Initial battery telemetry working
This commit is contained in:
parent
ca68c88fa9
commit
e026bc93f7
@ -1,5 +1,10 @@
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local lastMessage = 0
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local botState = {
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cpuBattery = nil,
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servoBattery = nil,
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}
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function love.draw2()
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love.graphics.setBackgroundColor(0, 0, 0)
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@ -7,14 +12,35 @@ function love.draw2()
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if lastMessage == 0 then
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time = "Never"
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else
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time = love.timer.getTime() - time "s ago"
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time = math.floor(love.timer.getTime() - lastMessage) .. "s ago"
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end
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love.graphics.print("Last message received: " .. time, 5, 5)
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love.graphics.print("CPU Batt: " .. formatSafe("%.02f V", botState.cpuBattery), 5, 30)
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love.graphics.print("Servo Batt: " .. formatSafe("%.02f V", botState.servoBattery), 5, 45)
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end
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function formatSafe(format, value)
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if value == nil then
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return "unknown"
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end
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return string.format(format, value)
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end
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function love.load()
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love.graphics.setFont(love.graphics.newFont(15))
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love.window.setFullscreen(true)
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love.mqtt.subscribe("telemetry/#")
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end
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function love.mqtt.message(topic, payload)
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if topic == "telemetry/cpu_battery" then
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botState.cpuBattery = tonumber(payload)
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lastMessage = love.timer.getTime()
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elseif topic == "telemetry/servo_battery" then
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botState.servoBattery = tonumber(payload)
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lastMessage = love.timer.getTime()
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end
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end
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function love.gamepadpressed(joystick, button)
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@ -129,7 +129,7 @@ function love.mqtt.subscribe(topic)
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end
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function love.load()
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love.graphics.setFont(love.graphics.newFont(15))
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love.graphics.setFont(love.graphics.newFont(20))
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local requirePaths = love.filesystem.getRequirePath()
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love.filesystem.setRequirePath(requirePaths .. ";client/?.lua;client/?/init.lua")
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local mqttThread = love.thread.newThread("mqttthread.lua")
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@ -6,6 +6,13 @@ services:
