fix data race in controlled motor test

components/base/sensorcontrolled/velocities.go

@@ -150,3 +150,8 @@ func (sb *sensorBase) State(ctx context.Context) ([]float64, error) {
 	}
 	return []float64{linvel.Y, angvel.Z}, nil
 }
+
+// GetType returns that the controllable type is base
+func (cm *sensorBase) GetType() string {
+	return "base"
+}

components/motor/gpio/controlled.go

@@ -37,6 +37,11 @@ func (cm *controlledMotor) State(ctx context.Context) ([]float64, error) {
 	return []float64{pos}, err
 }
 
+// GetType returns that the controllable type is motor
+func (cm *controlledMotor) GetType() string {
+	return "motor"
+}
+
 // updateControlBlockPosVel updates the trap profile and the constant set point for position and velocity control.
 func (cm *controlledMotor) updateControlBlock(ctx context.Context, setPoint, maxVel float64) error {
 	// Update the Trapezoidal Velocity Profile block with the given maxVel for velocity control

control/constant.go

@@ -64,5 +64,7 @@ func (b *constant) Output(ctx context.Context) []*Signal {
 }
 
 func (b *constant) Config(ctx context.Context) BlockConfig {
+	b.mu.Lock()
+	defer b.mu.Unlock()
 	return b.cfg
 }

control/control.go

@@ -12,6 +12,8 @@ type Controllable interface {
 	SetState(ctx context.Context, state []*Signal) error
 	// Position returns the current encoder count value
 	State(ctx context.Context) ([]float64, error)
+	// Type returns if the controllable is a base or a motor
+	GetType() string
 }
 
 // Config configuration of the control loop.

control/endpoint.go

@@ -30,7 +30,7 @@ func (e *endpoint) Next(ctx context.Context, x []*Signal, dt time.Duration) ([]*
 	e.mu.Lock()
 	defer e.mu.Unlock()
 	e.logger.CDebugf(ctx, "z length %v", len(x))
-	e.logger.CDebugf(ctx, "controllable is %v", e.ctr)
+	e.logger.CDebugf(ctx, "controllable type is %v", e.ctr.GetType())
 	switch len(x) {
 	case 1, 2:
 		if e.ctr != nil {

control/trapezoid_velocity_profile.go

@@ -161,5 +161,7 @@ func (s *trapezoidVelocityGenerator) Output(ctx context.Context) []*Signal {
 }
 
 func (s *trapezoidVelocityGenerator) Config(ctx context.Context) BlockConfig {
+	s.mu.Lock()
+	defer s.mu.Unlock()
 	return s.cfg
 }