first implementation

.Dockerignore

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+venv
+

.gitignore

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+/venv/
+.eggs
+*.egg-info
+.idea
+*/__pycache__/

Dockerfile

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+FROM docker.io/library/python:3.10-slim
+
+RUN apt-get update && apt-get install -y build-essential
+
+# Configure piwheels repo to use pre-compiled numpy wheels for arm
+RUN echo -n "[global]\nextra-index-url=https://www.piwheels.org/simple\n" >> /etc/pip.conf
+
+ADD requirements.txt requirements.txt
+
+RUN pip3 install -r requirements.txt
+
+ADD events events
+ADD donkeycar donkeycar
+ADD pca9685 pca9685
+ADD setup.cfg setup.cfg
+ADD setup.py setup.py
+
+ENV PYTHON_EGG_CACHE=/tmp/cache
+RUN python3 setup.py install
+
+WORKDIR /tmp
+USER 1234
+
+ENTRYPOINT ["/usr/local/bin/rc-pca9685"]

build-docker.sh

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+#! /bin/bash
+
+IMAGE_NAME=robocar-pca9685-python
+TAG=$(git describe)
+FULL_IMAGE_NAME=docker.io/cyrilix/${IMAGE_NAME}:${TAG}
+PLATFORM="linux/amd64,linux/arm64"
+#PLATFORM="linux/amd64,linux/arm64,linux/arm/v7"
+
+podman build . --platform "${PLATFORM}" --manifest "${IMAGE_NAME}:${TAG}"
+podman manifest push --format v2s2 "localhost/${IMAGE_NAME}:${TAG}" "docker://${FULL_IMAGE_NAME}"
+
+printf "\nImage %s published" "docker://${FULL_IMAGE_NAME}"

