robocar-arduino/pkg/tools/thresholdconfig.go

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2022-09-02 09:44:14 +00:00
package tools
import (
"encoding/json"
"fmt"
"os"
)
var (
defaultThresholdConfig = ThresholdConfig{
ThresholdSteps: []float64{0.07, 0.08, 0.09, 0.1, 0.125, 0.15, 0.2, 0.25, 0.3, 0.35, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0},
MinValid: 500,
Data: []int{8700, 4800, 3500, 2550, 1850, 1387, 992, 840, 750, 700, 655, 620, 590, 570, 553, 549, 548},
}
)
func NewThresholdConfig() *ThresholdConfig {
return &defaultThresholdConfig
}
func NewThresholdConfigFromJson(fileName string) (*ThresholdConfig, error) {
content, err := os.ReadFile(fileName)
if err != nil {
return nil, fmt.Errorf("unable to read content from %s file: %w", fileName, err)
}
var ft ThresholdConfig
err = json.Unmarshal(content, &ft)
if err != nil {
return nil, fmt.Errorf("unable to unmarshal json content from %s file: %w", fileName, err)
}
return &ft, nil
}
type ThresholdConfig struct {
ThresholdSteps []float64 `json:"threshold_steps"`
MinValid int `json:"min_valid"`
Data []int `json:"data"`
}
func (tc *ThresholdConfig) ValueOf(pwm int) float64 {
if pwm < tc.MinValid || pwm > tc.Data[0] {
return 0.
}
if pwm == tc.Data[0] {
return tc.ThresholdSteps[0]
}
if pwm < tc.Data[len(tc.Data)-1] && pwm >= tc.MinValid {
return 1.
}
// search column index
var idx int
// Start loop at 1 because first column should be skipped
for i := 1; i < len(tc.ThresholdSteps); i++ {
if pwm == tc.Data[i] {
return tc.ThresholdSteps[i]
}
if pwm > tc.Data[i] {
idx = i - 1
break
}
}
return tc.ThresholdSteps[idx] - (tc.ThresholdSteps[idx]-tc.ThresholdSteps[idx+1])/2.
}