Added sync. Cleaning.

mpu/mpu.go

@@ -3,11 +3,12 @@ package mpu
 import (
 	"fmt"
 	"io"
+	"sync"
 
 	"github.com/CGSG-2021-AE4/mpu-test/pkg/mpu6050"
 )
 
-type MpuData struct {
+type Data struct {
 	TempData  float32    `json:"Temperature"`
 	AccelData [3]float32 `json:"Accelerometer"`
 	GyroData  [3]float32 `json:"Gyroscope"`
@@ -15,15 +16,17 @@ type MpuData struct {
 
 type mpu struct {
 	device mpu6050.Device
-
-	data MpuData
+	mutex  sync.Mutex
+	data   Data
 }
 
 type Mpu interface {
 	Init() error
 	Update() error
-	Validate() bool
-	GetData() MpuData
+
+	IsConnected() bool
+	GetData() Data
+
 	io.Closer
 }
 
@@ -34,6 +37,9 @@ func New() Mpu {
 }
 
 func (m *mpu) Init() error {
+	m.mutex.Lock()
+	defer m.mutex.Unlock()
+
 	d, err := mpu6050.Open()
 	if err != nil {
 		return fmt.Errorf("open mpu connection: %w", err)
@@ -43,6 +49,9 @@ func (m *mpu) Init() error {
 }
 
 func (m *mpu) Update() (err error) {
+	m.mutex.Lock()
+	defer m.mutex.Unlock()
+
 	m.data.TempData, err = m.device.GetTemp()
 	if err != nil {
 		return fmt.Errorf("get temp data: %w", err)
@@ -58,15 +67,21 @@ func (m *mpu) Update() (err error) {
 	return nil
 }
 
-func (m *mpu) Validate() bool {
+func (m *mpu) IsConnected() bool {
 	return m.device != nil
 }
 
-func (m *mpu) GetData() MpuData {
+func (m *mpu) GetData() Data {
+	m.mutex.Lock()
+	defer m.mutex.Unlock()
+
 	return m.data
 }
 
 func (m *mpu) Close() error {
+	m.mutex.Lock()
+	defer m.mutex.Unlock()
+
 	defer func() {
 		m.device = nil
 	}()