Implement steering/throttle reading from simulator
This commit is contained in:
123
pkg/controls/controls.go
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123
pkg/controls/controls.go
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@@ -0,0 +1,123 @@
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package controls
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import (
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"bufio"
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"encoding/json"
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"fmt"
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"github.com/cyrilix/robocar-protobuf/go/events"
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"github.com/cyrilix/robocar-simulator/pkg/simulator"
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log "github.com/sirupsen/logrus"
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"io"
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"net"
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"sync"
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)
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type SteeringController interface {
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WriteSteering(message *events.SteeringMessage)
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}
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type ThrottleController interface {
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WriteThrottle(message *events.ThrottleMessage)
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}
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func New(address string) (*Gateway, error) {
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conn, err := net.Dial("tcp", address)
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if err != nil {
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return nil, fmt.Errorf("unable to connect to %v", address)
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}
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return &Gateway{
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conn: conn,
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}, nil
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}
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/* Simulator interface to publish command controls from mqtt topic */
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type Gateway struct {
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cancel chan interface{}
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muControl sync.Mutex
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lastControl *simulator.ControlMsg
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conn io.WriteCloser
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}
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func (g *Gateway) Start() {
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log.Info("connect to simulator")
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g.cancel = make(chan interface{})
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}
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func (g *Gateway) Stop() {
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log.Info("close simulator gateway")
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close(g.cancel)
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if err := g.Close(); err != nil {
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log.Printf("unexpected error while simulator connection is closed: %v", err)
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}
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}
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func (g *Gateway) Close() error {
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if g.conn == nil {
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log.Warnln("no connection to close")
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return nil
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}
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if err := g.conn.Close(); err != nil {
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return fmt.Errorf("unable to close connection to simulator: %v", err)
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}
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return nil
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}
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func (g *Gateway) WriteSteering(message *events.SteeringMessage) {
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g.muControl.Lock()
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defer g.muControl.Unlock()
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g.initLastControlMsg()
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g.lastControl.Steering = message.Steering
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g.writeContent()
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}
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func (g *Gateway) WriteThrottle(message *events.ThrottleMessage) {
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g.muControl.Lock()
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defer g.muControl.Unlock()
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g.initLastControlMsg()
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if message.Throttle > 0 {
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g.lastControl.Throttle = message.Throttle
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g.lastControl.Brake = 0.
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} else {
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g.lastControl.Throttle = 0.
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g.lastControl.Brake = -1 * message.Throttle
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}
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g.writeContent()
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}
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func (g *Gateway) writeContent() {
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w := bufio.NewWriter(g.conn)
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content, err := json.Marshal(g.lastControl)
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if err != nil {
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log.Errorf("unable to marshall control msg \"%#v\": %v", g.lastControl, err)
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return
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}
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_, err = w.Write(append(content, '\n'))
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if err != nil {
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log.Errorf("unable to write control msg \"%#v\" to simulator: %v", g.lastControl, err)
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return
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}
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err = w.Flush()
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if err != nil {
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log.Errorf("unable to flush control msg \"%#v\" to simulator: %v", g.lastControl, err)
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return
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}
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}
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func (g *Gateway) initLastControlMsg() {
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if g.lastControl != nil {
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return
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}
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g.lastControl = &simulator.ControlMsg{
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MsgType: "control",
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Steering: 0.,
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Throttle: 0.,
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Brake: 0.,
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}
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}
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281
pkg/controls/controls_test.go
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281
pkg/controls/controls_test.go
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@@ -0,0 +1,281 @@
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package controls
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import (
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"bufio"
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"encoding/json"
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"fmt"
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"github.com/cyrilix/robocar-protobuf/go/events"
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"github.com/cyrilix/robocar-simulator/pkg/simulator"
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log "github.com/sirupsen/logrus"
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"io"
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"net"
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"sync"
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"testing"
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)
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func TestGateway_WriteSteering(t *testing.T) {
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cases := []struct {
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name string
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msg *events.SteeringMessage
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previousMsg *simulator.ControlMsg
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expectedMsg simulator.ControlMsg
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}{
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{"First Message",
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&events.SteeringMessage{Steering: 0.5, Confidence: 1},
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nil,
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simulator.ControlMsg{
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MsgType: "control",
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Steering: 0.5,
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Throttle: 0,
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Brake: 0,
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}},
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{"Update steering",
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&events.SteeringMessage{Steering: -0.5, Confidence: 1},
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&simulator.ControlMsg{
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MsgType: "control",
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Steering: 0.2,
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Throttle: 0,
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Brake: 0,
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},
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simulator.ControlMsg{
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MsgType: "control",
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Steering: -0.5,
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Throttle: 0,
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Brake: 0,
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}},
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{"Update steering shouldn't erase throttle value",
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&events.SteeringMessage{Steering: -0.3, Confidence: 1},
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&simulator.ControlMsg{
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MsgType: "control",
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Steering: 0.2,
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Throttle: 0.6,
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Brake: 0.1,
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},
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simulator.ControlMsg{
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MsgType: "control",
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Steering: -0.3,
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Throttle: 0.6,
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Brake: 0.1,
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}},
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}
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simulatorMock := ConnMock{}
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err := simulatorMock.listen()
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if err != nil {
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t.Errorf("unable to start mock server: %v", err)
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}
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defer func(){
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if err := simulatorMock.Close(); err != nil {
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t.Errorf("unable to stop simulator mock: %v", err)
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}
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}()
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server, err := New(simulatorMock.Addr())
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if err != nil {
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t.Fatalf("unable to init simulator gateway: %v", err)
