RSDK-1617 - fix interrupt bug in ultrasonic sensor #1764
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viambot
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viambot
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| case <-time.After(time.Millisecond * time.Duration(s.timeoutMs)): | ||
| return nil, errors.New("ultrasonic timeout") | ||
| return errors.New("ultrasonic timeout 1") |
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Is the "1" supposed to be there? typo maybe?
viambot
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viambot
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npmenard
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Jan 13, 2023
| // on the time interval between the sound and its echo | ||
| // and the speed of sound (343 m/s) | ||
| distMeters := timeA.Sub(timeB).Seconds() * 343.0 / 2.0 | ||
| distMillis := math.Round((distMeters*1000.0)*1000.0) / 1000.0 |
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nit : distMilli (otherwise sounds like millisecond :P
npmenard
reviewed
Jan 13, 2023
| ) | ||
| } | ||
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| func (s *Sensor) sendDistance(ctx context.Context) error { |
npmenard
reviewed
Jan 13, 2023
| s.activeBackgroundWorkers.Add(1) | ||
| rdkutils.ManagedGo( | ||
| func() { | ||
| defer s.echoInterrupt.RemoveCallback(s.intChan) |
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nit: if you do the remove here I think you should register the callback here as well
npmenard
reviewed
Jan 13, 2023
| if err := s.sendDistance(ctx); err != nil { | ||
| s.errChan <- err | ||
| } | ||
| default: |
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is it needed here? we could just wait forever on intChan/readingChan/cancelCtx
npmenard
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Jan 13, 2023
| s.isReading = false | ||
| s.mu.Unlock() | ||
| }() | ||
| s.isReading = true |
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do you use this struct field for anything else? if not I would remove it
npmenard
approved these changes
Jan 13, 2023
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viambot
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michaellee1019
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Jan 13, 2023
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