feat: red on brake

Dockerfile

@@ -1,4 +1,4 @@
-FROM --platform=$BUILDPLATFORM docker.io/library/golang:1.17-alpine AS builder
+FROM --platform=$BUILDPLATFORM docker.io/library/golang:1.19-alpine AS builder
 
 ARG TARGETPLATFORM
 ARG BUILDPLATFORM

cmd/rc-led/rc-led.go

@@ -15,7 +15,8 @@ const (
 
 func main() {
 	var mqttBroker, username, password, clientId string
-	var driveModeTopic, recordTopic string
+	var driveModeTopic, recordTopic, speedZoneTopic, throttleTopic string
+	var enableSpeedZoneMode bool
 
 	mqttQos := cli.InitIntFlag("MQTT_QOS", 0)
 	_, mqttRetain := os.LookupEnv("MQTT_RETAIN")
@@ -24,6 +25,9 @@ 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(&recordTopic, "mqtt-topic-record", os.Getenv("MQTT_TOPIC_RECORD"), "Mqtt topic that contains video recording state, use MQTT_TOPIC_RECORD if args not set")
+	flag.StringVar(&speedZoneTopic, "mqtt-topic-speed-zone", os.Getenv("MQTT_TOPIC_SPEED_ZONE"), "Mqtt topic that contains speed zone, use MQTT_TOPIC_SPEED_ZONE if args not set")
+	flag.StringVar(&throttleTopic, "mqtt-topic-throttle", os.Getenv("MQTT_TOPIC_THROTTLE"), "Mqtt topic that contains throttle, use MQTT_TOPIC_THROTTLE if args not set")
+	flag.BoolVar(&enableSpeedZoneMode, "enable-speedzone-mode", false, "Enable speed-zone mode")
 
 	logLevel := zap.LevelFlag("log", zap.InfoLevel, "log level")
 	flag.Parse()
@@ -52,7 +56,11 @@ func main() {
 	}
 	defer client.Disconnect(50)
 
-	p := part.NewPart(client, driveModeTopic, recordTopic)
+	mode := part.LedModeBrake
+	if enableSpeedZoneMode {
+		mode = part.LedModeSpeedZone
+	}
+	p := part.NewPart(client, driveModeTopic, recordTopic, speedZoneTopic, throttleTopic, mode)
 	defer p.Stop()
 
 	cli.HandleExit(p)

go.mod

@@ -1,10 +1,10 @@
 module github.com/cyrilix/robocar-led
 
-go 1.18
+go 1.19
 
 require (
 	github.com/cyrilix/robocar-base v0.1.7
-	github.com/cyrilix/robocar-protobuf/go v1.0.5
+	github.com/cyrilix/robocar-protobuf/go v1.3.0
 	github.com/eclipse/paho.mqtt.golang v1.4.1
 	go.uber.org/zap v1.21.0
 	google.golang.org/protobuf v1.28.0

go.sum

@@ -4,6 +4,8 @@ github.com/cyrilix/robocar-base v0.1.7 h1:EVzZ0KjigSFpke5f3A/PybEH3WFUEIrYSc3z/d
 github.com/cyrilix/robocar-base v0.1.7/go.mod h1:4E11HQSNy2NT8e7MW188y6ST9C0RzarKyn7sK/3V/Lk=
 github.com/cyrilix/robocar-protobuf/go v1.0.5 h1:PX1At+pf6G7gJwT4LzJLQu3/LPFTTNNlZmZSYtnSELY=
 github.com/cyrilix/robocar-protobuf/go v1.0.5/go.mod h1:Y3AE28K5V7EZxMXp/6A8RhkRz15VOfFy4CjST35FbtQ=
+github.com/cyrilix/robocar-protobuf/go v1.3.0 h1:vLsoLQeIfXPnrJ+xYrPy/R/swjYiMBBR7wT2ILdLcQA=
+github.com/cyrilix/robocar-protobuf/go v1.3.0/go.mod h1:Y3AE28K5V7EZxMXp/6A8RhkRz15VOfFy4CjST35FbtQ=
 github.com/davecgh/go-spew v1.1.0/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
 github.com/davecgh/go-spew v1.1.1 h1:vj9j/u1bqnvCEfJOwUhtlOARqs3+rkHYY13jYWTU97c=
 github.com/davecgh/go-spew v1.1.1/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=

pkg/led/led.go

@@ -19,10 +19,12 @@ func init() {
 }
 
 var (
-	ColorBlack = Color{0, 0, 0}
-	ColorRed   = Color{255, 0, 0}
-	ColorGreen = Color{0, 255, 0}
-	ColorBlue  = Color{0, 0, 255}
+	ColorBlack  = Color{0, 0, 0}
+	ColorRed    = Color{255, 0, 0}
+	ColorYellow = Color{255, 255, 0}
+	ColorGreen  = Color{0, 255, 0}
+	ColorBlue   = Color{0, 0, 255}
+	ColorWhite  = Color{255, 255, 255}
 )
 
 func New() *PiColorLed {

pkg/led/led_test.go

@@ -11,27 +11,38 @@ func TestColorLed_Red(t *testing.T) {
 	setLedBackup := setLed
 	defer func() { setLed = setLedBackup }()
 
-	ledColors := make(map[gpio.PinIO]int)
+	l := New()
+	fakeLed := struct {
+		redValue   int
+		greenValue int
+		blueValue  int
+	}{}
 	setLed = func(v int, led gpio.PinIO, mutex *sync.Mutex) {
 		mutex.Lock()
 		defer mutex.Unlock()
-		ledColors[led] = v
+		switch led {
+		case l.pinRed:
+			fakeLed.redValue = v
+		case l.pinGreen:
+			fakeLed.greenValue = v
+		case l.pinBlue:
+			fakeLed.blueValue = v
+		}
 	}
 
-	l := New()
 	if l.Red() != 0 {
 		t.Errorf("%T.Red(): %v, wants %v", l, l.Red(), 0)
 	}
-	if ledColors[l.pinRed] != 0 {
-		t.Errorf("colorValue: %v, wants %v", ledColors[l.pinRed], 0)
+	if fakeLed.redValue != 0 {
+		t.Errorf("colorValue: %v, wants %v", fakeLed.redValue, 0)
 	}
 
 	l.SetColor(ColorRed)
 	if l.Red() != 255 {
 		t.Errorf("%T.Red(): %v, wants %v", l, l.Red(), 255)
 	}
-	if ledColors[l.pinRed] != 255 {
-		t.Errorf("colorValue: %v, wants %v", ledColors[l.pinRed], 255)
+	if fakeLed.redValue != 255 {
+		t.Errorf("colorValue: %v, wants %v", fakeLed.redValue, 255)
 	}
 }
 
@@ -39,27 +50,38 @@ func TestColorLed_Green(t *testing.T) {
 	setLedBackup := setLed
 	defer func() { setLed = setLedBackup }()
 