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}
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for _, c := range cases {
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server.lastControl = c.previousMsg
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server.WriteSteering(c.msg)
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ctrlMsg := <- simulatorMock.Notify()
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if *ctrlMsg != c.expectedMsg {
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t.Errorf("[%v] bad messge received: %#v, wants %#v", c.name, ctrlMsg, c.expectedMsg)
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}
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}
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}
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func TestGateway_WriteThrottle(t *testing.T) {
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cases := []struct {
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name string
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msg *events.ThrottleMessage
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previousMsg *simulator.ControlMsg
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expectedMsg simulator.ControlMsg
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}{
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{"First Message",
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&events.ThrottleMessage{Throttle: 0.5, Confidence: 1},
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nil,
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simulator.ControlMsg{
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MsgType: "control",
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Steering: 0,
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Throttle: 0.5,
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Brake: 0,
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}},
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{"Update Throttle",
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&events.ThrottleMessage{Throttle: 0.6, Confidence: 1},
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&simulator.ControlMsg{
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MsgType: "control",
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Steering: 0,
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Throttle: 0.4,
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Brake: 0,
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},
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simulator.ControlMsg{
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MsgType: "control",
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Steering: 0,
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Throttle: 0.6,
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Brake: 0,
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}},
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{"Update steering shouldn't erase throttle value",
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&events.ThrottleMessage{Throttle: 0.3, Confidence: 1},
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&simulator.ControlMsg{
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MsgType: "control",
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Steering: 0.2,
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Throttle: 0.6,
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Brake: 0.,
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},
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simulator.ControlMsg{
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MsgType: "control",
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Steering: 0.2,
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Throttle: 0.3,
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Brake: 0.,
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}},
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{"Throttle to brake",
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&events.ThrottleMessage{Throttle: -0.7, Confidence: 1},
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&simulator.ControlMsg{
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MsgType: "control",
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Steering: 0.2,
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Throttle: 0.6,
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Brake: 0.,
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},
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simulator.ControlMsg{
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MsgType: "control",
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Steering: 0.2,
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Throttle: 0.,
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Brake: 0.7,
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}},
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{"Update brake",
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&events.ThrottleMessage{Throttle: -0.2, Confidence: 1},
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&simulator.ControlMsg{
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MsgType: "control",
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Steering: 0.2,
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Throttle: 0.,
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Brake: 0.5,
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},
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simulator.ControlMsg{
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MsgType: "control",
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Steering: 0.2,
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Throttle: 0.,
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Brake: 0.2,
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}},
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{"Brake to throttle",
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&events.ThrottleMessage{Throttle: 0.9, Confidence: 1},
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&simulator.ControlMsg{
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MsgType: "control",
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Steering: 0.2,
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Throttle: 0.,
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Brake: 0.4,
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},
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simulator.ControlMsg{
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MsgType: "control",
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Steering: 0.2,
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Throttle: 0.9,
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Brake: 0.,
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}},
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}
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simulatorMock := ConnMock{}
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err := simulatorMock.listen()
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if err != nil {
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t.Errorf("unable to start mock server: %v", err)
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}
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defer func(){
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if err := simulatorMock.Close(); err != nil {
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t.Errorf("unable to stop simulator mock: %v", err)
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}
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}()
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server, err := New(simulatorMock.Addr())
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if err != nil {
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t.Fatalf("unable to init simulator gateway: %v", err)
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}
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for _, c := range cases {
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server.lastControl = c.previousMsg
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server.WriteThrottle(c.msg)
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ctrlMsg := <- simulatorMock.Notify()
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if *ctrlMsg != c.expectedMsg {
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t.Errorf("[%v] bad messge received: %#v, wants %#v", c.name, ctrlMsg, c.expectedMsg)
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}
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}
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}
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type ConnMock struct {
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initMsgsOnce sync.Once
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ln net.Listener
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notifyChan chan *simulator.ControlMsg
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initNotifyChan sync.Once
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}
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func (c *ConnMock) Notify() <-chan *simulator.ControlMsg {
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c.initNotifyChan.Do(func() { c.notifyChan = make(chan *simulator.ControlMsg) })
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return c.notifyChan
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}
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func (c *ConnMock) listen() error {
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ln, err := net.Listen("tcp", "127.0.0.1:")
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c.ln = ln
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if err != nil {
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return fmt.Errorf("unable to listen on port: %v", err)
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}
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go func() {
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for {
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conn, err := c.ln.Accept()
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if err != nil {
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log.Infof("connection close: %v", err)
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break
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}
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go c.handleConnection(conn)
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}
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}()
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return nil
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}
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func (c *ConnMock) Addr() string {
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return c.ln.Addr().String()
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}
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func (c *ConnMock) handleConnection(conn net.Conn) {
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c.initNotifyChan.Do(func() { c.notifyChan = make(chan *simulator.ControlMsg) })
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reader := bufio.NewReader(conn)
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for {
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rawCmd, err := reader.ReadBytes('\n')
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if err != nil {
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if err == io.EOF {
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log.Info("connection closed")
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break
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}
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log.Errorf("unable to read request: %v", err)
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return
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}
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var msg simulator.ControlMsg
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err = json.Unmarshal(rawCmd, &msg)
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if err != nil {
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log.Errorf("unable to unmarchal control msg \"%v\": %v", string(rawCmd), err)
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continue
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}
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c.notifyChan <- &msg
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}
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}
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func (c *ConnMock) Close() error {
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log.Infof("close mock server")
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err := c.ln.Close()
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if err != nil {
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return fmt.Errorf("unable to close mock server: %v", err)
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}
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if c.notifyChan != nil {
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close(c.notifyChan)
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}
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return nil
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}
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