feat: record autopilot steering and driveMode

cmd/rc-record/rc-record.go

@@ -15,7 +15,7 @@ const (
 
 func main() {
 	var mqttBroker, username, password, clientId string
-	var cameraTopic, steeringTopic, recordTopic, switchRecordTopic string
+	var cameraTopic, rcSteeringTopic, recordTopic, tfSteeringTopic, driveModeTopic, switchRecordTopic string
 	var debug bool
 
 	mqttQos := cli.InitIntFlag("MQTT_QOS", 0)
@@ -24,7 +24,9 @@ func main() {
 	cli.InitMqttFlags(DefaultClientId, &mqttBroker, &username, &password, &clientId, &mqttQos, &mqttRetain)
 
 	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")
-	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")
+	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")
+	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")
+	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")
 	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")
 	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")
 	flag.BoolVar(&debug, "debug", false, "Display raw value to debug")
@@ -58,7 +60,14 @@ func main() {
 	}
 	defer client.Disconnect(50)
 
-	r := part.NewRecorder(client, recordTopic, cameraTopic, steeringTopic, switchRecordTopic)
+	r := part.NewRecorder(client,
+		recordTopic,
+		cameraTopic,
+		rcSteeringTopic,
+		tfSteeringTopic,
+		driveModeTopic,
+		switchRecordTopic,
+	)
 	defer r.Stop()
 
 	cli.HandleExit(r)

go.mod

@@ -4,7 +4,7 @@ go 1.19
 
 require (
 	github.com/cyrilix/robocar-base v0.1.7
-	github.com/cyrilix/robocar-protobuf/go v1.0.5
+	github.com/cyrilix/robocar-protobuf/go v1.2.0
 	github.com/eclipse/paho.mqtt.golang v1.4.1
 	go.uber.org/zap v1.21.0
 	google.golang.org/protobuf v1.28.0

go.sum

@@ -2,8 +2,8 @@ github.com/benbjohnson/clock v1.1.0 h1:Q92kusRqC1XV2MjkWETPvjJVqKetz1OzxZB7mHJLj
 github.com/benbjohnson/clock v1.1.0/go.mod h1:J11/hYXuz8f4ySSvYwY0FKfm+ezbsZBKZxNJlLklBHA=
 github.com/cyrilix/robocar-base v0.1.7 h1:EVzZ0KjigSFpke5f3A/PybEH3WFUEIrYSc3z/dhOZ48=
 github.com/cyrilix/robocar-base v0.1.7/go.mod h1:4E11HQSNy2NT8e7MW188y6ST9C0RzarKyn7sK/3V/Lk=
-github.com/cyrilix/robocar-protobuf/go v1.0.5 h1:PX1At+pf6G7gJwT4LzJLQu3/LPFTTNNlZmZSYtnSELY=
+github.com/cyrilix/robocar-protobuf/go v1.2.0 h1:qxTm7X72rizaR8lO5ZpCMOoZv+ix24piiAv8w9Bh5tE=
-github.com/cyrilix/robocar-protobuf/go v1.0.5/go.mod h1:Y3AE28K5V7EZxMXp/6A8RhkRz15VOfFy4CjST35FbtQ=
+github.com/cyrilix/robocar-protobuf/go v1.2.0/go.mod h1:Y3AE28K5V7EZxMXp/6A8RhkRz15VOfFy4CjST35FbtQ=
 github.com/davecgh/go-spew v1.1.0/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
 github.com/davecgh/go-spew v1.1.1 h1:vj9j/u1bqnvCEfJOwUhtlOARqs3+rkHYY13jYWTU97c=
 github.com/davecgh/go-spew v1.1.1/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=

pkg/part/record.go

@@ -11,12 +11,15 @@ import (
 	"time"
 )
 
-func NewRecorder(client mqtt.Client, recordTopic, cameraTopic, steeringTopic, switchRecordTopic string) *Recorder {
+func NewRecorder(client mqtt.Client, recordTopic, cameraTopic, rcSteeringTopic, tfSteeringTopic, driveModeTopic,
+	switchRecordTopic string) *Recorder {
 	return &Recorder{
 		client:            client,
 		recordTopic:       recordTopic,
 		cameraTopic:       cameraTopic,
-		steeringTopic:     steeringTopic,
+		rcSteeringTopic:   rcSteeringTopic,
+		tfSteeringTopic:   tfSteeringTopic,
+		driveModeTopic:    driveModeTopic,
 		switchRecordTopic: switchRecordTopic,
 		enabled:           false,
 		idGenerator:       NewDateBasedGenerator(),
@@ -28,10 +31,18 @@ func NewRecorder(client mqtt.Client, recordTopic, cameraTopic, steeringTopic, sw
 type Recorder struct {
 	client                         mqtt.Client
 	recordTopic                    string
-	cameraTopic, steeringTopic, switchRecordTopic string
+	cameraTopic, switchRecordTopic string
 
