cmd/rc-throttle/rc-throttle.go

@@ -3,9 +3,7 @@ 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"
@@ -18,11 +16,9 @@ const (
 
 func main() {
 	var mqttBroker, username, password, clientId string
-	var throttleTopic, driveModeTopic, rcThrottleTopic, steeringTopic, throttleFeedbackTopic string
+	var throttleTopic, driveModeTopic, rcThrottleTopic, steeringTopic string
 	var minThrottle, maxThrottle float64
 	var publishPilotFrequency int
-	var brakeConfig string
-	var enableBrake bool
 
 	err := cli.SetFloat64DefaultValueFromEnv(&minThrottle, "THROTTLE_MIN", DefaultThrottleMin)
 	if err != nil {
@@ -42,14 +38,11 @@ func main() {
 	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.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.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")
 	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()
@@ -77,14 +70,7 @@ func main() {
 	}
 	defer client.Disconnect(50)
 
-	var brakeCtrl brake.Controller
+	p := throttle.New(client, throttleTopic, driveModeTopic, rcThrottleTopic, steeringTopic, float32(minThrottle), float32(maxThrottle), 2)
-	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)

pkg/brake/config.go

@@ -1,54 +0,0 @@
-package brake
-
-import (
-	"encoding/json"
-	"fmt"
-	"github.com/cyrilix/robocar-throttle/pkg/types"
-	"os"
-)
-
-var (
-	defaultBrakeConfig = Config{
-		DeltaSteps: []float32{0.05, 0.3, 0.5},
-		Data:       []types.Throttle{-0.1, -0.5, -1.},
-	}
-)
-
-func NewConfig() *Config {
-	return &defaultBrakeConfig
-}
-
-func NewConfigFromJson(fileName string) (*Config, error) {
-	content, err := os.ReadFile(fileName)
-	if err != nil {
-		return nil, fmt.Errorf("unable to read content from %s file: %w", fileName, err)
-	}
-	var ft Config
-	err = json.Unmarshal(content, &ft)
-	if err != nil {
-		return nil, fmt.Errorf("unable to unmarshal json content from %s file: %w", fileName, err)
-	}
-	return &ft, nil
-}
-
-type Config struct {
-	DeltaSteps []float32        `json:"delta_steps"`
-	Data       []types.Throttle `json:"data"`
-}
-
-func (tc *Config) ValueOf(currentThrottle, targetThrottle types.Throttle) types.Throttle {
-	delta := float32(currentThrottle - targetThrottle)
-
-	if delta < tc.DeltaSteps[0] {
-		return targetThrottle
-	}
-	if delta >= tc.DeltaSteps[len(tc.DeltaSteps)-1] {
-		return tc.Data[len(tc.Data)-1]
-	}
-	for idx, step := range tc.DeltaSteps {
-		if delta < step {
-			return tc.Data[idx-1]
-		}
-	}
-	return tc.Data[len(tc.Data)-1]
-}

