feat: record autopilot steering and driveMode
This commit is contained in:
parent
a056c6f1b8
commit
eac2806072
@ -15,7 +15,7 @@ const (
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func main() {
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var mqttBroker, username, password, clientId string
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var cameraTopic, steeringTopic, recordTopic, switchRecordTopic string
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var cameraTopic, rcSteeringTopic, recordTopic, tfSteeringTopic, driveModeTopic, switchRecordTopic string
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var debug bool
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mqttQos := cli.InitIntFlag("MQTT_QOS", 0)
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@ -24,7 +24,9 @@ func main() {
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cli.InitMqttFlags(DefaultClientId, &mqttBroker, &username, &password, &clientId, &mqttQos, &mqttRetain)
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flag.StringVar(&cameraTopic, "mqtt-topic-frame", os.Getenv("MQTT_TOPIC_CAMERA"), "Mqtt topic that contains camera frame, use MQTT_TOPIC_CAMERA if args not set")
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flag.StringVar(&steeringTopic, "mqtt-topic-steering", os.Getenv("MQTT_TOPIC_STEERING"), "Mqtt topic that contains steering raw values, use MQTT_TOPIC_STEERING if args not set")
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flag.StringVar(&rcSteeringTopic, "mqtt-topic-steering", os.Getenv("MQTT_TOPIC_STEERING"), "Mqtt topic that contains steering raw values, use MQTT_TOPIC_STEERING if args not set")
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flag.StringVar(&tfSteeringTopic, "mqtt-topic-autopilot-steering", os.Getenv("MQTT_TOPIC_AUTOPILOT_STEERING"), "Mqtt topic that contains steering computed by autopilot, use MQTT_TOPIC_AUTOPILOT_STEERING if args not set")
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flag.StringVar(&driveModeTopic, "mqtt-topic-drive-mode", os.Getenv("MQTT_TOPIC_DRIVE_MODE"), "Mqtt topic that contains drive mode instruction, use MQTT_TOPIC_DRIVE_MODE if args not set")
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flag.StringVar(&switchRecordTopic, "mqtt-topic-switch-record", os.Getenv("MQTT_TOPIC_SWITCH_RECORD"), "Mqtt topic that contain switch record state, use MQTT_TOPIC_SWITCH_RECORD if args not set")
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flag.StringVar(&recordTopic, "mqtt-topic-records", os.Getenv("MQTT_TOPIC_RECORDS"), "Mqtt topic to publish record messages, use MQTT_TOPIC_RECORDS if args not set")
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flag.BoolVar(&debug, "debug", false, "Display raw value to debug")
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@ -58,7 +60,14 @@ func main() {
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}
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defer client.Disconnect(50)
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r := part.NewRecorder(client, recordTopic, cameraTopic, steeringTopic, switchRecordTopic)
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r := part.NewRecorder(client,
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recordTopic,
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cameraTopic,
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rcSteeringTopic,
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tfSteeringTopic,
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driveModeTopic,
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switchRecordTopic,
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)
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defer r.Stop()
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cli.HandleExit(r)
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2
go.mod
2
go.mod
@ -4,7 +4,7 @@ go 1.19
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require (
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github.com/cyrilix/robocar-base v0.1.7
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github.com/cyrilix/robocar-protobuf/go v1.0.5
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github.com/cyrilix/robocar-protobuf/go v1.2.0
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github.com/eclipse/paho.mqtt.golang v1.4.1
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go.uber.org/zap v1.21.0
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google.golang.org/protobuf v1.28.0
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4
go.sum
4
go.sum
@ -2,8 +2,8 @@ github.com/benbjohnson/clock v1.1.0 h1:Q92kusRqC1XV2MjkWETPvjJVqKetz1OzxZB7mHJLj