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environment:
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SPIDER_HOSTNAME: spider
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spider-host:
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build: spider-host
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restart: unless-stopped
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devices:
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- /dev/i2c-0
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- /dev/i2c-1
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docker-socat:
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build: docker-socat
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restart: unless-stopped
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1
spider-host/.gitignore
vendored
Normal file
1
spider-host/.gitignore
vendored
Normal file
@ -0,0 +1 @@
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spider-host
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7
spider-host/Dockerfile
Normal file
7
spider-host/Dockerfile
Normal file
@ -0,0 +1,7 @@
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FROM golang:1.22.5
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WORKDIR /app
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COPY spider-host /spider-host
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CMD ["/spider-host"]
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71
spider-host/ads7830.go
Normal file
71
spider-host/ads7830.go
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@ -0,0 +1,71 @@
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package main
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import (
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"gobot.io/x/gobot"
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"gobot.io/x/gobot/drivers/i2c"
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"sync"
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)
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type ADS7830 struct {
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//*gobot.Driver
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name string
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connector i2c.Connector
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connection i2c.Connection
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i2c.Config
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mutex sync.Mutex
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}
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func NewADS7830(c i2c.Connector, options ...func(config i2c.Config)) *ADS7830 {
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adc := &ADS7830{
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name: gobot.DefaultName("ADS7830"),
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mutex: sync.Mutex{},
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connector: c,
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Config: i2c.NewConfig(),
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}
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for _, option := range options {
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option(adc)
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}
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return adc
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}
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func (adc *ADS7830) AnalogRead(channel int) (int, error) {
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adc.mutex.Lock()
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defer adc.mutex.Unlock()
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register := 0x84 | (((channel<<2 | channel>>1) & 0x07) << 4)
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value, err := adc.connection.ReadByteData(uint8(register))
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if err != nil {
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return 0, err
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}
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return int(value), nil
