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feat: implement copilot drive mode

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This commit is contained in:
Cyrille Nofficial 2023-10-15 11:33:10 +02:00
parent 993cfaa9d4
commit fb20ef0d06
6 changed files with 24 additions and 11 deletions
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2
go.mod
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@ -4,7 +4,7 @@ go 1.21
require ( require (
github.com/cyrilix/robocar-base v0.1.8 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/eclipse/paho.mqtt.golang v1.4.3
github.com/tarm/serial v0.0.0-20180830185346-98f6abe2eb07 github.com/tarm/serial v0.0.0-20180830185346-98f6abe2eb07
go.uber.org/zap v1.25.0 go.uber.org/zap v1.25.0

4
go.sum
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@ -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/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 h1:9hfH9rCcyGXR0dtESIhI9tCrK9juq+dSnJXCxCF2LVw=
github.com/cyrilix/robocar-base v0.1.8/go.mod h1:oJnfYjoz2PX16BD8I8LJ14kRQt1zbFb7XaUHtUEZgjg= 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 h1:vj9j/u1bqnvCEfJOwUhtlOARqs3+rkHYY13jYWTU97c=
github.com/davecgh/go-spew v1.1.1/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38= 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= github.com/eclipse/paho.mqtt.golang v1.4.3 h1:2kwcUGn8seMUfWndX0hGbvH8r7crgcJguQNCyp70xik=

7
pkg/arduino/arduino.go
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@ -287,7 +287,12 @@ func (a *Part) processChannel6(v string) {
// No value, ignore it // No value, ignore it
return 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 { 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) zap.S().Infof("Update channel 6 'drive-mode' with value %v, new user_mode: %v", value, events.DriveMode_PILOT)
a.driveMode = events.DriveMode_PILOT a.driveMode = events.DriveMode_PILOT

4
pkg/arduino/arduino_test.go
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@ -118,6 +118,10 @@ func TestArduinoPart_Update(t *testing.T) {
{"DriveMode: user", {"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), 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}, 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), {"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}, defaultPwmThrottleConfig, -1., -1., events.DriveMode_USER, false},

16
vendor/github.com/cyrilix/robocar-protobuf/go/events/events.pb.go generated vendored
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@ -79,6 +79,7 @@ const (
DriveMode_INVALID DriveMode = 0 DriveMode_INVALID DriveMode = 0
DriveMode_USER DriveMode = 1 DriveMode_USER DriveMode = 1
DriveMode_PILOT DriveMode = 2 DriveMode_PILOT DriveMode = 2
DriveMode_COPILOT DriveMode = 3
) )
// Enum value maps for DriveMode. // Enum value maps for DriveMode.
@ -87,11 +88,13 @@ var (
0: "INVALID", 0: "INVALID",
1: "USER", 1: "USER",
2: "PILOT", 2: "PILOT",
3: "COPILOT",
} }
DriveMode_value = map[string]int32{ DriveMode_value = map[string]int32{
"INVALID": 0, "INVALID": 0,
"USER": 1, "USER": 1,
"PILOT": 2, "PILOT": 2,
"COPILOT": 3,
} }
) )
@ -1114,14 +1117,15 @@ var file_events_events_proto_rawDesc = []byte{
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} }
var ( var (

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