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github.com/benbjohnson/clock v1.1.0/go.mod h1:J11/hYXuz8f4ySSvYwY0FKfm+ezbsZBKZxNJlLklBHA=
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github.com/cyrilix/robocar-base v0.1.7 h1:EVzZ0KjigSFpke5f3A/PybEH3WFUEIrYSc3z/dhOZ48=
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github.com/cyrilix/robocar-base v0.1.7/go.mod h1:4E11HQSNy2NT8e7MW188y6ST9C0RzarKyn7sK/3V/Lk=
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github.com/cyrilix/robocar-protobuf/go v1.0.5 h1:PX1At+pf6G7gJwT4LzJLQu3/LPFTTNNlZmZSYtnSELY=
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github.com/cyrilix/robocar-protobuf/go v1.0.5/go.mod h1:Y3AE28K5V7EZxMXp/6A8RhkRz15VOfFy4CjST35FbtQ=
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github.com/cyrilix/robocar-protobuf/go v1.2.0 h1:qxTm7X72rizaR8lO5ZpCMOoZv+ix24piiAv8w9Bh5tE=
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github.com/cyrilix/robocar-protobuf/go v1.2.0/go.mod h1:Y3AE28K5V7EZxMXp/6A8RhkRz15VOfFy4CjST35FbtQ=
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github.com/davecgh/go-spew v1.1.0/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
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github.com/davecgh/go-spew v1.1.1 h1:vj9j/u1bqnvCEfJOwUhtlOARqs3+rkHYY13jYWTU97c=
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github.com/davecgh/go-spew v1.1.1/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
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@ -11,12 +11,15 @@ import (
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"time"
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)
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func NewRecorder(client mqtt.Client, recordTopic, cameraTopic, steeringTopic, switchRecordTopic string) *Recorder {
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func NewRecorder(client mqtt.Client, recordTopic, cameraTopic, rcSteeringTopic, tfSteeringTopic, driveModeTopic,
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switchRecordTopic string) *Recorder {
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return &Recorder{
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client: client,
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recordTopic: recordTopic,
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cameraTopic: cameraTopic,
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steeringTopic: steeringTopic,
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rcSteeringTopic: rcSteeringTopic,
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tfSteeringTopic: tfSteeringTopic,
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driveModeTopic: driveModeTopic,
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switchRecordTopic: switchRecordTopic,
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enabled: false,
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idGenerator: NewDateBasedGenerator(),
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@ -26,12 +29,20 @@ func NewRecorder(client mqtt.Client, recordTopic, cameraTopic, steeringTopic, sw
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}
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type Recorder struct {
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client mqtt.Client
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recordTopic string
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cameraTopic, steeringTopic, switchRecordTopic string
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client mqtt.Client
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recordTopic string
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cameraTopic, switchRecordTopic string
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muSteeringMsg sync.Mutex
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currentSteering *events.SteeringMessage
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driveModeTopic, rcSteeringTopic, tfSteeringTopic string
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muRcSteeringMsg sync.Mutex
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currentRcSteering *events.SteeringMessage
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muTfSteeringMsg sync.Mutex
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currentTfSteering *events.SteeringMessage
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muDriveModeMsg sync.Mutex
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currentDriveMode *events.DriveModeMessage
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muEnabled sync.RWMutex
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enabled bool
