robocars/robocar-throttle
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feat: implement max throttle limiter on user drive

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close robocars/robocar-setup#7
This commit is contained in:
Cyrille Nofficial
2022-06-14 15:55:33 +02:00
parent 62d7397e05
commit 72e93141d9
2 changed files with 47 additions and 27 deletions
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15
pkg/part/part.go
View File

@@ -101,6 +101,21 @@ func (p *ThrottlePart) onRCThrottle(_ mqtt.Client, message mqtt.Message) {
zap.S().Debug("publish new throttle value from rc")
// Republish same content
payload := message.Payload()
var throttleMsg events.ThrottleMessage
err := proto.Unmarshal(payload, &throttleMsg)
if err != nil {
zap.S().Errorf("unable to unmarshall throttle msg to check throttle value: %v", err)
return
}
if throttleMsg.GetThrottle() > p.maxThrottle {
zap.S().Debug("throttle upper that max value allowed, patch value from %v to %v", throttleMsg.GetThrottle(), p.maxThrottle)
throttleMsg.Throttle = p.maxThrottle
payload, err = proto.Marshal(&throttleMsg)
if err != nil {
zap.S().Errorf("unable to marshall throttle msg: %v", err)
return
}
}
publish(p.client, p.throttleTopic, &payload)
}
}

59
pkg/part/part_test.go
View File

@@ -38,47 +38,52 @@ func TestDefaultThrottle(t *testing.T) {
p := NewPart(nil, throttleTopic, driveModeTopic, rcThrottleTopic, minValue, 1., 200)
cases := []struct {
name string
maxThrottle float32
driveMode events.DriveModeMessage
rcThrottle events.ThrottleMessage
expectedThrottle events.ThrottleMessage
}{
{events.DriveModeMessage{DriveMode: events.DriveMode_USER}, events.ThrottleMessage{Throttle: 0.3, Confidence: 1.0}, events.ThrottleMessage{Throttle: 0.3, Confidence: 1.0}},
{events.DriveModeMessage{DriveMode: events.DriveMode_PILOT}, events.ThrottleMessage{Throttle: 0.5, Confidence: 1.0}, events.ThrottleMessage{Throttle: minValue, Confidence: 1.0}},
{events.DriveModeMessage{DriveMode: events.DriveMode_PILOT}, events.ThrottleMessage{Throttle: 0.4, Confidence: 1.0}, events.ThrottleMessage{Throttle: minValue, Confidence: 1.0}},
{events.DriveModeMessage{DriveMode: events.DriveMode_USER}, events.ThrottleMessage{Throttle: 0.5, Confidence: 1.0}, events.ThrottleMessage{Throttle: 0.5, Confidence: 1.0}},
{events.DriveModeMessage{DriveMode: events.DriveMode_USER}, events.ThrottleMessage{Throttle: 0.4, Confidence: 1.0}, events.ThrottleMessage{Throttle: 0.4, Confidence: 1.0}},
{events.DriveModeMessage{DriveMode: events.DriveMode_USER}, events.ThrottleMessage{Throttle: 0.6, Confidence: 1.0}, events.ThrottleMessage{Throttle: 0.6, Confidence: 1.0}},
{"test1", 1., events.DriveModeMessage{DriveMode: events.DriveMode_USER}, events.ThrottleMessage{Throttle: 0.3, Confidence: 1.0}, events.ThrottleMessage{Throttle: 0.3, Confidence: 1.0}},
{"test2", 1., events.DriveModeMessage{DriveMode: events.DriveMode_PILOT}, events.ThrottleMessage{Throttle: 0.5, Confidence: 1.0}, events.ThrottleMessage{Throttle: minValue, Confidence: 1.0}},
{"test3", 1., events.DriveModeMessage{DriveMode: events.DriveMode_PILOT}, events.ThrottleMessage{Throttle: 0.4, Confidence: 1.0}, events.ThrottleMessage{Throttle: minValue, Confidence: 1.0}},
{"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}},
{"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}},
}
go p.Start()
defer func() { close(p.cancel) }()
for _, c := range cases {
t.Run(c.name, func(t *testing.T) {
p.maxThrottle = c.maxThrottle
p.onDriveMode(nil, testtools.NewFakeMessageFromProtobuf(driveModeTopic, &c.driveMode))
p.onRCThrottle(nil, testtools.NewFakeMessageFromProtobuf(rcThrottleTopic, &c.rcThrottle))
p.onDriveMode(nil, testtools.NewFakeMessageFromProtobuf(driveModeTopic, &c.driveMode))
p.onRCThrottle(nil, testtools.NewFakeMessageFromProtobuf(rcThrottleTopic, &c.rcThrottle))
time.Sleep(10 * time.Millisecond)
time.Sleep(10 * time.Millisecond)
for i := 3; i >= 0; i-- {
for i := 3; i >= 0; i-- {
var msg events.ThrottleMessage
muEventsPublished.Lock()
err := proto.Unmarshal(eventsPublished[throttleTopic], &msg)
if err != nil {
t.Errorf("unable to unmarshall response: %v", err)
t.Fail()
}
muEventsPublished.Unlock()
var msg events.ThrottleMessage
muEventsPublished.Lock()
err := proto.Unmarshal(eventsPublished[throttleTopic], &msg)
if err != nil {
t.Errorf("unable to unmarshall response: %v", err)
t.Fail()
if msg.GetThrottle() != c.expectedThrottle.GetThrottle() {
t.Errorf("bad msg value for mode %v: %v, wants %v", c.driveMode, msg.GetThrottle(), c.expectedThrottle.GetThrottle())
}
if msg.GetConfidence() != 1. {
t.Errorf("bad throtlle confidence: %v, wants %v", msg.GetConfidence(), 1.)
}
time.Sleep(1 * time.Millisecond)
}
muEventsPublished.Unlock()
if msg.GetThrottle() != c.expectedThrottle.GetThrottle() {
t.Errorf("bad msg value for mode %v: %v, wants %v", c.driveMode, msg.GetThrottle(), c.expectedThrottle.GetThrottle())
}
if msg.GetConfidence() != 1. {
t.Errorf("bad throtlle confidence: %v, wants %v", msg.GetConfidence(), 1.)
}
time.Sleep(1 * time.Millisecond)
}
})
}
}