pkg/brake/config_test.go

@@ -1,132 +0,0 @@
-package brake
-
-import (
-	"github.com/cyrilix/robocar-throttle/pkg/types"
-	"reflect"
-	"testing"
-)
-
-func TestNewConfigFromJson(t *testing.T) {
-	type args struct {
-		fileName string
-	}
-	tests := []struct {
-		name    string
-		args    args
-		want    *Config
-		wantErr bool
-	}{
-		{
-			name: "default config",
-			args: args{
-				fileName: "test_data/config.json",
-			},
-			want: &defaultBrakeConfig,
-		},
-	}
-	for _, tt := range tests {
-		t.Run(tt.name, func(t *testing.T) {
-			got, err := NewConfigFromJson(tt.args.fileName)
-			if (err != nil) != tt.wantErr {
-				t.Errorf("NewConfigFromJson() error = %v, wantErr %v", err, tt.wantErr)
-				return
-			}
-			if !reflect.DeepEqual(*got, *tt.want) {
-				t.Errorf("NewConfigFromJson() got = %v, want %v", got, tt.want)
-			}
-			if !reflect.DeepEqual(got.DeltaSteps, tt.want.DeltaSteps) {
-				t.Errorf("NewConfigFromJson(), bad DeltaSteps: got = %v, want %v", got.DeltaSteps, tt.want.DeltaSteps)
-			}
-		})
-	}
-}
-
-func TestConfig_ValueOf(t *testing.T) {
-	type fields struct {
-		DeltaSteps []float32
-		MinValue   int
-		Data       []types.Throttle
-	}
-	type args struct {
-		currentThrottle, targetThrottle types.Throttle
-	}
-	tests := []struct {
-		name   string
-		fields fields
-		args   args
-		want   types.Throttle
-	}{
-		{
-			name: "delta > 0",
-			fields: fields{
-				DeltaSteps: defaultBrakeConfig.DeltaSteps,
-				Data:       defaultBrakeConfig.Data,
-			},
-			args: args{
-				currentThrottle: 0.5,
-				targetThrottle:  0.8,
-			},
-			want: 0.8,
-		},
-		{
-			name: "no delta",
-			fields: fields{
-				DeltaSteps: defaultBrakeConfig.DeltaSteps,
-				Data:       defaultBrakeConfig.Data,
-			},
-			args: args{
-				currentThrottle: 0.5,
-				targetThrottle:  0.5,
-			},
-			want: 0.5,
-		},
-		{
-			name: "delta very low (< 1st step)",
-			fields: fields{
-				DeltaSteps: defaultBrakeConfig.DeltaSteps,
-				Data:       defaultBrakeConfig.Data,
-			},
-			args: args{
-				currentThrottle: 0.5,
-				targetThrottle:  0.495,
-			},
-			want: 0.495,
-		},
-		{
-			name: "low delta ( 1st step < delta < 2nd step )",
-			fields: fields{
-				DeltaSteps: defaultBrakeConfig.DeltaSteps,
-				Data:       defaultBrakeConfig.Data,
-			},
-			args: args{
-				currentThrottle: 0.5,
-				targetThrottle:  0.38,
-			},
-			want: -0.1,
-		},
-		{
-			name: "high delta",
-			fields: fields{
-				DeltaSteps: defaultBrakeConfig.DeltaSteps,
-				Data:       defaultBrakeConfig.Data,
-			},
-			args: args{
-				currentThrottle: 0.8,
-				targetThrottle:  0.3,
-			},
-			want: -1.,
-		},
-	}
-	for _, tt := range tests {
-		t.Run(tt.name, func(t *testing.T) {
-			f := &Config{
-				DeltaSteps: tt.fields.DeltaSteps,
-				Data:       tt.fields.Data,
-			}
-			got := f.ValueOf(tt.args.currentThrottle, tt.args.targetThrottle)
-			if !reflect.DeepEqual(got, tt.want) {
-				t.Errorf("ValueOf() = %v, want %v", got, tt.want)
-			}
-		})
-	}
-}

pkg/brake/controller.go

@@ -1,55 +0,0 @@
-package brake
-
-import (
-	"github.com/cyrilix/robocar-throttle/pkg/types"
-	"go.uber.org/zap"
-	"sync"
-)
-
-type Controller interface {
-	SetRealThrottle(t types.Throttle)
-	AdjustThrottle(targetThrottle types.Throttle) types.Throttle
-}
-
-func NewCustomController() *CustomController {
-	return &CustomController{cfg: NewConfig()}
-}
-
-func NewCustomControllerWithJsonConfig(filename string) *CustomController {
-	config, err := NewConfigFromJson(filename)
-	if err != nil {
-		zap.S().Panicf("unable to init brake controller with json config '%s': %v", filename, err)
-	}
-	return &CustomController{cfg: config}
-}
-
-type CustomController struct {
-	muRealThrottle sync.RWMutex
-	realThrottle   types.Throttle
-	cfg            *Config
-}
-
-func (b *CustomController) SetRealThrottle(t types.Throttle) {
-	b.muRealThrottle.Lock()
-	defer b.muRealThrottle.Unlock()
-	b.realThrottle = t
-}
-
-func (b *CustomController) GetRealThrottle() types.Throttle {
-	b.muRealThrottle.RLock()
-	defer b.muRealThrottle.RUnlock()
-	res := b.realThrottle
-	return res
-}
-
-func (b *CustomController) AdjustThrottle(targetThrottle types.Throttle) types.Throttle {
-	return b.cfg.ValueOf(b.GetRealThrottle(), targetThrottle)
-}
-
-type DisabledController struct{}
-
-func (d *DisabledController) SetRealThrottle(_ types.Throttle) {}
-
-func (d *DisabledController) AdjustThrottle(targetThrottle types.Throttle) types.Throttle {
-	return targetThrottle
-}