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@ -57,7 +68,7 @@ func (r *Recorder) Start() error {
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func (r *Recorder) Stop() {
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close(r.cancel)
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service.StopService("record", r.client, r.cameraTopic, r.steeringTopic)
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service.StopService("record", r.client, r.cameraTopic, r.rcSteeringTopic, r.tfSteeringTopic, r.driveModeTopic)
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}
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func (r *Recorder) onSwitchRecord(_ mqtt.Client, message mqtt.Message) {
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@ -78,7 +89,7 @@ func (r *Recorder) onSwitchRecord(_ mqtt.Client, message mqtt.Message) {
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r.enabled = msg.GetEnabled()
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}
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func (r *Recorder) onSteering(_ mqtt.Client, message mqtt.Message) {
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func (r *Recorder) onRcSteering(_ mqtt.Client, message mqtt.Message) {
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var msg events.SteeringMessage
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err := proto.Unmarshal(message.Payload(), &msg)
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if err != nil {
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@ -86,9 +97,35 @@ func (r *Recorder) onSteering(_ mqtt.Client, message mqtt.Message) {
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return
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}
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r.muSteeringMsg.Lock()
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defer r.muSteeringMsg.Unlock()
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r.currentSteering = &msg
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r.muRcSteeringMsg.Lock()
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defer r.muRcSteeringMsg.Unlock()
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r.currentRcSteering = &msg
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}
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func (r *Recorder) onTfSteering(_ mqtt.Client, message mqtt.Message) {
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var msg events.SteeringMessage
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err := proto.Unmarshal(message.Payload(), &msg)
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if err != nil {
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zap.S().Errorf("unable to unmarshal protobuf %T: %v", msg, err)
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return
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}
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r.muTfSteeringMsg.Lock()
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defer r.muTfSteeringMsg.Unlock()
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r.currentTfSteering = &msg
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}
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func (r *Recorder) onDriveMode(_ mqtt.Client, message mqtt.Message) {
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var msg events.DriveModeMessage
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err := proto.Unmarshal(message.Payload(), &msg)
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if err != nil {
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zap.S().Errorf("unable to unmarshal protobuf %T: %v", msg, err)
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return
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}
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r.muDriveModeMsg.Lock()
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defer r.muDriveModeMsg.Unlock()
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r.currentDriveMode = &msg
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}
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func (r *Recorder) onFrame(_ mqtt.Client, message mqtt.Message) {
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@ -109,10 +146,22 @@ func (r *Recorder) onFrame(_ mqtt.Client, message mqtt.Message) {
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return
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}
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autopilot := r.CurrentAutopilotSteering()
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if autopilot == nil {
