robocars/robocar-arduino
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feat: allow to control car with 2nd radio-command

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This commit is contained in:
cyrilix committed 2022-08-18 12:47:52 +02:00
1 parent e64c7ff559
commit a07d042269
3 files changed
+267 -129
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pkg/arduino/arduino_test.go
+93 -70
View File
@@ -58,11 +58,9 @@ func TestArduinoPart_Update(t *testing.T) {
}
}()
defaultPwmThrottleConfig := PWMThrottleConfig{MinPwmThrottle, MaxPwmThrottle, MinPwmThrottle + (MaxPwmThrottle-MinPwmAngle)/int(2)}
a := Part{client: nil, serial: conn, pubFrequency: 100,
pwmSteeringConfig: NewAsymetricPWMSteeringConfig(MinPwmAngle, MaxPwmAngle, MiddlePwmAngle),
}
defaultPwmThrottleConfig := NewPWMConfig(MinPwmThrottle, MaxPwmThrottle)
a := Part{client: nil, serial: conn, pubFrequency: 100, pwmSteeringConfig: NewAsymetricPWMConfig(MinPwmAngle, MaxPwmAngle, MiddlePwmAngle),
pwmThrottleConfig: &DefaultPwmThrottle, pwmSecondaryThrottleConfig: &DefaultPwmThrottle, pwmSecondarySteeringConfig: NewPWMConfig(MinPwmThrottle, MaxPwmThrottle)}
go func() {
err := a.Start()
if err != nil {
@@ -71,10 +69,10 @@ func TestArduinoPart_Update(t *testing.T) {
}
}()
channel1, channel2, channel3, channel4, channel5, channel6, channel7, channel8 := 678, 910, 1112, 1678, 1910, 112, 0, 0
channel1, channel2, channel3, channel4, channel5, channel6, channel7, channel8 := 678, 910, 1012, 1678, 1910, 112, 0, 0
cases := []struct {
name, content string
throttlePwmConfig PWMThrottleConfig
throttlePwmConfig *PWMConfig
expectedThrottle, expectedSteering float32
expectedDriveMode events.DriveMode
expectedSwitchRecord bool
@@ -138,7 +136,7 @@ func TestArduinoPart_Update(t *testing.T) {
defaultPwmThrottleConfig, -0.95, -1., events.DriveMode_USER, false},
{"Throttle: stop",
fmt.Sprintf("12430,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, 1450, channel3, channel4, channel5, channel6, channel7, channel8),
defaultPwmThrottleConfig, 0.0, -1., events.DriveMode_USER, false},
NewPWMConfig(1000, 1900), 0.0, -1., events.DriveMode_USER, false},
{"Throttle: up",
fmt.Sprintf("12435,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, 1948, channel3, channel4, channel5, channel6, channel7, channel8),
defaultPwmThrottleConfig, 0.99, -1., events.DriveMode_USER, false},
@@ -147,8 +145,11 @@ func TestArduinoPart_Update(t *testing.T) {
defaultPwmThrottleConfig, 1., -1., events.DriveMode_USER, false},
{"Throttle: zero not middle",
fmt.Sprintf("12440,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, 1600, channel3, channel4, channel5, channel6, channel7, channel8),
PWMThrottleConfig{1000, 1700, 1500},
&PWMConfig{1000, 1700, 1500},
0.5, -1., events.DriveMode_USER, false},
{"Use 2nd rc: use channels 7 and 8",
fmt.Sprintf("12440,%d,%d,%d,%d,%d,%d,%d,%d,50\n", 1000, 1000, 1950, channel4, channel5, channel6, 2000, 2008),
defaultPwmThrottleConfig, 1., 1, events.DriveMode_USER, false},
}
for _, c := range cases {
@@ -168,17 +169,17 @@ func TestArduinoPart_Update(t *testing.T) {
time.Sleep(10 * time.Millisecond)
a.mutex.Lock()
a.mutex.Unlock()
if fmt.Sprintf("%0.2f", a.throttle) != fmt.Sprintf("%0.2f", c.expectedThrottle) {
t.Errorf("%s: bad throttle value, expected: %0.2f, actual: %.2f", c.name, c.expectedThrottle, a.throttle)
if fmt.Sprintf("%0.2f", a.Throttle()) != fmt.Sprintf("%0.2f", c.expectedThrottle) {
t.Errorf("%s: bad throttle value, expected: %0.2f, actual: %.2f", c.name, c.expectedThrottle, a.Throttle())
}
if fmt.Sprintf("%0.2f", a.steering) != fmt.Sprintf("%0.2f", c.expectedSteering) {
t.Errorf("%s: bad steering value, expected: %0.2f, actual: %.2f", c.name, c.expectedSteering, a.steering)
if fmt.Sprintf("%0.2f", a.Steering()) != fmt.Sprintf("%0.2f", c.expectedSteering) {
t.Errorf("%s: bad steering value, expected: %0.2f, actual: %.2f", c.name, c.expectedSteering, a.Steering())
}
if a.driveMode != c.expectedDriveMode {
t.Errorf("%s: bad drive mode, expected: %v, actual:%v", c.name, c.expectedDriveMode, a.driveMode)
if a.DriveMode() != c.expectedDriveMode {
t.Errorf("%s: bad drive mode, expected: %v, actual:%v", c.name, c.expectedDriveMode, a.DriveMode())
}
if a.ctrlRecord != c.expectedSwitchRecord {
t.Errorf("%s: bad switch record, expected: %v, actual:%v", c.name, c.expectedSwitchRecord, a.ctrlRecord)
if a.SwitchRecord() != c.expectedSwitchRecord {
t.Errorf("%s: bad switch record, expected: %v, actual:%v", c.name, c.expectedSwitchRecord, a.SwitchRecord())
}
})
}
@@ -311,10 +312,8 @@ func unmarshalMsg(t *testing.T, payload []byte, msg proto.Message) {
func Test_convertPwmSteeringToPercent(t *testing.T) {
type args struct {
value int
middle int
min int
max int
value int
steeringConfig *PWMConfig
}
tests := []struct {
name string
@@ -324,127 +323,151 @@ func Test_convertPwmSteeringToPercent(t *testing.T) {
{
name: "middle",
args: args{
value: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle,
middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle,