-	ledColors := make(map[gpio.PinIO]int)
+	l := New()
+	fakeLed := struct {
+		redValue   int
+		greenValue int
+		blueValue  int
+	}{}
 	setLed = func(v int, led gpio.PinIO, mutex *sync.Mutex) {
 		mutex.Lock()
 		defer mutex.Unlock()
-		ledColors[led] = v
+		switch led {
+		case l.pinRed:
+			fakeLed.redValue = v
+		case l.pinGreen:
+			fakeLed.greenValue = v
+		case l.pinBlue:
+			fakeLed.blueValue = v
+		}
 	}
 
-	l := New()
 	if l.Green() != 0 {
 		t.Errorf("%T.Green(): %v, wants %v", l, l.Green(), 0)
 	}
-	if ledColors[l.pinGreen] != 0 {
-		t.Errorf("colorValue: %v, wants %v", ledColors[l.pinGreen], 0)
+	if fakeLed.greenValue != 0 {
+		t.Errorf("colorValue: %v, wants %v", fakeLed.greenValue, 0)
 	}
 
 	l.SetColor(ColorGreen)
 	if l.Green() != 255 {
 		t.Errorf("%T.Green(): %v, wants %v", l, l.Green(), 255)
 	}
-	if ledColors[l.pinGreen] != 255 {
-		t.Errorf("colorValue: %v, wants %v", ledColors[l.pinGreen], 255)
+	if fakeLed.greenValue != 255 {
+		t.Errorf("colorValue: %v, wants %v", fakeLed.greenValue, 255)
 	}
 }
 
@@ -67,27 +89,38 @@ func TestColorLed_Blue(t *testing.T) {
 	setLedBackup := setLed
 	defer func() { setLed = setLedBackup }()
 
-	ledColors := make(map[gpio.PinIO]int)
+	l := New()
+	fakeLed := struct {
+		redValue   int
+		greenValue int
+		blueValue  int
+	}{}
 	setLed = func(v int, led gpio.PinIO, mutex *sync.Mutex) {
 		mutex.Lock()
 		defer mutex.Unlock()
-		ledColors[led] = v
+		switch led {
+		case l.pinRed:
+			fakeLed.redValue = v
+		case l.pinGreen:
+			fakeLed.greenValue = v
+		case l.pinBlue:
+			fakeLed.blueValue = v
+		}
 	}
 
-	l := New()
 	if l.Blue() != 0 {
 		t.Errorf("%T.Blue(): %v, wants %v", l, l.Blue(), 0)
 	}
-	if ledColors[l.pinBlue] != 0 {
-		t.Errorf("colorValue: %v, wants %v", ledColors[l.pinBlue], 0)
+	if fakeLed.blueValue != 0 {
+		t.Errorf("colorValue: %v, wants %v", fakeLed.blueValue, 0)
 	}
 
 	l.SetColor(ColorBlue)
 	if l.Blue() != 255 {
 		t.Errorf("%T.Blue(): %v, wants %v", l, l.Blue(), 255)
 	}
-	if ledColors[l.pinBlue] != 255 {
-		t.Errorf("colorValue: %v, wants %v", ledColors[l.pinBlue], 255)
+	if fakeLed.blueValue != 255 {
+		t.Errorf("colorValue: %v, wants %v", fakeLed.blueValue, 255)
 	}
 }
 

pkg/part/part.go

@@ -12,30 +12,52 @@ import (
 	"time"
 )
 
-func NewPart(client mqtt.Client, driveModeTopic, recordTopic string) *LedPart {
+const (
+	LedModeBrake LedMode = iota
+	LedModeSpeedZone
+)
+
+type LedMode int
+
+func NewPart(client mqtt.Client, driveModeTopic, recordTopic, speedZoneTopic, throttleTopic string, ledMode LedMode) *LedPart {
 	return &LedPart{
 		led:              led.New(),
+		mode:             ledMode,
 		client:           client,
 		onDriveModeTopic: driveModeTopic,
 		onRecordTopic:    recordTopic,
+		onSpeedZoneTopic: speedZoneTopic,
+		onThrottleTopic:  throttleTopic,
 		muDriveMode:      sync.Mutex{},
-		m:                events.DriveMode_INVALID,
+		driveMode:        events.DriveMode_INVALID,
 		muRecord:         sync.Mutex{},
 		recordEnabled:    false,
+		muSpeedZone:      sync.Mutex{},
+		speedZone:        events.SpeedZone_UNKNOWN,
+		muThrottle:       sync.Mutex{},
 	}
 
 }
 
 type LedPart struct {
 	led              led.ColoredLed
+	mode             LedMode
 	client           mqtt.Client
 	onDriveModeTopic string
 	onRecordTopic    string
+	onSpeedZoneTopic string
+	onThrottleTopic  string
 
 	muDriveMode   sync.Mutex
-	m             events.DriveMode
+	driveMode     events.DriveMode
 	muRecord      sync.Mutex
 	recordEnabled bool
+
+	muSpeedZone sync.Mutex
+	speedZone   events.SpeedZone
+
+	muThrottle sync.Mutex
+	throttle   float32
 }
 
 func (p *LedPart) Start() error {
@@ -50,7 +72,13 @@ func (p *LedPart) Start() error {
 func (p *LedPart) Stop() {
 	defer p.led.SetBlink(0)
 	defer p.led.SetColor(led.ColorBlack)
-	service.StopService("led", p.client, p.onDriveModeTopic, p.onRecordTopic)
+	service.StopService("led", p.client, p.onDriveModeTopic, p.onRecordTopic, p.onSpeedZoneTopic, p.onThrottleTopic)
+}
+
+func (p *LedPart) setDriveMode(m events.DriveMode) {
+	p.muDriveMode.Lock()
+	defer p.muDriveMode.Unlock()
+	p.driveMode = m
 }
 
 func (p *LedPart) onDriveMode(_ mqtt.Client, message mqtt.Message) {
@@ -60,12 +88,8 @@ func (p *LedPart) onDriveMode(_ mqtt.Client, message mqtt.Message) {
 		zap.S().Errorf("unable to unmarshal %T message: %v", driveModeMessage, err)
 		return
 	}
-	switch driveModeMessage.GetDriveMode() {
-	case events.DriveMode_USER:
-		p.led.SetColor(led.ColorGreen)
-	case events.DriveMode_PILOT:
-		p.led.SetColor(led.ColorBlue)
-	}
+	p.setDriveMode(driveModeMessage.GetDriveMode())
+	p.updateColor()
 }
 
 func (p *LedPart) onRecord(client mqtt.Client, message mqtt.Message) {
@@ -92,6 +116,91 @@ func (p *LedPart) onRecord(client mqtt.Client, message mqtt.Message) {
 	}
 }
 