donkeycar/__init__.py

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+from . import utils

donkeycar/parts/__init__.py

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+from . import pins

donkeycar/parts/actuator.py

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+"""
+actuators.py
+Classes to control the motors and servos. These classes
+are wrapped in a mixer class before being used in the drive loop.
+"""
+
+import logging
+import time
+
+import donkeycar as dk
+from donkeycar.parts.pins import PwmPin, PinState
+
+logger = logging.getLogger(__name__)
+
+
+#
+# pwm/duty-cycle/pulse
+# - Standard RC servo pulses range from 1 millisecond (full reverse)
+#   to 2 milliseconds (full forward) with 1.5 milliseconds being neutral (stopped).
+# - These pulses are typically send at 50 hertz (every 20 milliseconds).
+# - This means that, using the standard 50hz frequency, a 1 ms pulse
+#   represents a 5% duty cycle and a 2 ms pulse represents a 10% duty cycle.
+# - The important part is the length of the pulse;
+#   it must be in the range of 1 ms to 2ms.
+# - So this means that if a different frequency is used, then the duty cycle
+#   must be adjusted in order to get the 1ms to 2ms pulse.
+# - For instance, if a 60hz frequency is used, then a 1 ms pulse requires
+#   a duty cycle of 0.05 * 60 / 50 = 0.06 (6%) duty cycle
+# - We default the frequency of our PCA9685 to 60 hz, so pulses in
+#   config are generally based on 60hz frequency and 12 bit values.
+#   We use 12 bit values because the PCA9685 has 12 bit resolution.
+#   So a 1 ms pulse is 0.06 * 4096 ~= 246, a neutral pulse of 0.09 duty cycle
+#   is 0.09 * 4096 ~= 367 and full forward pulse of 0.12 duty cycles
+#   is 0.12 * 4096 ~= 492
+# - These are generalizations that are useful for understanding the underlying
+#   api call arguments.  The final choice of duty-cycle/pulse length depends
+#   on your hardware and perhaps your strategy (you may not want to go too fast,
+#   and so you may choose is low max throttle pwm)
+#
+
+def duty_cycle(pulse_ms: float, frequency_hz: float) -> float:
+    """
+    Calculate the duty cycle, 0 to 1, of a pulse given
+    the frequency and the pulse length
+
+    :param pulse_ms:float the desired pulse length in milliseconds
+    :param frequency_hz:float the pwm frequency in hertz
+    :return:float duty cycle in range 0 to 1
+    """
+    ms_per_cycle = 1000 / frequency_hz
+    duty = pulse_ms / ms_per_cycle
+    return duty
+
+
+def pulse_ms(pulse_bits: int) -> float:
+    """
+    Calculate pulse width in milliseconds given a
+    12bit pulse (as a PCA9685 would use).
+    Donkeycar throttle and steering PWM values are
+    based on PCA9685 12bit pulse values, where
+    0 is zero duty cycle and 4095 is 100% duty cycle.
+
+    :param pulse_bits:int 12bit integer in range 0 to 4095
+    :return:float pulse length in milliseconds
+    """
+    if pulse_bits < 0 or pulse_bits > 4095:
+        raise ValueError("pulse_bits must be in range 0 to 4095 (12bit integer)")
+    return pulse_bits / 4095
+
+
+class PulseController:
+    """
+    Controller that provides a servo PWM pulse using the given PwmPin
+    See pins.py for pin provider implementations.
+    """
+
+    def __init__(self, pwm_pin: PwmPin, pwm_scale: float = 1.0, pwm_inverted: bool = False) -> None:
+        """
+        :param pwm_pin:PwnPin pin that will emit the pulse.
+        :param pwm_scale:float scaling the 12 bit pulse value to compensate
+                        for non-standard pwm frequencies.
+        :param pwm_inverted:bool True to invert the duty cycle
+        """
+        self.pwm_pin = pwm_pin
+        self.scale = pwm_scale
+        self.inverted = pwm_inverted
+        self.started = pwm_pin.state() != PinState.NOT_STARTED
+
+    def set_pulse(self, pulse: int) -> None:
+        """
+        Set the length of the pulse using a 12 bit integer (0..4095)
+        :param pulse:int 12bit integer (0..4095)
+        """
+        if pulse < 0 or pulse > 4095:
+            raise ValueError("pulse must be in range 0 to 4095")
+
+        if not self.started:
+            self.pwm_pin.start()
+            self.started = True
+        if self.inverted:
+            pulse = 4095 - pulse
+        self.pwm_pin.duty_cycle(int(pulse * self.scale) / 4095)
+
+    def run(self, pulse: int) -> None:
+        """
+        Set the length of the pulse using a 12 bit integer (0..4095)
+        :param pulse:int 12bit integer (0..4095)
+        """
+        self.set_pulse(pulse)
+
+
+class PWMSteering:
+    """
+    Wrapper over a PWM pulse controller to convert angles to PWM pulses.
+    """
+    LEFT_ANGLE = -1
+    RIGHT_ANGLE = 1
+
+    def __init__(self, controller, left_pulse, right_pulse):
+
+        if controller is None:
+            raise ValueError("PWMSteering requires a set_pulse controller to be passed")
+        set_pulse = getattr(controller, "set_pulse", None)
+        if set_pulse is None or not callable(set_pulse):
+            raise ValueError("controller must have a set_pulse method")
+
+        self.controller = controller
+        self.left_pulse = left_pulse
+        self.right_pulse = right_pulse
+        self.pulse = dk.utils.map_range(0, self.LEFT_ANGLE, self.RIGHT_ANGLE,
+                                        self.left_pulse, self.right_pulse)
+        self.running = True
+        logger.info('PWM Steering created')
+
+    def update(self):
+        while self.running:
+            self.controller.set_pulse(self.pulse)
+
+    def run_threaded(self, angle):
+        # map absolute angle to angle that vehicle can implement.
+        self.pulse = dk.utils.map_range(angle,
+                                        self.LEFT_ANGLE, self.RIGHT_ANGLE,
+                                        self.left_pulse, self.right_pulse)
+
+    def run(self, angle):
+        self.run_threaded(angle)
+        self.controller.set_pulse(self.pulse)
+
+    def shutdown(self):
+        # set steering straight
+        self.pulse = 0
+        time.sleep(0.3)
+        self.running = False
+
+
+class PWMThrottle:
+    """
+    Wrapper over a PWM pulse controller to convert -1 to 1 throttle
+    values to PWM pulses.
+    """
+    MIN_THROTTLE = -1
+    MAX_THROTTLE = 1
+
+    def __init__(self, controller, max_pulse, min_pulse, zero_pulse):
+
+        if controller is None:
+            raise ValueError("PWMThrottle requires a set_pulse controller to be passed")
+        set_pulse = getattr(controller, "set_pulse", None)
+        if set_pulse is None or not callable(set_pulse):
+            raise ValueError("controller must have a set_pulse method")
+
+        self.controller = controller
+        self.max_pulse = max_pulse
+        self.min_pulse = min_pulse
+        self.zero_pulse = zero_pulse
+        self.pulse = zero_pulse
+
+        # send zero pulse to calibrate ESC
+        logger.info("Init ESC")
+        self.controller.set_pulse(self.max_pulse)
+        time.sleep(0.01)
+        self.controller.set_pulse(self.min_pulse)
+        time.sleep(0.01)
+        self.controller.set_pulse(self.zero_pulse)
+        time.sleep(1)
+        self.running = True
+        logger.info('PWM Throttle created')
+
+    def update(self):
+        while self.running:
+            self.controller.set_pulse(self.pulse)
+
+    def run_threaded(self, throttle):
+        if throttle > 0:
+            self.pulse = dk.utils.map_range(throttle, 0, self.MAX_THROTTLE,
+                                            self.zero_pulse, self.max_pulse)
+        else:
+            self.pulse = dk.utils.map_range(throttle, self.MIN_THROTTLE, 0,
+                                            self.min_pulse, self.zero_pulse)
+
+    def run(self, throttle):
+        self.run_threaded(throttle)
+        self.controller.set_pulse(self.pulse)
+
+    def shutdown(self):
+        # stop vehicle
+        self.run(0)
+        self.running = False
+
+
+class MockController(object):
+    def __init__(self):
+        pass
+
+    def run(self, pulse):
+        pass
+
+    def shutdown(self):
+        pass

