robocars/robocar-camera
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refactor: log with zap

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This commit is contained in:
Cyrille Nofficial
2021-10-12 18:26:57 +02:00
parent d6a20c8306
commit 094bf2778a
441 changed files with 10012 additions and 176986 deletions
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20
camera/camera.go
View File

@@ -6,7 +6,7 @@ import (
mqtt "github.com/eclipse/paho.mqtt.golang"
"github.com/golang/protobuf/proto"
"github.com/golang/protobuf/ptypes/timestamp"
log "github.com/sirupsen/logrus"
"go.uber.org/zap"
"gocv.io/x/gocv"
"io"
"sync"
@@ -29,11 +29,11 @@ type OpencvCameraPart struct {
}
func New(client mqtt.Client, topic string, publishFrequency int, videoProperties map[gocv.VideoCaptureProperties]float64) *OpencvCameraPart {
log.Infof("run camera part")
zap.S().Info("run camera part")
vc, err := gocv.OpenVideoCapture(0)
if err != nil {
log.Fatalf("unable to open video device: %v", err)
zap.S().Fatalf("unable to open video device: %v", err)
}
for k, v := range videoProperties {
vc.Set(k, v)
@@ -51,7 +51,7 @@ func New(client mqtt.Client, topic string, publishFrequency int, videoProperties
}
func (o *OpencvCameraPart) Start() error {
log.Printf("start camera")
zap.S().Info("start camera")
o.cancel = make(chan interface{})
ticker := time.NewTicker(1 * time.Second / time.Duration(o.publishFrequency))
defer ticker.Stop()
@@ -68,14 +68,14 @@ func (o *OpencvCameraPart) Start() error {
}
func (o *OpencvCameraPart) Stop() {
log.Print("close video device")
zap.S().Info("close video device")
close(o.cancel)
if err := o.vc.Close(); err != nil {
log.Printf("unexpected error while VideoCapture is closed: %v", err)
zap.S().Errorf("unexpected error while VideoCapture is closed: %v", err)
}
if err := o.imgBuffered.Close(); err != nil {
log.Printf("unexpected error while VideoCapture is closed: %v", err)
zap.S().Errorf("unexpected error while VideoCapture is closed: %v", err)
}
}
@@ -87,7 +87,7 @@ func (o *OpencvCameraPart) publishFrame(tickerTime time.Time) {
img, err := gocv.IMEncode(gocv.JPEGFileExt, *o.imgBuffered)
if err != nil {
log.Printf("unable to convert image to jpeg: %v", err)
zap.S().Errorf("unable to convert image to jpeg: %v", err)
return
}
@@ -105,7 +105,7 @@ func (o *OpencvCameraPart) publishFrame(tickerTime time.Time) {
payload, err := proto.Marshal(msg)
if err != nil {
log.Errorf("unable to marshal protobuf message: %v", err)
zap.S().Errorf("unable to marshal protobuf message: %v", err)
}
publish(o.client, o.topic, &payload)
@@ -115,6 +115,6 @@ var publish = func(client mqtt.Client, topic string, payload *[]byte) {
token := client.Publish(topic, 0, false, *payload)
token.WaitTimeout(10 * time.Millisecond)
if err := token.Error(); err != nil {
log.Errorf("unable to publish frame: %v", err)
zap.S().Errorf("unable to publish frame: %v", err)
}
}

4
camera/camera_test.go
View File

@@ -5,9 +5,9 @@ import (
"github.com/cyrilix/robocar-protobuf/go/events"
mqtt "github.com/eclipse/paho.mqtt.golang"
"github.com/golang/protobuf/proto"
"go.uber.org/zap"
"gocv.io/x/gocv"
"image/jpeg"
"log"
"sync"
"testing"
)
@@ -22,7 +22,7 @@ func (f fakeVideoSource) Close() error {
func (f fakeVideoSource) Read(dest *gocv.Mat) bool {
img := gocv.IMRead("testdata/img.jpg", gocv.IMReadUnchanged)
if img.Total() == 0 {
log.Print("image read is empty")
zap.S().Info("image read is empty")
return false
}
img.CopyTo(dest)