pipoint: shift param and util under their own packages.

audio.go

@@ -19,6 +19,8 @@ import (
 	"fmt"
 	"os"
 	"os/exec"
+
+	"juju.net.nz/x/pipoint/util"
 )
 
 // AudioOut can play files or speech.
@@ -42,7 +44,7 @@ func (a *AudioOut) Play(path string) {
 
 // Say plays a pre-recorded phrase, or falls back to espeak.
 func (a *AudioOut) Say(text string) {
-	rendered := fmt.Sprintf("phrase/%s.ogg", NormText(text))
+	rendered := fmt.Sprintf("phrase/%s.ogg", util.NormText(text))
 	fi, err := os.Stat(rendered)
 
 	if err == nil && fi.Mode().IsRegular() {

cycle.go

@@ -17,6 +17,9 @@ package pipoint
 
 import (
 	"math"
+
+	"juju.net.nz/x/pipoint/param"
+	"juju.net.nz/x/pipoint/util"
 )
 
 // CycleState cycles the pan/tilt in a circle.
@@ -30,11 +33,11 @@ func (s *CycleState) Name() string {
 }
 
 // Update reacts to changes in parameters.
-func (s *CycleState) Update(param *Param) {
+func (s *CycleState) Update(param *param.Param) {
 	switch param {
 	case s.pi.tick:
 		s.cycle += 0.02
-		s.pi.pan.Set(Scale(math.Cos(s.cycle), -1, 1, -math.Pi/2, math.Pi/2))
-		s.pi.tilt.Set(Scale(math.Sin(s.cycle), -1, 1, -math.Pi/2, 0))
+		s.pi.pan.Set(util.Scale(math.Cos(s.cycle), -1, 1, -math.Pi/2, math.Pi/2))
+		s.pi.tilt.Set(util.Scale(math.Sin(s.cycle), -1, 1, -math.Pi/2, 0))
 	}
 }

hold.go

@@ -15,6 +15,10 @@
 
 package pipoint
 
+import (
+	"juju.net.nz/x/pipoint/param"
+)
+
 // HoldState executes when the camera is tracking the rover.
 type HoldState struct {
 	pi *PiPoint
@@ -25,7 +29,7 @@ func (s *HoldState) Name() string {
 }
 
 // Update is called when a param is updated.
-func (s *HoldState) Update(param *Param) {
+func (s *HoldState) Update(param *param.Param) {
 	switch param {
 	case s.pi.mark:
 		s.pi.state.Dec()

locate.go

@@ -15,6 +15,10 @@
 
 package pipoint
 
+import (
+	"juju.net.nz/x/pipoint/param"
+)
+
 // LocateState runs initially to locate the base unit.
 type LocateState struct {
 	name string
@@ -26,7 +30,7 @@ func (s *LocateState) Name() string {
 }
 
 // Update is called when a param is updated.
-func (s *LocateState) Update(param *Param) {
+func (s *LocateState) Update(param *param.Param) {
 	switch param {
 	case s.pi.neu:
 		s.pi.rover.Set(param.Get())

orientate.go

@@ -15,6 +15,10 @@
 
 package pipoint
 
+import (
+	"juju.net.nz/x/pipoint/param"
+)
+
 // OrientateState runs to set the pan orientation.
 type OrientateState struct {
 	name string
@@ -26,7 +30,7 @@ func (s *OrientateState) Name() string {
 }
 
 // Update is called when a param is updated.
-func (s *OrientateState) Update(param *Param) {
+func (s *OrientateState) Update(param *param.Param) {
 	switch param {
 	case s.pi.neu:
 		s.pi.rover.Set(param.Get())

param.go → param/param.go

@@ -13,7 +13,7 @@
 // limitations under the License.
 //
 
-package pipoint
+package param
 
 import (
 	"errors"

param_test.go → param/param_test.go

@@ -13,7 +13,7 @@
 // limitations under the License.
 //
 
-package pipoint
+package param
 
 import (
 	"testing"

params.go → param/params.go

@@ -13,7 +13,7 @@
 // limitations under the License.
 //
 
-package pipoint
+package param
 
 import (
 	"bytes"

params_mqtt.go → param/params_mqtt.go

@@ -13,7 +13,7 @@
 // limitations under the License.
 //
 
-package pipoint
+package param
 
 import (
 	"fmt"
@@ -23,6 +23,7 @@ import (
 	"strings"
 
 	"gobot.io/x/gobot/platforms/mqtt"
+	"juju.net.nz/x/pipoint/util"
 )
 
 const (
@@ -34,7 +35,7 @@ type ParamMQTTBridge struct {
 	params    *Params
 	adaptor   *mqtt.Adaptor
 	prefix    string
-	limiter   *Limiter
+	limiter   *util.Limiter
 	listening bool
 }
 
