feat: remove secondary controler and manage max Throttle with channel3
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cyrilix committed
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f960fcc768
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3 files changed
+121
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-41
@@ -63,8 +63,7 @@ func TestArduinoPart_Update(t *testing.T) {
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a := Part{client: nil, serial: conn, pubFrequency: 100,
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pwmSteeringConfig: NewAsymetricPWMConfig(MinPwmAngle, MaxPwmAngle, MiddlePwmAngle),
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pwmThrottleConfig: &DefaultPwmThrottle,
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pwmSecondaryThrottleConfig: &DefaultPwmThrottle,
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pwmSecondarySteeringConfig: NewPWMConfig(MinPwmThrottle, MaxPwmThrottle),
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pwmMaxThrottleCtrlConfig: &DefaultPwmThrottle,
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throttleFeedbackThresholds: tools.NewThresholdConfig(),
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}
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go func() {
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@@ -77,98 +76,106 @@ func TestArduinoPart_Update(t *testing.T) {
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channel1, channel2, channel3, channel4, channel5, channel6, channel7, channel8, channel9 := 678, 910, 1012, 1678, 1910, 112, 0, 0, 0
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cases := []struct {
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name, content string
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throttlePwmConfig *PWMConfig
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expectedThrottle, expectedSteering float32
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expectedDriveMode events.DriveMode
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expectedSwitchRecord bool
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name, content string
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throttlePwmConfig *PWMConfig
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expectedThrottle, expectedSteering, expectedMaxThrottleCtrl float32
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expectedDriveMode events.DriveMode
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expectedSwitchRecord bool
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}{
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{"Good value",
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fmt.Sprintf("12345,%d,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, channel2, channel3, channel4, channel5, channel6, channel7, channel8, channel9),
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defaultPwmThrottleConfig, -1., -1.,
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defaultPwmThrottleConfig, -1., -1., 0.01,
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events.DriveMode_USER, false},
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{"Invalid line",
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"12350,invalid line\n", defaultPwmThrottleConfig,
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-1., -1., events.DriveMode_INVALID, false},
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-1., -1., 0.01, events.DriveMode_INVALID, false},
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{"Switch record on",
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fmt.Sprintf("12355,%d,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, channel2, channel3, channel4, 998, channel6, channel7, channel8, channel9),
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defaultPwmThrottleConfig, -1., -1., events.DriveMode_USER, true},
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defaultPwmThrottleConfig, -1., -1., 0.01, events.DriveMode_USER, true},
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{"Switch record off",
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fmt.Sprintf("12360,%d,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, channel2, channel3, channel4, 1987, channel6, channel7, channel8, channel9),
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defaultPwmThrottleConfig, -1., -1., events.DriveMode_USER, false},
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defaultPwmThrottleConfig, -1., -1., 0.01, events.DriveMode_USER, false},
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{"Switch record off",
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fmt.Sprintf("12365,%d,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, channel2, channel3, channel4, 1850, channel6, channel7, channel8, channel9),
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defaultPwmThrottleConfig, -1., -1., events.DriveMode_USER, false},
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defaultPwmThrottleConfig, -1., -1., 0.01, events.DriveMode_USER, false},
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{"Switch record on",
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fmt.Sprintf("12370,%d,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, channel2, channel3, channel4, 1003, channel6, channel7, channel8, channel9),
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defaultPwmThrottleConfig, -1., -1., events.DriveMode_USER, true},
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defaultPwmThrottleConfig, -1., -1., 0.01, events.DriveMode_USER, true},
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{"DriveMode: user",
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fmt.Sprintf("12375,%d,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, channel2, channel3, channel4, channel5, 998, channel7, channel8, channel9),
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defaultPwmThrottleConfig, -1., -1., events.DriveMode_USER, false},
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defaultPwmThrottleConfig, -1., -1., 0.01, events.DriveMode_USER, false},
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{"DriveMode: pilot",
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fmt.Sprintf("12380,%d,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, channel2, channel3, channel4, channel5, 1987, channel7, channel8, channel9),
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defaultPwmThrottleConfig, -1., -1., events.DriveMode_PILOT, false},
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defaultPwmThrottleConfig, -1., -1., 0.01, events.DriveMode_PILOT, false},