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zap.S().Warnf("no current autopilot steeringMsg")
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}
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driveMode := r.CurrentDriveMode()
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if driveMode == nil {
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zap.S().Warnf("no current driveModeMsg")
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}
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record := events.RecordMessage{
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Frame: &msg,
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Steering: steering,
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RecordSet: r.recordSet,
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Frame: &msg,
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Steering: steering,
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AutopilotSteering: autopilot,
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DriveMode: driveMode,
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RecordSet: r.recordSet,
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}
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payload, err := proto.Marshal(&record)
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@ -128,12 +177,26 @@ var publish = func(client mqtt.Client, topic string, payload *[]byte) {
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}
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func (r *Recorder) CurrentSteering() *events.SteeringMessage {
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r.muSteeringMsg.Lock()
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defer r.muSteeringMsg.Unlock()
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steering := r.currentSteering
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r.muRcSteeringMsg.Lock()
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defer r.muRcSteeringMsg.Unlock()
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steering := r.currentRcSteering
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return steering
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}
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func (r *Recorder) CurrentAutopilotSteering() *events.SteeringMessage {
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r.muTfSteeringMsg.Lock()
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defer r.muTfSteeringMsg.Unlock()
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steering := r.currentTfSteering
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return steering
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}
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func (r *Recorder) CurrentDriveMode() *events.DriveModeMessage {
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r.muDriveModeMsg.Lock()
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defer r.muDriveModeMsg.Unlock()
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driveMode := r.currentDriveMode
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return driveMode
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}
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func (r *Recorder) Enabled() bool {
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r.muEnabled.RLock()
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defer r.muEnabled.RUnlock()
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@ -146,9 +209,19 @@ var registerCallBacks = func(r *Recorder) {
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zap.S().Panicf("unable to register callback to %v:%v", r.cameraTopic, err)
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}
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err = service.RegisterCallback(r.client, r.steeringTopic, r.onSteering)
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err = service.RegisterCallback(r.client, r.rcSteeringTopic, r.onRcSteering)
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if err != nil {
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zap.S().Panicf("unable to register callback to %v:%v", r.steeringTopic, err)
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zap.S().Panicf("unable to register callback to %v:%v", r.rcSteeringTopic, err)
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}
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err = service.RegisterCallback(r.client, r.tfSteeringTopic, r.onTfSteering)
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if err != nil {
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zap.S().Panicf("unable to register callback to %v:%v", r.tfSteeringTopic, err)