+func (p *LedPart) setSpeedZone(sz events.SpeedZone) {
+	p.muSpeedZone.Lock()
+	defer p.muSpeedZone.Unlock()
+	p.speedZone = sz
+}
+
+func (p *LedPart) onSpeedZone(_ mqtt.Client, message mqtt.Message) {
+	var speedZoneMessage events.SpeedZoneMessage
+	err := proto.Unmarshal(message.Payload(), &speedZoneMessage)
+	if err != nil {
+		zap.S().Errorf("unable to unmarshal %T message: %v", speedZoneMessage, err)
+		return
+	}
+
+	p.setSpeedZone(speedZoneMessage.GetSpeedZone())
+	p.updateColor()
+}
+
+func (p *LedPart) setThrottle(throttle float32) {
+	p.muThrottle.Lock()
+	defer p.muThrottle.Unlock()
+	p.throttle = throttle
+}
+
+func (p *LedPart) onThrottle(_ mqtt.Client, message mqtt.Message) {
+	var throttleMessage events.ThrottleMessage
+	err := proto.Unmarshal(message.Payload(), &throttleMessage)
+	if err != nil {
+		zap.S().Errorf("unable to unmarshal %T message: %v", throttleMessage, err)
+		return
+	}
+
+	p.setThrottle(throttleMessage.GetThrottle())
+	p.updateColor()
+}
+
+func (p *LedPart) updateColor() {
+	p.muSpeedZone.Lock()
+	defer p.muSpeedZone.Unlock()
+	p.muDriveMode.Lock()
+	defer p.muDriveMode.Unlock()
+	p.muThrottle.Lock()
+	defer p.muThrottle.Unlock()
+
+	if p.throttle <= -0.05 {
+		p.led.SetColor(led.Color{Red: int(p.throttle * -255)})
+		return
+	}
+
+	switch p.mode {
+	case LedModeBrake:
+		p.updateBrakeColor()
+	case LedModeSpeedZone:
+		p.updateSpeedZoneColor()
+	}
+}
+
+func (p *LedPart) updateSpeedZoneColor() {
+	switch p.driveMode {
+	case events.DriveMode_USER:
+		p.led.SetColor(led.ColorGreen)
+	case events.DriveMode_PILOT:
+		switch p.speedZone {
+		case events.SpeedZone_UNKNOWN:
+			p.led.SetColor(led.ColorWhite)
+		case events.SpeedZone_SLOW:
+			p.led.SetColor(led.ColorRed)
+		case events.SpeedZone_NORMAL:
+			p.led.SetColor(led.ColorYellow)
+		case events.SpeedZone_FAST:
+			p.led.SetColor(led.ColorBlue)
+		}
+	}
+}
+
+func (p *LedPart) updateBrakeColor() {
+
+	switch p.driveMode {
+	case events.DriveMode_USER:
+		p.led.SetColor(led.ColorGreen)
+	case events.DriveMode_PILOT:
+		p.led.SetColor(led.ColorBlue)
+	}
+}
+
 func (p *LedPart) registerCallbacks() error {
 	err := service.RegisterCallback(p.client, p.onDriveModeTopic, p.onDriveMode)
 	if err != nil {
@@ -102,5 +211,16 @@ func (p *LedPart) registerCallbacks() error {
 	if err != nil {
 		return err
 	}
+
+	err = service.RegisterCallback(p.client, p.onSpeedZoneTopic, p.onSpeedZone)
+	if err != nil {
+		return err
+	}
+
+	err = service.RegisterCallback(p.client, p.onThrottleTopic, p.onThrottle)
+	if err != nil {
+		return err
+	}
+
 	return nil
 }

pkg/part/part_test.go

@@ -29,7 +29,7 @@ func (f *fakeLed) SetBlink(freq float64) {
 
 func TestLedPart_OnDriveMode(t *testing.T) {
 	l := fakeLed{}
-	p := LedPart{led: &l}
+	p := LedPart{led: &l, speedZone: events.SpeedZone_FAST}
 
 	cases := []struct {
 		msg   mqtt.Message
@@ -50,10 +50,11 @@ func TestLedPart_OnDriveMode(t *testing.T) {
 		}
 		value := msg.DriveMode
 		if l.color != c.color {
-			t.Errorf("driveMode(%v)=invalid value for color: %v, wants %v", value, l.color, c.color)
+			t.Errorf("driveMode(%v)=invalid value for expectedColor: %v, wants %v", value, l.color, c.color)
 		}
 	}
 }
+
 func TestLedPart_OnRecord(t *testing.T) {
 	led := fakeLed{}
 	p := LedPart{led: &led}
@@ -83,3 +84,90 @@ func TestLedPart_OnRecord(t *testing.T) {
 		}
 	}
 }
+
+func TestLedPart_OnSpeedZone(t *testing.T) {
+	l := fakeLed{}
+	p := LedPart{led: &l, mode: LedModeSpeedZone, driveMode: events.DriveMode_PILOT}
+
+	cases := []struct {
+		msg   mqtt.Message
+		color led.Color
+	}{
+		{testtools.NewFakeMessageFromProtobuf("speedzone", &events.SpeedZoneMessage{SpeedZone: events.SpeedZone_SLOW}), led.ColorRed},
+		{testtools.NewFakeMessageFromProtobuf("speedzone", &events.SpeedZoneMessage{SpeedZone: events.SpeedZone_NORMAL}), led.ColorYellow},
+		{testtools.NewFakeMessageFromProtobuf("speedzone", &events.SpeedZoneMessage{SpeedZone: events.SpeedZone_FAST}), led.ColorBlue},
+		{testtools.NewFakeMessageFromProtobuf("speedzone", &events.SpeedZoneMessage{SpeedZone: events.SpeedZone_UNKNOWN}), led.ColorWhite},
+	}
+
+	for _, c := range cases {
+		p.onSpeedZone(nil, c.msg)
+		time.Sleep(1 * time.Millisecond)
+		var msg events.SpeedZoneMessage
+		err := proto.Unmarshal(c.msg.Payload(), &msg)
+		if err != nil {
+			t.Errorf("unable to unmarshal drive mode message: %v", err)
+		}
+		value := msg.GetSpeedZone()
+		if l.color != c.color {
+			t.Errorf("driveMode(%v)=invalid value for expectedColor: %v, wants %v", value, l.color, c.color)
+		}
+	}
+}
+
+func TestLedPart_OnThrottle(t *testing.T) {
+
+	cases := []struct {
+		name          string
+		msg           mqtt.Message
+		expectedColor led.Color
+	}{
+		{"throttle stop",
+			testtools.NewFakeMessageFromProtobuf("throttle", &events.ThrottleMessage{Throttle: 0.}),
+			led.ColorBlue,
+		},
+		{
+			"throttle normal",
+			testtools.NewFakeMessageFromProtobuf("throttle", &events.ThrottleMessage{Throttle: 0.5}),
+			led.ColorBlue,
+		},
+		{
+			"near zero",
+			testtools.NewFakeMessageFromProtobuf("throttle", &events.ThrottleMessage{Throttle: -0.01}),
+			led.ColorBlue,
+		},
+		{
+			"slow brake",
+			testtools.NewFakeMessageFromProtobuf("throttle", &events.ThrottleMessage{Throttle: -0.06}),
+			led.Color{Red: 15},
+		},
+		{
+			"normal brake",
+			testtools.NewFakeMessageFromProtobuf("throttle", &events.ThrottleMessage{Throttle: -0.5}),
+			led.Color{Red: 127},
+		},
+		{
+			"high brake",
+			testtools.NewFakeMessageFromProtobuf("throttle", &events.ThrottleMessage{Throttle: -1.}),
+			led.ColorRed,
+		},
+	}
+
+	for _, c := range cases {
+		t.Run(c.name, func(t *testing.T) {
+			l := fakeLed{}
+			p := LedPart{led: &l, mode: LedModeBrake, driveMode: events.DriveMode_PILOT}
+
+			p.onThrottle(nil, c.msg)
+			time.Sleep(1 * time.Millisecond)
+			var msg events.ThrottleMessage
+			err := proto.Unmarshal(c.msg.Payload(), &msg)
+			if err != nil {
+				t.Errorf("unable to unmarshal drive mode message: %v", err)
+			}
+			value := msg.GetThrottle()
+			if l.color != c.expectedColor {
+				t.Errorf("driveMode(%v)=invalid value for expectedColor: %v, wants %v", value, l.color, c.expectedColor)
+			}
+		})
+	}
+}

