robocars/robocar-steering
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

feat: implement copilot drive mode

Browse Source
This commit is contained in:
Cyrille Nofficial
2023-10-15 11:48:53 +02:00
parent 7961e5d2ae
commit 156cc5204d
76 changed files with 2404 additions and 2011 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
pkg/steering/controller.go
View File

@@ -158,7 +158,7 @@ func (c *Controller) onRCSteering(_ mqtt.Client, message mqtt.Message) {
func (c *Controller) onTFSteering(_ mqtt.Client, message mqtt.Message) {
c.muDriveMode.RLock()
defer c.muDriveMode.RUnlock()
if c.driveMode != events.DriveMode_PILOT {
if c.driveMode != events.DriveMode_PILOT && c.driveMode != events.DriveMode_COPILOT {
// User mode, skip new message
return
}

65
pkg/steering/controller_test.go
View File

@@ -65,6 +65,20 @@ func TestDefaultSteering(t *testing.T) {
events.SteeringMessage{Steering: 0.7, Confidence: 1.0},
events.ObjectsMessage{},
},
{
events.DriveModeMessage{DriveMode: events.DriveMode_COPILOT},
events.SteeringMessage{Steering: 0.5, Confidence: 1.0},
events.SteeringMessage{Steering: 0.6, Confidence: 1.0},
events.SteeringMessage{Steering: 0.6, Confidence: 1.0},
events.ObjectsMessage{},
},
{
events.DriveModeMessage{DriveMode: events.DriveMode_COPILOT},
events.SteeringMessage{Steering: 0.4, Confidence: 1.0},
events.SteeringMessage{Steering: 0.7, Confidence: 1.0},
events.SteeringMessage{Steering: 0.7, Confidence: 1.0},
events.ObjectsMessage{},
},
{
events.DriveModeMessage{DriveMode: events.DriveMode_USER},
events.SteeringMessage{Steering: 0.5, Confidence: 1.0},
@@ -214,6 +228,23 @@ func TestController_Start(t *testing.T) {
// Get rc value without correction
want: events.SteeringMessage{Steering: 0.4, Confidence: 1.0},
},
{
name: "On copilot drive mode, none correction",
fields: fields{
driveMode: events.DriveMode_COPILOT,
enableCorrection: false,
enableCorrectionOnUser: false,
},
msgEvents: msgEvents{
driveMode: events.DriveModeMessage{DriveMode: events.DriveMode_COPILOT},
rcSteering: events.SteeringMessage{Steering: 0.3, Confidence: 1.0},
tfSteering: events.SteeringMessage{Steering: 0.4, Confidence: 1.0},
objects: events.ObjectsMessage{Objects: []*events.Object{&objectOnMiddleNear}},
},
correctionOnObject: 0.5,
// Get rc value without correction
want: events.SteeringMessage{Steering: 0.4, Confidence: 1.0},
},
{
name: "On pilot drive mode, correction enabled",
fields: fields{
@@ -248,6 +279,40 @@ func TestController_Start(t *testing.T) {
// Get rc value without correction
want: events.SteeringMessage{Steering: 0.5, Confidence: 1.0},
},
{
name: "On copilot drive mode, correction enabled",
fields: fields{
driveMode: events.DriveMode_COPILOT,
enableCorrection: true,
enableCorrectionOnUser: false,
},
msgEvents: msgEvents{
driveMode: events.DriveModeMessage{DriveMode: events.DriveMode_COPILOT},
rcSteering: events.SteeringMessage{Steering: 0.3, Confidence: 1.0},
tfSteering: events.SteeringMessage{Steering: 0.4, Confidence: 1.0},
objects: events.ObjectsMessage{Objects: []*events.Object{&objectOnMiddleNear}},
},
correctionOnObject: 0.5,
// Get rc value without correction
want: events.SteeringMessage{Steering: 0.5, Confidence: 1.0},
},
{
name: "On copilot drive mode, all corrections enabled",
fields: fields{
driveMode: events.DriveMode_COPILOT,
enableCorrection: true,
enableCorrectionOnUser: true,
},
msgEvents: msgEvents{
driveMode: events.DriveModeMessage{DriveMode: events.DriveMode_COPILOT},
rcSteering: events.SteeringMessage{Steering: 0.3, Confidence: 1.0},
tfSteering: events.SteeringMessage{Steering: 0.4, Confidence: 1.0},
objects: events.ObjectsMessage{Objects: []*events.Object{&objectOnMiddleNear}},
},
correctionOnObject: 0.5,
// Get rc value without correction
want: events.SteeringMessage{Steering: 0.5, Confidence: 1.0},
},
{
name: "On user drive mode, only correction PILOT enabled",
fields: fields{