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}
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err = service.RegisterCallback(r.client, r.driveModeTopic, r.onDriveMode)
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if err != nil {
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zap.S().Panicf("unable to register callback to %v:%v", r.driveModeTopic, err)
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}
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err = service.RegisterCallback(r.client, r.switchRecordTopic, r.onSwitchRecord)
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@ -6,7 +6,7 @@ import (
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mqtt "github.com/eclipse/paho.mqtt.golang"
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"go.uber.org/zap"
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"google.golang.org/protobuf/proto"
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"io/ioutil"
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"os"
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"regexp"
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"strings"
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"sync"
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@ -27,6 +27,8 @@ func TestRecorder_Record(t *testing.T) {
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recordTopic := "topic/record"
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cameraTopic := "topic/camera"
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steeringTopic := "topic/steeringMsg"
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autopilotSteeringTopic := "topic/autopilot/steering"
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driveModeTopic := "topic/driveMode"
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switchRecord := "topic/switch/record"
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var muEventsPublished sync.Mutex
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@ -46,7 +48,13 @@ func TestRecorder_Record(t *testing.T) {
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eventsPublished = &msg
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}
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recorder := NewRecorder(nil, recordTopic, cameraTopic, steeringTopic, switchRecord)
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recorder := NewRecorder(nil,
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recordTopic,
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cameraTopic,
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steeringTopic,
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autopilotSteeringTopic,
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driveModeTopic,
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switchRecord)
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recorder.idGenerator = &DateBasedGenerator{
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muCpt: sync.Mutex{},
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cpt: 0,
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@ -64,24 +72,52 @@ func TestRecorder_Record(t *testing.T) {
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frame2 := loadImage(t, "testdata/img.jpg", "02")
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steeringRight := events.SteeringMessage{Steering: 0.5, Confidence: 1.0}
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steeringLeft := events.SteeringMessage{Steering: -0.5, Confidence: 1.0}
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autopilotLeft := events.SteeringMessage{Steering: -0.8, Confidence: 1.0}
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driveModeManuel := events.DriveModeMessage{DriveMode: events.DriveMode_USER}
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cases := []struct {
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recordMsg *events.SwitchRecordMessage
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frameMsg *events.FrameMessage
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steeringMsg *events.SteeringMessage
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autopilotMsg *events.SteeringMessage
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driveModeMsg *events.DriveModeMessage
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expectedRecordMsg *events.RecordMessage
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wait time.Duration
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}{
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{recordMsg: &events.SwitchRecordMessage{Enabled: false}, frameMsg: nil, steeringMsg: nil, expectedRecordMsg: nil, wait: 5 * time.Millisecond},