vendor/github.com/cyrilix/robocar-protobuf/go/events/events.pb.go

@@ -1,7 +1,7 @@
 // Code generated by protoc-gen-go. DO NOT EDIT.
 // versions:
-// 	protoc-gen-go v1.27.1
-// 	protoc        v3.12.4
+// 	protoc-gen-go v1.28.1
+// 	protoc        v3.21.4
 // source: events/events.proto
 
 package events
@@ -21,6 +21,58 @@ const (
 	_ = protoimpl.EnforceVersion(protoimpl.MaxVersion - 20)
 )
 
+type SpeedZone int32
+
+const (
+	SpeedZone_UNKNOWN SpeedZone = 0
+	SpeedZone_SLOW    SpeedZone = 1
+	SpeedZone_NORMAL  SpeedZone = 2
+	SpeedZone_FAST    SpeedZone = 3
+)
+
+// Enum value maps for SpeedZone.
+var (
+	SpeedZone_name = map[int32]string{
+		0: "UNKNOWN",
+		1: "SLOW",
+		2: "NORMAL",
+		3: "FAST",
+	}
+	SpeedZone_value = map[string]int32{
+		"UNKNOWN": 0,
+		"SLOW":    1,
+		"NORMAL":  2,
+		"FAST":    3,
+	}
+)
+
+func (x SpeedZone) Enum() *SpeedZone {
+	p := new(SpeedZone)
+	*p = x
+	return p
+}
+
+func (x SpeedZone) String() string {
+	return protoimpl.X.EnumStringOf(x.Descriptor(), protoreflect.EnumNumber(x))
+}
+
+func (SpeedZone) Descriptor() protoreflect.EnumDescriptor {
+	return file_events_events_proto_enumTypes[0].Descriptor()
+}
+
+func (SpeedZone) Type() protoreflect.EnumType {
+	return &file_events_events_proto_enumTypes[0]
+}
+
+func (x SpeedZone) Number() protoreflect.EnumNumber {
+	return protoreflect.EnumNumber(x)
+}
+
+// Deprecated: Use SpeedZone.Descriptor instead.
+func (SpeedZone) EnumDescriptor() ([]byte, []int) {
+	return file_events_events_proto_rawDescGZIP(), []int{0}
+}
+
 type DriveMode int32
 
 const (
@@ -54,11 +106,11 @@ func (x DriveMode) String() string {
 }
 
 func (DriveMode) Descriptor() protoreflect.EnumDescriptor {
-	return file_events_events_proto_enumTypes[0].Descriptor()
+	return file_events_events_proto_enumTypes[1].Descriptor()
 }
 
 func (DriveMode) Type() protoreflect.EnumType {
-	return &file_events_events_proto_enumTypes[0]
+	return &file_events_events_proto_enumTypes[1]
 }
 
 func (x DriveMode) Number() protoreflect.EnumNumber {
@@ -67,7 +119,7 @@ func (x DriveMode) Number() protoreflect.EnumNumber {
 
 // Deprecated: Use DriveMode.Descriptor instead.
 func (DriveMode) EnumDescriptor() ([]byte, []int) {
-	return file_events_events_proto_rawDescGZIP(), []int{0}
+	return file_events_events_proto_rawDescGZIP(), []int{1}
 }
 
 type TypeObject int32
@@ -106,11 +158,11 @@ func (x TypeObject) String() string {
 }
 
 func (TypeObject) Descriptor() protoreflect.EnumDescriptor {
-	return file_events_events_proto_enumTypes[1].Descriptor()
+	return file_events_events_proto_enumTypes[2].Descriptor()
 }
 
 func (TypeObject) Type() protoreflect.EnumType {
-	return &file_events_events_proto_enumTypes[1]
+	return &file_events_events_proto_enumTypes[2]
 }
 
 func (x TypeObject) Number() protoreflect.EnumNumber {
@@ -119,7 +171,7 @@ func (x TypeObject) Number() protoreflect.EnumNumber {
 
 // Deprecated: Use TypeObject.Descriptor instead.
 func (TypeObject) EnumDescriptor() ([]byte, []int) {
-	return file_events_events_proto_rawDescGZIP(), []int{1}
+	return file_events_events_proto_rawDescGZIP(), []int{2}
 }
 
 type FrameRef struct {
@@ -366,6 +418,69 @@ func (x *ThrottleMessage) GetFrameRef() *FrameRef {
 	return nil
 }
 
+type SpeedZoneMessage struct {
+	state         protoimpl.MessageState
+	sizeCache     protoimpl.SizeCache
+	unknownFields protoimpl.UnknownFields
+
+	SpeedZone  SpeedZone `protobuf:"varint,1,opt,name=speed_zone,json=speedZone,proto3,enum=robocar.events.SpeedZone" json:"speed_zone,omitempty"`
+	Confidence float32   `protobuf:"fixed32,2,opt,name=confidence,proto3" json:"confidence,omitempty"`
+	FrameRef   *FrameRef `protobuf:"bytes,3,opt,name=frame_ref,json=frameRef,proto3" json:"frame_ref,omitempty"`
+}
+
+func (x *SpeedZoneMessage) Reset() {
+	*x = SpeedZoneMessage{}
+	if protoimpl.UnsafeEnabled {
+		mi := &file_events_events_proto_msgTypes[4]
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		ms.StoreMessageInfo(mi)
+	}
+}
+
+func (x *SpeedZoneMessage) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*SpeedZoneMessage) ProtoMessage() {}
+
+func (x *SpeedZoneMessage) ProtoReflect() protoreflect.Message {
+	mi := &file_events_events_proto_msgTypes[4]
+	if protoimpl.UnsafeEnabled && x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use SpeedZoneMessage.ProtoReflect.Descriptor instead.
+func (*SpeedZoneMessage) Descriptor() ([]byte, []int) {
+	return file_events_events_proto_rawDescGZIP(), []int{4}
+}
+
+func (x *SpeedZoneMessage) GetSpeedZone() SpeedZone {
+	if x != nil {
+		return x.SpeedZone
+	}
+	return SpeedZone_UNKNOWN
+}
+
+func (x *SpeedZoneMessage) GetConfidence() float32 {
+	if x != nil {
+		return x.Confidence
+	}
+	return 0
+}
+
+func (x *SpeedZoneMessage) GetFrameRef() *FrameRef {
+	if x != nil {
+		return x.FrameRef
+	}
+	return nil
+}
+
 type DriveModeMessage struct {
 	state         protoimpl.MessageState
 	sizeCache     protoimpl.SizeCache
@@ -377,7 +492,7 @@ type DriveModeMessage struct {
 func (x *DriveModeMessage) Reset() {
 	*x = DriveModeMessage{}
 	if protoimpl.UnsafeEnabled {
-		mi := &file_events_events_proto_msgTypes[4]
+		mi := &file_events_events_proto_msgTypes[5]
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		ms.StoreMessageInfo(mi)
 	}
@@ -390,7 +505,7 @@ func (x *DriveModeMessage) String() string {
 func (*DriveModeMessage) ProtoMessage() {}
 
