[driveMode] Adjust throttle on driveMode events

cmd/rc-throttle/rc-throttle.go

@@ -16,7 +16,7 @@ const (
 
 func main() {
 	var mqttBroker, username, password, clientId string
-	var throttleTopic string
+	var throttleTopic, driveModeTopic, rcThrottleTopic string
 	var minThrottle, maxThrottle float64
 
 	err := cli.SetFloat64DefaultValueFromEnv(&minThrottle, "THROTTLE_MIN", DefaultThrottleMin)
@@ -34,6 +34,8 @@ func main() {
 	cli.InitMqttFlags(DefaultClientId, &mqttBroker, &username, &password, &clientId, &mqttQos, &mqttRetain)
 
 	flag.StringVar(&throttleTopic, "mqtt-topic-throttle", os.Getenv("MQTT_TOPIC_THROTTLE"), "Mqtt topic to publish throttle result, use MQTT_TOPIC_THROTTLE if args not set")
+	flag.StringVar(&driveModeTopic, "mqtt-topic-drive-mode", os.Getenv("MQTT_TOPIC_DRIVE_MODE"), "Mqtt topic that contains DriveMode value, use MQTT_TOPIC_DRIVE_MODE if args not set")
+	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.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")
 
@@ -51,7 +53,7 @@ func main() {
 
 	pub := mqttdevice.NewPahoMqttPubSub(mqttBroker, username, password,clientId,mqttQos, mqttRetain)
 
-	p := part.NewPart(pub, throttleTopic, minThrottle, maxThrottle)
+	p := part.NewPart(client, pub, throttleTopic, driveModeTopic, rcThrottleTopic, minThrottle, maxThrottle, 2)
 	defer p.Stop()
 
 	cli.HandleExit(p)

go.mod

@@ -3,7 +3,7 @@ module github.com/cyrilix/robocar-throttle
 go 1.13
 
 require (
-	github.com/cyrilix/robocar-base v0.0.0-20191227142243-e35d6f13814e
+	github.com/cyrilix/robocar-base v0.0.0-20191227154304-47d48c39b0a2
 	github.com/eclipse/paho.mqtt.golang v1.2.0
 	golang.org/x/net v0.0.0-20191209160850-c0dbc17a3553 // indirect
 )

go.sum

@@ -5,8 +5,8 @@ github.com/Microsoft/hcsshim v0.8.6/go.mod h1:Op3hHsoHPAvb6lceZHDtd9OkTew38wNoXn
 github.com/cenkalti/backoff v2.2.1+incompatible/go.mod h1:90ReRw6GdpyfrHakVjL/QHaoyV4aDUVVkXQJJJ3NXXM=
 github.com/client9/misspell v0.3.4/go.mod h1:qj6jICC3Q7zFZvVWo7KLAzC3yx5G7kyvSDkc90ppPyw=
 github.com/containerd/continuity v0.0.0-20190426062206-aaeac12a7ffc/go.mod h1:GL3xCUCBDV3CZiTSEKksMWbLE66hEyuu9qyDOOqM47Y=
-github.com/cyrilix/robocar-base v0.0.0-20191227142243-e35d6f13814e h1:g7pMRmVOpaP71VcXE7JNQCjGp6/Wx3GKUASX8hhO4+Q=
+github.com/cyrilix/robocar-base v0.0.0-20191227154304-47d48c39b0a2 h1:7E0P2+YXKtRM++vnBZtaNVlhKEMkp+X3qYdd0CzseJY=
-github.com/cyrilix/robocar-base v0.0.0-20191227142243-e35d6f13814e/go.mod h1:/KZidG8Y4sKxCCkTcswpKz20oFN3j62tJvamEHcSgLM=
+github.com/cyrilix/robocar-base v0.0.0-20191227154304-47d48c39b0a2/go.mod h1:/KZidG8Y4sKxCCkTcswpKz20oFN3j62tJvamEHcSgLM=
 github.com/davecgh/go-spew v1.1.1/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
 github.com/docker/distribution v2.7.1-0.20190205005809-0d3efadf0154+incompatible/go.mod h1:J2gT2udsDAN96Uj4KfcMRqY0/ypR+oyYUYmja8H+y+w=
 github.com/docker/docker v0.7.3-0.20190506211059-b20a14b54661/go.mod h1:eEKB0N0r5NX/I1kEveEz05bcu8tLC/8azJZsviup8Sk=

part/part.go

@@ -2,23 +2,26 @@ package part
 
 import (
 	"github.com/cyrilix/robocar-base/mqttdevice"
+	"github.com/cyrilix/robocar-base/service"
+	"github.com/cyrilix/robocar-base/types"
 	mqtt "github.com/eclipse/paho.mqtt.golang"
+	"log"
+	"sync"
 	"time"
 )
 