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}
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func (adc *ADS7830) Name() string {
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return adc.name
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}
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func (adc *ADS7830) SetName(name string) {
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adc.name = name
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}
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func (adc *ADS7830) Start() (err error) {
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bus := adc.GetBusOrDefault(adc.connector.GetDefaultBus())
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address := adc.GetAddressOrDefault(0x48)
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adc.connection, err = adc.connector.GetConnection(address, bus)
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if err != nil {
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return err
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}
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return nil
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}
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func (adc *ADS7830) Halt() error {
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return nil
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}
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func (adc *ADS7830) Connection() gobot.Connection {
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return adc.connector.(gobot.Connection)
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}
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47
spider-host/battery.go
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47
spider-host/battery.go
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@ -0,0 +1,47 @@
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package main
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import (
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"gobot.io/x/gobot/drivers/i2c"
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"gobot.io/x/gobot/platforms/raspi"
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"log"
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)
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var rpi *raspi.Adaptor
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var ads *ADS7830
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//var mpu *i2c.MPU6050Driver
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//mpu = i2c.NewMPU6050Driver(rpi, i2c.WithBus(0), i2c.WithAddress(0x40))
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func InitBattery() {
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rpi = raspi.NewAdaptor()
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rpi.Connect()
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ads = NewADS7830(rpi, i2c.WithBus(1), i2c.WithAddress(0x48))
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ads.Start()
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}
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func GetBatteryServo() (float32, error) {
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value, err := getBattery(0)
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if err != nil {
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log.Print("Error reading battery: ", err)
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}
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log.Print("Servo Battery state: ", value)
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return value, err
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}
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func GetBatteryCPU() (float32, error) {
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value, err := getBattery(4)
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if err != nil {
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log.Print("Error reading battery: ", err)
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}
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log.Print("CPU Battery state: ", value)