 func (x *DriveModeMessage) ProtoReflect() protoreflect.Message {
-	mi := &file_events_events_proto_msgTypes[4]
+	mi := &file_events_events_proto_msgTypes[5]
 	if protoimpl.UnsafeEnabled && x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -403,7 +518,7 @@ func (x *DriveModeMessage) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use DriveModeMessage.ProtoReflect.Descriptor instead.
 func (*DriveModeMessage) Descriptor() ([]byte, []int) {
-	return file_events_events_proto_rawDescGZIP(), []int{4}
+	return file_events_events_proto_rawDescGZIP(), []int{5}
 }
 
 func (x *DriveModeMessage) GetDriveMode() DriveMode {
@@ -425,7 +540,7 @@ type ObjectsMessage struct {
 func (x *ObjectsMessage) Reset() {
 	*x = ObjectsMessage{}
 	if protoimpl.UnsafeEnabled {
-		mi := &file_events_events_proto_msgTypes[5]
+		mi := &file_events_events_proto_msgTypes[6]
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		ms.StoreMessageInfo(mi)
 	}
@@ -438,7 +553,7 @@ func (x *ObjectsMessage) String() string {
 func (*ObjectsMessage) ProtoMessage() {}
 
 func (x *ObjectsMessage) ProtoReflect() protoreflect.Message {
-	mi := &file_events_events_proto_msgTypes[5]
+	mi := &file_events_events_proto_msgTypes[6]
 	if protoimpl.UnsafeEnabled && x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -451,7 +566,7 @@ func (x *ObjectsMessage) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use ObjectsMessage.ProtoReflect.Descriptor instead.
 func (*ObjectsMessage) Descriptor() ([]byte, []int) {
-	return file_events_events_proto_rawDescGZIP(), []int{5}
+	return file_events_events_proto_rawDescGZIP(), []int{6}
 }
 
 func (x *ObjectsMessage) GetObjects() []*Object {
@@ -468,24 +583,24 @@ func (x *ObjectsMessage) GetFrameRef() *FrameRef {
 	return nil
 }
 
-// BoundingBox that contains an object
+// BoundingBox that contains an object, coordinates as percent
 type Object struct {
 	state         protoimpl.MessageState
 	sizeCache     protoimpl.SizeCache
 	unknownFields protoimpl.UnknownFields
 
 	Type       TypeObject `protobuf:"varint,1,opt,name=type,proto3,enum=robocar.events.TypeObject" json:"type,omitempty"`
-	Left       int32      `protobuf:"varint,2,opt,name=left,proto3" json:"left,omitempty"`
-	Top        int32      `protobuf:"varint,3,opt,name=top,proto3" json:"top,omitempty"`
-	Right      int32      `protobuf:"varint,4,opt,name=right,proto3" json:"right,omitempty"`
-	Bottom     int32      `protobuf:"varint,5,opt,name=bottom,proto3" json:"bottom,omitempty"`
+	Left       float32    `protobuf:"fixed32,2,opt,name=left,proto3" json:"left,omitempty"`
+	Top        float32    `protobuf:"fixed32,3,opt,name=top,proto3" json:"top,omitempty"`
+	Right      float32    `protobuf:"fixed32,4,opt,name=right,proto3" json:"right,omitempty"`
+	Bottom     float32    `protobuf:"fixed32,5,opt,name=bottom,proto3" json:"bottom,omitempty"`
 	Confidence float32    `protobuf:"fixed32,6,opt,name=confidence,proto3" json:"confidence,omitempty"`
 }
 
 func (x *Object) Reset() {
 	*x = Object{}
 	if protoimpl.UnsafeEnabled {
-		mi := &file_events_events_proto_msgTypes[6]
+		mi := &file_events_events_proto_msgTypes[7]
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		ms.StoreMessageInfo(mi)
 	}
@@ -498,7 +613,7 @@ func (x *Object) String() string {
 func (*Object) ProtoMessage() {}
 
 func (x *Object) ProtoReflect() protoreflect.Message {
-	mi := &file_events_events_proto_msgTypes[6]
+	mi := &file_events_events_proto_msgTypes[7]
 	if protoimpl.UnsafeEnabled && x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -511,7 +626,7 @@ func (x *Object) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use Object.ProtoReflect.Descriptor instead.
 func (*Object) Descriptor() ([]byte, []int) {
-	return file_events_events_proto_rawDescGZIP(), []int{6}
+	return file_events_events_proto_rawDescGZIP(), []int{7}
 }
 
 func (x *Object) GetType() TypeObject {
@@ -521,28 +636,28 @@ func (x *Object) GetType() TypeObject {
 	return TypeObject_ANY
 }
 
-func (x *Object) GetLeft() int32 {
+func (x *Object) GetLeft() float32 {
 	if x != nil {
 		return x.Left
 	}
 	return 0
 }
 
-func (x *Object) GetTop() int32 {
+func (x *Object) GetTop() float32 {
 	if x != nil {
 		return x.Top
 	}
 	return 0
 }
 
-func (x *Object) GetRight() int32 {
+func (x *Object) GetRight() float32 {
 	if x != nil {
 		return x.Right
 	}
 	return 0
 }
 
-func (x *Object) GetBottom() int32 {
+func (x *Object) GetBottom() float32 {
 	if x != nil {
 		return x.Bottom
 	}
@@ -567,7 +682,7 @@ type SwitchRecordMessage struct {
 func (x *SwitchRecordMessage) Reset() {
 	*x = SwitchRecordMessage{}
 	if protoimpl.UnsafeEnabled {
-		mi := &file_events_events_proto_msgTypes[7]
+		mi := &file_events_events_proto_msgTypes[8]
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		ms.StoreMessageInfo(mi)
 	}
@@ -580,7 +695,7 @@ func (x *SwitchRecordMessage) String() string {
 func (*SwitchRecordMessage) ProtoMessage() {}
 
 func (x *SwitchRecordMessage) ProtoReflect() protoreflect.Message {
-	mi := &file_events_events_proto_msgTypes[7]
+	mi := &file_events_events_proto_msgTypes[8]
 	if protoimpl.UnsafeEnabled && x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -593,7 +708,7 @@ func (x *SwitchRecordMessage) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use SwitchRecordMessage.ProtoReflect.Descriptor instead.
 func (*SwitchRecordMessage) Descriptor() ([]byte, []int) {
-	return file_events_events_proto_rawDescGZIP(), []int{7}
+	return file_events_events_proto_rawDescGZIP(), []int{8}
 }
 