-type CommandValue struct {
+func NewPart(client mqtt.Client, pub mqttdevice.Publisher, throttleTopic, driveModeTopic, rcThrottleTopic string,
-	Value      float64
+	minValue, maxValue float64, publishPilotFrequency int) *ThrottlePart {
-	Confidence float64
-}
-type Steering CommandValue
-type Throttle CommandValue
-
-func NewPart(pub mqttdevice.Publisher, throttleTopic string, minValue, maxValue float64) *ThrottlePart {
 	return &ThrottlePart{
-		pub:           pub,
+		client:                client,
-		throttleTopic: throttleTopic,
+		pub:                   pub,
-		minThrottle:   minValue,
+		throttleTopic:         throttleTopic,
-		maxThrottle:   maxValue,
+		driveModeTopic:        driveModeTopic,
+		rcThrottleTopic:       rcThrottleTopic,
+		minThrottle:           minValue,
+		maxThrottle:           maxValue,
+		driveMode:             types.DriveModeUser,
+		publishPilotFrequency: publishPilotFrequency,
 	}
 
 }
@@ -28,27 +31,91 @@ type ThrottlePart struct {
 	pub                      mqttdevice.Publisher
 	throttleTopic            string
 	minThrottle, maxThrottle float64
-	cancel                   chan interface{}
+
+	muDriveMode sync.RWMutex
+	driveMode   types.DriveMode
+
+	cancel                          chan interface{}
+	publishPilotFrequency           int
+	driveModeTopic, rcThrottleTopic string
 }
 
 func (p *ThrottlePart) Start() error {
+	if err := registerCallbacks(p); err != nil {
+		log.Printf("unable to rgeister callbacks: %v", err)
+		return err
+	}
+
 	p.cancel = make(chan interface{})
-	ticker := time.NewTicker(500 * time.Millisecond)
+	ticker := time.NewTicker(1 * time.Second / time.Duration(p.publishPilotFrequency))
 	for {
-
-		p.pub.Publish(p.throttleTopic, mqttdevice.NewMqttValue(Throttle{
-			Value:      p.minThrottle,
-			Confidence: 1.0,
-		}))
-
 		select {
 		case <-ticker.C:
+			p.publishPilotValue()
 		case <-p.cancel:
 			break
 		}
 	}
 }
 
+func (p *ThrottlePart) publishPilotValue() {
+	p.muDriveMode.RLock()
+	defer p.muDriveMode.RUnlock()
+
+	if p.driveMode != types.DriveModePilot {
+		return
+	}
+
+	p.pub.Publish(p.throttleTopic, mqttdevice.NewMqttValue(types.Throttle{
+		Value:      p.minThrottle,
+		Confidence: 1.0,
+	}))
+}
+
 func (p *ThrottlePart) Stop() {
 	close(p.cancel)
+	service.StopService("throttle", p.client, p.driveModeTopic, p.rcThrottleTopic)
+}
+
+func (p *ThrottlePart) onDriveMode(_ mqtt.Client, message mqtt.Message) {
+	payload := message.Payload()
+	value := mqttdevice.NewMqttValue(payload)
+	m, err := value.DriveModeValue()
+	if err != nil {
+		log.Printf("invalid drive mode: %v", err)
+		return
+	}
+
+	p.muDriveMode.Lock()
+	defer p.muDriveMode.Unlock()
+	p.driveMode = m
+}
+
+func (p *ThrottlePart) onRCThrottle(_ mqtt.Client, message mqtt.Message) {
+	payload := message.Payload()
+	value := mqttdevice.NewMqttValue(payload)
+	val, err := value.Float64Value()
+	if err != nil {
+		log.Printf("invalid throttle value from arduino: %v", err)
+		return
+	}
+
+	p.muDriveMode.RLock()
+	defer p.muDriveMode.RUnlock()
+	if p.driveMode == types.DriveModeUser {
+		p.pub.Publish(p.throttleTopic, mqttdevice.NewMqttValue(types.Throttle{Value: val, Confidence: 1.0}))
+	}
+}
+
+var registerCallbacks = func (p *ThrottlePart) error {
+	err := service.RegisterCallback(p.client, p.driveModeTopic, p.onDriveMode)
+	if err != nil {
+		return err
+	}
+
+	err = service.RegisterCallback(p.client, p.rcThrottleTopic, p.onRCThrottle)
+	if err != nil {
+		return err
+	}
+	return nil
 }

part/part_test.go

@@ -2,35 +2,72 @@ package part
 
 import (
 	"encoding/json"
+	"github.com/cyrilix/robocar-base/mqttdevice"
 	"github.com/cyrilix/robocar-base/testtools"
+	"github.com/cyrilix/robocar-base/types"
 	"testing"
 	"time"
 )
 
