Added mpu module. Some refactoring and cleaning.

main.go

@@ -4,7 +4,7 @@ import (
 	"log"
 	"time"
 
-	"github.com/CGSG-2021-AE4/mpu-test/mpu6050"
+	"github.com/CGSG-2021-AE4/mpu-test/pkg/mpu6050"
 )
 
 func main() {
@@ -26,7 +26,7 @@ func mainE() error {
 	for {
 		// temp, err := mpu.GetTemp()
 		// if err != nil {
-			// return err
+		// return err
 		// }
 		accel, err := mpu.GetAccel(false)
 		if err != nil {

mpu/mpu.go

@@ -0,0 +1,74 @@
+package mpu
+
+import (
+	"fmt"
+	"io"
+
+	"github.com/CGSG-2021-AE4/mpu-test/pkg/mpu6050"
+)
+
+type MpuData struct {
+	TempData  float32    `json:"Temperature"`
+	AccelData [3]float32 `json:"Accelerometer"`
+	GyroData  [3]float32 `json:"Gyroscope"`
+}
+
+type mpu struct {
+	device mpu6050.Device
+
+	data MpuData
+}
+
+type Mpu interface {
+	Init() error
+	Update() error
+	Validate() bool
+	GetData() MpuData
+	io.Closer
+}
+
+func New() Mpu {
+	return &mpu{
+		device: nil,
+	}
+}
+
+func (m *mpu) Init() error {
+	d, err := mpu6050.Open()
+	if err != nil {
+		return fmt.Errorf("open mpu connection: %w", err)
+	}
+	m.device = d
+	return nil
+}
+
+func (m *mpu) Update() (err error) {
+	m.data.TempData, err = m.device.GetTemp()
+	if err != nil {
+		return fmt.Errorf("get temp data: %w", err)
+	}
+	m.data.AccelData, err = m.device.GetAccel(false)
+	if err != nil {
+		return fmt.Errorf("get accel data: %w", err)
+	}
+	m.data.GyroData, err = m.device.GetGyro()
+	if err != nil {
+		return fmt.Errorf("get gyro data: %w", err)
+	}
+	return nil
+}
+
+func (m *mpu) Validate() bool {
+	return m.device != nil
+}
+
+func (m *mpu) GetData() MpuData {
+	return m.data
+}
+
+func (m *mpu) Close() error {
+	defer func() {
+		m.device = nil
+	}()
+	return m.device.Close()
+}

pkg/mpu6050/mpu.go

@@ -2,7 +2,7 @@ package mpu6050
 
 import (
 	"fmt"
-	"log"
+	"io"
 
 	"golang.org/x/exp/io/i2c"
 )
@@ -70,10 +70,14 @@ type device struct {
 
 type Device interface {
 	GetTemp() (float32, error)
+
 	SetAccelRange(r byte) error
 	GetAccel(inG bool) ([3]float32, error)
+
 	SetGyroRange(r byte) error
 	GetGyro() ([3]float32, error)
+
+	io.Closer
 }
 
 func Open() (Device, error) {
@@ -140,8 +144,8 @@ func (d *device) GetAccel(inG bool) ([3]float32, error) {
 		scale = AccelScaleModifier2G
 	case AccelRange16G:
 		scale = AccelScaleModifier2G
-	default:
-		log.Println("not foudn accel range:", accelRange)
+		//default:
+		// log.Println("not foudn accel range:", accelRange)
 	}
 	scale = 1 / scale
 
@@ -201,8 +205,8 @@ func (d *device) GetGyro() ([3]float32, error) {
 		scale = GyroScaleModifier1000DEG
 	case GyroRange2000DEG:
 		scale = GyroScaleModifier2000DEG
-	default:
-		log.Println("not found gyro range:", gyroRange)
+		// default:
+		//   log.Println("not found gyro range:", gyroRange)
 	}
 	return [3]float32{
 		float32(x) / scale,
@@ -210,3 +214,10 @@ func (d *device) GetGyro() ([3]float32, error) {
 		float32(z) / scale,
 	}, nil
 }
+
+func (d *device) Close() error {
+	defer func() {
+		d.device = nil
+	}()
+	return d.device.Close()
+}