 func (x *SwitchRecordMessage) GetEnabled() bool {
@@ -617,7 +732,7 @@ type RoadMessage struct {
 func (x *RoadMessage) Reset() {
 	*x = RoadMessage{}
 	if protoimpl.UnsafeEnabled {
-		mi := &file_events_events_proto_msgTypes[8]
+		mi := &file_events_events_proto_msgTypes[9]
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		ms.StoreMessageInfo(mi)
 	}
@@ -630,7 +745,7 @@ func (x *RoadMessage) String() string {
 func (*RoadMessage) ProtoMessage() {}
 
 func (x *RoadMessage) ProtoReflect() protoreflect.Message {
-	mi := &file_events_events_proto_msgTypes[8]
+	mi := &file_events_events_proto_msgTypes[9]
 	if protoimpl.UnsafeEnabled && x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -643,7 +758,7 @@ func (x *RoadMessage) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use RoadMessage.ProtoReflect.Descriptor instead.
 func (*RoadMessage) Descriptor() ([]byte, []int) {
-	return file_events_events_proto_rawDescGZIP(), []int{8}
+	return file_events_events_proto_rawDescGZIP(), []int{9}
 }
 
 func (x *RoadMessage) GetContour() []*Point {
@@ -679,7 +794,7 @@ type Point struct {
 func (x *Point) Reset() {
 	*x = Point{}
 	if protoimpl.UnsafeEnabled {
-		mi := &file_events_events_proto_msgTypes[9]
+		mi := &file_events_events_proto_msgTypes[10]
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		ms.StoreMessageInfo(mi)
 	}
@@ -692,7 +807,7 @@ func (x *Point) String() string {
 func (*Point) ProtoMessage() {}
 
 func (x *Point) ProtoReflect() protoreflect.Message {
-	mi := &file_events_events_proto_msgTypes[9]
+	mi := &file_events_events_proto_msgTypes[10]
 	if protoimpl.UnsafeEnabled && x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -705,7 +820,7 @@ func (x *Point) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use Point.ProtoReflect.Descriptor instead.
 func (*Point) Descriptor() ([]byte, []int) {
-	return file_events_events_proto_rawDescGZIP(), []int{9}
+	return file_events_events_proto_rawDescGZIP(), []int{10}
 }
 
 func (x *Point) GetX() int32 {
@@ -737,7 +852,7 @@ type Ellipse struct {
 func (x *Ellipse) Reset() {
 	*x = Ellipse{}
 	if protoimpl.UnsafeEnabled {
-		mi := &file_events_events_proto_msgTypes[10]
+		mi := &file_events_events_proto_msgTypes[11]
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		ms.StoreMessageInfo(mi)
 	}
@@ -750,7 +865,7 @@ func (x *Ellipse) String() string {
 func (*Ellipse) ProtoMessage() {}
 
 func (x *Ellipse) ProtoReflect() protoreflect.Message {
-	mi := &file_events_events_proto_msgTypes[10]
+	mi := &file_events_events_proto_msgTypes[11]
 	if protoimpl.UnsafeEnabled && x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -763,7 +878,7 @@ func (x *Ellipse) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use Ellipse.ProtoReflect.Descriptor instead.
 func (*Ellipse) Descriptor() ([]byte, []int) {
-	return file_events_events_proto_rawDescGZIP(), []int{10}
+	return file_events_events_proto_rawDescGZIP(), []int{11}
 }
 
 func (x *Ellipse) GetCenter() *Point {
@@ -807,15 +922,17 @@ type RecordMessage struct {
 	sizeCache     protoimpl.SizeCache
 	unknownFields protoimpl.UnknownFields
 
-	Frame     *FrameMessage    `protobuf:"bytes,1,opt,name=frame,proto3" json:"frame,omitempty"`
-	Steering  *SteeringMessage `protobuf:"bytes,2,opt,name=steering,proto3" json:"steering,omitempty"`
-	RecordSet string           `protobuf:"bytes,3,opt,name=recordSet,proto3" json:"recordSet,omitempty"` // Record set name
+	Frame             *FrameMessage     `protobuf:"bytes,1,opt,name=frame,proto3" json:"frame,omitempty"`
+	Steering          *SteeringMessage  `protobuf:"bytes,2,opt,name=steering,proto3" json:"steering,omitempty"`
+	AutopilotSteering *SteeringMessage  `protobuf:"bytes,4,opt,name=autopilot_steering,json=autopilotSteering,proto3" json:"autopilot_steering,omitempty"`
+	DriveMode         *DriveModeMessage `protobuf:"bytes,5,opt,name=drive_mode,json=driveMode,proto3" json:"drive_mode,omitempty"`
+	RecordSet         string            `protobuf:"bytes,3,opt,name=recordSet,proto3" json:"recordSet,omitempty"` // Record set name
 }
 
 func (x *RecordMessage) Reset() {
 	*x = RecordMessage{}
 	if protoimpl.UnsafeEnabled {
-		mi := &file_events_events_proto_msgTypes[11]
+		mi := &file_events_events_proto_msgTypes[12]
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		ms.StoreMessageInfo(mi)
 	}
@@ -828,7 +945,7 @@ func (x *RecordMessage) String() string {
 func (*RecordMessage) ProtoMessage() {}
 
 func (x *RecordMessage) ProtoReflect() protoreflect.Message {
-	mi := &file_events_events_proto_msgTypes[11]
+	mi := &file_events_events_proto_msgTypes[12]
 	if protoimpl.UnsafeEnabled && x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -841,7 +958,7 @@ func (x *RecordMessage) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use RecordMessage.ProtoReflect.Descriptor instead.
 func (*RecordMessage) Descriptor() ([]byte, []int) {
-	return file_events_events_proto_rawDescGZIP(), []int{11}
+	return file_events_events_proto_rawDescGZIP(), []int{12}
 }
 
 func (x *RecordMessage) GetFrame() *FrameMessage {
@@ -858,6 +975,20 @@ func (x *RecordMessage) GetSteering() *SteeringMessage {
 	return nil
 }
 