donkeycar/utils.py

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+'''
+utils.py
+
+Functions that don't fit anywhere else.
+
+'''
+from io import BytesIO
+import os
+import glob
+import socket
+import zipfile
+import sys
+import itertools
+import subprocess
+import math
+import random
+import time
+import signal
+import logging
+from typing import List, Any, Tuple, Union
+
+
+logger = logging.getLogger(__name__)
+
+ONE_BYTE_SCALE = 1.0 / 255.0
+
+
+class EqMemorizedString:
+    """ String that remembers what it was compared against """
+
+    def __init__(self, string):
+        self.string = string
+        self.mem = set()
+
+    def __eq__(self, other):
+        self.mem.add(other)
+        return self.string == other
+
+    def mem_as_str(self):
+        return ', '.join(self.mem)
+
+
+
+
+'''
+FILES
+'''
+
+
+def most_recent_file(dir_path, ext=''):
+    '''
+    return the most recent file given a directory path and extension
+    '''
+    query = dir_path + '/*' + ext
+    newest = min(glob.iglob(query), key=os.path.getctime)
+    return newest
+
+
+def make_dir(path):
+    real_path = os.path.expanduser(path)
+    if not os.path.exists(real_path):
+        os.makedirs(real_path)
+    return real_path
+
+
+def zip_dir(dir_path, zip_path):
+    """
+    Create and save a zipfile of a one level directory
+    """
+    file_paths = glob.glob(dir_path + "/*")  # create path to search for files.
+
+    zf = zipfile.ZipFile(zip_path, 'w')
+    dir_name = os.path.basename(dir_path)
+    for p in file_paths:
+        file_name = os.path.basename(p)
+        zf.write(p, arcname=os.path.join(dir_name, file_name))
+    zf.close()
+    return zip_path
+
+
+'''
+BINNING
+functions to help converte between floating point numbers and categories.
+'''
+
+
+def map_range(x, X_min, X_max, Y_min, Y_max):
+    '''
+    Linear mapping between two ranges of values
+    '''
+    X_range = X_max - X_min
+    Y_range = Y_max - Y_min
+    XY_ratio = X_range / Y_range
+
+    y = ((x - X_min) / XY_ratio + Y_min) // 1
+
+    return int(y)
+
+
+def map_range_float(x, X_min, X_max, Y_min, Y_max):
+    '''
+    Same as map_range but supports floats return, rounded to 2 decimal places
+    '''
+    X_range = X_max - X_min
+    Y_range = Y_max - Y_min
+    XY_ratio = X_range / Y_range
+
+    y = ((x - X_min) / XY_ratio + Y_min)
+
+    # print("y= {}".format(y))
+
+    return round(y, 2)
+
+
+'''
+ANGLES
+'''
+
+
+def norm_deg(theta):
+    while theta > 360:
+        theta -= 360
+    while theta < 0:
+        theta += 360
+    return theta
+
+
+DEG_TO_RAD = math.pi / 180.0
+
+
+def deg2rad(theta):
+    return theta * DEG_TO_RAD
+
+
+'''
+VECTORS
+'''
+
+
+def dist(x1, y1, x2, y2):
+    return math.sqrt(math.pow(x2 - x1, 2) + math.pow(y2 - y1, 2))
+
+
+'''
+NETWORKING
+'''
+
+
+def my_ip():
+    s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+    s.connect(('192.0.0.8', 1027))
+    return s.getsockname()[0]
+
+
+
+'''
+OTHER
+'''
+
+
+def map_frange(x, X_min, X_max, Y_min, Y_max):
+    '''
+    Linear mapping between two ranges of values
+    '''
+    X_range = X_max - X_min
+    Y_range = Y_max - Y_min
+    XY_ratio = X_range / Y_range
+
+    y = ((x - X_min) / XY_ratio + Y_min)
+
+    return y
+
+
+def merge_two_dicts(x, y):
+    """Given two dicts, merge them into a new dict as a shallow copy."""
+    z = x.copy()
+    z.update(y)
+    return z
+
+
+def param_gen(params):
+    '''
+    Accepts a dictionary of parameter options and returns
+    a list of dictionary with the permutations of the parameters.
+    '''
+    for p in itertools.product(*params.values()):
+        yield dict(zip(params.keys(), p))
+
+
+def run_shell_command(cmd, cwd=None, timeout=15):
+    proc = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE, cwd=cwd)
+    out = []
+    err = []
+
+    try:
+        proc.wait(timeout=timeout)
+    except subprocess.TimeoutExpired:
+        kill(proc.pid)
+
+    for line in proc.stdout.readlines():
+        out.append(line.decode())
+
+    for line in proc.stderr.readlines():
+        err.append(line)
+    return out, err, proc.pid
+
+
+def kill(proc_id):
+    os.kill(proc_id, signal.SIGINT)
+
+
+def eprint(*args, **kwargs):
+    print(*args, file=sys.stderr, **kwargs)
+
+
+
+"""
+Timers
+"""
+
+
+class FPSTimer(object):
+    def __init__(self):
+        self.t = time.time()
+        self.iter = 0
+
+    def reset(self):
+        self.t = time.time()
+        self.iter = 0
+
+    def on_frame(self):
+        self.iter += 1
+        if self.iter == 100:
+            e = time.time()
+            print('fps', 100.0 / (e - self.t))
+            self.t = time.time()
+            self.iter = 0