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{"DriveMode: pilot",
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fmt.Sprintf("12385,%d,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, channel2, channel3, channel4, channel5, 1850, channel7, channel8, channel9),
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defaultPwmThrottleConfig, -1., -1., events.DriveMode_PILOT, false},
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defaultPwmThrottleConfig, -1., -1., 0.01, events.DriveMode_PILOT, false},
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// DriveMode: user
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{"DriveMode: user",
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fmt.Sprintf("12390,%d,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, channel2, channel3, channel4, channel5, 1003, channel7, channel8, channel9),
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defaultPwmThrottleConfig, -1., -1., events.DriveMode_USER, false},
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defaultPwmThrottleConfig, -1., -1., 0.01, events.DriveMode_USER, false},
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// DriveMode: copilot
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{"DriveMode: copilot",
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fmt.Sprintf("12390,%d,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, channel2, channel3, channel4, channel5, 1250, channel7, channel8, channel9),
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defaultPwmThrottleConfig, -1., -1., events.DriveMode_COPILOT, false},
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defaultPwmThrottleConfig, -1., -1., 0.01, events.DriveMode_COPILOT, false},
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{"Sterring: over left", fmt.Sprintf("12395,%d,%d,%d,%d,%d,%d,%d,%d,%d,50\n", 99, channel2, channel3, channel4, channel5, channel6, channel7, channel8, channel9),
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defaultPwmThrottleConfig, -1., -1., events.DriveMode_USER, false},
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defaultPwmThrottleConfig, -1., -1., 0.01, events.DriveMode_USER, false},
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{"Sterring: left",
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fmt.Sprintf("12400,%d,%d,%d,%d,%d,%d,%d,%d,%d,50\n", int(MinPwmAngle+40), channel2, channel3, channel4, channel5, channel6, channel7, channel8, channel9),
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defaultPwmThrottleConfig, -1., -0.92, events.DriveMode_USER, false},
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defaultPwmThrottleConfig, -1., -0.92, 0.01, events.DriveMode_USER, false},
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{"Sterring: middle",
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fmt.Sprintf("12405,%d,%d,%d,%d,%d,%d,%d,%d,%d,50\n", 1450, channel2, channel3, channel4, channel5, channel6, channel7, channel8, channel9),
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defaultPwmThrottleConfig, -1., -0.09, events.DriveMode_USER, false},
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defaultPwmThrottleConfig, -1., -0.09, 0.01, events.DriveMode_USER, false},
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{"Sterring: right",
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fmt.Sprintf("12410,%d,%d,%d,%d,%d,%d,%d,%d,%d,50\n", 1958, channel2, channel3, channel4, channel5, channel6, channel7, channel8, channel9),
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defaultPwmThrottleConfig, -1., 0.95, events.DriveMode_USER, false},
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defaultPwmThrottleConfig, -1., 0.95, 0.01, events.DriveMode_USER, false},
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{"Sterring: over right",
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fmt.Sprintf("12415,%d,%d,%d,%d,%d,%d,%d,%d,%d,50\n", 2998, channel2, channel3, channel4, channel5, channel6, channel7, channel8, channel9),
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defaultPwmThrottleConfig, -1., 1., events.DriveMode_USER, false},
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defaultPwmThrottleConfig, -1., 1., 0.01, events.DriveMode_USER, false},
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{"Throttle: over down",
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fmt.Sprintf("12420,%d,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, 99, channel3, channel4, channel5, channel6, channel7, channel8, channel9),
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defaultPwmThrottleConfig, -1., -1., events.DriveMode_USER, false},
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defaultPwmThrottleConfig, -1., -1., 0.01, events.DriveMode_USER, false},
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{"Throttle: down",
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fmt.Sprintf("12425,%d,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, 998, channel3, channel4, channel5, channel6, channel7, channel8, channel9),
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defaultPwmThrottleConfig, -0.95, -1., events.DriveMode_USER, false},
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defaultPwmThrottleConfig, -0.95, -1., 0.01, events.DriveMode_USER, false},
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{"Throttle: stop",
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fmt.Sprintf("12430,%d,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, 1450, channel3, channel4, channel5, channel6, channel7, channel8, channel9),
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NewPWMConfig(1000, 1900), 0.0, -1., events.DriveMode_USER, false},
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NewPWMConfig(1000, 1900), 0.0, -1., 0.01, events.DriveMode_USER, false},
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{"Throttle: up",
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fmt.Sprintf("12435,%d,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, 1948, channel3, channel4, channel5, channel6, channel7, channel8, channel9),
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defaultPwmThrottleConfig, 0.99, -1., events.DriveMode_USER, false},
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defaultPwmThrottleConfig, 0.99, -1., 0.01, events.DriveMode_USER, false},
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{"Throttle: over up",
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fmt.Sprintf("12440,%d,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, 2998, channel3, channel4, channel5, channel6, channel7, channel8, channel9),
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defaultPwmThrottleConfig, 1., -1., events.DriveMode_USER, false},