-	muSteeringMsg   sync.Mutex
+	driveModeTopic, rcSteeringTopic, tfSteeringTopic string
-	currentSteering *events.SteeringMessage
+
+	muRcSteeringMsg   sync.Mutex
+	currentRcSteering *events.SteeringMessage
+
+	muTfSteeringMsg   sync.Mutex
+	currentTfSteering *events.SteeringMessage
+
+	muDriveModeMsg   sync.Mutex
+	currentDriveMode *events.DriveModeMessage
 
 	muEnabled sync.RWMutex
 	enabled   bool
@@ -57,7 +68,7 @@ func (r *Recorder) Start() error {
 
 func (r *Recorder) Stop() {
 	close(r.cancel)
-	service.StopService("record", r.client, r.cameraTopic, r.steeringTopic)
+	service.StopService("record", r.client, r.cameraTopic, r.rcSteeringTopic, r.tfSteeringTopic, r.driveModeTopic)
 }
 
 func (r *Recorder) onSwitchRecord(_ mqtt.Client, message mqtt.Message) {
@@ -78,7 +89,7 @@ func (r *Recorder) onSwitchRecord(_ mqtt.Client, message mqtt.Message) {
 	r.enabled = msg.GetEnabled()
 }
 
-func (r *Recorder) onSteering(_ mqtt.Client, message mqtt.Message) {
+func (r *Recorder) onRcSteering(_ mqtt.Client, message mqtt.Message) {
 	var msg events.SteeringMessage
 	err := proto.Unmarshal(message.Payload(), &msg)
 	if err != nil {
@@ -86,9 +97,35 @@ func (r *Recorder) onSteering(_ mqtt.Client, message mqtt.Message) {
 		return
 	}
 
-	r.muSteeringMsg.Lock()
+	r.muRcSteeringMsg.Lock()
-	defer r.muSteeringMsg.Unlock()
+	defer r.muRcSteeringMsg.Unlock()
-	r.currentSteering = &msg
+	r.currentRcSteering = &msg
+}
+
+func (r *Recorder) onTfSteering(_ mqtt.Client, message mqtt.Message) {
+	var msg events.SteeringMessage
+	err := proto.Unmarshal(message.Payload(), &msg)
+	if err != nil {
+		zap.S().Errorf("unable to unmarshal protobuf %T: %v", msg, err)
+		return
+	}
+
+	r.muTfSteeringMsg.Lock()
+	defer r.muTfSteeringMsg.Unlock()
+	r.currentTfSteering = &msg
+}
+
+func (r *Recorder) onDriveMode(_ mqtt.Client, message mqtt.Message) {
+	var msg events.DriveModeMessage
+	err := proto.Unmarshal(message.Payload(), &msg)
+	if err != nil {
+		zap.S().Errorf("unable to unmarshal protobuf %T: %v", msg, err)
+		return
+	}
+
+	r.muDriveModeMsg.Lock()
+	defer r.muDriveModeMsg.Unlock()
+	r.currentDriveMode = &msg
 }
 
 func (r *Recorder) onFrame(_ mqtt.Client, message mqtt.Message) {
@@ -109,9 +146,21 @@ func (r *Recorder) onFrame(_ mqtt.Client, message mqtt.Message) {
 		return
 	}
 
+	autopilot := r.CurrentAutopilotSteering()
+	if autopilot == nil {
+		zap.S().Warnf("no current autopilot steeringMsg")
+	}
+
+	driveMode := r.CurrentDriveMode()
+	if driveMode == nil {
+		zap.S().Warnf("no current driveModeMsg")
+	}
+
 	record := events.RecordMessage{
 		Frame:             &msg,
 		Steering:          steering,
+		AutopilotSteering: autopilot,
+		DriveMode:         driveMode,
 		RecordSet:         r.recordSet,
 	}
 
@@ -128,12 +177,26 @@ var publish = func(client mqtt.Client, topic string, payload *[]byte) {
 }
 
 func (r *Recorder) CurrentSteering() *events.SteeringMessage {
-	r.muSteeringMsg.Lock()
+	r.muRcSteeringMsg.Lock()
-	defer r.muSteeringMsg.Unlock()
+	defer r.muRcSteeringMsg.Unlock()
-	steering := r.currentSteering
+	steering := r.currentRcSteering
 	return steering
 }
 
+func (r *Recorder) CurrentAutopilotSteering() *events.SteeringMessage {
+	r.muTfSteeringMsg.Lock()
+	defer r.muTfSteeringMsg.Unlock()
+	steering := r.currentTfSteering
+	return steering
+}
+
+func (r *Recorder) CurrentDriveMode() *events.DriveModeMessage {
+	r.muDriveModeMsg.Lock()
+	defer r.muDriveModeMsg.Unlock()
+	driveMode := r.currentDriveMode
+	return driveMode
+}
+
 func (r *Recorder) Enabled() bool {
 	r.muEnabled.RLock()
 	defer r.muEnabled.RUnlock()
@@ -146,9 +209,19 @@ var registerCallBacks = func(r *Recorder) {
 		zap.S().Panicf("unable to register callback to %v:%v", r.cameraTopic, err)
 	}
 