events/events_pb2.py

@@ -0,0 +1,758 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# source: events/events.proto
+
+from google.protobuf.internal import enum_type_wrapper
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from google.protobuf import reflection as _reflection
+from google.protobuf import symbol_database as _symbol_database
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+from google.protobuf import timestamp_pb2 as google_dot_protobuf_dot_timestamp__pb2
+
+
+DESCRIPTOR = _descriptor.FileDescriptor(
+  name='events/events.proto',
+  package='robocar.events',
+  syntax='proto3',
+  serialized_options=b'Z\006events',
+  create_key=_descriptor._internal_create_key,
+  serialized_pb=b'\n\x13\x65vents/events.proto\x12\x0erobocar.events\x1a\x1fgoogle/protobuf/timestamp.proto\"T\n\x08\x46rameRef\x12\x0c\n\x04name\x18\x01 \x01(\t\x12\n\n\x02id\x18\x02 \x01(\t\x12.\n\ncreated_at\x18\x03 \x01(\x0b\x32\x1a.google.protobuf.Timestamp\"C\n\x0c\x46rameMessage\x12$\n\x02id\x18\x01 \x01(\x0b\x32\x18.robocar.events.FrameRef\x12\r\n\x05\x66rame\x18\x02 \x01(\x0c\"d\n\x0fSteeringMessage\x12\x10\n\x08steering\x18\x01 \x01(\x02\x12\x12\n\nconfidence\x18\x02 \x01(\x02\x12+\n\tframe_ref\x18\x03 \x01(\x0b\x32\x18.robocar.events.FrameRef\"d\n\x0fThrottleMessage\x12\x10\n\x08throttle\x18\x01 \x01(\x02\x12\x12\n\nconfidence\x18\x02 \x01(\x02\x12+\n\tframe_ref\x18\x03 \x01(\x0b\x32\x18.robocar.events.FrameRef\"A\n\x10\x44riveModeMessage\x12-\n\ndrive_mode\x18\x01 \x01(\x0e\x32\x19.robocar.events.DriveMode\"f\n\x0eObjectsMessage\x12\'\n\x07objects\x18\x01 \x03(\x0b\x32\x16.robocar.events.Object\x12+\n\tframe_ref\x18\x02 \x01(\x0b\x32\x18.robocar.events.FrameRef\"\x80\x01\n\x06Object\x12(\n\x04type\x18\x01 \x01(\x0e\x32\x1a.robocar.events.TypeObject\x12\x0c\n\x04left\x18\x02 \x01(\x05\x12\x0b\n\x03top\x18\x03 \x01(\x05\x12\r\n\x05right\x18\x04 \x01(\x05\x12\x0e\n\x06\x62ottom\x18\x05 \x01(\x05\x12\x12\n\nconfidence\x18\x06 \x01(\x02\"&\n\x13SwitchRecordMessage\x12\x0f\n\x07\x65nabled\x18\x01 \x01(\x08\"\x8c\x01\n\x0bRoadMessage\x12&\n\x07\x63ontour\x18\x01 \x03(\x0b\x32\x15.robocar.events.Point\x12(\n\x07\x65llipse\x18\x02 \x01(\x0b\x32\x17.robocar.events.Ellipse\x12+\n\tframe_ref\x18\x03 \x01(\x0b\x32\x18.robocar.events.FrameRef\"\x1d\n\x05Point\x12\t\n\x01x\x18\x01 \x01(\x05\x12\t\n\x01y\x18\x02 \x01(\x05\"r\n\x07\x45llipse\x12%\n\x06\x63\x65nter\x18\x01 \x01(\x0b\x32\x15.robocar.events.Point\x12\r\n\x05width\x18\x02 \x01(\x05\x12\x0e\n\x06height\x18\x03 \x01(\x05\x12\r\n\x05\x61ngle\x18\x04 \x01(\x02\x12\x12\n\nconfidence\x18\x05 \x01(\x02\"\x82\x01\n\rRecordMessage\x12+\n\x05\x66rame\x18\x01 \x01(\x0b\x32\x1c.robocar.events.FrameMessage\x12\x31\n\x08steering\x18\x02 \x01(\x0b\x32\x1f.robocar.events.SteeringMessage\x12\x11\n\trecordSet\x18\x03 \x01(\t*-\n\tDriveMode\x12\x0b\n\x07INVALID\x10\x00\x12\x08\n\x04USER\x10\x01\x12\t\n\x05PILOT\x10\x02*2\n\nTypeObject\x12\x07\n\x03\x41NY\x10\x00\x12\x07\n\x03\x43\x41R\x10\x01\x12\x08\n\x04\x42UMP\x10\x02\x12\x08\n\x04PLOT\x10\x03\x42\x08Z\x06\x65ventsb\x06proto3'
+  ,
+  dependencies=[google_dot_protobuf_dot_timestamp__pb2.DESCRIPTOR,])
+
+_DRIVEMODE = _descriptor.EnumDescriptor(
+  name='DriveMode',
+  full_name='robocar.events.DriveMode',
+  filename=None,
+  file=DESCRIPTOR,
+  create_key=_descriptor._internal_create_key,
+  values=[
+    _descriptor.EnumValueDescriptor(
+      name='INVALID', index=0, number=0,
+      serialized_options=None,
+      type=None,
+      create_key=_descriptor._internal_create_key),
+    _descriptor.EnumValueDescriptor(
+      name='USER', index=1, number=1,
+      serialized_options=None,
+      type=None,
+      create_key=_descriptor._internal_create_key),
+    _descriptor.EnumValueDescriptor(
+      name='PILOT', index=2, number=2,
+      serialized_options=None,
+      type=None,
+      create_key=_descriptor._internal_create_key),
+  ],
+  containing_type=None,
+  serialized_options=None,
+  serialized_start=1196,
+  serialized_end=1241,
+)
+_sym_db.RegisterEnumDescriptor(_DRIVEMODE)
+
+DriveMode = enum_type_wrapper.EnumTypeWrapper(_DRIVEMODE)
+_TYPEOBJECT = _descriptor.EnumDescriptor(
+  name='TypeObject',
+  full_name='robocar.events.TypeObject',
+  filename=None,
+  file=DESCRIPTOR,
+  create_key=_descriptor._internal_create_key,
+  values=[
+    _descriptor.EnumValueDescriptor(
+      name='ANY', index=0, number=0,
+      serialized_options=None,
+      type=None,
+      create_key=_descriptor._internal_create_key),
+    _descriptor.EnumValueDescriptor(
+      name='CAR', index=1, number=1,
+      serialized_options=None,
+      type=None,
+      create_key=_descriptor._internal_create_key),
+    _descriptor.EnumValueDescriptor(
+      name='BUMP', index=2, number=2,
+      serialized_options=None,
+      type=None,
+      create_key=_descriptor._internal_create_key),
+    _descriptor.EnumValueDescriptor(
+      name='PLOT', index=3, number=3,
+      serialized_options=None,
+      type=None,
+      create_key=_descriptor._internal_create_key),
+  ],
+  containing_type=None,
+  serialized_options=None,
+  serialized_start=1243,
+  serialized_end=1293,
+)
+_sym_db.RegisterEnumDescriptor(_TYPEOBJECT)
+
+TypeObject = enum_type_wrapper.EnumTypeWrapper(_TYPEOBJECT)
+INVALID = 0
+USER = 1
+PILOT = 2
+ANY = 0
+CAR = 1
+BUMP = 2
+PLOT = 3
+
+
+
+_FRAMEREF = _descriptor.Descriptor(
+  name='FrameRef',
+  full_name='robocar.events.FrameRef',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='name', full_name='robocar.events.FrameRef.name', index=0,
+      number=1, type=9, cpp_type=9, label=1,
+      has_default_value=False, default_value=b"".decode('utf-8'),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='id', full_name='robocar.events.FrameRef.id', index=1,
+      number=2, type=9, cpp_type=9, label=1,
+      has_default_value=False, default_value=b"".decode('utf-8'),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='created_at', full_name='robocar.events.FrameRef.created_at', index=2,
+      number=3, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=72,
+  serialized_end=156,
+)
+
+
