55 lines
1.2 KiB
Go
55 lines
1.2 KiB
Go
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package brake
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import (
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"encoding/json"
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"fmt"
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"github.com/cyrilix/robocar-throttle/pkg/types"
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"os"
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)
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var (
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defaultBrakeConfig = Config{
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DeltaSteps: []float32{0.05, 0.3, 0.5},
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Data: []types.Throttle{-0.1, -0.5, -1.},
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}
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)
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func NewConfig() *Config {
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return &defaultBrakeConfig
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}
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func NewConfigFromJson(fileName string) (*Config, error) {
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content, err := os.ReadFile(fileName)
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if err != nil {
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return nil, fmt.Errorf("unable to read content from %s file: %w", fileName, err)
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}
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var ft Config
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err = json.Unmarshal(content, &ft)
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if err != nil {
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return nil, fmt.Errorf("unable to unmarshal json content from %s file: %w", fileName, err)
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}
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return &ft, nil
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}
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type Config struct {
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DeltaSteps []float32 `json:"delta_steps"`
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Data []types.Throttle `json:"data"`
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}
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func (tc *Config) ValueOf(currentThrottle, targetThrottle types.Throttle) types.Throttle {
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delta := float32(currentThrottle - targetThrottle)
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if delta < tc.DeltaSteps[0] {
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return targetThrottle
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}
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if delta >= tc.DeltaSteps[len(tc.DeltaSteps)-1] {
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return tc.Data[len(tc.Data)-1]
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}
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for idx, step := range tc.DeltaSteps {
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if delta < step {
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return tc.Data[idx-1]
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}
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}
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return tc.Data[len(tc.Data)-1]
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}
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