robocars/robocar-camera
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Generate frameId from timestamp and add creation date field

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This commit is contained in:
Cyrille Nofficial
2020-01-03 17:41:42 +01:00
parent 4090078bec
commit e6119c0616
10 changed files with 571 additions and 59 deletions
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21
camera/camera.go
View File

@@ -1,9 +1,11 @@
package camera
import (
"fmt"
"github.com/cyrilix/robocar-protobuf/go/events"
mqtt "github.com/eclipse/paho.mqtt.golang"
"github.com/golang/protobuf/proto"
"github.com/golang/protobuf/ptypes/timestamp"
log "github.com/sirupsen/logrus"
"gocv.io/x/gocv"
"io"
@@ -57,8 +59,8 @@ func (o *OpencvCameraPart) Start() error {
for {
select {
case <-ticker.C:
o.publishFrame()
case tickerTime := <-ticker.C:
o.publishFrame(tickerTime)
case <-o.cancel:
return nil
}
@@ -77,11 +79,12 @@ func (o *OpencvCameraPart) Stop() {
}
}
func (o *OpencvCameraPart) publishFrame() {
func (o *OpencvCameraPart) publishFrame(tickerTime time.Time) {
o.muImgBuffered.Lock()
defer o.muImgBuffered.Unlock()
o.vc.Read(o.imgBuffered)
img, err := gocv.IMEncode(gocv.JPEGFileExt, *o.imgBuffered)
if err != nil {
log.Printf("unable to convert image to jpeg: %v", err)
@@ -91,7 +94,11 @@ func (o *OpencvCameraPart) publishFrame() {
msg := &events.FrameMessage{
Id: &events.FrameRef{
Name: "camera",
Id: "XX",
Id: fmt.Sprintf("%d%000d", tickerTime.Unix(), tickerTime.Nanosecond() / 1000 / 1000),
CreatedAt: &timestamp.Timestamp{
Seconds: tickerTime.Unix(),
Nanos: int32(tickerTime.Nanosecond()),
},
},
Frame: img,
}
@@ -105,5 +112,9 @@ func (o *OpencvCameraPart) publishFrame() {
}
var publish = func(client mqtt.Client, topic string, payload *[]byte) {
client.Publish(topic, 0, false, *payload)
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)
}
}

8
camera/camera_test.go
View File

@@ -69,8 +69,12 @@ func TestOpencvCameraPart(t *testing.T) {
if frameMsg.GetId().GetName() != "camera" {
t.Errorf("bad name frame: %v, wants %v", frameMsg.GetId().GetName(), "camera")
}
if frameMsg.GetId().GetId() != "XX" {
t.Errorf("bad name frame: %v, wants %v", frameMsg.GetId().GetId(), "XX")
if len(frameMsg.GetId().GetId()) != 13 {
t.Errorf("bad id length: %v, wants %v", len(frameMsg.GetId().GetId()), 13)
}
if frameMsg.GetId().GetCreatedAt() == nil {
t.Errorf("missin CreatedAt field")
}
_, err = jpeg.Decode(bytes.NewReader(frameMsg.GetFrame()))