build-docker.sh

@@ -26,12 +26,11 @@ image_build(){
 
 
   printf "\n\nBuild go binary %s\n\n" "${BINARY}.${binary_suffix}"
-  mkdir -p build
-  CGO_ENABLED=0 GOOS=${GOOS} GOARCH=${GOARCH} GOARM=${GOARM} go build -mod vendor ${GOTAGS} -o "build/${BINARY}.${binary_suffix}" ./cmd/${BINARY}/
+  CGO_ENABLED=0 GOOS=${GOOS} GOARCH=${GOARCH} GOARM=${GOARM} go build -mod vendor -a ${GOTAGS} -o "${BINARY}.${binary_suffix}" ./cmd/${BINARY}/
 
   buildah --os "$GOOS" --arch "$GOARCH" $VARIANT  --name "$containerName" from gcr.io/distroless/static
   buildah config --user 1234 "$containerName"
-  buildah copy "$containerName" "build/${BINARY}.${binary_suffix}" /go/bin/$BINARY
+  buildah copy "$containerName" "${BINARY}.${binary_suffix}" /go/bin/$BINARY
   buildah config --entrypoint '["/go/bin/'$BINARY'"]' "${containerName}"
 
   buildah commit --rm --manifest $IMAGE_NAME "${containerName}" "${containerName}"

cmd/rc-throttle/rc-throttle.go

@@ -18,6 +18,7 @@ func main() {
 	var mqttBroker, username, password, clientId string
 	var throttleTopic, driveModeTopic, rcThrottleTopic string
 	var minThrottle, maxThrottle float64
+	var debug bool
 
 	err := cli.SetFloat64DefaultValueFromEnv(&minThrottle, "THROTTLE_MIN", DefaultThrottleMin)
 	if err != nil {
@@ -38,7 +39,7 @@ 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.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")
-	logLevel := zap.LevelFlag("log", zap.InfoLevel, "log level")
+	flag.BoolVar(&debug, "debug", false, "Display raw value to debug")
 
 	flag.Parse()
 	if len(os.Args) <= 1 {
@@ -47,7 +48,11 @@ func main() {
 	}
 
 	config := zap.NewDevelopmentConfig()
-	config.Level = zap.NewAtomicLevelAt(*logLevel)
+	if debug {
+		config.Level = zap.NewAtomicLevelAt(zap.DebugLevel)
+	} else {
+		config.Level = zap.NewAtomicLevelAt(zap.InfoLevel)
+	}
 	lgr, err := config.Build()
 	if err != nil {
 		log.Fatalf("unable to init logger: %v", err)

pkg/part/part.go

@@ -98,26 +98,9 @@ func (p *ThrottlePart) onRCThrottle(_ mqtt.Client, message mqtt.Message) {
 	p.muDriveMode.RLock()
 	defer p.muDriveMode.RUnlock()
 	if p.driveMode == events.DriveMode_USER {
+		zap.S().Debug("publish new throttle value from rc")
 		// Republish same content
 		payload := message.Payload()
-		var throttleMsg events.ThrottleMessage
-		err := proto.Unmarshal(payload, &throttleMsg)
-		if err != nil {
-			zap.S().Errorf("unable to unmarshall throttle msg to check throttle value: %v", err)
-			return
-		}
-		zap.S().Debugf("publish new throttle value from rc: %v", throttleMsg.GetThrottle())
-		if throttleMsg.GetThrottle() > p.maxThrottle {
-			zap.S().Debugf("throttle upper that max value allowed, patch value from %v to %v", throttleMsg.GetThrottle(), p.maxThrottle)
-			throttleMsg.Throttle = p.maxThrottle
-			payloadPatched, err := proto.Marshal(&throttleMsg)
-			if err != nil {
-				zap.S().Errorf("unable to marshall throttle msg: %v", err)
-				return
-			}
-			publish(p.client, p.throttleTopic, &payloadPatched)
-			return
-		}
 		publish(p.client, p.throttleTopic, &payload)
 	}
 }