pkg/brake/controller_test.go

@@ -1,92 +0,0 @@
-package brake
-
-import (
-	"github.com/cyrilix/robocar-throttle/pkg/types"
-	"testing"
-)
-
-func TestController_AdjustThrottle(t *testing.T) {
-	type fields struct {
-		realThrottle types.Throttle
-	}
-	type args struct {
-		targetThrottle types.Throttle
-	}
-	tests := []struct {
-		name   string
-		fields fields
-		args   args
-		want   types.Throttle
-	}{
-		{
-			name:   "target same as current throttle",
-			fields: fields{realThrottle: 0.2},
-			args:   args{targetThrottle: 0.2},
-			want:   0.2,
-		},
-		{
-			name:   "target > as current throttle",
-			fields: fields{realThrottle: 0.2},
-			args:   args{targetThrottle: 0.3},
-			want:   0.3,
-		},
-		{
-			name:   "target >> as current throttle",
-			fields: fields{realThrottle: 0.2},
-			args:   args{targetThrottle: 0.5},
-			want:   0.5,
-		},
-		{
-			name:   "target < as current throttle",
-			fields: fields{realThrottle: 0.8},
-			args:   args{targetThrottle: 0.7},
-			want:   -0.1,
-		},
-		{
-			name:   "target << as current throttle",
-			fields: fields{realThrottle: 0.8},
-			args:   args{targetThrottle: 0.5},
-			want:   -0.5,
-		},
-		{
-			name:   "target <<< as current throttle",
-			fields: fields{realThrottle: 0.8},
-			args:   args{targetThrottle: 0.2},
-			want:   -1.,
-		},
-	}
-	for _, tt := range tests {
-		t.Run(tt.name, func(t *testing.T) {
-			b := &CustomController{cfg: NewConfig()}
-			b.SetRealThrottle(tt.fields.realThrottle)
-			if got := b.AdjustThrottle(tt.args.targetThrottle); got != tt.want {
-				t.Errorf("AdjustThrottle() = %v, want %v", got, tt.want)
-			}
-		})
-	}
-}
-
-func TestDisabledController_AdjustThrottle(t *testing.T) {
-	type args struct {
-		targetThrottle types.Throttle
-	}
-	tests := []struct {
-		name string
-		args args
-		want types.Throttle
-	}{
-		{
-			name: "doesn't modify value",
-			args: args{targetThrottle: 0.5},
-			want: 0.5,
-		},
-	}
-	for _, tt := range tests {
-		t.Run(tt.name, func(t *testing.T) {
-			d := &DisabledController{}
-			if got := d.AdjustThrottle(tt.args.targetThrottle); got != tt.want {
-				t.Errorf("AdjustThrottle() = %v, want %v", got, tt.want)
-			}
-		})
-	}
-}

pkg/brake/test_data/config.json

@@ -1,4 +0,0 @@
-{
-  "delta_steps": [ 0.05, 0.3, 0.5 ],
-  "data": [ -0.1, -0.5, -1.0 ]
-}

pkg/throttle/controller.go

@@ -3,8 +3,6 @@ package throttle
 import (
 	"github.com/cyrilix/robocar-base/service"
 	"github.com/cyrilix/robocar-protobuf/go/events"
-	"github.com/cyrilix/robocar-throttle/pkg/brake"
-	"github.com/cyrilix/robocar-throttle/pkg/types"
 	mqtt "github.com/eclipse/paho.mqtt.golang"
 	"go.uber.org/zap"
 	"google.golang.org/protobuf/proto"
@@ -12,39 +10,25 @@ import (
 	"time"
 )
 