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return value, err
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}
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func getBattery(channel int) (float32, error) {
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value, err := ads.AnalogRead(channel)
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if err != nil {
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return 0, err
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}
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converted := float32(value) / 255 * 5 * 3
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return converted, nil
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}
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4
spider-host/build_and_upload.sh
Executable file
4
spider-host/build_and_upload.sh
Executable file
@ -0,0 +1,4 @@
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set -e
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CGO_ENABLED=0 GOOS=linux GOARCH=arm64 go build -ldflags "-w" -o spider-host
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cd ..
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./docker.sh compose up spider-host -d --build
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21
spider-host/go.mod
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21
spider-host/go.mod
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@ -0,0 +1,21 @@
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module spider-host
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go 1.22
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require (
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github.com/eclipse/paho.mqtt.golang v1.4.3
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gobot.io/x/gobot v1.16.0
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)
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require (
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github.com/gofrs/uuid v4.0.0+incompatible // indirect
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github.com/gorilla/websocket v1.5.0 // indirect
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github.com/hashicorp/errwrap v1.0.0 // indirect
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github.com/hashicorp/go-multierror v1.0.0 // indirect
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github.com/pkg/errors v0.9.1 // indirect
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github.com/sigurn/crc8 v0.0.0-20160107002456-e55481d6f45c // indirect
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github.com/sigurn/utils v0.0.0-20190728110027-e1fefb11a144 // indirect
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golang.org/x/net v0.8.0 // indirect
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golang.org/x/sync v0.1.0 // indirect
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periph.io/x/periph v3.6.2+incompatible // indirect
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)
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115
spider-host/go.sum
Normal file
115
spider-host/go.sum
Normal file
@ -0,0 +1,115 @@
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github.com/BurntSushi/toml v0.3.1/go.mod h1:xHWCNGjB5oqiDr8zfno3MHue2Ht5sIBksp03qcyfWMU=
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github.com/JuulLabs-OSS/cbgo v0.0.2/go.mod h1:L4YtGP+gnyD84w7+jN66ncspFRfOYB5aj9QSXaFHmBA=
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github.com/bmizerany/pat v0.0.0-20170815010413-6226ea591a40/go.mod h1:8rLXio+WjiTceGBHIoTvn60HIbs7Hm7bcHjyrSqYB9c=
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github.com/cpuguy83/go-md2man/v2 v2.0.0-20190314233015-f79a8a8ca69d/go.mod h1:maD7wRr/U5Z6m/iR4s+kqSMx2CaBsrgA7czyZG/E6dU=
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github.com/cpuguy83/go-md2man/v2 v2.0.0/go.mod h1:maD7wRr/U5Z6m/iR4s+kqSMx2CaBsrgA7czyZG/E6dU=
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github.com/creack/goselect v0.1.1/go.mod h1:a/NhLweNvqIYMuxcMOuWY516Cimucms3DglDzQP3hKY=
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github.com/davecgh/go-spew v1.1.0/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
