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feat: allow to override pwm throttle limits

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This commit is contained in:
Cyrille Nofficial 2022-06-13 15:21:58 +02:00
parent 9c914d28e7
commit ed1f210a83
3 changed files with 71 additions and 25 deletions
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20
cmd/rc-arduino/rc-arduino.go
View File

@ -15,6 +15,10 @@ const (
SteeringLeftPWM = 1004
SteeringRightPWM = 1986
ThrottleZeroPWM = 1260
ThrottleMinPWM = 972.0
ThrottleMaxPWM = 1954.0
)
var (
@ -34,6 +38,7 @@ func main() {
cli.InitMqttFlags(DefaultClientId, &mqttBroker, &username, &password, &clientId, &mqttQos, &mqttRetain)
var steeringLeftPWM, steeringRightPWM, steeringCenterPWM int
var throttleMinPWM, throttleMaxPWM, throttleZeroPWM int
if err := cli.SetIntDefaultValueFromEnv(&steeringLeftPWM, "STEERING_LEFT_PWM", SteeringLeftPWM); err != nil {
zap.S().Warnf("unable to init steeringLeftPWM arg: %v", err)
}
@ -43,6 +48,15 @@ func main() {
if err := cli.SetIntDefaultValueFromEnv(&steeringCenterPWM, "STEERING_CENTER_PWM", SteeringCenterPWM); err != nil {
zap.S().Warnf("unable to init steeringRightPWM arg: %v", err)
}
if err := cli.SetIntDefaultValueFromEnv(&throttleMinPWM, "THROTTLE_MIN_PWM", ThrottleMinPWM); err != nil {
zap.S().Warnf("unable to init steeringLeftPWM arg: %v", err)
}
if err := cli.SetIntDefaultValueFromEnv(&throttleMaxPWM, "THROTTLE_MAX_PWM", ThrottleMaxPWM); err != nil {
zap.S().Warnf("unable to init steeringRightPWM arg: %v", err)
}
if err := cli.SetIntDefaultValueFromEnv(&throttleZeroPWM, "THROTTLE_ZERO_PWM", ThrottleZeroPWM); err != nil {
zap.S().Warnf("unable to init steeringRightPWM arg: %v", err)
}
flag.Float64Var(&pubFrequency, "mqtt-pub-frequency", 25., "Number of messages to publish per second")
flag.StringVar(&throttleTopic, "mqtt-topic-throttle", os.Getenv("MQTT_TOPIC_THROTTLE"), "Mqtt topic where to publish throttle values, use MQTT_TOPIC_THROTTLE if args not set")
@ -54,6 +68,9 @@ func main() {
flag.IntVar(&steeringLeftPWM, "steering-left-pwm", steeringLeftPWM, "Right left value for steering PWM, STEERING_LEFT_PWM env if args not set")
flag.IntVar(&steeringRightPWM, "steering-right-pwm", steeringRightPWM, "Right right value for steering PWM, STEERING_RIGHT_PWM env if args not set")
flag.IntVar(&steeringCenterPWM, "steering-center-pwm", steeringCenterPWM, "Center value for steering PWM, STEERING_CENTER_PWM env if args not set")
flag.IntVar(&throttleMinPWM, "throttle-min-pwm", throttleMinPWM, "Min value for throttle PWM, THROTTLE_MIN_PWM env if args not set")
flag.IntVar(&steeringRightPWM, "throttle-max-pwm", throttleMaxPWM, "Throttle max value for throttle PWM, THROTTLE_MAX_PWM env if args not set")
flag.IntVar(&steeringCenterPWM, "throttle-zero-pwm", throttleZeroPWM, "Zero value for throttle PWM, THROTTLE_ZERO_PWM env if args not set")
logLevel := zap.LevelFlag("log", zap.InfoLevel, "log level")
flag.Parse()
@ -83,7 +100,8 @@ func main() {
defer client.Disconnect(10)
sc := arduino.NewAsymetricPWMSteeringConfig(steeringLeftPWM, steeringRightPWM, steeringCenterPWM)
a := arduino.NewPart(client, device, baud, throttleTopic, steeringTopic, driveModeTopic, switchRecordTopic, pubFrequency, sc)
tc := arduino.PWMThrottleConfig{Min: throttleMinPWM, Max: throttleMaxPWM, Zero: throttleZeroPWM}
