c := make(chan os.Signal) @@ -116,7 +116,7 @@ func (conn *Connection) Connect() { }() } -//SendData allows to send data through the bus +// SendData allows to send data through the bus func (conn *Connection) SendData(payload interface{}, id uint32) error { buf := new(bytes.Buffer) diff --git a/robot/robot.go b/robot/robot.go index 4375e4e..d8eea39 100644 --- a/robot/robot.go +++ b/robot/robot.go @@ -8,25 +8,26 @@ import ( "os/exec" "time" - "github.com/arslab/robot_controller/models" - "github.com/arslab/robot_controller/utilities" "github.com/brutella/can" "github.com/fatih/color" + "github.com/unict-arslab/go-robot-controller/models" + "github.com/unict-arslab/go-robot-controller/utilities" ) -const DEBUG_CAN = false +const DEBUG_CAN = true const ( ID_ROBOT_POSITION = 0x3E3 ID_OTHER_ROBOT_POSITION = 0x3E5 ID_ROBOT_SPEED = 0x3E4 ID_ROBOT_STATUS = 0x402 + ID_DISTANCE_SENSOR = 0x670 ID_MOTION_CMD = 0x7F0 ID_ST_CMD = 0x710 ID_OBST_MAP = 0x70f ) -//Robot rappresents the logical Robot +// Robot rappresents the logical Robot type Robot struct { Connection Connection StartPositionSetted bool @@ -41,7 +42,7 @@ type Robot struct { TimerBattery int16 } -//NewRobot return a new Robot instance +// NewRobot return a new Robot instance func NewRobot(networkInterface string) (*Robot, error) { conn := NewConnection(networkInterface) @@ -127,6 +128,24 @@ func (robot *Robot) onDataReceived(frm can.Frame) { if DEBUG_CAN { log.Printf("%s : [%d]\n", "Status", status) } + case ID_DISTANCE_SENSOR: + + // typedef struct { + // unsigned char sensor; + // unsigned short distance; + // unsigned char alarm; + // char padding[4]; + // } __attribute__((packed)) t_can_distance_sensor_new_data; + + var distance int16 + + buf := bytes.NewBuffer(data[1:3]) + binary.Read(buf, binary.LittleEndian, &distance) + + if DEBUG_CAN { + log.Printf("### %s : [distance : %d]\n", "ToF", distance) + } + case ID_OBST_MAP: var obstacle_number uint8 var valid uint8 @@ -162,12 +181,12 @@ func printInfo(s string) { log.Printf("[%s] %s", utilities.CreateColorString("ROBOT", color.FgHiCyan), s) } -//SetCallbackUpadetePosition set the callback position update function +// SetCallbackUpadetePosition set the callback position update function func (robot *Robot) SetCallbackUpadetePosition(cb func(position models.Position)) { robot.CallbackPositionUpdate = cb } -//GetPosition returns the position of the Robot +// GetPosition returns the position of the Robot func (robot *Robot) GetPosition() models.Position { return robot.Position @@ -245,7 +264,7 @@ func (robot *Robot) GetPosition() models.Position { // return nil // } -//SetPosition set the position on the can bus +// SetPosition set the position on the can bus func (robot *Robot) SetPosition(p models.Position) error { motionCMD := models.MotionCommand{ @@ -267,7 +286,7 @@ func (robot *Robot) SetPosition(p models.Position) error { } -//SetSpeed of the Robot +// SetSpeed of the Robot func (robot *Robot) SetSpeed(speed int16) error { motionCMD := models.MotionCommand{ CMD: models.MC_SET_SPEED, @@ -284,7 +303,7 @@ func (robot *Robot) SetSpeed(speed int16) error { } } -//ForwardDistance move the robot about the given millimeters +// ForwardDistance move the robot about the given millimeters func (robot *Robot) ForwardDistance(distance int16) error { // if robot.Stopped { @@ -386,7 +405,7 @@ func (robot *Robot) ResetBoard() error { return nil } -//ForwardToPoint move the robot to the defined point +// ForwardToPoint move the robot to the defined point func (robot *Robot) ForwardToPoint(x int16, y int16) error { // if robot.Stopped { @@ -410,7 +429,7 @@ func (robot *Robot) ForwardToPoint(x int16, y int16) error { return nil } -//RelativeRotation rotate the robot about the given degrees +// RelativeRotation rotate the robot about the given degrees func (robot *Robot) RelativeRotation(degree int16) error { // if robot.Stopped { @@ -434,7 +453,7 @@ func (robot *Robot) RelativeRotation(degree int16) error { return nil } -//AbsoluteRotation rotate the robot about the given degrees +// AbsoluteRotation rotate the robot about the given degrees func (robot *Robot) AbsoluteRotation(degree int16) error { // if robot.Stopped { diff --git a/webserver/webserver.go b/webserver/webserver.go index 23576a8..93ae1e5 100644 --- a/webserver/webserver.go +++ b/webserver/webserver.go @@ -8,19 +8,20 @@ import ( "strconv" "time" - "github.com/arslab/robot_controller/models" - "github.com/arslab/robot_controller/robot" - "github.com/arslab/robot_controller/utilities" - _ "github.com/arslab/robot_controller/webserver/statik" //static file system "github.com/fatih/color" "github.com/gin-contrib/cors" "github.com/gin-gonic/gin" socketio "github.com/googollee/go-socket.io" "github.com/rakyll/statik/fs" + "github.com/unict-arslab/go-robot-controller/models" + "github.com/unict-arslab/go-robot-controller/robot" + "github.com/unict-arslab/go-robot-controller/utilities" + + // _ "github.com/unict-arslab/go-robot-controller/webserver/statik" //static file system "gopkg.in/olahol/melody.v1" ) -//WebServer reppresents the WebServer and WebScoket server instance +// WebServer reppresents the WebServer and WebScoket server instance type WebServer struct { Address string Port int @@ -32,7 +33,7 @@ type WebServer struct { var robotInstance *robot.Robot -//NewWebServer returns a new WebServer +// NewWebServer returns a new WebServer func NewWebServer(robot *robot.Robot, address string, port int) *WebServer { robotInstance = robot serverSocket := newServerSocket() @@ -109,7 +110,7 @@ func NewWebServer(robot *robot.Robot, address string, port int) *WebServer { return &ws } -//Start starts the WebServer +// Start starts the WebServer func (ws *WebServer) Start() { go func() { log.Printf("[%s] %s", utilities.CreateColorString("WEB SERVER", color.FgHiBlue), "Avaiable on port:"+strconv.Itoa(ws.Port)) @@ -338,7 +339,7 @@ func newServerSocket() *socketio.Server { return serverSocket } -//NewMelodyWebSocket return melody server +// NewMelodyWebSocket return melody server func NewMelodyWebSocket() *melody.Melody { server := melody.New() @@ -389,12 +390,12 @@ func NewMelodyWebSocket() *melody.Melody { return server } -//ManageWebSocketMessages manage the websocket and socket.io messages +// ManageWebSocketMessages manage the websocket and socket.io messages func ManageWebSocketMessages(msg models.WebSocketMessage) { } -//GinMiddleware manage the cors +// GinMiddleware manage the cors func GinMiddleware(allowOrigin string) gin.HandlerFunc { return func(c *gin.Context) { c.Writer.Header().Set("Access-Control-Allow-Origin", allowOrigin)