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github.com/davecgh/go-spew v1.1.1/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
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github.com/donovanhide/eventsource v0.0.0-20171031113327-3ed64d21fb0b/go.mod h1:56wL82FO0bfMU5RvfXoIwSOP2ggqqxT+tAfNEIyxuHw=
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github.com/eclipse/paho.mqtt.golang v1.2.0/go.mod h1:H9keYFcgq3Qr5OUJm/JZI/i6U7joQ8SYLhZwfeOo6Ts=
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github.com/eclipse/paho.mqtt.golang v1.4.3 h1:2kwcUGn8seMUfWndX0hGbvH8r7crgcJguQNCyp70xik=
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github.com/eclipse/paho.mqtt.golang v1.4.3/go.mod h1:CSYvoAlsMkhYOXh/oKyxa8EcBci6dVkLCbo5tTC1RIE=
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github.com/fatih/structs v1.1.0/go.mod h1:9NiDSp5zOcgEDl+j00MP/WkGVPOlPRLejGD8Ga6PJ7M=
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github.com/go-ble/ble v0.0.0-20190521171521-147700f13610/go.mod h1:UMPB54/KFpdTdfH7Yovhk3J6kzgzE88e3QZi8cbayis=
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github.com/go-ole/go-ole v1.2.4/go.mod h1:XCwSNxSkXRo4vlyPy93sltvi/qJq0jqQhjqQNIwKuxM=
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github.com/godbus/dbus/v5 v5.0.3/go.mod h1:xhWf0FNVPg57R7Z0UbKHbJfkEywrmjJnf7w5xrFpKfA=
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github.com/gofrs/uuid v4.0.0+incompatible h1:1SD/1F5pU8p29ybwgQSwpQk+mwdRrXCYuPhW6m+TnJw=
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github.com/gofrs/uuid v4.0.0+incompatible/go.mod h1:b2aQJv3Z4Fp6yNu3cdSllBxTCLRxnplIgP/c0N/04lM=
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github.com/golang/protobuf v1.3.2/go.mod h1:6lQm79b+lXiMfvg/cZm0SGofjICqVBUtrP5yJMmIC1U=
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github.com/google/uuid v1.1.1/go.mod h1:TIyPZe4MgqvfeYDBFedMoGGpEw/LqOeaOT+nhxU+yHo=
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github.com/gorilla/websocket v1.5.0 h1:PPwGk2jz7EePpoHN/+ClbZu8SPxiqlu12wZP/3sWmnc=
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github.com/gorilla/websocket v1.5.0/go.mod h1:YR8l580nyteQvAITg2hZ9XVh4b55+EU/adAjf1fMHhE=
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github.com/hashicorp/errwrap v1.0.0 h1:hLrqtEDnRye3+sgx6z4qVLNuviH3MR5aQ0ykNJa/UYA=
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github.com/hashicorp/errwrap v1.0.0/go.mod h1:YH+1FKiLXxHSkmPseP+kNlulaMuP3n2brvKWEqk/Jc4=
|
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github.com/hashicorp/go-multierror v1.0.0 h1:iVjPR7a6H0tWELX5NxNe7bYopibicUzc7uPribsnS6o=
|
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github.com/hashicorp/go-multierror v1.0.0/go.mod h1:dHtQlpGsu+cZNNAkkCN/P3hoUDHhCYQXV3UM06sGGrk=
|
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github.com/hybridgroup/go-ardrone v0.0.0-20140402002621-b9750d8d7b78/go.mod h1:YllNbhGM1UEcySxCv1BWK5lre7QLmJJ+O0ADUOo2nbc=
|
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github.com/hybridgroup/mjpeg v0.0.0-20140228234708-4680f319790e/go.mod h1:eagM805MRKrioHYuU7iKLUyFPVKqVV6um5DAvCkUtXs=
|
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github.com/konsorten/go-windows-terminal-sequences v1.0.1/go.mod h1:T0+1ngSBFLxvqU3pZ+m/2kptfBszLMUkC4ZK/EgS/cQ=
|
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github.com/konsorten/go-windows-terminal-sequences v1.0.3/go.mod h1:T0+1ngSBFLxvqU3pZ+m/2kptfBszLMUkC4ZK/EgS/cQ=
|
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github.com/kr/pretty v0.1.0/go.mod h1:dAy3ld7l9f0ibDNOQOHHMYYIIbhfbHSm3C4ZsoJORNo=
|
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github.com/kr/pty v1.1.1/go.mod h1:pFQYn66WHrOpPYNljwOMqo10TkYh1fy3cYio2l3bCsQ=
|
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github.com/kr/text v0.1.0/go.mod h1:4Jbv+DJW3UT/LiOwJeYQe1efqtUx/iVham/4vfdArNI=
|
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github.com/mattn/go-colorable v0.1.4/go.mod h1:U0ppj6V5qS13XJ6of8GYAs25YV2eR4EVcfRqFIhoBtE=
|
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github.com/mattn/go-isatty v0.0.8/go.mod h1:Iq45c/XA43vh69/j3iqttzPXn0bhXyGjM0Hdxcsrc5s=
|
