robocars/robocar-throttle
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feat: add accelation factor args

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This commit is contained in:
Cyrille Nofficial 2024-01-15 19:18:36 +01:00
parent 5eac26a738
commit 36efa2bef0
3 changed files with 76 additions and 13 deletions
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5
cmd/rc-throttle/rc-throttle.go
View File

@ -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{}
}

18
pkg/brake/controller.go
View File

@ -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)
}

58
pkg/brake/controller_test.go
View File

@ -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)