robocars/robocar-throttle
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[refactor] Use protobuf messages

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This commit is contained in:
Cyrille Nofficial
2020-01-01 20:33:41 +01:00
parent 7b0cb1c71f
commit 7da813e837
29 changed files with 12643 additions and 66 deletions
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66
part/part.go
View File

@@ -1,27 +1,24 @@
package part
import (
"encoding/json"
"github.com/cyrilix/robocar-base/mqttdevice"
"github.com/cyrilix/robocar-base/service"
"github.com/cyrilix/robocar-base/types"
"github.com/cyrilix/robocar-protobuf/go/events"
mqtt "github.com/eclipse/paho.mqtt.golang"
"github.com/golang/protobuf/proto"
log "github.com/sirupsen/logrus"
"sync"
"time"
)
func NewPart(client mqtt.Client, pub mqttdevice.Publisher, throttleTopic, driveModeTopic, rcThrottleTopic string,
minValue, maxValue float64, publishPilotFrequency int) *ThrottlePart {
func NewPart(client mqtt.Client, throttleTopic, driveModeTopic, rcThrottleTopic string, minValue, maxValue float32, publishPilotFrequency int) *ThrottlePart {
return &ThrottlePart{
client: client,
pub: pub,
throttleTopic: throttleTopic,
driveModeTopic: driveModeTopic,
rcThrottleTopic: rcThrottleTopic,
minThrottle: minValue,
maxThrottle: maxValue,
driveMode: types.DriveModeUser,
driveMode: events.DriveMode_USER,
publishPilotFrequency: publishPilotFrequency,
}
@@ -29,12 +26,11 @@ func NewPart(client mqtt.Client, pub mqttdevice.Publisher, throttleTopic, driveM
type ThrottlePart struct {
client mqtt.Client
pub mqttdevice.Publisher
throttleTopic string
minThrottle, maxThrottle float64
minThrottle, maxThrottle float32
muDriveMode sync.RWMutex
driveMode types.DriveMode
driveMode events.DriveMode
cancel chan interface{}
publishPilotFrequency int
@@ -43,7 +39,7 @@ type ThrottlePart struct {
func (p *ThrottlePart) Start() error {
if err := registerCallbacks(p); err != nil {
log.Printf("unable to rgeister callbacks: %v", err)
log.Infof("unable to rgeister callbacks: %v", err)
return err
}
@@ -63,14 +59,21 @@ func (p *ThrottlePart) publishPilotValue() {
p.muDriveMode.RLock()
defer p.muDriveMode.RUnlock()
if p.driveMode != types.DriveModePilot {
if p.driveMode != events.DriveMode_PILOT {
return
}
p.pub.Publish(p.throttleTopic, mqttdevice.NewMqttValue(types.Throttle{
Value: p.minThrottle,
Confidence: 1.0,
}))
throttleMsg := events.ThrottleMessage{
Throttle: p.minThrottle,
Confidence: 1.0,
}
payload, err := proto.Marshal(&throttleMsg)
if err != nil {
log.Errorf("unable to marshal %T protobuf content: %err", throttleMsg, err)
return
}
publish(p.client, p.throttleTopic, &payload)
}
func (p *ThrottlePart) Stop() {
@@ -79,26 +82,25 @@ func (p *ThrottlePart) Stop() {
}
func (p *ThrottlePart) onDriveMode(_ mqtt.Client, message mqtt.Message) {
m := types.ParseString(string(message.Payload()))
p.muDriveMode.Lock()
defer p.muDriveMode.Unlock()
p.driveMode = m
}
func (p *ThrottlePart) onRCThrottle(_ mqtt.Client, message mqtt.Message) {
payload := message.Payload()
var throttle types.Throttle
err := json.Unmarshal(payload, &throttle)
var msg events.DriveModeMessage
err := proto.Unmarshal(message.Payload(), &msg)
if err != nil {
log.Errorf("unable to parse throttle json: %v", err)
log.Errorf("unable to unmarshal protobuf %T message: %v", msg, err)
return
}
p.muDriveMode.Lock()
defer p.muDriveMode.Unlock()
p.driveMode = msg.GetDriveMode()
}
func (p *ThrottlePart) onRCThrottle(_ mqtt.Client, message mqtt.Message) {
p.muDriveMode.RLock()
defer p.muDriveMode.RUnlock()
if p.driveMode == types.DriveModeUser {
p.pub.Publish(p.throttleTopic, mqttdevice.NewMqttValue(throttle))
if p.driveMode == events.DriveMode_USER {
// Republish same content
payload := message.Payload()
publish(p.client, p.throttleTopic, &payload)
}
}
@@ -114,3 +116,7 @@ var registerCallbacks = func (p *ThrottlePart) error {
}
return nil
}
var publish = func(client mqtt.Client, topic string, payload *[]byte) {
client.Publish(topic, 0, false, *payload)
}