-func New(client mqtt.Client, throttleTopic, driveModeTopic, rcThrottleTopic, steeringTopic, throttleFeedbackTopic string,
+func New(client mqtt.Client, throttleTopic, driveModeTopic, rcThrottleTopic, steeringTopic string, minValue, maxValue float32, publishPilotFrequency int) *Controller {
-	minValue, maxValue types.Throttle, publishPilotFrequency int, opts ...Option) *Controller {
+	return &Controller{
-	c := &Controller{
 		client:                client,
 		throttleTopic:         throttleTopic,
 		driveModeTopic:        driveModeTopic,
 		rcThrottleTopic:       rcThrottleTopic,
 		steeringTopic:         steeringTopic,
-		throttleFeedbackTopic: throttleFeedbackTopic,
 		maxThrottle:           maxValue,
 		driveMode:             events.DriveMode_USER,
 		publishPilotFrequency: publishPilotFrequency,
 		steeringProcessor:     &SteeringProcessor{minThrottle: minValue, maxThrottle: maxValue},
-		brakeCtrl:             &brake.DisabledController{},
 	}
-	for _, o := range opts {
-		o(c)
-	}
-	return c
-}
 
-type Option func(c *Controller)
-
-func WithBrakeController(bc brake.Controller) Option {
-	return func(c *Controller) {
-		c.brakeCtrl = bc
-	}
 }
 
 type Controller struct {
 	client            mqtt.Client
 	throttleTopic     string
-	maxThrottle       types.Throttle
+	maxThrottle       float32
 	steeringProcessor *SteeringProcessor
 
 	muDriveMode sync.RWMutex
@@ -53,11 +37,9 @@ type Controller struct {
 	muSteering sync.RWMutex
 	steering   float32
 
-	brakeCtrl brake.Controller
-
 	cancel                                         chan interface{}
 	publishPilotFrequency                          int
-	driveModeTopic, rcThrottleTopic, steeringTopic, throttleFeedbackTopic string
+	driveModeTopic, rcThrottleTopic, steeringTopic string
 }
 
 func (c *Controller) Start() error {
@@ -86,10 +68,8 @@ func (c *Controller) onPublishPilotValue() {
 		return
 	}
 
-	throttleFromSteering := c.steeringProcessor.Process(c.readSteering())
-
 	throttleMsg := events.ThrottleMessage{
-		Throttle:   float32(c.brakeCtrl.AdjustThrottle(throttleFromSteering)),
+		Throttle:   c.steeringProcessor.Process(c.readSteering()),
 		Confidence: 1.0,
 	}
 	payload, err := proto.Marshal(&throttleMsg)
@@ -110,24 +90,14 @@ func (c *Controller) readSteering() float32 {
 
 func (c *Controller) Stop() {
 	close(c.cancel)
-	service.StopService("throttle", c.client, c.driveModeTopic, c.rcThrottleTopic, c.steeringTopic, c.throttleFeedbackTopic)
+	service.StopService("throttle", c.client, c.driveModeTopic, c.rcThrottleTopic, c.steeringTopic)
-}
-
-func (c *Controller) onThrottleFeedback(_ mqtt.Client, message mqtt.Message) {
-	var msg events.ThrottleMessage
-	err := proto.Unmarshal(message.Payload(), &msg)
-	if err != nil {
-		zap.S().Errorf("unable to unmarshal protobuf %T message: %v", &msg, err)
-		return
-	}
-	c.brakeCtrl.SetRealThrottle(types.Throttle(msg.GetThrottle()))
 }
 
 func (c *Controller) onDriveMode(_ mqtt.Client, message mqtt.Message) {
 	var msg events.DriveModeMessage
 	err := proto.Unmarshal(message.Payload(), &msg)
 	if err != nil {
-		zap.S().Errorf("unable to unmarshal protobuf %T message: %v", &msg, err)
+		zap.S().Errorf("unable to unmarshal protobuf %T message: %v", msg, err)
 		return
 	}
 