a := arduino.NewPart(client, device, baud, throttleTopic, steeringTopic, driveModeTopic, switchRecordTopic, pubFrequency, sc, tc)
cli.HandleExit(a)

31
pkg/arduino/arduino.go
View File

@ -37,6 +37,13 @@ type Part struct {
cancel chan interface{}
pwmSteeringConfig PWMSteeringConfig
pwmThrottleConfig PWMThrottleConfig
}
type PWMThrottleConfig struct {
Min int
Max int
Zero int
}
type PWMSteeringConfig struct {
@ -52,6 +59,7 @@ func NewPWMSteeringConfig(min, max int) PWMSteeringConfig {
Center: min + (max-min)/2,
}
}
func NewAsymetricPWMSteeringConfig(min, max, middle int) PWMSteeringConfig {
c := NewPWMSteeringConfig(min, max)
c.Center = middle
@ -59,7 +67,7 @@ func NewAsymetricPWMSteeringConfig(min, max, middle int) PWMSteeringConfig {
}
func NewPart(client mqtt.Client, name string, baud int, throttleTopic, steeringTopic, driveModeTopic,
switchRecordTopic string, pubFrequency float64, steeringConfig PWMSteeringConfig) *Part {
switchRecordTopic string, pubFrequency float64, steeringConfig PWMSteeringConfig, throttleConfig PWMThrottleConfig) *Part {
c := &serial.Config{Name: name, Baud: baud}
s, err := serial.OpenPort(c)
if err != nil {
@ -77,6 +85,7 @@ func NewPart(client mqtt.Client, name string, baud int, throttleTopic, steeringT
cancel: make(chan interface{}),
pwmSteeringConfig: steeringConfig,
pwmThrottleConfig: throttleConfig,
}
}
@ -156,10 +165,10 @@ func (a *Part) processChannel2(v string) {
if err != nil {
zap.S().Errorf("invalid throttle value for channel2, should be an int: %v", err)
}
if value < MinPwmThrottle {
value = MinPwmThrottle
} else if value > MaxPwmThrottle {
value = MaxPwmThrottle
if value < a.pwmThrottleConfig.Min {
value = a.pwmThrottleConfig.Min
} else if value > a.pwmThrottleConfig.Max {
value = a.pwmThrottleConfig.Max
}
a.throttle = ((float32(value)-MinPwmThrottle)/(MaxPwmThrottle-MinPwmThrottle))*2.0 - 1.0
}
@ -248,7 +257,7 @@ func (a *Part) publishThrottle() {
return
}
zap.L().Debug("throttle channel", zap.Float32("throttle", a.throttle))
publish(a.client, a.throttleTopic, &throttleMessage)
publish(a.client, a.throttleTopic, throttleMessage)
}
func (a *Part) publishSteering() {
@ -262,7 +271,7 @@ func (a *Part) publishSteering() {
return
}
zap.L().Debug("steering channel", zap.Float32("steering", a.steering))
publish(a.client, a.steeringTopic, &steeringMessage)
publish(a.client, a.steeringTopic, steeringMessage)
}
func (a *Part) publishDriveMode() {
@ -274,7 +283,7 @@ func (a *Part) publishDriveMode() {
zap.S().Errorf("unable to marshal protobuf driveMode message: %v", err)
return
}
publish(a.client, a.driveModeTopic, &driveModeMessage)
publish(a.client, a.driveModeTopic, driveModeMessage)
}
func (a *Part) publishSwitchRecord() {
@ -286,9 +295,9 @@ func (a *Part) publishSwitchRecord() {
zap.S().Errorf("unable to marshal protobuf SwitchRecord message: %v", err)
return
}
publish(a.client, a.switchRecordTopic, &switchRecordMessage)
publish(a.client, a.switchRecordTopic, switchRecordMessage)
}
var publish = func(client mqtt.Client, topic string, payload *[]byte) {
client.Publish(topic, 0, false, *payload)
var publish = func(client mqtt.Client, topic string, payload []byte) {
client.Publish(topic, 0, false, payload)
}

45
pkg/arduino/arduino_test.go
View File

@ -26,7 +26,7 @@ func TestArduinoPart_Update(t *testing.T) {