+func (x *RecordMessage) GetAutopilotSteering() *SteeringMessage {
+	if x != nil {
+		return x.AutopilotSteering
+	}
+	return nil
+}
+
+func (x *RecordMessage) GetDriveMode() *DriveModeMessage {
+	if x != nil {
+		return x.DriveMode
+	}
+	return nil
+}
+
 func (x *RecordMessage) GetRecordSet() string {
 	if x != nil {
 		return x.RecordSet
@@ -901,73 +1032,96 @@ var file_events_events_proto_rawDesc = []byte{
 	0x65, 0x5f, 0x72, 0x65, 0x66, 0x18, 0x03, 0x20, 0x01, 0x28, 0x0b, 0x32, 0x18, 0x2e, 0x72, 0x6f,
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+	0x76, 0x65, 0x6e, 0x74, 0x73, 0x2e, 0x44, 0x72, 0x69, 0x76, 0x65, 0x4d, 0x6f, 0x64, 0x65, 0x4d,
+	0x65, 0x73, 0x73, 0x61, 0x67, 0x65, 0x52, 0x09, 0x64, 0x72, 0x69, 0x76, 0x65, 0x4d, 0x6f, 0x64,
+	0x65, 0x12, 0x1c, 0x0a, 0x09, 0x72, 0x65, 0x63, 0x6f, 0x72, 0x64, 0x53, 0x65, 0x74, 0x18, 0x03,
+	0x20, 0x01, 0x28, 0x09, 0x52, 0x09, 0x72, 0x65, 0x63, 0x6f, 0x72, 0x64, 0x53, 0x65, 0x74, 0x2a,
+	0x38, 0x0a, 0x09, 0x53, 0x70, 0x65, 0x65, 0x64, 0x5a, 0x6f, 0x6e, 0x65, 0x12, 0x0b, 0x0a, 0x07,
+	0x55, 0x4e, 0x4b, 0x4e, 0x4f, 0x57, 0x4e, 0x10, 0x00, 0x12, 0x08, 0x0a, 0x04, 0x53, 0x4c, 0x4f,
+	0x57, 0x10, 0x01, 0x12, 0x0a, 0x0a, 0x06, 0x4e, 0x4f, 0x52, 0x4d, 0x41, 0x4c, 0x10, 0x02, 0x12,
+	0x08, 0x0a, 0x04, 0x46, 0x41, 0x53, 0x54, 0x10, 0x03, 0x2a, 0x2d, 0x0a, 0x09, 0x44, 0x72, 0x69,
+	0x76, 0x65, 0x4d, 0x6f, 0x64, 0x65, 0x12, 0x0b, 0x0a, 0x07, 0x49, 0x4e, 0x56, 0x41, 0x4c, 0x49,
+	0x44, 0x10, 0x00, 0x12, 0x08, 0x0a, 0x04, 0x55, 0x53, 0x45, 0x52, 0x10, 0x01, 0x12, 0x09, 0x0a,
+	0x05, 0x50, 0x49, 0x4c, 0x4f, 0x54, 0x10, 0x02, 0x2a, 0x32, 0x0a, 0x0a, 0x54, 0x79, 0x70, 0x65,
+	0x4f, 0x62, 0x6a, 0x65, 0x63, 0x74, 0x12, 0x07, 0x0a, 0x03, 0x41, 0x4e, 0x59, 0x10, 0x00, 0x12,
+	0x07, 0x0a, 0x03, 0x43, 0x41, 0x52, 0x10, 0x01, 0x12, 0x08, 0x0a, 0x04, 0x42, 0x55, 0x4d, 0x50,
+	0x10, 0x02, 0x12, 0x08, 0x0a, 0x04, 0x50, 0x4c, 0x4f, 0x54, 0x10, 0x03, 0x42, 0x0a, 0x5a, 0x08,
+	0x2e, 0x2f, 0x65, 0x76, 0x65, 0x6e, 0x74, 0x73, 0x62, 0x06, 0x70, 0x72, 0x6f, 0x74, 0x6f, 0x33,
 }
 
 var (
@@ -982,45 +1136,51 @@ func file_events_events_proto_rawDescGZIP() []byte {
 	return file_events_events_proto_rawDescData
 }
 
-var file_events_events_proto_enumTypes = make([]protoimpl.EnumInfo, 2)
-var file_events_events_proto_msgTypes = make([]protoimpl.MessageInfo, 12)
+var file_events_events_proto_enumTypes = make([]protoimpl.EnumInfo, 3)
+var file_events_events_proto_msgTypes = make([]protoimpl.MessageInfo, 13)
 var file_events_events_proto_goTypes = []interface{}{
-	(DriveMode)(0),              // 0: robocar.events.DriveMode
-	(TypeObject)(0),             // 1: robocar.events.TypeObject
-	(*FrameRef)(nil),            // 2: robocar.events.FrameRef
-	(*FrameMessage)(nil),        // 3: robocar.events.FrameMessage
-	(*SteeringMessage)(nil),     // 4: robocar.events.SteeringMessage
-	(*ThrottleMessage)(nil),     // 5: robocar.events.ThrottleMessage
-	(*DriveModeMessage)(nil),    // 6: robocar.events.DriveModeMessage
-	(*ObjectsMessage)(nil),      // 7: robocar.events.ObjectsMessage
-	(*Object)(nil),              // 8: robocar.events.Object
-	(*SwitchRecordMessage)(nil), // 9: robocar.events.SwitchRecordMessage
-	(*RoadMessage)(nil),         // 10: robocar.events.RoadMessage
-	(*Point)(nil),               // 11: robocar.events.Point
-	(*Ellipse)(nil),             // 12: robocar.events.Ellipse
-	(*RecordMessage)(nil),       // 13: robocar.events.RecordMessage
-	(*timestamp.Timestamp)(nil), // 14: google.protobuf.Timestamp
+	(SpeedZone)(0),              // 0: robocar.events.SpeedZone
+	(DriveMode)(0),              // 1: robocar.events.DriveMode
+	(TypeObject)(0),             // 2: robocar.events.TypeObject
+	(*FrameRef)(nil),            // 3: robocar.events.FrameRef
+	(*FrameMessage)(nil),        // 4: robocar.events.FrameMessage
+	(*SteeringMessage)(nil),     // 5: robocar.events.SteeringMessage
+	(*ThrottleMessage)(nil),     // 6: robocar.events.ThrottleMessage
+	(*SpeedZoneMessage)(nil),    // 7: robocar.events.SpeedZoneMessage
+	(*DriveModeMessage)(nil),    // 8: robocar.events.DriveModeMessage
+	(*ObjectsMessage)(nil),      // 9: robocar.events.ObjectsMessage
+	(*Object)(nil),              // 10: robocar.events.Object
+	(*SwitchRecordMessage)(nil), // 11: robocar.events.SwitchRecordMessage
+	(*RoadMessage)(nil),         // 12: robocar.events.RoadMessage
+	(*Point)(nil),               // 13: robocar.events.Point
+	(*Ellipse)(nil),             // 14: robocar.events.Ellipse
+	(*RecordMessage)(nil),       // 15: robocar.events.RecordMessage
+	(*timestamp.Timestamp)(nil), // 16: google.protobuf.Timestamp
 }
 var file_events_events_proto_depIdxs = []int32{
-	14, // 0: robocar.events.FrameRef.created_at:type_name -> google.protobuf.Timestamp
-	2,  // 1: robocar.events.FrameMessage.id:type_name -> robocar.events.FrameRef
-	2,  // 2: robocar.events.SteeringMessage.frame_ref:type_name -> robocar.events.FrameRef
-	2,  // 3: robocar.events.ThrottleMessage.frame_ref:type_name -> robocar.events.FrameRef
-	0,  // 4: robocar.events.DriveModeMessage.drive_mode:type_name -> robocar.events.DriveMode
-	8,  // 5: robocar.events.ObjectsMessage.objects:type_name -> robocar.events.Object
-	2,  // 6: robocar.events.ObjectsMessage.frame_ref:type_name -> robocar.events.FrameRef
-	1,  // 7: robocar.events.Object.type:type_name -> robocar.events.TypeObject
-	11, // 8: robocar.events.RoadMessage.contour:type_name -> robocar.events.Point
-	12, // 9: robocar.events.RoadMessage.ellipse:type_name -> robocar.events.Ellipse
-	2,  // 10: robocar.events.RoadMessage.frame_ref:type_name -> robocar.events.FrameRef
-	11, // 11: robocar.events.Ellipse.center:type_name -> robocar.events.Point
-	3,  // 12: robocar.events.RecordMessage.frame:type_name -> robocar.events.FrameMessage
-	4,  // 13: robocar.events.RecordMessage.steering:type_name -> robocar.events.SteeringMessage
-	14, // [14:14] is the sub-list for method output_type
-	14, // [14:14] is the sub-list for method input_type
-	14, // [14:14] is the sub-list for extension type_name
-	14, // [14:14] is the sub-list for extension extendee
-	0,  // [0:14] is the sub-list for field type_name
+	16, // 0: robocar.events.FrameRef.created_at:type_name -> google.protobuf.Timestamp
+	3,  // 1: robocar.events.FrameMessage.id:type_name -> robocar.events.FrameRef
+	3,  // 2: robocar.events.SteeringMessage.frame_ref:type_name -> robocar.events.FrameRef
+	3,  // 3: robocar.events.ThrottleMessage.frame_ref:type_name -> robocar.events.FrameRef
+	0,  // 4: robocar.events.SpeedZoneMessage.speed_zone:type_name -> robocar.events.SpeedZone
+	3,  // 5: robocar.events.SpeedZoneMessage.frame_ref:type_name -> robocar.events.FrameRef
+	1,  // 6: robocar.events.DriveModeMessage.drive_mode:type_name -> robocar.events.DriveMode
+	10, // 7: robocar.events.ObjectsMessage.objects:type_name -> robocar.events.Object
+	3,  // 8: robocar.events.ObjectsMessage.frame_ref:type_name -> robocar.events.FrameRef
+	2,  // 9: robocar.events.Object.type:type_name -> robocar.events.TypeObject
+	13, // 10: robocar.events.RoadMessage.contour:type_name -> robocar.events.Point
+	14, // 11: robocar.events.RoadMessage.ellipse:type_name -> robocar.events.Ellipse
+	3,  // 12: robocar.events.RoadMessage.frame_ref:type_name -> robocar.events.FrameRef
+	13, // 13: robocar.events.Ellipse.center:type_name -> robocar.events.Point
+	4,  // 14: robocar.events.RecordMessage.frame:type_name -> robocar.events.FrameMessage
+	5,  // 15: robocar.events.RecordMessage.steering:type_name -> robocar.events.SteeringMessage
+	5,  // 16: robocar.events.RecordMessage.autopilot_steering:type_name -> robocar.events.SteeringMessage
+	8,  // 17: robocar.events.RecordMessage.drive_mode:type_name -> robocar.events.DriveModeMessage
+	18, // [18:18] is the sub-list for method output_type
+	18, // [18:18] is the sub-list for method input_type
+	18, // [18:18] is the sub-list for extension type_name
+	18, // [18:18] is the sub-list for extension extendee
+	0,  // [0:18] is the sub-list for field type_name
 }
 