pkg/part/part_test.go

@@ -38,52 +38,47 @@ func TestDefaultThrottle(t *testing.T) {
 	p := NewPart(nil, throttleTopic, driveModeTopic, rcThrottleTopic, minValue, 1., 200)
 
 	cases := []struct {
-		name             string
-		maxThrottle      float32
 		driveMode        events.DriveModeMessage
 		rcThrottle       events.ThrottleMessage
 		expectedThrottle events.ThrottleMessage
 	}{
-		{"test1", 1., events.DriveModeMessage{DriveMode: events.DriveMode_USER}, events.ThrottleMessage{Throttle: 0.3, Confidence: 1.0}, events.ThrottleMessage{Throttle: 0.3, Confidence: 1.0}},
-		{"test2", 1., events.DriveModeMessage{DriveMode: events.DriveMode_PILOT}, events.ThrottleMessage{Throttle: 0.5, Confidence: 1.0}, events.ThrottleMessage{Throttle: minValue, Confidence: 1.0}},
-		{"test3", 1., events.DriveModeMessage{DriveMode: events.DriveMode_PILOT}, events.ThrottleMessage{Throttle: 0.4, Confidence: 1.0}, events.ThrottleMessage{Throttle: minValue, Confidence: 1.0}},
-		{"test4", 1., events.DriveModeMessage{DriveMode: events.DriveMode_USER}, events.ThrottleMessage{Throttle: 0.5, Confidence: 1.0}, events.ThrottleMessage{Throttle: 0.5, Confidence: 1.0}},
-		{"test5", 1., events.DriveModeMessage{DriveMode: events.DriveMode_USER}, events.ThrottleMessage{Throttle: 0.4, Confidence: 1.0}, events.ThrottleMessage{Throttle: 0.4, Confidence: 1.0}},
-		{"test6", 1., events.DriveModeMessage{DriveMode: events.DriveMode_USER}, events.ThrottleMessage{Throttle: 0.6, Confidence: 1.0}, events.ThrottleMessage{Throttle: 0.6, Confidence: 1.0}},
-		{"limit max throttle on user mode", 0.4, events.DriveModeMessage{DriveMode: events.DriveMode_USER}, events.ThrottleMessage{Throttle: 0.6, Confidence: 1.0}, events.ThrottleMessage{Throttle: 0.4, 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) }()
 
 	for _, c := range cases {
-		t.Run(c.name, func(t *testing.T) {
-			p.maxThrottle = c.maxThrottle
-			p.onDriveMode(nil, testtools.NewFakeMessageFromProtobuf(driveModeTopic, &c.driveMode))
-			p.onRCThrottle(nil, testtools.NewFakeMessageFromProtobuf(rcThrottleTopic, &c.rcThrottle))
 
-			time.Sleep(10 * time.Millisecond)
+		p.onDriveMode(nil, testtools.NewFakeMessageFromProtobuf(driveModeTopic, &c.driveMode))
+		p.onRCThrottle(nil, testtools.NewFakeMessageFromProtobuf(rcThrottleTopic, &c.rcThrottle))
 
-			for i := 3; i >= 0; i-- {
+		time.Sleep(10 * time.Millisecond)
 
-				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()
+		for i := 3; i >= 0; i-- {
 
-				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 msg.GetConfidence() != 1. {
-					t.Errorf("bad throtlle confidence: %v, wants %v", msg.GetConfidence(), 1.)
-				}
-
-				time.Sleep(1 * time.Millisecond)
+			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 msg.GetThrottle() != c.expectedThrottle.GetThrottle() {
+				t.Errorf("bad msg value for mode %v: %v, wants %v", c.driveMode, msg.GetThrottle(), c.expectedThrottle.GetThrottle())
+			}
+			if msg.GetConfidence() != 1. {
+				t.Errorf("bad throtlle confidence: %v, wants %v", msg.GetConfidence(), 1.)
+			}
+
+			time.Sleep(1 * time.Millisecond)
+		}
 	}
 }