min: MinPwmAngle,
max: MaxPwmAngle,
value: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle,
steeringConfig: &PWMConfig{
Middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle,
Min: MinPwmAngle,
Max: MaxPwmAngle,
},
},
want: 0.,
},
{
name: "left",
args: args{
value: MinPwmAngle,
middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle,
min: MinPwmAngle,
max: MaxPwmAngle,
value: MinPwmAngle,
steeringConfig: &PWMConfig{
Middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle,
Min: MinPwmAngle,
Max: MaxPwmAngle,
},
},
want: -1.,
},
{
name: "mid-left",
args: args{
value: int(math.Round((MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle - (MaxPwmAngle-MinPwmAngle)/4)),
middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle,
min: MinPwmAngle,
max: MaxPwmAngle,
value: int(math.Round((MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle - (MaxPwmAngle-MinPwmAngle)/4)),
steeringConfig: &PWMConfig{
Middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle,
Min: MinPwmAngle,
Max: MaxPwmAngle,
},
},
want: -0.4989858,
},
{
name: "over left",
args: args{
value: MinPwmAngle - 100,
middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle,
min: MinPwmAngle,
max: MaxPwmAngle,
value: MinPwmAngle - 100,
steeringConfig: &PWMConfig{
Middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle,
Min: MinPwmAngle,
Max: MaxPwmAngle,
},
},
want: -1.,
},
{
name: "right",
args: args{
value: MaxPwmAngle,
middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle,
min: MinPwmAngle,
max: MaxPwmAngle,
value: MaxPwmAngle,
steeringConfig: &PWMConfig{
Middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle,
Min: MinPwmAngle,
Max: MaxPwmAngle,
},
},
want: 1.,
},
{
name: "mid-right",
args: args{
value: int(math.Round((MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle + (MaxPwmAngle-MinPwmAngle)/4)),
middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle,
min: MinPwmAngle,
max: MaxPwmAngle,
value: int(math.Round((MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle + (MaxPwmAngle-MinPwmAngle)/4)),
steeringConfig: &PWMConfig{
Middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle,
Min: MinPwmAngle,
Max: MaxPwmAngle,
},
},
want: 0.5010142,
},
{
name: "over right",
args: args{
value: MaxPwmAngle + 100,
middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle,
min: MinPwmAngle,
max: MaxPwmAngle,
value: MaxPwmAngle + 100,
steeringConfig: &PWMConfig{
Middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle,
Min: MinPwmAngle,
Max: MaxPwmAngle,
},
},
want: 1.,
},
{
name: "asymetric middle",
args: args{
value: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle + 100,
middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle + 100,
min: MinPwmAngle,
max: MaxPwmAngle,
value: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle + 100,
steeringConfig: &PWMConfig{
Middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle + 100,
Min: MinPwmAngle,
Max: MaxPwmAngle,
},
},
want: 0.,
},
{
name: "asymetric mid-left",
args: args{
value: int(math.Round(((MaxPwmAngle-MinPwmAngle)/2+MinPwmAngle+100-MinPwmAngle)/2) + MinPwmAngle),
middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle + 100,
min: MinPwmAngle,
max: MaxPwmAngle,
value: int(math.Round(((MaxPwmAngle-MinPwmAngle)/2+MinPwmAngle+100-MinPwmAngle)/2) + MinPwmAngle),
steeringConfig: &PWMConfig{
Middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle + 100,
Min: MinPwmAngle,
Max: MaxPwmAngle,
},
},
want: -0.49915683,
},
{
name: "asymetric left",
args: args{
value: MinPwmAngle,
middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle + 100,
min: MinPwmAngle,
max: MaxPwmAngle,
value: MinPwmAngle,
steeringConfig: &PWMConfig{
Middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle + 100,
Min: MinPwmAngle,
Max: MaxPwmAngle,
},
},
want: -1.,
},
{
name: "asymetric mid-right",
args: args{
value: int(math.Round((MaxPwmAngle - (MaxPwmAngle-((MaxPwmAngle-MinPwmAngle)/2+MinPwmAngle+100))/2))),
middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle + 100,
min: MinPwmAngle,
max: MaxPwmAngle,
value: int(math.Round((MaxPwmAngle - (MaxPwmAngle-((MaxPwmAngle-MinPwmAngle)/2+MinPwmAngle+100))/2))),
steeringConfig: &PWMConfig{
Middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle + 100,
Min: MinPwmAngle,
Max: MaxPwmAngle,
},
},
want: 0.50127226,
},
{
name: "asymetric right",
args: args{
value: MaxPwmAngle,
middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle + 100,
min: MinPwmAngle,
max: MaxPwmAngle,
value: MaxPwmAngle,
steeringConfig: &PWMConfig{
Middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle + 100,
Min: MinPwmAngle,
Max: MaxPwmAngle,
},
},
want: 1.,
},
}
for _, tt := range tests {
t.Run(tt.name, func(t *testing.T) {
if got := convertPwmSteeringToPercent(tt.args.value, tt.args.min, tt.args.max, tt.args.middle); got != tt.want {
if got := convertPwmSteeringToPercent(tt.args.value, tt.args.steeringConfig); got != tt.want {
t.Errorf("convertPwmSteeringToPercent() = %v, want %v", got, tt.want)
}
})