@@ -50,7 +51,7 @@ func NewParamMQTTBridge(params *Params, adaptor *mqtt.Adaptor, device string) *P
 		params:  params,
 		adaptor: adaptor,
 		prefix:  prefix,
-		limiter: NewLimiter(),
+		limiter: util.NewLimiter(),
 	}
 	changed := make(chan *Param, 10)
 	params.Listen(changed)

params_test.go → param/params_test.go

@@ -13,7 +13,7 @@
 // limitations under the License.
 //
 
-package pipoint
+package param
 
 import (
 	"reflect"

pipoint.go

@@ -19,6 +19,9 @@ import (
 	"log"
 	"time"
 
+	"juju.net.nz/x/pipoint/param"
+	"juju.net.nz/x/pipoint/util"
+
 	common "gobot.io/x/gobot/platforms/mavlink/common"
 	"gobot.io/x/gobot/platforms/mqtt"
 )
@@ -36,39 +39,39 @@ var (
 // State is a handler for the current state of the system.
 type State interface {
 	Name() string
-	Update(param *Param)
+	Update(param *param.Param)
 }
 
 // PiPoint is an automatic, GPS based system that points a camera at the rover.
 type PiPoint struct {
-	Params *Params
-
-	state *Param
-
-	version    *Param
-	tick       *Param
-	seconds    *Param
-	messages   *Param
-	heartbeats *Param
-	heartbeat  *Param
-	attitude   *Param
-	gps        *Param
-	gpsFix     *Param
-	neu        *Param
-	baseOffset *Param
-	pred       *Param
-	rover      *Param
-	base       *Param
-	sysStatus  *Param
-	link       *Param
+	Params *param.Params
+
+	state *param.Param
+
+	version    *param.Param
+	tick       *param.Param
+	seconds    *param.Param
+	messages   *param.Param
+	heartbeats *param.Param
+	heartbeat  *param.Param
+	attitude   *param.Param
+	gps        *param.Param
+	gpsFix     *param.Param
+	neu        *param.Param
+	baseOffset *param.Param
+	pred       *param.Param
+	rover      *param.Param
+	base       *param.Param
+	sysStatus  *param.Param
+	link       *param.Param
 	linkLast   int
-	remote     *Param
-	command    *Param
-	mark       *Param
-	vel        *Param
+	remote     *param.Param
+	command    *param.Param
+	mark       *param.Param
+	vel        *param.Param
 
-	sp     *Param
-	offset *Param
+	sp     *param.Param
+	offset *param.Param
 
 	pan  *Servo
 	tilt *Servo
@@ -82,7 +85,7 @@ type PiPoint struct {
 	elog *EventLogger
 	log  *log.Logger
 
-	param ParamChannel
+	param param.ParamChannel
 
 	audio *AudioOut
 }
@@ -90,12 +93,12 @@ type PiPoint struct {
 // NewPiPoint creates a new camera pointer.
 func NewPiPoint() *PiPoint {
 	p := &PiPoint{
-		Params:  NewParams("pipoint"),
+		Params:  param.NewParams("pipoint"),
 		latPred: &LinPred{},
 		lonPred: &LinPred{},
 		altPred: &LinPred{},
 		elog:    NewEventLogger("pipoint"),
-		param:   make(ParamChannel, 10),
+		param:   make(param.ParamChannel, 10),
 		audio:   NewAudioOut(),
 	}
 
@@ -150,7 +153,7 @@ func NewPiPoint() *PiPoint {
 // AddMQTT adds a new MQTT connection that bridges between MQTT and
 // params.
 func (pi *PiPoint) AddMQTT(mqtt *mqtt.Adaptor) {
-	NewParamMQTTBridge(pi.Params, mqtt, "")
+	param.NewParamMQTTBridge(pi.Params, mqtt, "")
 }
 
 // Run is the main entry point that runs forever.
@@ -170,7 +173,7 @@ func (pi *PiPoint) Run() {
 }
 
 func (pi *PiPoint) ticked() {
-	now := Now()
+	now := util.Now()
 	pi.tick.SetFloat64(now)
 	pi.seconds.UpdateInt(int(now))
 
@@ -199,7 +202,7 @@ func (pi *PiPoint) predict(gps *Position) {
 	pi.altPred.SetEx(gps.Alt, now, gps.Time)
 }
 
-func (pi *PiPoint) update(param *Param) {
+func (pi *PiPoint) update(param *param.Param) {
 	if state := pi.getState(); state != nil {
 		state.Update(param)
 	}
@@ -216,7 +219,7 @@ func (pi *PiPoint) getState() State {
 	return nil
 }
 
