feat: add accelation factor args

cmd/rc-throttle/rc-throttle.go

@@ -24,6 +24,7 @@ func main() {
 	var publishPilotFrequency int
 	var brakeConfig string
 	var enableBrake bool
+	var acceleratorFactor float64
 	var enableSpeedZone bool
 	var enableCustomSteeringProcessor bool
 	var configFileSteeringProcessor string
@@ -58,6 +59,7 @@ func main() {
 
 	flag.BoolVar(&enableBrake, "enable-brake-feature", false, "Enable brake to slow car on throttle changes")
 	flag.StringVar(&brakeConfig, "brake-configuration", "", "Json file to use to configure brake adaptation when --enable-brake is `true`")
+	flag.Float64Var(&acceleratorFactor, "accelerator-factor", 1.0, "Accelerator factor when --enable-bake is 'true'")
 
 	flag.BoolVar(&enableCustomSteeringProcessor, "enable-custom-steering-processor", false, "Enable custom steering processor to estimate throttle")
 	flag.StringVar(&configFileSteeringProcessor, "custom-steering-processor-config", "", "Path to json config to parameter custom steering processor")
@@ -100,6 +102,7 @@ func main() {
 	zap.S().Infof("Max throttle                   : %v", maxThrottle)
 	zap.S().Infof("Publish frequency              : %vHz", publishPilotFrequency)
 	zap.S().Infof("Brake enabled                  : %v", enableBrake)
+	zap.S().Infof("Accelerator factor             : %v", acceleratorFactor)
 	zap.S().Infof("CustomSteeringProcessor enabled: %v", enableCustomSteeringProcessor)
 	zap.S().Infof("SpeedZone enabled              : %v", enableSpeedZone)
 	zap.S().Infof("SpeedZone slow throttle        : %v", slowZoneThrottle)
@@ -116,7 +119,7 @@ func main() {
 
 	var brakeCtrl brake.Controller
 	if enableBrake {
-		brakeCtrl = brake.NewCustomControllerWithJsonConfig(brakeConfig)
+		brakeCtrl = brake.NewCustomControllerWithJsonConfigAndAcceleratorFactor(brakeConfig, acceleratorFactor)
 	} else {
 		brakeCtrl = &brake.DisabledController{}
 	}

pkg/brake/controller.go

@@ -20,13 +20,22 @@ func NewCustomControllerWithJsonConfig(filename string) *CustomController {
 	if err != nil {
 		zap.S().Panicf("unable to init brake controller with json config '%s': %v", filename, err)
 	}
-	return &CustomController{cfg: config}
+	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) {
@@ -43,6 +52,13 @@ func (b *CustomController) GetRealThrottle() types.Throttle {
 }
 
 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)
 }
 

pkg/brake/controller_test.go

@@ -8,6 +8,7 @@ import (
 func TestController_AdjustThrottle(t *testing.T) {
 	type fields struct {
 		realThrottle      types.Throttle
+		acceleratorFactor float64
 	}
 	type args struct {
 		targetThrottle types.Throttle
@@ -18,46 +19,89 @@ func TestController_AdjustThrottle(t *testing.T) {
 		args   args
 		want   types.Throttle
 	}{
+		{
+			name:   "target same as current throttle with big acceleration",
+			fields: fields{realThrottle: 0.2, acceleratorFactor: 2.},
+			args:   args{targetThrottle: 0.2},
+			want:   0.2,
+		},
+		{
+			name:   "target > as current throttle with big acceleration",
+			fields: fields{realThrottle: 0.2, acceleratorFactor: 2.},
+			args:   args{targetThrottle: 0.3},
+			want:   0.40000004,
+		},
+		{
+			name:   "target >> as current throttle with big acceleration",
+			fields: fields{realThrottle: 0.2, acceleratorFactor: 2.},
+			args:   args{targetThrottle: 0.5},
+			want:   0.8,
+		},
+		{
+			name:   "target >> as current throttle with big acceleration, result > 1",
+			fields: fields{realThrottle: 0.2, acceleratorFactor: 3.},
+			args:   args{targetThrottle: 0.5},
+			want:   1.0,
+		},
+		{
+			name:   "target < as current throttle with big acceleration",
+			fields: fields{realThrottle: 0.8, acceleratorFactor: 2.},
+			args:   args{targetThrottle: 0.7},
+			want:   -0.1,
+		},
+		{
+			name:   "target << as current throttle with big acceleration",
+			fields: fields{realThrottle: 0.8, acceleratorFactor: 2.},
+			args:   args{targetThrottle: 0.5},
+			want:   -0.5,
+		},
+		{
+			name:   "target <<< as current throttle with big acceleration",
+			fields: fields{realThrottle: 0.8, acceleratorFactor: 2.},
+			args:   args{targetThrottle: 0.2},
+			want:   -1.,
+		},
+
 		{
 			name:   "target same as current throttle",
-			fields: fields{realThrottle: 0.2},
+			fields: fields{realThrottle: 0.2, acceleratorFactor: 1.},
 			args:   args{targetThrottle: 0.2},
 			want:   0.2,
 		},
 		{
 			name:   "target > as current throttle",
-			fields: fields{realThrottle: 0.2},
+			fields: fields{realThrottle: 0.2, acceleratorFactor: 1.},
 			args:   args{targetThrottle: 0.3},
 			want:   0.3,
 		},
 		{
 			name:   "target >> as current throttle",
-			fields: fields{realThrottle: 0.2},
+			fields: fields{realThrottle: 0.2, acceleratorFactor: 1.},
 			args:   args{targetThrottle: 0.5},
 			want:   0.5,
 		},
 		{
 			name:   "target < as current throttle",
-			fields: fields{realThrottle: 0.8},
+			fields: fields{realThrottle: 0.8, acceleratorFactor: 1.},
 			args:   args{targetThrottle: 0.7},
 			want:   -0.1,
 		},
 		{
 			name:   "target << as current throttle",
-			fields: fields{realThrottle: 0.8},
+			fields: fields{realThrottle: 0.8, acceleratorFactor: 1.},
 			args:   args{targetThrottle: 0.5},
 			want:   -0.5,
 		},
 		{
 			name:   "target <<< as current throttle",
-			fields: fields{realThrottle: 0.8},
+			fields: fields{realThrottle: 0.8, acceleratorFactor: 1.},
 			args:   args{targetThrottle: 0.2},
 			want:   -1.,
 		},
 	}
 	for _, tt := range tests {
 		t.Run(tt.name, func(t *testing.T) {
-			b := &CustomController{cfg: NewConfig()}
+			b := &CustomController{cfg: NewConfig(), acceleratorFactor: tt.fields.acceleratorFactor}
 			b.SetRealThrottle(tt.fields.realThrottle)
 			if got := b.AdjustThrottle(tt.args.targetThrottle); got != tt.want {
 				t.Errorf("AdjustThrottle() = %v, want %v", got, tt.want)