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github.com/mattn/go-isatty v0.0.9/go.mod h1:YNRxwqDuOph6SZLI9vUUz6OYw3QyUt7WiY2yME+cCiQ=
|
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github.com/mgutz/ansi v0.0.0-20170206155736-9520e82c474b/go.mod h1:01TrycV0kFyexm33Z7vhZRXopbI8J3TDReVlkTgMUxE=
|
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github.com/mgutz/logxi v0.0.0-20161027140823-aebf8a7d67ab/go.mod h1:y1pL58r5z2VvAjeG1VLGc8zOQgSOzbKN7kMHPvFXJ+8=
|
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github.com/muka/go-bluetooth v0.0.0-20200926181701-4ca7d8dd0ff5/go.mod h1:dMCjicU6vRBk34dqOmIZm0aod6gUwZXOXzBROqGous0=
|
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github.com/muka/go-bluetooth v0.0.0-20200928120822-44d49b402aee/go.mod h1:dMCjicU6vRBk34dqOmIZm0aod6gUwZXOXzBROqGous0=
|
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github.com/nats-io/jwt v0.3.0/go.mod h1:fRYCDE99xlTsqUzISS1Bi75UBJ6ljOJQOAAu5VglpSg=
|
||||
github.com/nats-io/nats-server/v2 v2.1.0/go.mod h1:r5y0WgCag0dTj/qiHkHrXAcKQ/f5GMOZaEGdoxxnJ4I=
|
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github.com/nats-io/nats.go v1.8.1/go.mod h1:BrFz9vVn0fU3AcH9Vn4Kd7W0NpJ651tD5omQ3M8LwxM=
|
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github.com/nats-io/nkeys v0.0.2/go.mod h1:dab7URMsZm6Z/jp9Z5UGa87Uutgc2mVpXLC4B7TDb/4=
|
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github.com/nats-io/nkeys v0.1.0/go.mod h1:xpnFELMwJABBLVhffcfd1MZx6VsNRFpEugbxziKVo7w=
|
||||
github.com/nats-io/nuid v1.0.1/go.mod h1:19wcPz3Ph3q0Jbyiqsd0kePYG7A95tJPxeL+1OSON2c=
|
||||
github.com/niemeyer/pretty v0.0.0-20200227124842-a10e7caefd8e/go.mod h1:zD1mROLANZcx1PVRCS0qkT7pwLkGfwJo4zjcN/Tysno=
|
||||
github.com/paypal/gatt v0.0.0-20151011220935-4ae819d591cf/go.mod h1:+AwQL2mK3Pd3S+TUwg0tYQjid0q1txyNUJuuSmz8Kdk=
|
||||
github.com/pkg/errors v0.9.1 h1:FEBLx1zS214owpjy7qsBeixbURkuhQAwrK5UwLGTwt4=
|
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github.com/pkg/errors v0.9.1/go.mod h1:bwawxfHBFNV+L2hUp1rHADufV3IMtnDRdf1r5NINEl0=
|
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github.com/pmezard/go-difflib v1.0.0/go.mod h1:iKH77koFhYxTK1pcRnkKkqfTogsbg7gZNVY4sRDYZ/4=
|
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github.com/raff/goble v0.0.0-20190909174656-72afc67d6a99/go.mod h1:CxaUhijgLFX0AROtH5mluSY71VqpjQBw9JXE2UKZmc4=
|
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github.com/russross/blackfriday/v2 v2.0.1/go.mod h1:+Rmxgy9KzJVeS9/2gXHxylqXiyQDYRxCVz55jmeOWTM=
|
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github.com/shurcooL/sanitized_anchor_name v1.0.0/go.mod h1:1NzhyTcUVG4SuEtjjoZeVRXNmyL/1OwPU0+IJeTBvfc=
|
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github.com/sigurn/crc8 v0.0.0-20160107002456-e55481d6f45c h1:hk0Jigjfq59yDMgd6bzi22Das5tyxU0CtOkh7a9io84=
|
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github.com/sigurn/crc8 v0.0.0-20160107002456-e55481d6f45c/go.mod h1:cyrWuItcOVIGX6fBZ/G00z4ykprWM7hH58fSavNkjRg=
|
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github.com/sigurn/utils v0.0.0-20190728110027-e1fefb11a144 h1:ccb8W1+mYuZvlpn/mJUMAbsFHTMCpcJBS78AsBQxNcY=
|
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github.com/sigurn/utils v0.0.0-20190728110027-e1fefb11a144/go.mod h1:VRI4lXkrUH5Cygl6mbG1BRUfMMoT2o8BkrtBDUAm+GU=
|
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github.com/sirupsen/logrus v1.5.0/go.mod h1:+F7Ogzej0PZc/94MaYx/nvG9jOFMD2osvC3s+Squfpo=
|
||||
github.com/sirupsen/logrus v1.6.0/go.mod h1:7uNnSEd1DgxDLC74fIahvMZmmYsHGZGEOFrfsX/uA88=
|
||||
github.com/sirupsen/logrus v1.7.0/go.mod h1:yWOB1SBYBC5VeMP7gHvWumXLIWorT60ONWic61uBYv0=
|
||||
github.com/stretchr/objx v0.1.0/go.mod h1:HFkY916IF+rwdDfMAkV7OtwuqBVzrE8GR6GFx+wExME=
|
||||
github.com/stretchr/testify v1.2.2/go.mod h1:a8OnRcib4nhh0OaRAV+Yts87kKdq0PP7pXfy6kDkUVs=
|
||||
github.com/stretchr/testify v1.4.0/go.mod h1:j7eGeouHqKxXV5pUuKE4zz7dFj8WfuZ+81PSLYec5m4=
|
||||
github.com/stretchr/testify v1.6.1/go.mod h1:6Fq8oRcR53rry900zMqJjRRixrwX3KX962/h/Wwjteg=
|
||||
github.com/suapapa/go_eddystone v1.3.1/go.mod h1:bXC11TfJOS+3g3q/Uzd7FKd5g62STQEfeEIhcKe4Qy8=
|
||||
github.com/urfave/cli v1.22.1/go.mod h1:Gos4lmkARVdJ6EkW0WaNv/tZAAMe9V7XWyB60NtXRu0=