 func init() { file_events_events_proto_init() }
@@ -1078,7 +1238,7 @@ func file_events_events_proto_init() {
 			}
 		}
 		file_events_events_proto_msgTypes[4].Exporter = func(v interface{}, i int) interface{} {
-			switch v := v.(*DriveModeMessage); i {
+			switch v := v.(*SpeedZoneMessage); i {
 			case 0:
 				return &v.state
 			case 1:
@@ -1090,7 +1250,7 @@ func file_events_events_proto_init() {
 			}
 		}
 		file_events_events_proto_msgTypes[5].Exporter = func(v interface{}, i int) interface{} {
-			switch v := v.(*ObjectsMessage); i {
+			switch v := v.(*DriveModeMessage); i {
 			case 0:
 				return &v.state
 			case 1:
@@ -1102,7 +1262,7 @@ func file_events_events_proto_init() {
 			}
 		}
 		file_events_events_proto_msgTypes[6].Exporter = func(v interface{}, i int) interface{} {
-			switch v := v.(*Object); i {
+			switch v := v.(*ObjectsMessage); i {
 			case 0:
 				return &v.state
 			case 1:
@@ -1114,7 +1274,7 @@ func file_events_events_proto_init() {
 			}
 		}
 		file_events_events_proto_msgTypes[7].Exporter = func(v interface{}, i int) interface{} {
-			switch v := v.(*SwitchRecordMessage); i {
+			switch v := v.(*Object); i {
 			case 0:
 				return &v.state
 			case 1:
@@ -1126,7 +1286,7 @@ func file_events_events_proto_init() {
 			}
 		}
 		file_events_events_proto_msgTypes[8].Exporter = func(v interface{}, i int) interface{} {
-			switch v := v.(*RoadMessage); i {
+			switch v := v.(*SwitchRecordMessage); i {
 			case 0:
 				return &v.state
 			case 1:
@@ -1138,7 +1298,7 @@ func file_events_events_proto_init() {
 			}
 		}
 		file_events_events_proto_msgTypes[9].Exporter = func(v interface{}, i int) interface{} {
-			switch v := v.(*Point); i {
+			switch v := v.(*RoadMessage); i {
 			case 0:
 				return &v.state
 			case 1:
@@ -1150,7 +1310,7 @@ func file_events_events_proto_init() {
 			}
 		}
 		file_events_events_proto_msgTypes[10].Exporter = func(v interface{}, i int) interface{} {
-			switch v := v.(*Ellipse); i {
+			switch v := v.(*Point); i {
 			case 0:
 				return &v.state
 			case 1:
@@ -1162,6 +1322,18 @@ func file_events_events_proto_init() {
 			}
 		}
 		file_events_events_proto_msgTypes[11].Exporter = func(v interface{}, i int) interface{} {
+			switch v := v.(*Ellipse); i {
+			case 0:
+				return &v.state
+			case 1:
+				return &v.sizeCache
+			case 2:
+				return &v.unknownFields
+			default:
+				return nil
+			}
+		}
+		file_events_events_proto_msgTypes[12].Exporter = func(v interface{}, i int) interface{} {
 			switch v := v.(*RecordMessage); i {
 			case 0:
 				return &v.state
@@ -1179,8 +1351,8 @@ func file_events_events_proto_init() {
 		File: protoimpl.DescBuilder{
 			GoPackagePath: reflect.TypeOf(x{}).PkgPath(),
 			RawDescriptor: file_events_events_proto_rawDesc,
-			NumEnums:      2,
-			NumMessages:   12,
+			NumEnums:      3,
+			NumMessages:   13,
 			NumExtensions: 0,
 			NumServices:   0,
 		},

vendor/modules.txt

@@ -3,7 +3,7 @@
 github.com/cyrilix/robocar-base/cli
 github.com/cyrilix/robocar-base/service
 github.com/cyrilix/robocar-base/testtools
-# github.com/cyrilix/robocar-protobuf/go v1.0.5
+# github.com/cyrilix/robocar-protobuf/go v1.3.0
 ## explicit; go 1.18
 github.com/cyrilix/robocar-protobuf/go/events
 # github.com/eclipse/paho.mqtt.golang v1.4.1