+_FRAMEMESSAGE = _descriptor.Descriptor(
+  name='FrameMessage',
+  full_name='robocar.events.FrameMessage',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='id', full_name='robocar.events.FrameMessage.id', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='frame', full_name='robocar.events.FrameMessage.frame', index=1,
+      number=2, type=12, cpp_type=9, label=1,
+      has_default_value=False, default_value=b"",
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=158,
+  serialized_end=225,
+)
+
+
+_STEERINGMESSAGE = _descriptor.Descriptor(
+  name='SteeringMessage',
+  full_name='robocar.events.SteeringMessage',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='steering', full_name='robocar.events.SteeringMessage.steering', index=0,
+      number=1, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='confidence', full_name='robocar.events.SteeringMessage.confidence', index=1,
+      number=2, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='frame_ref', full_name='robocar.events.SteeringMessage.frame_ref', index=2,
+      number=3, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=227,
+  serialized_end=327,
+)
+
+
+_THROTTLEMESSAGE = _descriptor.Descriptor(
+  name='ThrottleMessage',
+  full_name='robocar.events.ThrottleMessage',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='throttle', full_name='robocar.events.ThrottleMessage.throttle', index=0,
+      number=1, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='confidence', full_name='robocar.events.ThrottleMessage.confidence', index=1,
+      number=2, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='frame_ref', full_name='robocar.events.ThrottleMessage.frame_ref', index=2,
+      number=3, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=329,
+  serialized_end=429,
+)
+
+
+_DRIVEMODEMESSAGE = _descriptor.Descriptor(
+  name='DriveModeMessage',
+  full_name='robocar.events.DriveModeMessage',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='drive_mode', full_name='robocar.events.DriveModeMessage.drive_mode', index=0,
+      number=1, type=14, cpp_type=8, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=431,
+  serialized_end=496,
+)
+
+
+_OBJECTSMESSAGE = _descriptor.Descriptor(
+  name='ObjectsMessage',
+  full_name='robocar.events.ObjectsMessage',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='objects', full_name='robocar.events.ObjectsMessage.objects', index=0,
+      number=1, type=11, cpp_type=10, label=3,
+      has_default_value=False, default_value=[],
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='frame_ref', full_name='robocar.events.ObjectsMessage.frame_ref', index=1,
+      number=2, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=498,
+  serialized_end=600,
+)
+
+
+_OBJECT = _descriptor.Descriptor(
+  name='Object',
+  full_name='robocar.events.Object',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='type', full_name='robocar.events.Object.type', index=0,
+      number=1, type=14, cpp_type=8, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='left', full_name='robocar.events.Object.left', index=1,
+      number=2, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='top', full_name='robocar.events.Object.top', index=2,
+      number=3, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='right', full_name='robocar.events.Object.right', index=3,
+      number=4, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='bottom', full_name='robocar.events.Object.bottom', index=4,
+      number=5, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='confidence', full_name='robocar.events.Object.confidence', index=5,
+      number=6, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=603,
+  serialized_end=731,
+)
+
+
+_SWITCHRECORDMESSAGE = _descriptor.Descriptor(
+  name='SwitchRecordMessage',
+  full_name='robocar.events.SwitchRecordMessage',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='enabled', full_name='robocar.events.SwitchRecordMessage.enabled', index=0,
+      number=1, type=8, cpp_type=7, label=1,
+      has_default_value=False, default_value=False,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=733,
+  serialized_end=771,
+)
+
+
+_ROADMESSAGE = _descriptor.Descriptor(
+  name='RoadMessage',
+  full_name='robocar.events.RoadMessage',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='contour', full_name='robocar.events.RoadMessage.contour', index=0,
+      number=1, type=11, cpp_type=10, label=3,
+      has_default_value=False, default_value=[],
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='ellipse', full_name='robocar.events.RoadMessage.ellipse', index=1,
+      number=2, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='frame_ref', full_name='robocar.events.RoadMessage.frame_ref', index=2,
+      number=3, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=774,
+  serialized_end=914,
+)
+
+
+_POINT = _descriptor.Descriptor(
+  name='Point',
+  full_name='robocar.events.Point',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='x', full_name='robocar.events.Point.x', index=0,
+      number=1, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='y', full_name='robocar.events.Point.y', index=1,
+      number=2, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=916,
+  serialized_end=945,
+)
+
+
+_ELLIPSE = _descriptor.Descriptor(
+  name='Ellipse',
+  full_name='robocar.events.Ellipse',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='center', full_name='robocar.events.Ellipse.center', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='width', full_name='robocar.events.Ellipse.width', index=1,
+      number=2, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='height', full_name='robocar.events.Ellipse.height', index=2,
+      number=3, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='angle', full_name='robocar.events.Ellipse.angle', index=3,
+      number=4, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='confidence', full_name='robocar.events.Ellipse.confidence', index=4,
+      number=5, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=947,
+  serialized_end=1061,