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defaultPwmThrottleConfig, 1., -1., 0.01, events.DriveMode_USER, false},
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{"Throttle: zero not middle",
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fmt.Sprintf("12440,%d,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, 1600, channel3, channel4, channel5, channel6, channel7, channel8, channel9),
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&PWMConfig{1000, 1700, 1500},
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0.5, -1., events.DriveMode_USER, false},
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{"Use 2nd rc: use channels 7 and 8",
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fmt.Sprintf("12440,%d,%d,%d,%d,%d,%d,%d,%d,%d,50\n", 1000, 1000, 1950, channel4, channel5, channel6, 2000, 2008, channel9),
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defaultPwmThrottleConfig, 1., 1, events.DriveMode_USER, false},
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0.5, -1., 0.01, events.DriveMode_USER, false},
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{"MaxThrottleCtrl: Too low value",
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fmt.Sprintf("12440,%d,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, channel2, 100, channel4, channel5, channel6, 2000, 2008, channel9),
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defaultPwmThrottleConfig, -1., -1, 0., events.DriveMode_USER, false},
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{"MaxThrottleCtrl: low value",
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fmt.Sprintf("12440,%d,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, channel2, 1050, channel4, channel5, channel6, 2000, 2008, channel9),
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defaultPwmThrottleConfig, -1., -1, 0.05, events.DriveMode_USER, false},
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{"MaxThrottleCtrl: High value",
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fmt.Sprintf("12440,%d,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, channel2, 1900, channel4, channel5, channel6, 2000, 2008, channel9),
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defaultPwmThrottleConfig, -1., -1, 0.91, events.DriveMode_USER, false},
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{"MaxThrottleCtrl: Too High value",
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fmt.Sprintf("12440,%d,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, channel2, 4005, channel4, channel5, channel6, 2000, 2008, channel9),
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defaultPwmThrottleConfig, -1., -1, 1, events.DriveMode_USER, false},
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{"Drive Mode: user",
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fmt.Sprintf("12430,%d,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, channel6, channel3, channel4, channel5, 900, channel7, channel8, channel9),
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defaultPwmThrottleConfig, -1., -1., events.DriveMode_USER, false},
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defaultPwmThrottleConfig, -1., -1., 0.01, events.DriveMode_USER, false},
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{"Drive Mode: pilot",
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fmt.Sprintf("12430,%d,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, channel6, channel3, channel4, channel5, 1950, channel7, channel8, channel9),
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defaultPwmThrottleConfig, -1., -1., events.DriveMode_PILOT, false},
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defaultPwmThrottleConfig, -1., -1., 0.01, events.DriveMode_PILOT, false},
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{"Drive Mode: no value",
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fmt.Sprintf("12430,%d,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, channel6, channel3, channel4, channel5, -1, channel7, channel8, channel9),
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defaultPwmThrottleConfig, -1., -1., events.DriveMode_INVALID, false},
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defaultPwmThrottleConfig, -1., -1., 0.01, events.DriveMode_INVALID, false},
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}
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for _, c := range cases {
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@@ -195,6 +202,9 @@ func TestArduinoPart_Update(t *testing.T) {
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if fmt.Sprintf("%0.2f", a.Steering()) != fmt.Sprintf("%0.2f", c.expectedSteering) {
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t.Errorf("%s: bad steering value, expected: %0.2f, actual: %.2f", c.name, c.expectedSteering, a.Steering())
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}
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if fmt.Sprintf("%0.2f", a.MaxThrottleCtrl()) != fmt.Sprintf("%0.2f", c.expectedMaxThrottleCtrl) {
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t.Errorf("%s: bad MaxThrottleCtrl value, expected: %0.2f, actual: %.2f", c.name, c.expectedMaxThrottleCtrl, a.MaxThrottleCtrl())
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}
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if a.DriveMode() != c.expectedDriveMode {
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t.Errorf("%s: bad drive mode, expected: %v, actual:%v", c.name, c.expectedDriveMode, a.DriveMode())
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}
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@@ -241,6 +251,7 @@ func TestPublish(t *testing.T) {
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serial: conn,
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pubFrequency: pubFrequency,
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throttleTopic: "car/part/arduino/throttle/target",
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maxThrottleCtrlTopic: "car/part/arduino/throttle/max",
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steeringTopic: "car/part/arduino/steering",
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driveModeTopic: "car/part/arduino/drive_mode",
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switchRecordTopic: "car/part/arduino/switch_record",
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@@ -254,33 +265,38 @@ func TestPublish(t *testing.T) {
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throttle, steering float32
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driveMode events.DriveMode