@@ -149,9 +119,9 @@ func (c *Controller) onRCThrottle(_ mqtt.Client, message mqtt.Message) {
 			return
 		}
 		zap.S().Debugf("publish new throttle value from rc: %v", throttleMsg.GetThrottle())
-		if types.Throttle(throttleMsg.GetThrottle()) > c.maxThrottle {
+		if throttleMsg.GetThrottle() > c.maxThrottle {
 			zap.S().Debugf("throttle upper that max value allowed, patch value from %v to %v", throttleMsg.GetThrottle(), c.maxThrottle)
-			throttleMsg.Throttle = float32(c.maxThrottle)
+			throttleMsg.Throttle = c.maxThrottle
 			payloadPatched, err := proto.Marshal(&throttleMsg)
 			if err != nil {
 				zap.S().Errorf("unable to marshall throttle msg: %v", err)
@@ -192,10 +162,6 @@ var registerCallbacks = func(p *Controller) error {
 	if err != nil {
 		return err
 	}
-	err = service.RegisterCallback(p.client, p.throttleFeedbackTopic, p.onThrottleFeedback)
-	if err != nil {
-		return err
-	}
 	return nil
 }
 

pkg/throttle/controller_test.go

@@ -3,8 +3,6 @@ package throttle
 import (
 	"github.com/cyrilix/robocar-base/testtools"
 	"github.com/cyrilix/robocar-protobuf/go/events"
-	"github.com/cyrilix/robocar-throttle/pkg/brake"
-	"github.com/cyrilix/robocar-throttle/pkg/types"
 	mqtt "github.com/eclipse/paho.mqtt.golang"
 	"google.golang.org/protobuf/proto"
 	"sync"
@@ -35,15 +33,14 @@ func TestDefaultThrottle(t *testing.T) {
 	driveModeTopic := "topic/driveMode"
 	rcThrottleTopic := "topic/rcThrottle"
 	steeringTopic := "topic/rcThrottle"
-	throttleFeedbackTopic := "topic/feedback/throttle"
 
-	minValue := types.Throttle(0.56)
+	minValue := float32(0.56)
 
-	p := New(nil, throttleTopic, driveModeTopic, rcThrottleTopic, steeringTopic, throttleFeedbackTopic, minValue, 1., 200)
+	p := New(nil, throttleTopic, driveModeTopic, rcThrottleTopic, steeringTopic, minValue, 1., 200)
 
-	cases := []*struct {
+	cases := []struct {
 		name             string
-		maxThrottle      types.Throttle
+		maxThrottle      float32
 		driveMode        events.DriveModeMessage
 		rcThrottle       events.ThrottleMessage
 		expectedThrottle events.ThrottleMessage
@@ -116,19 +113,16 @@ func TestController_Start(t *testing.T) {
 	steeringTopic := "topic/steering"
 	driveModeTopic := "topic/driveMode"
 	rcThrottleTopic := "topic/rcThrottle"
-	throttleFeedbackTopic := "topic/feedback/throttle"
 
 	type fields struct {
 		driveMode             events.DriveMode
-		min, max              types.Throttle
+		min, max              float32
 		publishPilotFrequency int
-		brakeCtl              brake.Controller
 	}
 	type msgEvents struct {
 		driveMode  *events.DriveModeMessage
 		steering   *events.SteeringMessage
 		rcThrottle *events.ThrottleMessage
-		throttleFeedback *events.ThrottleMessage
 	}
 