63
part/part_test.go
View File

@@ -1,70 +1,81 @@
package part
import (
"encoding/json"
"github.com/cyrilix/robocar-base/mqttdevice"
"github.com/cyrilix/robocar-base/testtools"
"github.com/cyrilix/robocar-base/types"
"github.com/cyrilix/robocar-protobuf/go/events"
mqtt "github.com/eclipse/paho.mqtt.golang"
"github.com/golang/protobuf/proto"
"sync"
"testing"
"time"
)
func TestDefaultThrottle(t *testing.T) {
oldRegister := registerCallbacks
defer func(){
oldPublish := publish
defer func() {
registerCallbacks = oldRegister
publish = oldPublish
}()
registerCallbacks = func(p *ThrottlePart) error {
return nil
}
var muEventsPublished sync.Mutex
eventsPublished := make(map[string][]byte)
publish = func(client mqtt.Client, topic string, payload *[]byte) {
muEventsPublished.Lock()
defer muEventsPublished.Unlock()
eventsPublished[topic] = *payload
}
throttleTopic := "topic/throttle"
driveModeTopic := "topic/driveMode"
rcThrottleTopic := "topic/rcThrottle"
minValue := 0.56
minValue := float32(0.56)
pub := testtools.NewFakePublisher()
p := NewPart(nil, pub, throttleTopic, driveModeTopic, rcThrottleTopic, minValue, 1., 200)
p := NewPart(nil, throttleTopic, driveModeTopic, rcThrottleTopic, minValue, 1., 200)
cases := []struct {
driveMode string
rcThrottle types.Throttle
expectedThrottle types.Throttle
driveMode events.DriveModeMessage
rcThrottle events.ThrottleMessage
expectedThrottle events.ThrottleMessage
}{
{types.ToString(types.DriveModeUser), types.Throttle{Value: 0.3, Confidence: 1.0},types.Throttle{Value: 0.3, Confidence: 1.0}},
{types.ToString(types.DriveModePilot), types.Throttle{Value: 0.5, Confidence: 1.0}, types.Throttle{Value: minValue, Confidence: 1.0}},
{types.ToString(types.DriveModePilot), types.Throttle{Value: 0.4, Confidence: 1.0}, types.Throttle{Value: minValue, Confidence: 1.0}},
{types.ToString(types.DriveModeUser), types.Throttle{Value: 0.5, Confidence: 1.0}, types.Throttle{Value: 0.5, Confidence: 1.0}},
{types.ToString(types.DriveModeUser), types.Throttle{Value: 0.4, Confidence: 1.0}, types.Throttle{Value: 0.4, Confidence: 1.0}},
{types.ToString(types.DriveModeUser), types.Throttle{Value: 0.6, Confidence: 1.0}, types.Throttle{Value: 0.6, Confidence: 1.0}},
{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}},
}
go p.Start()
defer func(){close(p.cancel)}()
defer func() { close(p.cancel) }()
for _, c := range cases {
p.onDriveMode(nil, testtools.NewFakeMessage(driveModeTopic, mqttdevice.NewMqttValue(c.driveMode)))
p.onRCThrottle(nil, testtools.NewFakeMessage(rcThrottleTopic, mqttdevice.NewMqttValue(c.rcThrottle)))
p.onDriveMode(nil, testtools.NewFakeMessageFromProtobuf(driveModeTopic, &c.driveMode))
p.onRCThrottle(nil, testtools.NewFakeMessageFromProtobuf(rcThrottleTopic, &c.rcThrottle))
time.Sleep(10 * time.Millisecond)
for i := 3; i >= 0; i-- {
mqttValue := pub.PublishedEvent(throttleTopic)
var throttle types.Throttle
err := json.Unmarshal(mqttValue, &throttle)
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()
if throttle != c.expectedThrottle {
t.Errorf("bad throttle value for mode %v: %v, wants %v", c.driveMode, throttle.Value, c.expectedThrottle)
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 throttle.Confidence != 1. {
t.Errorf("bad throtlle confidence: %v, wants %v", throttle.Confidence, 1.)
if msg.GetConfidence() != 1. {
t.Errorf("bad throtlle confidence: %v, wants %v", msg.GetConfidence(), 1.)
}
time.Sleep(1 * time.Millisecond)