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throttleFeedback float32
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maxThrottleCtrl float32
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switchRecord bool
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expectedThrottle events.ThrottleMessage
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expectedSteering events.SteeringMessage
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expectedDriveMode events.DriveModeMessage
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expectedSwitchRecord events.SwitchRecordMessage
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expectedThrottleFeedback events.ThrottleMessage
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expectedMaxThrottleCtrl events.ThrottleMessage
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}{
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{-1, 1, events.DriveMode_USER, 0.3, true,
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{-1, 1, events.DriveMode_USER, 0.3, 0.5, true,
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events.ThrottleMessage{Throttle: -1., Confidence: 1.},
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events.SteeringMessage{Steering: 1.0, Confidence: 1.},
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events.DriveModeMessage{DriveMode: events.DriveMode_USER},
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events.SwitchRecordMessage{Enabled: false},
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events.ThrottleMessage{Throttle: 0.3, Confidence: 1.},
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events.ThrottleMessage{Throttle: 0.5, Confidence: 1.},
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},
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{0, 0, events.DriveMode_PILOT, 0.4, false,
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{0, 0, events.DriveMode_PILOT, 0.4, 0.5, false,
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events.ThrottleMessage{Throttle: 0., Confidence: 1.},
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events.SteeringMessage{Steering: 0., Confidence: 1.},
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events.DriveModeMessage{DriveMode: events.DriveMode_PILOT},
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events.SwitchRecordMessage{Enabled: true},
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events.ThrottleMessage{Throttle: 0.4, Confidence: 1.},
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events.ThrottleMessage{Throttle: 0.5, Confidence: 1.},
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},
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{0.87, -0.58, events.DriveMode_PILOT, 0.5, false,
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{0.87, -0.58, events.DriveMode_PILOT, 0.5, 0.5, false,
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events.ThrottleMessage{Throttle: 0.87, Confidence: 1.},
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events.SteeringMessage{Steering: -0.58, Confidence: 1.},
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events.DriveModeMessage{DriveMode: events.DriveMode_PILOT},
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events.SwitchRecordMessage{Enabled: true},
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events.ThrottleMessage{Throttle: 0.5, Confidence: 1.},
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events.ThrottleMessage{Throttle: 0.5, Confidence: 1.},
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},
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}
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@@ -288,6 +304,7 @@ func TestPublish(t *testing.T) {
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a.mutex.Lock()
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a.throttle = c.throttle
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a.steering = c.steering
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a.maxThrottleCtrl = c.maxThrottleCtrl
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a.driveMode = c.driveMode
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a.ctrlRecord = c.switchRecord
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a.throttleFeedback = c.throttleFeedback
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@@ -334,6 +351,14 @@ func TestPublish(t *testing.T) {
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if throttleFeedbackMsg.String() != c.expectedThrottleFeedback.String() {
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t.Errorf("msg(car/part/arduino/throttle/feedback): %v, wants %v", throttleFeedbackMsg.String(), c.expectedThrottleFeedback.String())
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}
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var maxThrottleCtrlMsg events.ThrottleMessage
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muPublishedEvents.Lock()
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unmarshalMsg(t, pulishedEvents["car/part/arduino/throttle/max"], &maxThrottleCtrlMsg)
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muPublishedEvents.Unlock()
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if maxThrottleCtrlMsg.String() != c.expectedMaxThrottleCtrl.String() {
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t.Errorf("msg(car/part/arduino/throttle/max): %v, wants %v", maxThrottleCtrlMsg.String(), c.expectedMaxThrottleCtrl.String())
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}
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}
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}
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@@ -501,8 +526,8 @@ func Test_convertPwmSteeringToPercent(t *testing.T) {
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}
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for _, tt := range tests {
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t.Run(tt.name, func(t *testing.T) {
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if got := convertPwmSteeringToPercent(tt.args.value, tt.args.steeringConfig); got != tt.want {
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t.Errorf("convertPwmSteeringToPercent() = %v, want %v", got, tt.want)
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if got := convertPwmToPercent(tt.args.value, tt.args.steeringConfig); got != tt.want {
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t.Errorf("convertPwmToPercent() = %v, want %v", got, tt.want)
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}
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})
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}
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