|
||||
github.com/veandco/go-sdl2 v0.3.3/go.mod h1:FB+kTpX9YTE+urhYiClnRzpOXbiWgaU3+5F2AB78DPg=
|
||||
github.com/yuin/goldmark v1.2.1/go.mod h1:3hX8gzYuyVAZsxl0MRgGTJEmQBFcNTphYh9decYSb74=
|
||||
go.bug.st/serial v1.1.1/go.mod h1:VmYBeyJWp5BnJ0tw2NUJHZdJTGl2ecBGABHlzRK1knY=
|
||||
gobot.io/x/gobot v1.16.0 h1:MQN0c5iPYBkChpPPY/zM6Au0rihJZ4QmK98kn1DKBKQ=
|
||||
gobot.io/x/gobot v1.16.0/go.mod h1:CwlG5umITB/BP7qlwGdJ/LPtRu71jAXtv9hu3q+yhKo=
|
||||
gocv.io/x/gocv v0.21.0/go.mod h1:Rar2PS6DV+T4FL+PM535EImD/h13hGVaHhnCu1xarBs=
|
||||
golang.org/x/crypto v0.0.0-20181203042331-505ab145d0a9/go.mod h1:6SG95UA2DQfeDnfUPMdvaQW0Q7yPrPDi9nlGo2tz2b4=
|
||||
golang.org/x/crypto v0.0.0-20190308221718-c2843e01d9a2/go.mod h1:djNgcEr1/C05ACkg1iLfiJU5Ep61QUkGW8qpdssI0+w=
|
||||
golang.org/x/crypto v0.0.0-20190701094942-4def268fd1a4/go.mod h1:yigFU9vqHzYiE8UmvKecakEJjdnWj3jj499lnFckfCI=
|
||||
golang.org/x/crypto v0.0.0-20191011191535-87dc89f01550/go.mod h1:yigFU9vqHzYiE8UmvKecakEJjdnWj3jj499lnFckfCI=
|
||||
golang.org/x/crypto v0.0.0-20200622213623-75b288015ac9/go.mod h1:LzIPMQfyMNhhGPhUkYOs5KpL4U8rLKemX1yGLhDgUto=
|
||||
golang.org/x/mod v0.3.0/go.mod h1:s0Qsj1ACt9ePp/hMypM3fl4fZqREWJwdYDEqhRiZZUA=
|
||||
golang.org/x/net v0.0.0-20190404232315-eb5bcb51f2a3/go.mod h1:t9HGtf8HONx5eT2rtn7q6eTqICYqUVnKs3thJo3Qplg=
|
||||
golang.org/x/net v0.0.0-20190620200207-3b0461eec859/go.mod h1:z5CRVTTTmAJ677TzLLGU+0bjPO0LkuOLi4/5GtJWs/s=
|
||||
golang.org/x/net v0.0.0-20200822124328-c89045814202/go.mod h1:/O7V0waA8r7cgGh81Ro3o1hOxt32SMVPicZroKQ2sZA=
|
||||
golang.org/x/net v0.8.0 h1:Zrh2ngAOFYneWTAIAPethzeaQLuHwhuBkuV6ZiRnUaQ=
|
||||
golang.org/x/net v0.8.0/go.mod h1:QVkue5JL9kW//ek3r6jTKnTFis1tRmNAW2P1shuFdJc=
|
||||
golang.org/x/sync v0.0.0-20190423024810-112230192c58/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM=
|
||||
golang.org/x/sync v0.0.0-20200625203802-6e8e738ad208/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM=
|
||||
golang.org/x/sync v0.1.0 h1:wsuoTGHzEhffawBOhz5CYhcrV4IdKZbEyZjBMuTp12o=
|
||||
golang.org/x/sync v0.1.0/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM=
|
||||
golang.org/x/sys v0.0.0-20190215142949-d0b11bdaac8a/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY=
|
||||
golang.org/x/sys v0.0.0-20190222072716-a9d3bda3a223/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY=
|
||||
golang.org/x/sys v0.0.0-20190412213103-97732733099d/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
|
||||
golang.org/x/sys v0.0.0-20190422165155-953cdadca894/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
|
||||
golang.org/x/sys v0.0.0-20190726091711-fc99dfbffb4e/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
|
||||
golang.org/x/sys v0.0.0-20190813064441-fde4db37ae7a/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
|
||||
golang.org/x/sys v0.0.0-20191026070338-33540a1f6037/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
|
||||
golang.org/x/sys v0.0.0-20200323222414-85ca7c5b95cd/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
|
||||
golang.org/x/sys v0.0.0-20200728102440-3e129f6d46b1/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
|
||||
golang.org/x/sys v0.0.0-20200826173525-f9321e4c35a6/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
|
||||
golang.org/x/sys v0.0.0-20200909081042-eff7692f9009/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
|
||||
golang.org/x/sys v0.0.0-20201126233918-771906719818/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
|
||||
golang.org/x/text v0.3.0/go.mod h1:NqM8EUOU14njkJ3fqMW+pc6Ldnwhi/IjpwHt7yyuwOQ=
|
||||
golang.org/x/tools v0.0.0-20191119224855-298f0cb1881e/go.mod h1:b+2E5dAYhXwXZwtnZ6UAqBI28+e2cm9otk0dWdXHAEo=
|
||||
golang.org/x/tools v0.0.0-20200925191224-5d1fdd8fa346/go.mod h1:z6u4i615ZeAfBE4XtMziQW1fSVJXACjjbWkB/mvPzlU=
|
||||
golang.org/x/xerrors v0.0.0-20190717185122-a985d3407aa7/go.mod h1:I/5z698sn9Ka8TeJc9MKroUUfqBBauWjQqLJ2OPfmY0=
|
||||
golang.org/x/xerrors v0.0.0-20191011141410-1b5146add898/go.mod h1:I/5z698sn9Ka8TeJc9MKroUUfqBBauWjQqLJ2OPfmY0=
|
||||
golang.org/x/xerrors v0.0.0-20200804184101-5ec99f83aff1/go.mod h1:I/5z698sn9Ka8TeJc9MKroUUfqBBauWjQqLJ2OPfmY0=
|
||||
gopkg.in/check.v1 v0.0.0-20161208181325-20d25e280405/go.mod h1:Co6ibVJAznAaIkqp8huTwlJQCZ016jof/cbN4VW5Yz0=