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{recordMsg: &events.SwitchRecordMessage{Enabled: true}, frameMsg: nil, steeringMsg: nil, expectedRecordMsg: nil, wait: 5 * time.Millisecond},
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{recordMsg: &events.SwitchRecordMessage{Enabled: true}, frameMsg: frame1, steeringMsg: nil, expectedRecordMsg: nil, wait: 5 * time.Millisecond},
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{recordMsg: &events.SwitchRecordMessage{Enabled: true}, frameMsg: nil, steeringMsg: &steeringRight, expectedRecordMsg: nil, wait: 5 * time.Millisecond},
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{recordMsg: &events.SwitchRecordMessage{Enabled: true}, frameMsg: frame1, steeringMsg: &steeringRight, expectedRecordMsg: &events.RecordMessage{RecordSet: "record-1", Frame: frame1, Steering: &steeringRight}, wait: 5 * time.Millisecond},
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{recordMsg: &events.SwitchRecordMessage{Enabled: true}, frameMsg: nil, steeringMsg: &steeringLeft, expectedRecordMsg: nil, wait: 5 * time.Millisecond},
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{recordMsg: &events.SwitchRecordMessage{Enabled: true}, frameMsg: frame2, steeringMsg: &steeringLeft, expectedRecordMsg: &events.RecordMessage{RecordSet: "record-1", Frame: frame2, Steering: &steeringLeft}, wait: 5 * time.Millisecond},
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{recordMsg: &events.SwitchRecordMessage{Enabled: false}, frameMsg: nil, steeringMsg: nil, expectedRecordMsg: nil, wait: 5 * time.Millisecond},
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{recordMsg: &events.SwitchRecordMessage{Enabled: false}, frameMsg: nil, steeringMsg: nil, expectedRecordMsg: nil, wait: 5 * time.Millisecond},
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{recordMsg: &events.SwitchRecordMessage{Enabled: true}, frameMsg: frame1, steeringMsg: &steeringRight, expectedRecordMsg: &events.RecordMessage{RecordSet: "record-2", Frame: frame1, Steering: &steeringLeft}, wait: 5 * time.Millisecond},
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{recordMsg: &events.SwitchRecordMessage{Enabled: false}, frameMsg: nil,
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steeringMsg: nil, autopilotMsg: nil, driveModeMsg: nil,
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expectedRecordMsg: nil, wait: 5 * time.Millisecond},
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{recordMsg: &events.SwitchRecordMessage{Enabled: true}, frameMsg: nil,
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steeringMsg: nil, autopilotMsg: nil, driveModeMsg: nil,
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expectedRecordMsg: nil, wait: 5 * time.Millisecond},
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{recordMsg: &events.SwitchRecordMessage{Enabled: true}, frameMsg: frame1,
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steeringMsg: nil, autopilotMsg: nil, driveModeMsg: nil,
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expectedRecordMsg: nil, wait: 5 * time.Millisecond},
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{recordMsg: &events.SwitchRecordMessage{Enabled: true}, frameMsg: nil,
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steeringMsg: &steeringRight, autopilotMsg: nil, driveModeMsg: nil,
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expectedRecordMsg: nil, wait: 5 * time.Millisecond},
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{recordMsg: &events.SwitchRecordMessage{Enabled: true}, frameMsg: frame1,
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steeringMsg: &steeringRight, autopilotMsg: nil, driveModeMsg: nil,
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expectedRecordMsg: &events.RecordMessage{RecordSet: "record-1", Frame: frame1, Steering: &steeringRight}, wait: 5 * time.Millisecond},
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{recordMsg: &events.SwitchRecordMessage{Enabled: true}, frameMsg: nil,
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steeringMsg: &steeringLeft, autopilotMsg: nil, driveModeMsg: nil,
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expectedRecordMsg: nil, wait: 5 * time.Millisecond},
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{recordMsg: &events.SwitchRecordMessage{Enabled: true}, frameMsg: frame2,
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steeringMsg: &steeringLeft, autopilotMsg: nil, driveModeMsg: nil,
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expectedRecordMsg: &events.RecordMessage{RecordSet: "record-1", Frame: frame2, Steering: &steeringLeft}, wait: 5 * time.Millisecond},