+)
+
+
+_RECORDMESSAGE = _descriptor.Descriptor(
+  name='RecordMessage',
+  full_name='robocar.events.RecordMessage',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='frame', full_name='robocar.events.RecordMessage.frame', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='steering', full_name='robocar.events.RecordMessage.steering', index=1,
+      number=2, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='recordSet', full_name='robocar.events.RecordMessage.recordSet', index=2,
+      number=3, type=9, cpp_type=9, label=1,
+      has_default_value=False, default_value=b"".decode('utf-8'),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=1064,
+  serialized_end=1194,
+)
+
+_FRAMEREF.fields_by_name['created_at'].message_type = google_dot_protobuf_dot_timestamp__pb2._TIMESTAMP
+_FRAMEMESSAGE.fields_by_name['id'].message_type = _FRAMEREF
+_STEERINGMESSAGE.fields_by_name['frame_ref'].message_type = _FRAMEREF
+_THROTTLEMESSAGE.fields_by_name['frame_ref'].message_type = _FRAMEREF
+_DRIVEMODEMESSAGE.fields_by_name['drive_mode'].enum_type = _DRIVEMODE
+_OBJECTSMESSAGE.fields_by_name['objects'].message_type = _OBJECT
+_OBJECTSMESSAGE.fields_by_name['frame_ref'].message_type = _FRAMEREF
+_OBJECT.fields_by_name['type'].enum_type = _TYPEOBJECT
+_ROADMESSAGE.fields_by_name['contour'].message_type = _POINT
+_ROADMESSAGE.fields_by_name['ellipse'].message_type = _ELLIPSE
+_ROADMESSAGE.fields_by_name['frame_ref'].message_type = _FRAMEREF
+_ELLIPSE.fields_by_name['center'].message_type = _POINT
+_RECORDMESSAGE.fields_by_name['frame'].message_type = _FRAMEMESSAGE
+_RECORDMESSAGE.fields_by_name['steering'].message_type = _STEERINGMESSAGE
+DESCRIPTOR.message_types_by_name['FrameRef'] = _FRAMEREF
+DESCRIPTOR.message_types_by_name['FrameMessage'] = _FRAMEMESSAGE
+DESCRIPTOR.message_types_by_name['SteeringMessage'] = _STEERINGMESSAGE
+DESCRIPTOR.message_types_by_name['ThrottleMessage'] = _THROTTLEMESSAGE
+DESCRIPTOR.message_types_by_name['DriveModeMessage'] = _DRIVEMODEMESSAGE
+DESCRIPTOR.message_types_by_name['ObjectsMessage'] = _OBJECTSMESSAGE
+DESCRIPTOR.message_types_by_name['Object'] = _OBJECT
+DESCRIPTOR.message_types_by_name['SwitchRecordMessage'] = _SWITCHRECORDMESSAGE
+DESCRIPTOR.message_types_by_name['RoadMessage'] = _ROADMESSAGE
+DESCRIPTOR.message_types_by_name['Point'] = _POINT
+DESCRIPTOR.message_types_by_name['Ellipse'] = _ELLIPSE
+DESCRIPTOR.message_types_by_name['RecordMessage'] = _RECORDMESSAGE
+DESCRIPTOR.enum_types_by_name['DriveMode'] = _DRIVEMODE
+DESCRIPTOR.enum_types_by_name['TypeObject'] = _TYPEOBJECT
+_sym_db.RegisterFileDescriptor(DESCRIPTOR)
+
+FrameRef = _reflection.GeneratedProtocolMessageType('FrameRef', (_message.Message,), {
+  'DESCRIPTOR' : _FRAMEREF,
+  '__module__' : 'events.events_pb2'
+  # @@protoc_insertion_point(class_scope:robocar.events.FrameRef)
+  })
+_sym_db.RegisterMessage(FrameRef)
+
+FrameMessage = _reflection.GeneratedProtocolMessageType('FrameMessage', (_message.Message,), {
+  'DESCRIPTOR' : _FRAMEMESSAGE,
+  '__module__' : 'events.events_pb2'
+  # @@protoc_insertion_point(class_scope:robocar.events.FrameMessage)
+  })
+_sym_db.RegisterMessage(FrameMessage)
+
+SteeringMessage = _reflection.GeneratedProtocolMessageType('SteeringMessage', (_message.Message,), {
+  'DESCRIPTOR' : _STEERINGMESSAGE,
+  '__module__' : 'events.events_pb2'
+  # @@protoc_insertion_point(class_scope:robocar.events.SteeringMessage)
+  })
+_sym_db.RegisterMessage(SteeringMessage)
+
+ThrottleMessage = _reflection.GeneratedProtocolMessageType('ThrottleMessage', (_message.Message,), {
+  'DESCRIPTOR' : _THROTTLEMESSAGE,
+  '__module__' : 'events.events_pb2'
+  # @@protoc_insertion_point(class_scope:robocar.events.ThrottleMessage)
+  })
+_sym_db.RegisterMessage(ThrottleMessage)
+
+DriveModeMessage = _reflection.GeneratedProtocolMessageType('DriveModeMessage', (_message.Message,), {
+  'DESCRIPTOR' : _DRIVEMODEMESSAGE,
+  '__module__' : 'events.events_pb2'
+  # @@protoc_insertion_point(class_scope:robocar.events.DriveModeMessage)
+  })
+_sym_db.RegisterMessage(DriveModeMessage)
+
+ObjectsMessage = _reflection.GeneratedProtocolMessageType('ObjectsMessage', (_message.Message,), {
+  'DESCRIPTOR' : _OBJECTSMESSAGE,
+  '__module__' : 'events.events_pb2'
+  # @@protoc_insertion_point(class_scope:robocar.events.ObjectsMessage)
+  })
+_sym_db.RegisterMessage(ObjectsMessage)
+
+Object = _reflection.GeneratedProtocolMessageType('Object', (_message.Message,), {
+  'DESCRIPTOR' : _OBJECT,
+  '__module__' : 'events.events_pb2'
+  # @@protoc_insertion_point(class_scope:robocar.events.Object)
+  })
+_sym_db.RegisterMessage(Object)
+
+SwitchRecordMessage = _reflection.GeneratedProtocolMessageType('SwitchRecordMessage', (_message.Message,), {
+  'DESCRIPTOR' : _SWITCHRECORDMESSAGE,
+  '__module__' : 'events.events_pb2'
+  # @@protoc_insertion_point(class_scope:robocar.events.SwitchRecordMessage)
+  })
+_sym_db.RegisterMessage(SwitchRecordMessage)
+
+RoadMessage = _reflection.GeneratedProtocolMessageType('RoadMessage', (_message.Message,), {
+  'DESCRIPTOR' : _ROADMESSAGE,
+  '__module__' : 'events.events_pb2'
+  # @@protoc_insertion_point(class_scope:robocar.events.RoadMessage)
+  })
+_sym_db.RegisterMessage(RoadMessage)
+
+Point = _reflection.GeneratedProtocolMessageType('Point', (_message.Message,), {
+  'DESCRIPTOR' : _POINT,
+  '__module__' : 'events.events_pb2'
+  # @@protoc_insertion_point(class_scope:robocar.events.Point)
+  })
+_sym_db.RegisterMessage(Point)
+
+Ellipse = _reflection.GeneratedProtocolMessageType('Ellipse', (_message.Message,), {
+  'DESCRIPTOR' : _ELLIPSE,
+  '__module__' : 'events.events_pb2'
+  # @@protoc_insertion_point(class_scope:robocar.events.Ellipse)
+  })
+_sym_db.RegisterMessage(Ellipse)
+
+RecordMessage = _reflection.GeneratedProtocolMessageType('RecordMessage', (_message.Message,), {
+  'DESCRIPTOR' : _RECORDMESSAGE,
+  '__module__' : 'events.events_pb2'
+  # @@protoc_insertion_point(class_scope:robocar.events.RecordMessage)
+  })
+_sym_db.RegisterMessage(RecordMessage)
+
+
+DESCRIPTOR._options = None
+# @@protoc_insertion_point(module_scope)

