feat: implement copilot drive mode

go.mod

@@ -4,7 +4,7 @@ go 1.21
 
 require (
 	github.com/cyrilix/robocar-base v0.1.8
-	github.com/cyrilix/robocar-protobuf/go v1.3.1
+	github.com/cyrilix/robocar-protobuf/go v1.4.0
 	github.com/eclipse/paho.mqtt.golang v1.4.3
 	github.com/tarm/serial v0.0.0-20180830185346-98f6abe2eb07
 	go.uber.org/zap v1.25.0

go.sum

@@ -2,8 +2,8 @@ github.com/benbjohnson/clock v1.3.0 h1:ip6w0uFQkncKQ979AypyG0ER7mqUSBdKLOgAle/AT
 github.com/benbjohnson/clock v1.3.0/go.mod h1:J11/hYXuz8f4ySSvYwY0FKfm+ezbsZBKZxNJlLklBHA=
 github.com/cyrilix/robocar-base v0.1.8 h1:9hfH9rCcyGXR0dtESIhI9tCrK9juq+dSnJXCxCF2LVw=
 github.com/cyrilix/robocar-base v0.1.8/go.mod h1:oJnfYjoz2PX16BD8I8LJ14kRQt1zbFb7XaUHtUEZgjg=
-github.com/cyrilix/robocar-protobuf/go v1.3.1 h1:SSKf2g3H7V0PBaecowk6GuWLHhDlMQbo6q6PlgJcZsA=
+github.com/cyrilix/robocar-protobuf/go v1.4.0 h1:ZMN2zjn2iplsbHoBrjiI7d3HdNutWUB+NcVDh2mFcqM=
-github.com/cyrilix/robocar-protobuf/go v1.3.1/go.mod h1:69ZGmxS2JufIxGZPEKvAMZj5b1fVMVG3QTyFlCCHGtg=
+github.com/cyrilix/robocar-protobuf/go v1.4.0/go.mod h1:69ZGmxS2JufIxGZPEKvAMZj5b1fVMVG3QTyFlCCHGtg=
 github.com/davecgh/go-spew v1.1.1 h1:vj9j/u1bqnvCEfJOwUhtlOARqs3+rkHYY13jYWTU97c=
 github.com/davecgh/go-spew v1.1.1/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
 github.com/eclipse/paho.mqtt.golang v1.4.3 h1:2kwcUGn8seMUfWndX0hGbvH8r7crgcJguQNCyp70xik=

pkg/arduino/arduino.go

@@ -287,7 +287,12 @@ func (a *Part) processChannel6(v string) {
 		// No value, ignore it
 		return
 	}
-	if value > 1800 {
+	if value <= 1800 && value > 1200 {
+		if a.driveMode != events.DriveMode_COPILOT {
+			zap.S().Infof("Update channel 6 'drive-mode' with value %v, new user_mode: %v", value, events.DriveMode_PILOT)
+			a.driveMode = events.DriveMode_COPILOT
+		}
+	} else if value > 1800 {
 		if a.driveMode != events.DriveMode_PILOT {
 			zap.S().Infof("Update channel 6 'drive-mode' with value %v, new user_mode: %v", value, events.DriveMode_PILOT)
 			a.driveMode = events.DriveMode_PILOT

pkg/arduino/arduino_test.go

@@ -118,6 +118,10 @@ func TestArduinoPart_Update(t *testing.T) {
 		{"DriveMode: user",
 			fmt.Sprintf("12390,%d,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, channel2, channel3, channel4, channel5, 1003, channel7, channel8, channel9),
 			defaultPwmThrottleConfig, -1., -1., events.DriveMode_USER, false},
+		// DriveMode: copilot
+		{"DriveMode: copilot",
+			fmt.Sprintf("12390,%d,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, channel2, channel3, channel4, channel5, 1250, channel7, channel8, channel9),
+			defaultPwmThrottleConfig, -1., -1., events.DriveMode_COPILOT, false},
 
 		{"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),
 			defaultPwmThrottleConfig, -1., -1., events.DriveMode_USER, false},

vendor/github.com/cyrilix/robocar-protobuf/go/events/events.pb.go

@@ -79,6 +79,7 @@ const (
 	DriveMode_INVALID DriveMode = 0
 	DriveMode_USER    DriveMode = 1
 	DriveMode_PILOT   DriveMode = 2
+	DriveMode_COPILOT DriveMode = 3
 )
 
 // Enum value maps for DriveMode.
@@ -87,11 +88,13 @@ var (
 		0: "INVALID",
 		1: "USER",
 		2: "PILOT",
+		3: "COPILOT",
 	}
 	DriveMode_value = map[string]int32{
 		"INVALID": 0,
 		"USER":    1,
 		"PILOT":   2,
+		"COPILOT": 3,
 	}
 )
 
@@ -1114,14 +1117,15 @@ var file_events_events_proto_rawDesc = []byte{
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+	0x4c, 0x4f, 0x54, 0x10, 0x03, 0x2a, 0x32, 0x0a, 0x0a, 0x54, 0x79, 0x70, 0x65, 0x4f, 0x62, 0x6a,
-	0x07, 0x0a, 0x03, 0x43, 0x41, 0x52, 0x10, 0x01, 0x12, 0x08, 0x0a, 0x04, 0x42, 0x55, 0x4d, 0x50,
+	0x65, 0x63, 0x74, 0x12, 0x07, 0x0a, 0x03, 0x41, 0x4e, 0x59, 0x10, 0x00, 0x12, 0x07, 0x0a, 0x03,
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+	0x43, 0x41, 0x52, 0x10, 0x01, 0x12, 0x08, 0x0a, 0x04, 0x42, 0x55, 0x4d, 0x50, 0x10, 0x02, 0x12,
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+	0x08, 0x0a, 0x04, 0x50, 0x4c, 0x4f, 0x54, 0x10, 0x03, 0x42, 0x0a, 0x5a, 0x08, 0x2e, 0x2f, 0x65,
+	0x76, 0x65, 0x6e, 0x74, 0x73, 0x62, 0x06, 0x70, 0x72, 0x6f, 0x74, 0x6f, 0x33,
 }
 
 var (

vendor/modules.txt

@@ -2,7 +2,7 @@
 ## explicit; go 1.21
 github.com/cyrilix/robocar-base/cli
 github.com/cyrilix/robocar-base/service
-# github.com/cyrilix/robocar-protobuf/go v1.3.1
+# github.com/cyrilix/robocar-protobuf/go v1.4.0
 ## explicit; go 1.21
 github.com/cyrilix/robocar-protobuf/go/events
 # github.com/eclipse/paho.mqtt.golang v1.4.3