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{recordMsg: &events.SwitchRecordMessage{Enabled: false}, frameMsg: nil,
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steeringMsg: nil, autopilotMsg: nil, driveModeMsg: nil,
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expectedRecordMsg: nil, wait: 5 * time.Millisecond},
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{recordMsg: &events.SwitchRecordMessage{Enabled: false}, frameMsg: nil,
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steeringMsg: nil, autopilotMsg: nil, driveModeMsg: nil,
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expectedRecordMsg: nil, wait: 5 * time.Millisecond},
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{recordMsg: &events.SwitchRecordMessage{Enabled: true}, frameMsg: frame1,
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steeringMsg: &steeringRight, autopilotMsg: nil, driveModeMsg: nil,
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expectedRecordMsg: &events.RecordMessage{RecordSet: "record-2", Frame: frame1, Steering: &steeringLeft}, wait: 5 * time.Millisecond},
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{recordMsg: &events.SwitchRecordMessage{Enabled: true}, frameMsg: frame1,
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steeringMsg: &steeringRight, autopilotMsg: &autopilotLeft, driveModeMsg: &driveModeManuel,
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expectedRecordMsg: &events.RecordMessage{RecordSet: "record-2", Frame: frame1, Steering: &steeringRight, AutopilotSteering: &autopilotLeft, DriveMode: &driveModeManuel},
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wait: 5 * time.Millisecond},
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}
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for _, c := range cases {
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@ -89,6 +125,12 @@ func TestRecorder_Record(t *testing.T) {
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eventsPublished = nil
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muEventsPublished.Unlock()
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if c.autopilotMsg != nil {
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recorder.onTfSteering(nil, testtools.NewFakeMessageFromProtobuf(autopilotSteeringTopic, c.autopilotMsg))
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}
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if c.driveModeMsg != nil {
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recorder.onDriveMode(nil, testtools.NewFakeMessageFromProtobuf(driveModeTopic, c.driveModeMsg))
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}
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if c.recordMsg != nil {
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recorder.onSwitchRecord(nil, testtools.NewFakeMessageFromProtobuf(recordTopic, c.recordMsg))
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}
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@ -96,7 +138,7 @@ func TestRecorder_Record(t *testing.T) {
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recorder.onFrame(nil, testtools.NewFakeMessageFromProtobuf(cameraTopic, c.frameMsg))
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}
|
||||
if c.steeringMsg != nil {
|
||||
recorder.onSteering(nil, testtools.NewFakeMessageFromProtobuf(steeringTopic, c.steeringMsg))
|
||||
recorder.onRcSteering(nil, testtools.NewFakeMessageFromProtobuf(steeringTopic, c.steeringMsg))
|
||||
}
|
||||
|
||||
time.Sleep(c.wait)
|
||||
@ -112,7 +154,7 @@ func TestRecorder_Record(t *testing.T) {
|
||||
}
|
||||
|
||||
func loadImage(t *testing.T, imgPath string, id string) *events.FrameMessage {
|
||||
jpegContent, err := ioutil.ReadFile(imgPath)
|
||||
jpegContent, err := os.ReadFile(imgPath)
|
||||
if err != nil {
|
||||
t.Fatalf("unable to load image: %v", err)
|
||||
}
|
||||
|
||||
95
vendor/github.com/cyrilix/robocar-protobuf/go/events/events.pb.go
generated
vendored
95
vendor/github.com/cyrilix/robocar-protobuf/go/events/events.pb.go
generated
vendored
@ -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
|
||||
@ -468,17 +468,17 @@ 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"`
|
||||
}
|
||||
|
||||
@ -521,28 +521,28 @@ 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
|
||||
}
|
||||
@ -807,9 +807,11 @@ 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() {
|
||||
@ -858,6 +860,20 @@ 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
|
||||
@ -918,10 +934,10 @@ var file_events_events_proto_rawDesc = []byte{
|
||||
0x0e, 0x32, 0x1a, 0x2e, 0x72, 0x6f, 0x62, 0x6f, 0x63, 0x61, 0x72, 0x2e, 0x65, 0x76, 0x65, 0x6e,
|
||||