oldPublish := publish
defer func() { publish = oldPublish }()
publish = func(client mqtt.Client, topic string, payload *[]byte) {}
publish = func(client mqtt.Client, topic string, payload []byte) {}
ln, err := net.Listen("tcp", ":8080")
if err != nil {
@ -58,7 +58,11 @@ func TestArduinoPart_Update(t *testing.T) {
}
}()
a := Part{client: nil, serial: conn, pubFrequency: 100, pwmSteeringConfig: NewAsymetricPWMSteeringConfig(MinPwmAngle, MaxPwmAngle, MiddlePwmAngle)}
defaultPwmThrottleConfig := PWMThrottleConfig{MinPwmThrottle, MaxPwmThrottle, MinPwmThrottle + (MaxPwmThrottle-MinPwmAngle)/int(2)}
a := Part{client: nil, serial: conn, pubFrequency: 100,
pwmSteeringConfig: NewAsymetricPWMSteeringConfig(MinPwmAngle, MaxPwmAngle, MiddlePwmAngle),
}
go func() {
err := a.Start()
if err != nil {
@ -70,75 +74,88 @@ func TestArduinoPart_Update(t *testing.T) {
channel1, channel2, channel3, channel4, channel5, channel6, distanceCm := 678, 910, 1112, 1678, 1910, 112, 128
cases := []struct {
name, content string
throttlePwmConfig PWMThrottleConfig
expectedThrottle, expectedSteering float32
expectedDriveMode events.DriveMode
expectedSwitchRecord bool
}{
{"Good value",
fmt.Sprintf("12345,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, channel5, channel6, distanceCm),
-1., -1., events.DriveMode_USER, false},
defaultPwmThrottleConfig, -1., -1.,
events.DriveMode_USER, false},
{"Unparsable line",
"12350,invalid line\n",
"12350,invalid line\n", defaultPwmThrottleConfig,
-1., -1., events.DriveMode_USER, false},
{"Switch record on",
fmt.Sprintf("12355,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, 998, channel6, distanceCm),
fmt.Sprintf("12355,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, 998, channel6, distanceCm), defaultPwmThrottleConfig,
-1., -1., events.DriveMode_USER, true},
{"Switch record off",
fmt.Sprintf("12360,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, 1987, channel6, distanceCm),
fmt.Sprintf("12360,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, 1987, channel6, distanceCm), defaultPwmThrottleConfig,
-1., -1., events.DriveMode_USER, false},
{"Switch record off",
fmt.Sprintf("12365,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, 1850, channel6, distanceCm),
fmt.Sprintf("12365,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, 1850, channel6, distanceCm), defaultPwmThrottleConfig,
-1., -1., events.DriveMode_USER, false},
{"Switch record on",
fmt.Sprintf("12370,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, 1003, channel6, distanceCm),
fmt.Sprintf("12370,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, 1003, channel6, distanceCm), defaultPwmThrottleConfig,
-1., -1., events.DriveMode_USER, true},
{"DriveMode: user",
fmt.Sprintf("12375,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, channel5, 998, distanceCm),
fmt.Sprintf("12375,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, channel5, 998, distanceCm), defaultPwmThrottleConfig,
-1., -1., events.DriveMode_USER, false},
{"DriveMode: pilot",
fmt.Sprintf("12380,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, channel5, 1987, distanceCm),
fmt.Sprintf("12380,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, channel5, 1987, distanceCm), defaultPwmThrottleConfig,
-1., -1., events.DriveMode_PILOT, false},
{"DriveMode: pilot",
