robocars/robocar-throttle
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feat: add Processor to compute throttle from external values

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* SpeedZoneProcessor
 * SteeringProcessor
This commit is contained in:
Cyrille Nofficial
2023-06-14 20:07:12 +02:00
parent 5c77538181
commit a7b08ff7b4
6 changed files with 289 additions and 29 deletions
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40
cmd/rc-throttle/rc-throttle.go
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@@ -13,16 +13,19 @@ import (
const (
DefaultClientId = "robocar-throttle"
DefaultThrottleMin = 0.3
DefaultThrottleMin = 0.1
)
func main() {
var mqttBroker, username, password, clientId string
var throttleTopic, driveModeTopic, rcThrottleTopic, steeringTopic, throttleFeedbackTopic string
var throttleTopic, driveModeTopic, rcThrottleTopic, steeringTopic, throttleFeedbackTopic, speedZoneTopic string
var minThrottle, maxThrottle float64
var publishPilotFrequency int
var brakeConfig string
var enableBrake bool
var enableSpeedZone bool
var slowZoneThrottle, normalZoneThrottle, fastZoneThrottle float64
var moderateSteering, fullSteering float64
err := cli.SetFloat64DefaultValueFromEnv(&minThrottle, "THROTTLE_MIN", DefaultThrottleMin)
if err != nil {
@@ -43,6 +46,7 @@ func main() {
flag.StringVar(&rcThrottleTopic, "mqtt-topic-rc-throttle", os.Getenv("MQTT_TOPIC_RC_THROTTLE"), "Mqtt topic that contains RC Throttle value, use MQTT_TOPIC_RC_THROTTLE if args not set")
flag.StringVar(&steeringTopic, "mqtt-topic-steering", os.Getenv("MQTT_TOPIC_STEERING"), "Mqtt topic that contains steering value, use MQTT_TOPIC_STEERING if args not set")
flag.StringVar(&throttleFeedbackTopic, "mqtt-topic-throttle-feedback", os.Getenv("MQTT_TOPIC_THROTTLE_FEEDBACK"), "Mqtt topic where to publish throttle feedback, use MQTT_TOPIC_THROTTLE_FEEDBACK if args not set")
flag.StringVar(&speedZoneTopic, "mqtt-topic-speed-zone", os.Getenv("MQTT_TOPIC_SPEED_ZONE"), "Mqtt topic where to subscribe speed zone events, use MQTT_TOPIC_SPEED_ZONE if args not set")
flag.Float64Var(&minThrottle, "throttle-min", minThrottle, "Minimum throttle value, use THROTTLE_MIN if args not set")
flag.Float64Var(&maxThrottle, "throttle-max", maxThrottle, "Minimum throttle value, use THROTTLE_MAX if args not set")
@@ -50,6 +54,13 @@ 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.BoolVar(&enableSpeedZone, "enable-speed-zone", false, "Enable speed zone information to estimate throttle")
flag.Float64Var(&slowZoneThrottle, "slow-zone-throttle", 0.11, "Throttle target for slow speed zone")
flag.Float64Var(&normalZoneThrottle, "normal-zone-throttle", 0.12, "Throttle target for normal speed zone")
flag.Float64Var(&fastZoneThrottle, "fast-zone-throttle", 0.13, "Throttle target for fast speed zone")
flag.Float64Var(&moderateSteering, "moderate-steering", 0.3, "Steering above is considered as moderate")
flag.Float64Var(&fullSteering, "full-steering", 0.8, "Steering above is considered as full")
logLevel := zap.LevelFlag("log", zap.InfoLevel, "log level")
flag.Parse()
@@ -71,15 +82,22 @@ func main() {
}()
zap.ReplaceGlobals(lgr)
zap.S().Infof("Topic throttle : %s", throttleTopic)
zap.S().Infof("Topic rc-throttle : %s", rcThrottleTopic)
zap.S().Infof("Topic throttle feedback : %s", throttleFeedbackTopic)
zap.S().Infof("Topic steering : %s", steeringTopic)
zap.S().Infof("Topic drive mode : %s", driveModeTopic)
zap.S().Infof("Min throttle : %v", minThrottle)
zap.S().Infof("Max throttle : %v", maxThrottle)
zap.S().Infof("Publish frequency : %vHz", publishPilotFrequency)
zap.S().Infof("Brake enabled : %v", enableBrake)
zap.S().Infof("Topic throttle : %s", throttleTopic)
zap.S().Infof("Topic rc-throttle : %s", rcThrottleTopic)
zap.S().Infof("Topic throttle feedback : %s", throttleFeedbackTopic)
zap.S().Infof("Topic steering : %s", steeringTopic)
zap.S().Infof("Topic drive mode : %s", driveModeTopic)
zap.S().Infof("Topic speed zone : %s", speedZoneTopic)
zap.S().Infof("Min throttle : %v", minThrottle)
zap.S().Infof("Max throttle : %v", maxThrottle)
zap.S().Infof("Publish frequency : %vHz", publishPilotFrequency)
zap.S().Infof("Brake enabled : %v", enableBrake)
zap.S().Infof("SpeedZone enabled : %v", enableSpeedZone)
zap.S().Infof("SpeedZone slow throttle : %v", slowZoneThrottle)
zap.S().Infof("SpeedZone normal throttle : %v", normalZoneThrottle)
zap.S().Infof("SpeedZone fast throttle : %v", fastZoneThrottle)
zap.S().Infof("Steering moderate : %v", moderateSteering)
zap.S().Infof("Steering full : %v", fullSteering)
client, err := cli.Connect(mqttBroker, username, password, clientId)
if err != nil {