0x74, 0x73, 0x2e, 0x54, 0x79, 0x70, 0x65, 0x4f, 0x62, 0x6a, 0x65, 0x63, 0x74, 0x52, 0x04, 0x74,
|
||||
0x79, 0x70, 0x65, 0x12, 0x12, 0x0a, 0x04, 0x6c, 0x65, 0x66, 0x74, 0x18, 0x02, 0x20, 0x01, 0x28,
|
||||
0x05, 0x52, 0x04, 0x6c, 0x65, 0x66, 0x74, 0x12, 0x10, 0x0a, 0x03, 0x74, 0x6f, 0x70, 0x18, 0x03,
|
||||
0x20, 0x01, 0x28, 0x05, 0x52, 0x03, 0x74, 0x6f, 0x70, 0x12, 0x14, 0x0a, 0x05, 0x72, 0x69, 0x67,
|
||||
0x68, 0x74, 0x18, 0x04, 0x20, 0x01, 0x28, 0x05, 0x52, 0x05, 0x72, 0x69, 0x67, 0x68, 0x74, 0x12,
|
||||
0x16, 0x0a, 0x06, 0x62, 0x6f, 0x74, 0x74, 0x6f, 0x6d, 0x18, 0x05, 0x20, 0x01, 0x28, 0x05, 0x52,
|
||||
0x02, 0x52, 0x04, 0x6c, 0x65, 0x66, 0x74, 0x12, 0x10, 0x0a, 0x03, 0x74, 0x6f, 0x70, 0x18, 0x03,
|
||||
0x20, 0x01, 0x28, 0x02, 0x52, 0x03, 0x74, 0x6f, 0x70, 0x12, 0x14, 0x0a, 0x05, 0x72, 0x69, 0x67,
|
||||
0x68, 0x74, 0x18, 0x04, 0x20, 0x01, 0x28, 0x02, 0x52, 0x05, 0x72, 0x69, 0x67, 0x68, 0x74, 0x12,
|
||||
0x16, 0x0a, 0x06, 0x62, 0x6f, 0x74, 0x74, 0x6f, 0x6d, 0x18, 0x05, 0x20, 0x01, 0x28, 0x02, 0x52,
|
||||
0x06, 0x62, 0x6f, 0x74, 0x74, 0x6f, 0x6d, 0x12, 0x1e, 0x0a, 0x0a, 0x63, 0x6f, 0x6e, 0x66, 0x69,
|
||||
0x64, 0x65, 0x6e, 0x63, 0x65, 0x18, 0x06, 0x20, 0x01, 0x28, 0x02, 0x52, 0x0a, 0x63, 0x6f, 0x6e,
|
||||
0x66, 0x69, 0x64, 0x65, 0x6e, 0x63, 0x65, 0x22, 0x2f, 0x0a, 0x13, 0x53, 0x77, 0x69, 0x74, 0x63,
|
||||
@ -950,7 +966,7 @@ var file_events_events_proto_rawDesc = []byte{
|
||||
0x74, 0x12, 0x14, 0x0a, 0x05, 0x61, 0x6e, 0x67, 0x6c, 0x65, 0x18, 0x04, 0x20, 0x01, 0x28, 0x02,
|
||||
0x52, 0x05, 0x61, 0x6e, 0x67, 0x6c, 0x65, 0x12, 0x1e, 0x0a, 0x0a, 0x63, 0x6f, 0x6e, 0x66, 0x69,
|
||||
0x64, 0x65, 0x6e, 0x63, 0x65, 0x18, 0x05, 0x20, 0x01, 0x28, 0x02, 0x52, 0x0a, 0x63, 0x6f, 0x6e,
|
||||
0x66, 0x69, 0x64, 0x65, 0x6e, 0x63, 0x65, 0x22, 0x9e, 0x01, 0x0a, 0x0d, 0x52, 0x65, 0x63, 0x6f,
|
||||
0x66, 0x69, 0x64, 0x65, 0x6e, 0x63, 0x65, 0x22, 0xaf, 0x02, 0x0a, 0x0d, 0x52, 0x65, 0x63, 0x6f,
|
||||
0x72, 0x64, 0x4d, 0x65, 0x73, 0x73, 0x61, 0x67, 0x65, 0x12, 0x32, 0x0a, 0x05, 0x66, 0x72, 0x61,
|
||||
0x6d, 0x65, 0x18, 0x01, 0x20, 0x01, 0x28, 0x0b, 0x32, 0x1c, 0x2e, 0x72, 0x6f, 0x62, 0x6f, 0x63,
|
||||
0x61, 0x72, 0x2e, 0x65, 0x76, 0x65, 0x6e, 0x74, 0x73, 0x2e, 0x46, 0x72, 0x61, 0x6d, 0x65, 0x4d,
|
||||
@ -958,16 +974,25 @@ var file_events_events_proto_rawDesc = []byte{
|
||||
0x08, 0x73, 0x74, 0x65, 0x65, 0x72, 0x69, 0x6e, 0x67, 0x18, 0x02, 0x20, 0x01, 0x28, 0x0b, 0x32,
|
||||
0x1f, 0x2e, 0x72, 0x6f, 0x62, 0x6f, 0x63, 0x61, 0x72, 0x2e, 0x65, 0x76, 0x65, 0x6e, 0x74, 0x73,
|
||||
0x2e, 0x53, 0x74, 0x65, 0x65, 0x72, 0x69, 0x6e, 0x67, 0x4d, 0x65, 0x73, 0x73, 0x61, 0x67, 0x65,
|
||||
0x52, 0x08, 0x73, 0x74, 0x65, 0x65, 0x72, 0x69, 0x6e, 0x67, 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, 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,
|
||||
0x52, 0x08, 0x73, 0x74, 0x65, 0x65, 0x72, 0x69, 0x6e, 0x67, 0x12, 0x4e, 0x0a, 0x12, 0x61, 0x75,
|
||||
0x74, 0x6f, 0x70, 0x69, 0x6c, 0x6f, 0x74, 0x5f, 0x73, 0x74, 0x65, 0x65, 0x72, 0x69, 0x6e, 0x67,
|
||||
0x18, 0x04, 0x20, 0x01, 0x28, 0x0b, 0x32, 0x1f, 0x2e, 0x72, 0x6f, 0x62, 0x6f, 0x63, 0x61, 0x72,
|
||||
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|
||||
0x4d, 0x65, 0x73, 0x73, 0x61, 0x67, 0x65, 0x52, 0x11, 0x61, 0x75, 0x74, 0x6f, 0x70, 0x69, 0x6c,
|
||||
0x6f, 0x74, 0x53, 0x74, 0x65, 0x65, 0x72, 0x69, 0x6e, 0x67, 0x12, 0x3f, 0x0a, 0x0a, 0x64, 0x72,
|
||||
0x69, 0x76, 0x65, 0x5f, 0x6d, 0x6f, 0x64, 0x65, 0x18, 0x05, 0x20, 0x01, 0x28, 0x0b, 0x32, 0x20,
|
||||
0x2e, 0x72, 0x6f, 0x62, 0x6f, 0x63, 0x61, 0x72, 0x2e, 0x65, 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, 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 (
|
||||
@ -1016,11 +1041,13 @@ var file_events_events_proto_depIdxs = []int32{
|
||||
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
|
||||
4, // 14: robocar.events.RecordMessage.autopilot_steering:type_name -> robocar.events.SteeringMessage
|
||||
6, // 15: robocar.events.RecordMessage.drive_mode:type_name -> robocar.events.DriveModeMessage
|
||||
16, // [16:16] is the sub-list for method output_type
|
||||
16, // [16:16] is the sub-list for method input_type
|
||||
16, // [16:16] is the sub-list for extension type_name
|
||||
16, // [16:16] is the sub-list for extension extendee
|
||||
0, // [0:16] is the sub-list for field type_name
|
||||
}
|
||||
|
||||
func init() { file_events_events_proto_init() }
|
||||
|
||||
2
vendor/modules.txt
vendored
2
vendor/modules.txt
vendored
@ -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 v1.2.0
|
||||
## explicit; go 1.18
|
||||
github.com/cyrilix/robocar-protobuf/go/events
|
||||
# github.com/eclipse/paho.mqtt.golang v1.4.1
|
||||
|
||||
Loading…
Reference in New Issue
Block a user