robocar-throttle/pkg/brake/controller.go

package brake

import (
	"github.com/cyrilix/robocar-throttle/pkg/types"
	"go.uber.org/zap"
	"sync"
)

type Controller interface {
	SetRealThrottle(t types.Throttle)
	AdjustThrottle(targetThrottle types.Throttle) types.Throttle
}

func NewCustomController() *CustomController {
	return &CustomController{cfg: NewConfig()}
}

func NewCustomControllerWithJsonConfig(filename string) *CustomController {
	config, err := NewConfigFromJson(filename)
	if err != nil {
		zap.S().Panicf("unable to init brake controller with json config '%s': %v", filename, err)
	}
	return &CustomController{cfg: config, acceleratorFactor: 1.0}
}

func NewCustomControllerWithJsonConfigAndAcceleratorFactor(filename string, acceleratorFactor float64) *CustomController {
	config, err := NewConfigFromJson(filename)
	if err != nil {
		zap.S().Panicf("unable to init brake controller with json config '%s': %v", filename, err)
	}
	return &CustomController{cfg: config, acceleratorFactor: acceleratorFactor}
}

type CustomController struct {
	muRealThrottle    sync.RWMutex
	realThrottle      types.Throttle
	cfg               *Config
	acceleratorFactor float64
}

func (b *CustomController) SetRealThrottle(t types.Throttle) {
	b.muRealThrottle.Lock()
	defer b.muRealThrottle.Unlock()
	b.realThrottle = t
}

func (b *CustomController) GetRealThrottle() types.Throttle {
	b.muRealThrottle.RLock()
	defer b.muRealThrottle.RUnlock()
	res := b.realThrottle
	return res
}

func (b *CustomController) AdjustThrottle(targetThrottle types.Throttle) types.Throttle {
	if targetThrottle > b.GetRealThrottle() {
		throttle := b.GetRealThrottle() + (targetThrottle-b.GetRealThrottle())*types.Throttle(b.acceleratorFactor)
		if throttle > 1.0 {
			throttle = 1.0
		}
		return throttle
	}
	return b.cfg.ValueOf(b.GetRealThrottle(), targetThrottle)
}

type DisabledController struct{}

func (d *DisabledController) SetRealThrottle(_ types.Throttle) {}

func (d *DisabledController) AdjustThrottle(targetThrottle types.Throttle) types.Throttle {
	return targetThrottle
}