/
controller.go
237 lines (204 loc) · 6.12 KB
/
controller.go
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package steering
import (
"fmt"
"github.com/cyrilix/robocar-base/service"
"github.com/cyrilix/robocar-protobuf/go/events"
mqtt "github.com/eclipse/paho.mqtt.golang"
"go.uber.org/zap"
"google.golang.org/protobuf/proto"
"sync"
)
var (
defaultGridMap = GridMap{
DistanceSteps: []float64{0., 0.2, 0.4, 0.6, 0.8, 1.},
SteeringSteps: []float64{-1., -0.66, -0.33, 0., 0.33, 0.66, 1.},
Data: [][]float64{
{0., 0., 0., 0., 0., 0.},
{0., 0., 0., 0., 0., 0.},
{0., 0., 0.25, -0.25, 0., 0.},
{0., 0.25, 0.5, -0.5, -0.25, 0.},
{0.25, 0.5, 1, -1, -0.5, -0.25},
},
}
defaultObjectFactors = GridMap{
DistanceSteps: []float64{0., 0.2, 0.4, 0.6, 0.8, 1.},
SteeringSteps: []float64{-1., -0.66, -0.33, 0., 0.33, 0.66, 1.},
Data: [][]float64{
{0., 0., 0., 0., 0., 0.},
{0., 0., 0., 0., 0., 0.},
{0., 0., 0., 0., 0., 0.},
{0., 0.25, 0, 0, -0.25, 0.},
{0.5, 0.25, 0, 0, -0.5, -0.25},
},
}
)
type Option func(c *Controller)
func WithCorrector(c Corrector) Option {
return func(ctrl *Controller) {
ctrl.corrector = c
}
}
func WithObjectsCorrectionEnabled(enabled, enabledOnUserDrive bool) Option {
return func(ctrl *Controller) {
ctrl.enableCorrection = enabled
ctrl.enableCorrectionOnUser = enabledOnUserDrive
}
}
func NewController(client mqtt.Client, steeringTopic, driveModeTopic, rcSteeringTopic, tfSteeringTopic, objectsTopic string, options ...Option) *Controller {
c := &Controller{
client: client,
steeringTopic: steeringTopic,
driveModeTopic: driveModeTopic,
rcSteeringTopic: rcSteeringTopic,
tfSteeringTopic: tfSteeringTopic,
objectsTopic: objectsTopic,
driveMode: events.DriveMode_USER,
corrector: NewGridCorrector(),
}
for _, o := range options {
o(c)
}
return c
}
type Controller struct {
client mqtt.Client
steeringTopic string
muDriveMode sync.RWMutex
driveMode events.DriveMode
cancel chan interface{}
driveModeTopic, rcSteeringTopic, tfSteeringTopic, objectsTopic string
muObjects sync.RWMutex
objects []*events.Object
corrector Corrector
enableCorrection bool
enableCorrectionOnUser bool
}
func (c *Controller) Start() error {
if err := registerCallbacks(c); err != nil {
zap.S().Errorf("unable to register callbacks: %v", err)
return err
}
c.cancel = make(chan interface{})
<-c.cancel
return nil
}
func (c *Controller) Stop() {
close(c.cancel)
service.StopService("throttle", c.client, c.driveModeTopic, c.rcSteeringTopic, c.tfSteeringTopic)
}
func (c *Controller) onObjects(_ mqtt.Client, message mqtt.Message) {
var msg events.ObjectsMessage
err := proto.Unmarshal(message.Payload(), &msg)
if err != nil {
zap.S().Errorf("unable to unmarshal protobuf %T message: %v", msg, err)
return
}
c.muObjects.Lock()
defer c.muObjects.Unlock()
c.objects = msg.GetObjects()
zap.S().Debugf("%v object(s) received", len(c.objects))
}
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)
return
}
c.muDriveMode.Lock()
defer c.muDriveMode.Unlock()
c.driveMode = msg.GetDriveMode()
}
func (c *Controller) onRCSteering(_ mqtt.Client, message mqtt.Message) {
c.muDriveMode.RLock()
defer c.muDriveMode.RUnlock()
if c.driveMode != events.DriveMode_USER {
return
}
payload := message.Payload()
evt := &events.SteeringMessage{}
err := proto.Unmarshal(payload, evt)
if err != nil {
zap.S().Debugf("unable to unmarshal rc event: %v", err)
} else {
zap.S().Debugf("receive steering message from radio command: %0.00f", evt.GetSteering())
}
if c.enableCorrection && c.enableCorrectionOnUser {
payload, err = c.adjustSteering(evt)
if err != nil {
zap.S().Errorf("unable to adjust steering, skip message: %v", err)
return
}
}
publish(c.client, c.steeringTopic, &payload)
}
func (c *Controller) onTFSteering(_ mqtt.Client, message mqtt.Message) {
c.muDriveMode.RLock()
defer c.muDriveMode.RUnlock()
if c.driveMode != events.DriveMode_PILOT && c.driveMode != events.DriveMode_COPILOT {
// User mode, skip new message
return
}
evt := &events.SteeringMessage{}
err := proto.Unmarshal(message.Payload(), evt)
if err != nil {
zap.S().Errorf("unable to unmarshal tensorflow event: %v", err)
return
} else {
zap.S().Debugf("receive steering message from tensorflow: %0.00f", evt.GetSteering())
}
payload := message.Payload()
if c.enableCorrection {
payload, err = c.adjustSteering(evt)
if err != nil {
zap.S().Errorf("unable to adjust steering, skip message: %v", err)
return
}
}
publish(c.client, c.steeringTopic, &payload)
}
func (c *Controller) adjustSteering(evt *events.SteeringMessage) ([]byte, error) {
steering := float64(evt.GetSteering())
steering = c.corrector.AdjustFromObjectPosition(steering, c.Objects())
zap.S().Debugf("adjust steering to avoid objects: %v -> %v", evt.GetSteering(), steering)
evt.Steering = float32(steering)
// override payload content
payload, err := proto.Marshal(evt)
if err != nil {
return nil, fmt.Errorf("unable to marshal steering message with new value, skip message: %v", err)
}
return payload, nil
}
func (c *Controller) Objects() []*events.Object {
c.muObjects.RLock()
defer c.muObjects.RUnlock()
res := make([]*events.Object, 0, len(c.objects))
for _, o := range c.objects {
oCpy := o
res = append(res, oCpy)
}
zap.S().Debugf("copy object from %v to %v", c.objects, res)
return res
}
var registerCallbacks = func(p *Controller) error {
err := service.RegisterCallback(p.client, p.driveModeTopic, p.onDriveMode)
if err != nil {
return err
}
err = service.RegisterCallback(p.client, p.rcSteeringTopic, p.onRCSteering)
if err != nil {
return err
}
err = service.RegisterCallback(p.client, p.tfSteeringTopic, p.onTFSteering)
if err != nil {
return err
}
err = service.RegisterCallback(p.client, p.objectsTopic, p.onObjects)
if err != nil {
return err
}
return nil
}
var publish = func(client mqtt.Client, topic string, payload *[]byte) {
client.Publish(topic, 0, false, *payload)
}