robocars/robocar-throttle
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feat(processor): implement CustomSteeringProcessor

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This commit is contained in:
Cyrille Nofficial
2023-06-14 20:07:43 +02:00
parent a7b08ff7b4
commit c2b12f297c
4 changed files with 310 additions and 1 deletions
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34
cmd/rc-throttle/rc-throttle.go
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@ -24,6 +24,8 @@ func main() {
var brakeConfig string
var enableBrake bool
var enableSpeedZone bool
var enableCustomSteeringProcessor bool
var configFileSteeringProcessor string
var slowZoneThrottle, normalZoneThrottle, fastZoneThrottle float64
var moderateSteering, fullSteering float64
@ -54,6 +56,10 @@ 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(&enableCustomSteeringProcessor, "enable-custom-steering-processor", false, "Enable custom steering processor to estimate throttle")
flag.StringVar(&configFileSteeringProcessor, "custom-steering-processor-config", "", "Path to json config to parameter custom steering processor")
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")
@ -92,6 +98,7 @@ func main() {
zap.S().Infof("Max throttle : %v", maxThrottle)
zap.S().Infof("Publish frequency : %vHz", publishPilotFrequency)
zap.S().Infof("Brake enabled : %v", enableBrake)
zap.S().Infof("CustomSteeringProcessor enabled: %v", enableCustomSteeringProcessor)
zap.S().Infof("SpeedZone enabled : %v", enableSpeedZone)
zap.S().Infof("SpeedZone slow throttle : %v", slowZoneThrottle)
zap.S().Infof("SpeedZone normal throttle : %v", normalZoneThrottle)
@ -111,8 +118,33 @@ func main() {
} else {
brakeCtrl = &brake.DisabledController{}
}
if enableSpeedZone && enableCustomSteeringProcessor {
zap.S().Panicf("invalid flag, speedZone and customSteering processor can't be enabled at the same time")
}
var throttleProcessor throttle.Processor
if enableSpeedZone {
throttleProcessor = throttle.NewSpeedZoneProcessor(
types.Throttle(slowZoneThrottle),
types.Throttle(normalZoneThrottle),
types.Throttle(fastZoneThrottle),
moderateSteering,
fullSteering,
)
} else if enableCustomSteeringProcessor {
cfg, err := throttle.NewConfigFromJson(configFileSteeringProcessor)
if err != nil {
zap.S().Fatalf("unable to load config '%v': %v", configFileSteeringProcessor, err)
}
throttleProcessor = throttle.NewCustomSteeringProcessor(cfg)
} else {
throttleProcessor = throttle.NewSteeringProcessor(types.Throttle(minThrottle), types.Throttle(maxThrottle))
}
p := throttle.New(client, throttleTopic, driveModeTopic, rcThrottleTopic, steeringTopic, throttleFeedbackTopic,
types.Throttle(minThrottle), types.Throttle(maxThrottle), 2, throttle.WithBrakeController(brakeCtrl))
speedZoneTopic, types.Throttle(maxThrottle), 2,
throttle.WithThrottleProcessor(throttleProcessor),
throttle.WithBrakeController(brakeCtrl))
defer p.Stop()
cli.HandleExit(p)