|
||||
gopkg.in/check.v1 v1.0.0-20200227125254-8fa46927fb4f/go.mod h1:Co6ibVJAznAaIkqp8huTwlJQCZ016jof/cbN4VW5Yz0=
|
||||
gopkg.in/yaml.v2 v2.2.2/go.mod h1:hI93XBmqTisBFMUTm0b8Fm+jr3Dg1NNxqwp+5A1VGuI=
|
||||
gopkg.in/yaml.v2 v2.2.8/go.mod h1:hI93XBmqTisBFMUTm0b8Fm+jr3Dg1NNxqwp+5A1VGuI=
|
||||
gopkg.in/yaml.v3 v3.0.0-20200313102051-9f266ea9e77c/go.mod h1:K4uyk7z7BCEPqu6E+C64Yfv1cQ7kz7rIZviUmN+EgEM=
|
||||
periph.io/x/periph v3.6.2+incompatible h1:B9vqhYVuhKtr6bXua8N9GeBEvD7yanczCvE0wU2LEqw=
|
||||
periph.io/x/periph v3.6.2+incompatible/go.mod h1:EWr+FCIU2dBWz5/wSWeiIUJTriYv9v2j2ENBmgYyy7Y=
|
||||
tinygo.org/x/bluetooth v0.2.0/go.mod h1:Rx8KLr5nmrJ4uUf4Fy14JIoV3pF9vvbQ0KCv/c+ELOo=
|
||||
tinygo.org/x/drivers v0.13.0/go.mod h1:mShi1lpVtJFpApkZgwyrzDKHToeGfWIuB08utyHxZ7g=
|
||||
66
spider-host/main.go
Normal file
66
spider-host/main.go
Normal file
@ -0,0 +1,66 @@
|
||||
package main
|
||||
|
||||
import (
|
||||
"fmt"
|
||||
mqtt "github.com/eclipse/paho.mqtt.golang"
|
||||
"log"
|
||||
"time"
|
||||
)
|
||||
|
||||
const broker = "tcp://mqtt.seeseepuff.be:1883"
|
||||
const telemetryTopic = "spider/telemetry/"
|
||||
|
||||
func publishServoBatteryTelemetry(client mqtt.Client) {
|
||||
value, err := GetBatteryServo()
|
||||
if err != nil {
|
||||
return
|
||||
}
|
||||
token := client.Publish(telemetryTopic+"servo_battery", 0, false, fmt.Sprintf("%f", value))
|
||||
token.Wait()
|
||||
if token.Error() != nil {
|
||||
log.Printf("Error publishing servo battery state: %v\n", token.Error())
|
||||
}
|
||||
}
|
||||
|
||||
func publishCpuBatteryTelemetry(client mqtt.Client) {
|
||||
value, err := GetBatteryCPU()
|
||||
if err != nil {
|
||||
return
|
||||
}
|
||||
token := client.Publish(telemetryTopic+"cpu_battery", 0, false, fmt.Sprintf("%f", value))
|
||||
token.Wait()
|
||||
if token.Error() != nil {
|
||||
log.Printf("Error publishing servo battery state: %v\n", token.Error())
|
||||
}
|
||||
}
|
||||
|
||||
func publishTelemetry(client mqtt.Client) {
|
||||
go publishServoBatteryTelemetry(client)
|
||||
go publishCpuBatteryTelemetry(client)
|
||||
}
|
||||
|
||||
func main() {
|
||||
opts := mqtt.NewClientOptions()
|
||||
opts.AddBroker(broker)
|
||||
opts.SetClientID("spider-host-client")
|
||||
client := mqtt.NewClient(opts)
|
||||
|
||||
token := client.Connect()
|
||||
token.Wait()
|
||||
if token.Error() != nil {
|
||||
log.Fatalf("Error connecting to MQTT broker: %v\n", token.Error())
|
||||
}
|
||||
|
||||
InitBattery()
|
||||
|
||||
ticker := time.NewTicker(3 * time.Second)
|
||||
defer ticker.Stop()
|
||||
|
||||
publishTelemetry(client)
|
||||
for {
|
||||
select {
|
||||
case <-ticker.C:
|
||||
publishTelemetry(client)
|
||||
}
|
||||
}
|
||||
}
|
||||
4
spider-host/run.sh
Executable file
4
spider-host/run.sh
Executable file
@ -0,0 +1,4 @@
|
||||
set -e
|
||||
CGO_ENABLED=0 GOOS=linux GOARCH=arm64 go build -ldflags "-w" -o spider-host
|
||||
cd ..
|
||||
./docker.sh compose up spider-host --build
|
||||
@ -2,12 +2,6 @@ FROM golang:1.22.5
|
||||
|
||||
WORKDIR /app
|
||||
|
||||
#COPY go.mod go.sum ./
|
||||
#RUN go mod download
|
||||
|
||||
#COPY *.go ./
|
||||
#RUN CGO_ENABLED=0 GOOS=linux go build -o /spider-net
|
||||
|
||||
COPY spider-net /spider-net
|
||||
|
||||
CMD ["/spider-net"]
|
||||
@ -1,3 +1,4 @@
|
||||
CGO_ENABLED=0 GOOS=linux GOARCH=arm64 go build -o spider-net
|
||||
set -e
|
||||
CGO_ENABLED=0 GOOS=linux GOARCH=arm64 go build -ldflags "-w" -o spider-net
|
||||
cd ..
|
||||
./docker.sh compose up spider-net -d --build
|
||||
|
||||
BIN
spider-net/spider-host
Executable file
BIN
spider-net/spider-host
Executable file
Binary file not shown.
@ -33,7 +33,8 @@ local function onConnect(connack)
|
||||
assert(client:publish {
|
||||
topic = "spider/controller/payload",
|
||||
payload = contents,
|
||||
qos = 0
|
||||
qos = 0,
|
||||
retain = true
|
||||
})
|
||||
print(" DONE!")
|
||||
end
|
||||
|
||||
@ -4,4 +4,4 @@ cd controller-client
|
||||
rm -vf ../controller-client.zip
|
||||
zip -r ../controller-client.zip *
|
||||
cd ..
|
||||
lua upload.lua controller-client.zip
|
||||
lua upload-controller.lua controller-client.zip
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user