pca9685/cli.py

@@ -0,0 +1,138 @@
+"""
+Compute steering from camera images
+
+Usage:
+rc-pca9685 [steering|throttle] [-u USERNAME | --mqtt-username=USERNAME] [--mqtt-password=PASSWORD] \
+        [--mqtt-broker=HOSTNAME] [--mqtt-topic=TOPIC] [--mqtt-client-id=CLIENT_ID] [--i2c-bus=BUS] \
+        [--i2c-address=ADDRESS] [--pca9685-channel=CHANNEL] [--left-pulse=LEFT_PULSE] [--right-pulse=RIGHT_PULSE] \
+        [--max-pulse=MAX_PULSE] [--min-pulse=MIN_PULSE] [--zero-pulse=ZEO_PULSE]
+
+Options:
+-h --help                                                Show this screen.
+-u USERID      --mqtt-username=USERNAME                  MQTT user
+-p PASSWORD    --mqtt-password=PASSWORD                  MQTT password
+-b HOSTNAME    --mqtt-broker=HOSTNAME                    MQTT broker host
+-C CLIENT_ID   --mqtt-client-id=CLIENT_ID                MQTT client id
+-t TOPIC       --mqtt-topic-camera=TOPIC                 MQTT topic where to read camera frames
+-b BUS         --i2c-bus=BUS                             I2C bus number
+-a ADDRESS     --i2c-address=ADDRESS                     I2C base address
+-c CHANNEL     --pca9685-channel=CHANNEL                 Device channel
+-l LEFT_PULSE  --left-pulse=LEFT_PULSE                   Pulse for left steering
+-r RIGHT_PULSE --right-pulse=RIGHT_PULSE                 Pulse for right steering
+-M MAX_PULSE   --max-pulse=MAX_PULSE                     Max Pulse for throttle
+-m MIN_PULSE   --min-pulse=MIN_PULSE                     Min Pulse for throttle
+-z ZERO_PULE   --zero-pulse=ZEO_PULSE                    Zero Pulse for throttle
+"""
+import logging
+import os
+
+from docopt import docopt
+import paho.mqtt.client as mqtt
+
+from donkeycar.parts import actuator
+import donkeycar
+
+from events.events_pb2 import SteeringMessage
+from events.events_pb2 import ThrottleMessage
+
+logger = logging.getLogger(__name__)
+logging.basicConfig(level=logging.INFO)
+
+default_client_id = "robocar-pca9685-python"
+
+
+def init_mqtt_steering_client(steering_controller: actuator.PWMSteering, broker_host: str, user: str, password: str, client_id: str,
+                     steering_topic: str) -> mqtt.Client:
+    logger.info("Start steering part")
+    client = mqtt.Client(client_id=client_id, clean_session=True, userdata=None, protocol=mqtt.MQTTv311)
+
+    def on_connect(client, userdata, flags, rc):
+        logger.info("Register callback on topic %s", steering_topic)
+        # Subscribing in on_connect() means that if we lose the connection and
+        # reconnect then subscriptions will be renewed.
+        client.subscribe(steering_topic)
+
+    def on_steering_message(mqtt_client: mqtt.Client, userdata, msg: mqtt.MQTTMessage):
+        try:
+            steering_msg = SteeringMessage()
+            steering_msg.ParseFromString(msg.payload)
+            steering_controller.run_threaded(steering_msg.Steering)
+        except:
+            logger.debug("unexpected error: unable to process steering, skip message")
+
+    client.username_pw_set(user, password)
+    client.on_connect = on_connect
+    client.on_message = on_steering_message
+    logger.info("Connect to mqtt broker")
+    client.connect(host=broker_host, port=1883, keepalive=60)
+    logger.info("Connected to mqtt broker")
+    return client
+
+
+def init_mqtt_throttle_client(throttle_controller: actuator.PWMThrottle, broker_host: str, user: str, password: str,
+                              client_id: str, throttle_topic: str) -> mqtt.Client:
+    logger.info("Start throttle part")
+    client = mqtt.Client(client_id=client_id, clean_session=True, userdata=None, protocol=mqtt.MQTTv311)
+
+    def on_connect(client, userdata, flags, rc):
+        logger.info("Register callback on topic %s", throttle_topic)
+        # Subscribing in on_connect() means that if we lose the connection and
+        # reconnect then subscriptions will be renewed.
+        client.subscribe(throttle_topic)
+
+    def on_throttle_message(mqtt_client: mqtt.Client, userdata, msg: mqtt.MQTTMessage):
+        try:
+            throttle_msg = ThrottleMessage()
+            throttle_msg.ParseFromString(msg.payload)
+            throttle_controller.run_threaded(throttle_msg.Throttle)
+        except:
+            logger.debug("unexpected error: unable to process throttle, skip message")
+
+    client.username_pw_set(user, password)
+    client.on_connect = on_connect
+    client.on_message = on_throttle_message
+    logger.info("Connect to mqtt broker")
+    client.connect(host=broker_host, port=1883, keepalive=60)
+    logger.info("Connected to mqtt broker")
+    return client
+
+
+def execute_from_command_line():
+    logging.basicConfig(level=logging.INFO)
+
+    args = docopt(__doc__)
+
+    broker_host = get_default_value(args["--mqtt-broker"], "MQTT_BROKER", "localhost")
+    user = get_default_value(args["--mqtt-username"], "MQTT_USERNAME", "")
+    password = get_default_value(args["--mqtt-password"], "MQTT_PASSWORD", "")
+    client_id = get_default_value(args["--mqtt-client-id"], "MQTT_CLIENT_ID", default_client_id)
+    topic = get_default_value(args["--mqtt-topic"], "MQTT_TOPIC", "/pca9685")
+    i2c_bus = get_default_value(args["--i2c-bus"], "I2C_BUS", 0)
+    i2c_address = get_default_value(args["--i2c-address"], "I2C_ADDRESS", 40)
+    pca9685_channel = get_default_value(args["--i2c-address"], "PCA9685_CHANNEL", 0)
+
+    pin_id = "PCA9685.{bus}:{address}.{channel}".format(bus=i2c_bus, address=i2c_address,channel=pca9685_channel)
+
+    if args["steering"]:
+        steering_pin = donkeycar.parts.pins.pwm_pin_by_id(pin_id)
+        steering = actuator.PWMSteering(steering_pin, left_pulse=args["--left-pulse"], right_pulse=args["--right-pulse"])
+        client = init_mqtt_steering_client(steering_controller=steering, broker_host=broker_host, user=user,
+                                           password=password, client_id=client_id, steering_topic=topic)
+    elif args["throttle"]:
+        throttle_pin = donkeycar.parts.pins.pwm_pin_by_id("PCA9685.0:40.7")
+        throttle = actuator.PWMThrottle(throttle_pin, max_pulse=args["--max-pulse"], min_pulse=args["--min-pulse"],
+                                        zero_pulse=args["--zero-pulse"])
+        client = init_mqtt_throttle_client(throttle_controller=throttle, broker_host=broker_host, user=user,
+                                           password=password, client_id=client_id, throttle_topic=topic)
+    else:
+        raise Exception('invalid mode selected, must be steering or throttle')
+
+    client.loop_forever()
+
+
+def get_default_value(value, env_var: str, default_value) -> str:
+    if value:
+        return value
+    if env_var in os.environ:
+        return os.environ[env_var]
+    return default_value