fmt.Sprintf("12385,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, channel5, 1850, distanceCm),
fmt.Sprintf("12385,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, channel5, 1850, distanceCm), defaultPwmThrottleConfig,
-1., -1., events.DriveMode_PILOT, false},
// DriveMode: user
{"DriveMode: user",
fmt.Sprintf("12390,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, channel5, 1003, distanceCm),
defaultPwmThrottleConfig,
-1., -1., events.DriveMode_USER, false},
{"Sterring: over left",
fmt.Sprintf("12395,%d,%d,%d,%d,%d,%d,50,%d\n", 99, channel2, channel3, channel4, channel5, channel6, distanceCm),
defaultPwmThrottleConfig,
-1., -1., events.DriveMode_USER, false},
{"Sterring: left",
fmt.Sprintf("12400,%d,%d,%d,%d,%d,%d,50,%d\n", int(MinPwmAngle+40), channel2, channel3, channel4, channel5, channel6, distanceCm),
defaultPwmThrottleConfig,
-1., -0.92, events.DriveMode_USER, false},
{"Sterring: middle",
fmt.Sprintf("12405,%d,%d,%d,%d,%d,%d,50,%d\n", 1450, channel2, channel3, channel4, channel5, channel6, distanceCm),
defaultPwmThrottleConfig,
-1., -0.09, events.DriveMode_USER, false},
{"Sterring: right",
fmt.Sprintf("12410,%d,%d,%d,%d,%d,%d,50,%d\n", 1958, channel2, channel3, channel4, channel5, channel6, distanceCm),
defaultPwmThrottleConfig,
-1., 0.95, events.DriveMode_USER, false},
{"Sterring: over right",
fmt.Sprintf("12415,%d,%d,%d,%d,%d,%d,50,%d\n", 2998, channel2, channel3, channel4, channel5, channel6, distanceCm),
defaultPwmThrottleConfig,
-1., 1., events.DriveMode_USER, false},
{"Throttle: over down",
fmt.Sprintf("12420,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, 99, channel3, channel4, channel5, channel6, distanceCm),
defaultPwmThrottleConfig,
-1., -1., events.DriveMode_USER, false},
{"Throttle: down",
fmt.Sprintf("12425,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, 998, channel3, channel4, channel5, channel6, distanceCm),
defaultPwmThrottleConfig,
-0.95, -1., events.DriveMode_USER, false},
{"Throttle: stop",
fmt.Sprintf("12430,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, 1450, channel3, channel4, channel5, channel6, distanceCm),
defaultPwmThrottleConfig,
-0.03, -1., events.DriveMode_USER, false},
{"Throttle: up",
fmt.Sprintf("12435,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, 1948, channel3, channel4, channel5, channel6, distanceCm),
defaultPwmThrottleConfig,
0.99, -1., events.DriveMode_USER, false},
{"Throttle: over up",
fmt.Sprintf("12440,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, 2998, channel3, channel4, channel5, channel6, distanceCm),
defaultPwmThrottleConfig,
1., -1., events.DriveMode_USER, false},
}
@ -153,6 +170,8 @@ func TestArduinoPart_Update(t *testing.T) {
t.Error("unable to flush content")
}
a.pwmThrottleConfig = c.throttlePwmConfig
time.Sleep(10 * time.Millisecond)
a.mutex.Lock()
if fmt.Sprintf("%0.2f", a.throttle) != fmt.Sprintf("%0.2f", c.expectedThrottle) {
@ -177,10 +196,10 @@ func TestPublish(t *testing.T) {
var muPublishedEvents sync.Mutex
pulishedEvents := make(map[string][]byte)
publish = func(client mqtt.Client, topic string, payload *[]byte) {
publish = func(client mqtt.Client, topic string, payload []byte) {
muPublishedEvents.Lock()
defer muPublishedEvents.Unlock()
pulishedEvents[topic] = *payload
pulishedEvents[topic] = payload
}
ln, err := net.Listen("tcp", ":8080")