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feat: implement copilot mode

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This commit is contained in:
Cyrille Nofficial
2023-10-15 12:08:33 +02:00
parent c2b12f297c
commit 58538cff20
31 changed files with 565 additions and 395 deletions
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2
pkg/throttle/controller.go
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@@ -149,7 +149,7 @@ func (c *Controller) onDriveMode(_ mqtt.Client, message mqtt.Message) {
func (c *Controller) onRCThrottle(_ mqtt.Client, message mqtt.Message) {
c.muDriveMode.RLock()
defer c.muDriveMode.RUnlock()
if c.driveMode == events.DriveMode_USER {
if c.driveMode == events.DriveMode_USER || c.driveMode == events.DriveMode_COPILOT {
// Republish same content
payload := message.Payload()
var throttleMsg events.ThrottleMessage

56
pkg/throttle/controller_test.go
View File

@@ -53,7 +53,12 @@ func TestDefaultThrottle(t *testing.T) {
{"test4", 1., events.DriveModeMessage{DriveMode: events.DriveMode_USER}, events.ThrottleMessage{Throttle: 0.5, Confidence: 1.0}, events.ThrottleMessage{Throttle: 0.5, Confidence: 1.0}},
{"test5", 1., events.DriveModeMessage{DriveMode: events.DriveMode_USER}, events.ThrottleMessage{Throttle: 0.4, Confidence: 1.0}, events.ThrottleMessage{Throttle: 0.4, Confidence: 1.0}},
{"test6", 1., events.DriveModeMessage{DriveMode: events.DriveMode_USER}, events.ThrottleMessage{Throttle: 0.6, Confidence: 1.0}, events.ThrottleMessage{Throttle: 0.6, Confidence: 1.0}},
{"test7", 1., events.DriveModeMessage{DriveMode: events.DriveMode_COPILOT}, events.ThrottleMessage{Throttle: 0.3, Confidence: 1.0}, events.ThrottleMessage{Throttle: 0.3, Confidence: 1.0}},
{"test8", 1., events.DriveModeMessage{DriveMode: events.DriveMode_COPILOT}, events.ThrottleMessage{Throttle: 0.5, Confidence: 1.0}, events.ThrottleMessage{Throttle: 0.5, Confidence: 1.0}},
{"test9", 1., events.DriveModeMessage{DriveMode: events.DriveMode_COPILOT}, events.ThrottleMessage{Throttle: 0.4, Confidence: 1.0}, events.ThrottleMessage{Throttle: 0.4, Confidence: 1.0}},
{"test10", 1., events.DriveModeMessage{DriveMode: events.DriveMode_COPILOT}, events.ThrottleMessage{Throttle: 0.6, Confidence: 1.0}, events.ThrottleMessage{Throttle: 0.6, Confidence: 1.0}},
{"limit max throttle on user mode", 0.4, events.DriveModeMessage{DriveMode: events.DriveMode_USER}, events.ThrottleMessage{Throttle: 0.6, Confidence: 1.0}, events.ThrottleMessage{Throttle: 0.4, Confidence: 1.0}},
{"limit max throttle on copilot mode", 0.4, events.DriveModeMessage{DriveMode: events.DriveMode_COPILOT}, events.ThrottleMessage{Throttle: 0.6, Confidence: 1.0}, events.ThrottleMessage{Throttle: 0.4, Confidence: 1.0}},
}
go p.Start()
@@ -189,6 +194,57 @@ func TestController_Start(t *testing.T) {
},
want: &events.ThrottleMessage{Throttle: 0.1, Confidence: 1.0},
},
{
name: "On copilot drive mode, throttle from rc",
fields: fields{
driveMode: events.DriveMode_COPILOT,
max: 0.8,
min: 0.3,
publishPilotFrequency: publishPilotFrequency,
brakeCtl: &brake.DisabledController{},
},
msgEvents: msgEvents{
driveMode: &events.DriveModeMessage{DriveMode: events.DriveMode_COPILOT},
steering: &events.SteeringMessage{Steering: 0.0, Confidence: 1.0},
rcThrottle: &events.ThrottleMessage{Throttle: 0.4, Confidence: 1.0},
throttleFeedback: &events.ThrottleMessage{Throttle: 0.4, Confidence: 1.0},
},
want: &events.ThrottleMessage{Throttle: 0.4, Confidence: 1.0},
},
{
name: "On copilot drive mode, limit throttle to max allowed value",
fields: fields{
driveMode: events.DriveMode_COPILOT,
max: 0.8,
min: 0.3,
publishPilotFrequency: publishPilotFrequency,
brakeCtl: &brake.DisabledController{},
},
msgEvents: msgEvents{
driveMode: &events.DriveModeMessage{DriveMode: events.DriveMode_COPILOT},
steering: &events.SteeringMessage{Steering: 0.0, Confidence: 1.0},
rcThrottle: &events.ThrottleMessage{Throttle: 0.9, Confidence: 1.0},
throttleFeedback: &events.ThrottleMessage{Throttle: 0.8, Confidence: 1.0},
},
want: &events.ThrottleMessage{Throttle: 0.8, Confidence: 1.0},
},
{
name: "On copilot drive mode, throttle can be < to min allowed value",
fields: fields{
driveMode: events.DriveMode_COPILOT,
max: 0.8,
min: 0.3,
publishPilotFrequency: publishPilotFrequency,
brakeCtl: &brake.DisabledController{},
},
msgEvents: msgEvents{
driveMode: &events.DriveModeMessage{DriveMode: events.DriveMode_COPILOT},
steering: &events.SteeringMessage{Steering: 0.0, Confidence: 1.0},
rcThrottle: &events.ThrottleMessage{Throttle: 0.1, Confidence: 1.0},
throttleFeedback: &events.ThrottleMessage{Throttle: 0.4, Confidence: 1.0},
},
want: &events.ThrottleMessage{Throttle: 0.1, Confidence: 1.0},
},
{
name: "On pilot drive mode and straight steering, use max throttle allowed",
fields: fields{