-func (pi *PiPoint) announce(param *Param) {
+func (pi *PiPoint) announce(param *param.Param) {
 	switch param {
 	case pi.state:
 		if state := pi.getState(); state != nil {
@@ -271,12 +274,12 @@ func (pi *PiPoint) Message(msg interface{}) {
 	case *common.RcChannels:
 		remote := msg.(*common.RcChannels)
 		att := &Attitude{
-			Roll:  ServoToScale(remote.CHAN1_RAW),
-			Pitch: ServoToScale(remote.CHAN2_RAW),
-			Yaw:   ServoToScale(remote.CHAN4_RAW),
+			Roll:  util.ServoToScale(remote.CHAN1_RAW),
+			Pitch: util.ServoToScale(remote.CHAN2_RAW),
+			Yaw:   util.ServoToScale(remote.CHAN4_RAW),
 		}
 		pi.remote.Set(att)
-		command := ScaleToPos(att.Yaw)
+		command := util.ScaleToPos(att.Yaw)
 		if changed, _ := pi.command.UpdateInt(command); changed {
 			if command == -2 {
 				pi.mark.Inc()

run.go

@@ -19,6 +19,9 @@ import (
 	"fmt"
 	"log"
 	"math"
+
+	"juju.net.nz/x/pipoint/param"
+	"juju.net.nz/x/pipoint/util"
 )
 
 // RunState executes when the camera is tracking the rover.
@@ -31,7 +34,7 @@ func (s *RunState) Name() string {
 }
 
 // Update is called when a param is updated.
-func (s *RunState) Update(param *Param) {
+func (s *RunState) Update(param *param.Param) {
 	switch param {
 	case s.pi.neu:
 		s.pi.rover.Set(param.Get())
@@ -65,8 +68,8 @@ func (s *RunState) Update(param *Param) {
 	}
 
 	offset := s.pi.offset.Get().(*Attitude)
-	s.pi.pan.Set(WrapAngle(att.Yaw + offset.Yaw))
-	s.pi.tilt.Set(WrapAngle(att.Pitch + offset.Pitch))
+	s.pi.pan.Set(util.WrapAngle(att.Yaw + offset.Yaw))
+	s.pi.tilt.Set(util.WrapAngle(att.Pitch + offset.Pitch))
 }
 
 func point(rover, base, offset *NEUPosition) (*Attitude, error) {

servo.go

@@ -17,6 +17,9 @@ package pipoint
 
 import (
 	"math"
+
+	"juju.net.nz/x/pipoint/param"
+	"juju.net.nz/x/pipoint/util"
 )
 
 // ServoParams holds the parameters for a servo including limits.
@@ -35,15 +38,15 @@ type ServoParams struct {
 // Servo is a servo on a pin with limits, demand, and actual
 // position.
 type Servo struct {
-	params *Param
-	sp     *Param
-	pv     *Param
+	params *param.Param
+	sp     *param.Param
+	pv     *param.Param
 	pwm    *ServoBlaster
 	filter *Lowpass
 }
 
 // NewServo creates a new servo with params on the given tree.
-func NewServo(name string, params *Params) *Servo {
+func NewServo(name string, params *param.Params) *Servo {
 	s := &Servo{
 		params: params.NewWith(name, &ServoParams{
 			Pin:  -1,
@@ -78,7 +81,7 @@ func (s *Servo) Tick() {
 	// Convert to pulse width.
 	angle += math.Pi / 2
 
-	ms := Scale(angle, 0, params.Span, params.Low, params.High)
+	ms := util.Scale(angle, 0, params.Span, params.Low, params.High)
 	ms = math.Min(params.Max, math.Max(params.Min, ms))
 	s.pv.SetFloat64(ms)
 

servo_test.go

@@ -19,14 +19,17 @@ import (
 	"math"
 	"testing"
 
+	"juju.net.nz/x/pipoint/param"
+	"juju.net.nz/x/pipoint/util"
+
 	"github.com/stretchr/testify/assert"
 )
 
 func TestServo(t *testing.T) {
-	p := &Params{}
+	p := &param.Params{}
 	s := NewServo("pan", p)
 
-	OverrideNow(1)
+	util.OverrideNow(1)
 
 	assert.InDelta(t, s.sp.GetFloat64(), 0, 0.001, "Starts at zero")
 

limiter.go → util/limiter.go

@@ -13,7 +13,7 @@
 // limitations under the License.
 //
 
-package pipoint
+package util
 
 // Limiter is a simple keyed rate limiter.
 type Limiter struct {

util.go → util/util.go

@@ -13,7 +13,7 @@
 // limitations under the License.
 //
 
-package pipoint
+package util
 
 import (
 	"crypto/sha1"

util_test.go → util/util_test.go

@@ -13,7 +13,7 @@
 // limitations under the License.
 //
 
-package pipoint
+package util
 
 import (
 	"testing"