requirements.txt

@@ -0,0 +1,6 @@
+paho-mqtt~=1.6.1
+docopt~=0.6.2
+google~=3.0.0
+google-api-core~=2.4.0
+setuptools==60.5.0
+adafruit-pca9685

setup.cfg

@@ -0,0 +1,5 @@
+[metadata]
+description_file = README.md
+
+[aliases]
+test = pytest

setup.py

@@ -0,0 +1,65 @@
+import os
+
+from setuptools import setup, find_packages
+
+
+# include the non python files
+def package_files(directory, strip_leading):
+    paths = []
+    for (path, directories, filenames) in os.walk(directory):
+        for filename in filenames:
+            package_file = os.path.join(path, filename)
+            paths.append(package_file[len(strip_leading):])
+    return paths
+
+
+tests_require = ['pytest',
+                 ]
+
+setup(name='robocar-pca9685-python',
+      version='0.1',
+      description='Mqtt gateway for PCA9685 controller.',
+      url='https://github.com/cyrilix/robocar-pca9685-python',
+      license='Apache2',
+      entry_points={
+          'console_scripts': [
+              'rc-pca9685=pca9685.cli:execute_from_command_line',
+          ],
+      },
+      setup_requires=['pytest-runner'],
+      install_requires=['docopt',
+                        'paho-mqtt',
+                        'protobuf3',
+                        'google',
+                        'adafruit-pca9685',
+                        ],
+      tests_require=tests_require,
+      extras_require={
+          'tests': tests_require
+      },
+
+      include_package_data=True,
+
+      classifiers=[
+          # How mature is this project? Common values are
+          #   3 - Alpha
+          #   4 - Beta
+          #   5 - Production/Stable
+          'Development Status :: 3 - Alpha',
+
+          # Indicate who your project is intended for
+          'Intended Audience :: Developers',
+          'Topic :: Scientific/Engineering :: Artificial Intelligence',
+
+          # Pick your license as you wish (should match "license" above)
+          'License :: OSI Approved :: Apache 2 License',
+
+          # Specify the Python versions you support here. In particular, ensure
+          # that you indicate whether you support Python 2, Python 3 or both.
+
+          'Programming Language :: Python :: 3.7',
+      ],
+      keywords='selfdriving cars drive',
+
+      packages=find_packages(exclude=(['tests', 'env'])),
+      )