-func TestDefaultThrottle(t *testing.T){
+func TestDefaultThrottle(t *testing.T) {
+	oldRegister := registerCallbacks
+	defer func(){
+		registerCallbacks = oldRegister
+	}()
+	registerCallbacks = func(p *ThrottlePart) error {
+		return nil
+	}
+
 	throttleTopic := "topic/throttle"
+	driveModeTopic := "topic/driveMode"
+	rcThrottleTopic := "topic/rcThrottle"
+
 	minValue := 0.56
 
 	pub := testtools.NewFakePublisher()
-	p := NewPart(pub, throttleTopic, minValue, 1.)
+	p := NewPart(nil, pub, throttleTopic, driveModeTopic, rcThrottleTopic, minValue, 1., 200)
+
+	cases := []struct {
+		driveMode        types.DriveMode
+		rcThrottle       float64
+		expectedThrottle float64
+	}{
+		{types.DriveModeUser, 0.3, 0.3},
+		{types.DriveModePilot, 0.5, minValue},
+		{types.DriveModePilot, 0.4, minValue},
+		{types.DriveModeUser, 0.5, 0.5},
+		{types.DriveModeUser, 0.4, 0.4},
+		{types.DriveModeUser, 0.6, 0.6},
+	}
 
 	go p.Start()
-	defer p.Stop()
+	defer func(){close(p.cancel)}()
 
-	time.Sleep(1 * time.Millisecond)
+	for _, c := range cases {
 
-	mqttValue := pub.PublishedEvent(throttleTopic)
+		p.onDriveMode(nil, testtools.NewFakeMessage(driveModeTopic, mqttdevice.NewMqttValue(c.driveMode)))
-	var throttle Throttle
+		p.onRCThrottle(nil, testtools.NewFakeMessage(rcThrottleTopic, mqttdevice.NewMqttValue(c.rcThrottle)))
-	err := json.Unmarshal(mqttValue, &throttle)
-	if err != nil {
-		t.Errorf("unable to unmarshall response: %v", err)
-		t.Fail()
-	}
 
-	if throttle.Value != minValue {
+		time.Sleep(10 * time.Millisecond)
-		t.Errorf("bad throttle value: %v, wants %v", throttle.Value, minValue)
+
-	}
+		for i := 3; i >= 0; i-- {
-	if throttle.Confidence != 1. {
+
-		t.Errorf("bad throtlle confidence: %v, wants %v", throttle.Confidence, 1.)
+			mqttValue := pub.PublishedEvent(throttleTopic)
+			var throttle types.Throttle
+			err := json.Unmarshal(mqttValue, &throttle)
+			if err != nil {
+				t.Errorf("unable to unmarshall response: %v", err)
+				t.Fail()
+			}
+
+			if throttle.Value != c.expectedThrottle {
+				t.Errorf("bad throttle value for mode %v: %v, wants %v", c.driveMode, throttle.Value, c.expectedThrottle)
+			}
+			if throttle.Confidence != 1. {
+				t.Errorf("bad throtlle confidence: %v, wants %v", throttle.Confidence, 1.)
+			}
+
+			time.Sleep(1 * time.Millisecond)
+		}
 	}
 }

vendor/github.com/cyrilix/robocar-base/cli/cli.go

@@ -3,6 +3,7 @@ package cli
 import (
 	"flag"
 	"fmt"
+	"github.com/cyrilix/robocar-base/service"
 	MQTT "github.com/eclipse/paho.mqtt.golang"
 	"log"
 	"os"
@@ -49,12 +50,7 @@ func SetFloat64DefaultValueFromEnv(value *float64, key string, defaultValue floa
 	return nil
 }
 
-type Part interface {
+func HandleExit(p service.Part) {
-	Start() error
-	Stop()
-}
-
-func HandleExit(p Part) {
 	signals := make(chan os.Signal, 1)
 	signal.Notify(signals, os.Kill, os.Interrupt, syscall.SIGTERM)
 

vendor/github.com/cyrilix/robocar-base/service/part.go

@@ -0,0 +1,33 @@
+package service
+
+import (
+	"fmt"
+	mqtt "github.com/eclipse/paho.mqtt.golang"
+	"log"
+)
+
+func StopService(name string, client mqtt.Client, topics ...string) {
+	log.Printf("Stop %s service", name)
+	token := client.Unsubscribe(topics...)
+	token.Wait()
+	if token.Error() != nil {
+		log.Printf("unable to unsubscribe service: %v", token.Error())
+	}
+	client.Disconnect(50)
+}
+
+func RegisterCallback(client mqtt.Client, topic string, callback mqtt.MessageHandler) error {
+	log.Printf("Register callback on topic %v", topic)
+	token := client.Subscribe(topic, 0, callback)
+	token.Wait()
+	if token.Error() != nil {
+		return fmt.Errorf("unable to register callback on topic %s: %v", topic, token.Error())
+	}
+	return nil
+}
+
+type Part interface {
+	Start() error
+	Stop()
+}
+

vendor/modules.txt

@@ -1,6 +1,7 @@
-# github.com/cyrilix/robocar-base v0.0.0-20191227142243-e35d6f13814e
+# github.com/cyrilix/robocar-base v0.0.0-20191227154304-47d48c39b0a2
 github.com/cyrilix/robocar-base/cli
 github.com/cyrilix/robocar-base/mqttdevice
+github.com/cyrilix/robocar-base/service
 github.com/cyrilix/robocar-base/testtools
 github.com/cyrilix/robocar-base/types
 # github.com/eclipse/paho.mqtt.golang v1.2.0