robocars/robocar-throttle
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feat(brake): implement brake feature

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This commit is contained in:
Cyrille Nofficial
2022-09-05 15:30:26 +02:00
parent dd0102ff44
commit 838c9b4ef3
11 changed files with 425 additions and 34 deletions
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15
cmd/rc-throttle/rc-throttle.go
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@ -3,7 +3,9 @@ package main
import (
"flag"
"github.com/cyrilix/robocar-base/cli"
"github.com/cyrilix/robocar-throttle/pkg/brake"
"github.com/cyrilix/robocar-throttle/pkg/throttle"
"github.com/cyrilix/robocar-throttle/pkg/types"
"go.uber.org/zap"
"log"
"os"
@ -19,6 +21,8 @@ func main() {
var throttleTopic, driveModeTopic, rcThrottleTopic, steeringTopic, throttleFeedbackTopic string
var minThrottle, maxThrottle float64
var publishPilotFrequency int
var brakeConfig string
var enableBrake bool
err := cli.SetFloat64DefaultValueFromEnv(&minThrottle, "THROTTLE_MIN", DefaultThrottleMin)
if err != nil {
@ -44,6 +48,8 @@ func main() {
flag.Float64Var(&maxThrottle, "throttle-max", maxThrottle, "Minimum throttle value, use THROTTLE_MAX if args not set")
flag.IntVar(&publishPilotFrequency, "update-pwm-frequency", 2, "Number of throttle event to publish when pilot mode is enabled")
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`")
logLevel := zap.LevelFlag("log", zap.InfoLevel, "log level")
flag.Parse()
@ -71,7 +77,14 @@ func main() {
}
defer client.Disconnect(50)
p := throttle.New(client, throttleTopic, driveModeTopic, rcThrottleTopic, steeringTopic, float32(minThrottle), float32(maxThrottle), 2)
var brakeCtrl brake.Controller
if enableBrake {
brakeCtrl = brake.NewCustomControllerWithJsonConfig(brakeConfig)
} else {
brakeCtrl = &brake.DisabledController{}
}
p := throttle.New(client, throttleTopic, driveModeTopic, rcThrottleTopic, steeringTopic, throttleFeedbackTopic,
types.Throttle(minThrottle), types.Throttle(maxThrottle), 2, throttle.WithBrakeController(brakeCtrl))
defer p.Stop()
cli.HandleExit(p)