56 lines
1.4 KiB
Go
56 lines
1.4 KiB
Go
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package brake
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import (
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"github.com/cyrilix/robocar-throttle/pkg/types"
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"go.uber.org/zap"
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"sync"
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)
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type Controller interface {
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SetRealThrottle(t types.Throttle)
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AdjustThrottle(targetThrottle types.Throttle) types.Throttle
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}
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func NewCustomController() *CustomController {
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return &CustomController{cfg: NewConfig()}
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}
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func NewCustomControllerWithJsonConfig(filename string) *CustomController {
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config, err := NewConfigFromJson(filename)
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if err != nil {
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zap.S().Panicf("unable to init brake controller with json config '%s': %v", filename, err)
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}
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return &CustomController{cfg: config}
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}
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type CustomController struct {
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muRealThrottle sync.RWMutex
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realThrottle types.Throttle
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cfg *Config
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}
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func (b *CustomController) SetRealThrottle(t types.Throttle) {
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b.muRealThrottle.Lock()
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defer b.muRealThrottle.Unlock()
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b.realThrottle = t
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}
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func (b *CustomController) GetRealThrottle() types.Throttle {
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b.muRealThrottle.RLock()
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defer b.muRealThrottle.RUnlock()
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res := b.realThrottle
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return res
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}
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func (b *CustomController) AdjustThrottle(targetThrottle types.Throttle) types.Throttle {
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return b.cfg.ValueOf(b.GetRealThrottle(), targetThrottle)
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}
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type DisabledController struct{}
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func (d *DisabledController) SetRealThrottle(_ types.Throttle) {}
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func (d *DisabledController) AdjustThrottle(targetThrottle types.Throttle) types.Throttle {
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return targetThrottle
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}
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