 	tests := []struct {
@@ -145,13 +139,11 @@ func TestController_Start(t *testing.T) {
 				max:                   0.8,
 				min:                   0.3,
 				publishPilotFrequency: publishPilotFrequency,
-				brakeCtl:              &brake.DisabledController{},
 			},
 			msgEvents: msgEvents{
 				driveMode:  &events.DriveModeMessage{DriveMode: events.DriveMode_USER},
 				steering:   &events.SteeringMessage{Steering: 0.0, Confidence: 1.0},
 				rcThrottle: &events.ThrottleMessage{Throttle: 0.4, Confidence: 1.0},
-				throttleFeedback: &events.ThrottleMessage{Throttle: 0.4, Confidence: 1.0},
 			},
 			want: &events.ThrottleMessage{Throttle: 0.4, Confidence: 1.0},
 		},
@@ -162,13 +154,11 @@ func TestController_Start(t *testing.T) {
 				max:                   0.8,
 				min:                   0.3,
 				publishPilotFrequency: publishPilotFrequency,
-				brakeCtl:              &brake.DisabledController{},
 			},
 			msgEvents: msgEvents{
 				driveMode:  &events.DriveModeMessage{DriveMode: events.DriveMode_USER},
 				steering:   &events.SteeringMessage{Steering: 0.0, Confidence: 1.0},
 				rcThrottle: &events.ThrottleMessage{Throttle: 0.9, Confidence: 1.0},
-				throttleFeedback: &events.ThrottleMessage{Throttle: 0.8, Confidence: 1.0},
 			},
 			want: &events.ThrottleMessage{Throttle: 0.8, Confidence: 1.0},
 		},
@@ -179,13 +169,11 @@ func TestController_Start(t *testing.T) {
 				max:                   0.8,
 				min:                   0.3,
 				publishPilotFrequency: publishPilotFrequency,
-				brakeCtl:              &brake.DisabledController{},
 			},
 			msgEvents: msgEvents{
 				driveMode:  &events.DriveModeMessage{DriveMode: events.DriveMode_USER},
 				steering:   &events.SteeringMessage{Steering: 0.0, Confidence: 1.0},
 				rcThrottle: &events.ThrottleMessage{Throttle: 0.1, Confidence: 1.0},
-				throttleFeedback: &events.ThrottleMessage{Throttle: 0.4, Confidence: 1.0},
 			},
 			want: &events.ThrottleMessage{Throttle: 0.1, Confidence: 1.0},
 		},
@@ -196,13 +184,11 @@ func TestController_Start(t *testing.T) {
 				max:                   0.8,
 				min:                   0.3,
 				publishPilotFrequency: publishPilotFrequency,
-				brakeCtl:              &brake.DisabledController{},
 			},
 			msgEvents: msgEvents{
 				driveMode:  &events.DriveModeMessage{DriveMode: events.DriveMode_PILOT},
 				steering:   &events.SteeringMessage{Steering: 0.0, Confidence: 1.0},
 				rcThrottle: &events.ThrottleMessage{Throttle: 0.5, Confidence: 1.0},
-				throttleFeedback: &events.ThrottleMessage{Throttle: 0.4, Confidence: 1.0},
 			},
 			want: &events.ThrottleMessage{Throttle: 0.8, Confidence: 1.0},
 		},
@@ -213,13 +199,11 @@ func TestController_Start(t *testing.T) {
 				max:                   0.8,
 				min:                   0.3,
 				publishPilotFrequency: publishPilotFrequency,
-				brakeCtl:              &brake.DisabledController{},
 			},
 			msgEvents: msgEvents{
 				driveMode:  &events.DriveModeMessage{DriveMode: events.DriveMode_PILOT},
 				steering:   &events.SteeringMessage{Steering: -1.0, Confidence: 1.0},
 				rcThrottle: &events.ThrottleMessage{Throttle: 0.3, Confidence: 1.0},
-				throttleFeedback: &events.ThrottleMessage{Throttle: 0.4, Confidence: 1.0},
 			},
 			want: &events.ThrottleMessage{Throttle: 0.3, Confidence: 1.0},
 		},
@@ -230,42 +214,22 @@ func TestController_Start(t *testing.T) {
 				max:                   0.8,
 				min:                   0.3,
 				publishPilotFrequency: publishPilotFrequency,
-				brakeCtl:              &brake.DisabledController{},
 			},
 			msgEvents: msgEvents{
 				driveMode:  &events.DriveModeMessage{DriveMode: events.DriveMode_PILOT},
 				steering:   &events.SteeringMessage{Steering: 1.0, Confidence: 1.0},
 				rcThrottle: &events.ThrottleMessage{Throttle: 0.3, Confidence: 1.0},
-				throttleFeedback: &events.ThrottleMessage{Throttle: 0.4, Confidence: 1.0},
 			},
 			want: &events.ThrottleMessage{Throttle: 0.3, Confidence: 1.0},
 		},
-		{
-			name: "On pilot drive mode, should brake on brutal change",
-			fields: fields{
-				driveMode:             events.DriveMode_PILOT,
-				max:                   1.0,
-				min:                   0.3,
-				publishPilotFrequency: publishPilotFrequency,
-				brakeCtl:              brake.NewCustomController(),
-			},
-			msgEvents: msgEvents{
-				driveMode:        &events.DriveModeMessage{DriveMode: events.DriveMode_PILOT},
-				steering:         &events.SteeringMessage{Steering: -1.0, Confidence: 1.0},
-				rcThrottle:       &events.ThrottleMessage{Throttle: 0.3, Confidence: 1.0},
-				throttleFeedback: &events.ThrottleMessage{Throttle: 1.0, Confidence: 1.0},
-			},
-			want: &events.ThrottleMessage{Throttle: -1.0, Confidence: 1.0},
-		},
 	}
 
 	for _, tt := range tests {
 		t.Run(tt.name, func(t *testing.T) {
 			c := New(nil,
-				throttleTopic, driveModeTopic, rcThrottleTopic, steeringTopic, throttleFeedbackTopic,
+				throttleTopic, driveModeTopic, rcThrottleTopic, steeringTopic,
 				tt.fields.min, tt.fields.max,
 				tt.fields.publishPilotFrequency,
-				WithBrakeController(tt.fields.brakeCtl),
 			)
 
 			go c.Start()
@@ -277,7 +241,6 @@ func TestController_Start(t *testing.T) {
 			c.onDriveMode(nil, testtools.NewFakeMessageFromProtobuf(driveModeTopic, tt.msgEvents.driveMode))
 			c.onRCThrottle(nil, testtools.NewFakeMessageFromProtobuf(rcThrottleTopic, tt.msgEvents.rcThrottle))
 			c.onSteering(nil, testtools.NewFakeMessageFromProtobuf(steeringTopic, tt.msgEvents.steering))
-			c.onThrottleFeedback(nil, testtools.NewFakeMessageFromProtobuf(throttleFeedbackTopic, tt.msgEvents.throttleFeedback))
 			waitPublish.Wait()
 
 			var msg events.ThrottleMessage

pkg/throttle/processor.go

@@ -1,16 +1,13 @@
 package throttle
 
-import (
+import "math"
-	"github.com/cyrilix/robocar-throttle/pkg/types"
-	"math"
-)
 
 type SteeringProcessor struct {
-	minThrottle, maxThrottle types.Throttle
+	minThrottle, maxThrottle float32
 }
 
 // Process compute throttle from steering value
-func (sp *SteeringProcessor) Process(steering float32) types.Throttle {
+func (sp *SteeringProcessor) Process(steering float32) float32 {
 	absSteering := math.Abs(float64(steering))
-	return sp.minThrottle + types.Throttle(float64(sp.maxThrottle-sp.minThrottle)*(1-absSteering))
+	return sp.minThrottle + float32(float64(sp.maxThrottle-sp.minThrottle)*(1-absSteering))
 }

pkg/throttle/processor_test.go

@@ -1,14 +1,11 @@
 package throttle
 
-import (
+import "testing"
-	"github.com/cyrilix/robocar-throttle/pkg/types"
-	"testing"
-)
 
 func TestSteeringProcessor_Process(t *testing.T) {
 	type fields struct {
-		minThrottle types.Throttle
+		minThrottle float32
-		maxThrottle types.Throttle
+		maxThrottle float32
 	}
 	type args struct {
 		steering float32
@@ -17,7 +14,7 @@ func TestSteeringProcessor_Process(t *testing.T) {
 		name   string
 		fields fields
 		args   args
-		want   types.Throttle
+		want   float32
 	}{
 		{
 			name: "steering straight",

pkg/types/types.go

@@ -1,3 +0,0 @@
-package types
-
-type Throttle float32