-	err = service.RegisterCallback(r.client, r.steeringTopic, r.onSteering)
+	err = service.RegisterCallback(r.client, r.rcSteeringTopic, r.onRcSteering)
 	if err != nil {
-		zap.S().Panicf("unable to register callback to %v:%v", r.steeringTopic, err)
+		zap.S().Panicf("unable to register callback to %v:%v", r.rcSteeringTopic, err)
+	}
+
+	err = service.RegisterCallback(r.client, r.tfSteeringTopic, r.onTfSteering)
+	if err != nil {
+		zap.S().Panicf("unable to register callback to %v:%v", r.tfSteeringTopic, err)
+	}
+
+	err = service.RegisterCallback(r.client, r.driveModeTopic, r.onDriveMode)
+	if err != nil {
+		zap.S().Panicf("unable to register callback to %v:%v", r.driveModeTopic, err)
 	}
 
 	err = service.RegisterCallback(r.client, r.switchRecordTopic, r.onSwitchRecord)

pkg/part/record_test.go

@@ -6,7 +6,7 @@ import (
 	mqtt "github.com/eclipse/paho.mqtt.golang"
 	"go.uber.org/zap"
 	"google.golang.org/protobuf/proto"
-	"io/ioutil"
+	"os"
 	"regexp"
 	"strings"
 	"sync"
@@ -27,6 +27,8 @@ func TestRecorder_Record(t *testing.T) {
 	recordTopic := "topic/record"
 	cameraTopic := "topic/camera"
 	steeringTopic := "topic/steeringMsg"
+	autopilotSteeringTopic := "topic/autopilot/steering"
+	driveModeTopic := "topic/driveMode"
 	switchRecord := "topic/switch/record"
 
 	var muEventsPublished sync.Mutex
@@ -46,7 +48,13 @@ func TestRecorder_Record(t *testing.T) {
 		eventsPublished = &msg
 	}
 
-	recorder := NewRecorder(nil, recordTopic, cameraTopic, steeringTopic, switchRecord)
+	recorder := NewRecorder(nil,
+		recordTopic,
+		cameraTopic,
+		steeringTopic,
+		autopilotSteeringTopic,
+		driveModeTopic,
+		switchRecord)
 	recorder.idGenerator = &DateBasedGenerator{
 		muCpt:      sync.Mutex{},
 		cpt:        0,
@@ -64,24 +72,52 @@ func TestRecorder_Record(t *testing.T) {
 	frame2 := loadImage(t, "testdata/img.jpg", "02")
 	steeringRight := events.SteeringMessage{Steering: 0.5, Confidence: 1.0}
 	steeringLeft := events.SteeringMessage{Steering: -0.5, Confidence: 1.0}
+	autopilotLeft := events.SteeringMessage{Steering: -0.8, Confidence: 1.0}
+	driveModeManuel := events.DriveModeMessage{DriveMode: events.DriveMode_USER}
 
 	cases := []struct {
 		recordMsg         *events.SwitchRecordMessage
 		frameMsg          *events.FrameMessage
 		steeringMsg       *events.SteeringMessage
+		autopilotMsg      *events.SteeringMessage
+		driveModeMsg      *events.DriveModeMessage
 		expectedRecordMsg *events.RecordMessage
 		wait              time.Duration
 	}{
-		{recordMsg: &events.SwitchRecordMessage{Enabled: false}, frameMsg: nil, steeringMsg: nil, expectedRecordMsg: nil, wait: 5 * time.Millisecond},
+		{recordMsg: &events.SwitchRecordMessage{Enabled: false}, frameMsg: nil,
-		{recordMsg: &events.SwitchRecordMessage{Enabled: true}, frameMsg: nil, steeringMsg: nil, expectedRecordMsg: nil, wait: 5 * time.Millisecond},
+			steeringMsg: nil, autopilotMsg: nil, driveModeMsg: nil,
-		{recordMsg: &events.SwitchRecordMessage{Enabled: true}, frameMsg: frame1, steeringMsg: nil, expectedRecordMsg: nil, wait: 5 * time.Millisecond},
+			expectedRecordMsg: nil, wait: 5 * time.Millisecond},
-		{recordMsg: &events.SwitchRecordMessage{Enabled: true}, frameMsg: nil, steeringMsg: &steeringRight, expectedRecordMsg: nil, wait: 5 * time.Millisecond},
+		{recordMsg: &events.SwitchRecordMessage{Enabled: true}, frameMsg: nil,
-		{recordMsg: &events.SwitchRecordMessage{Enabled: true}, frameMsg: frame1, steeringMsg: &steeringRight, expectedRecordMsg: &events.RecordMessage{RecordSet: "record-1", Frame: frame1, Steering: &steeringRight}, wait: 5 * time.Millisecond},
+			steeringMsg: nil, autopilotMsg: nil, driveModeMsg: nil,
-		{recordMsg: &events.SwitchRecordMessage{Enabled: true}, frameMsg: nil, steeringMsg: &steeringLeft, expectedRecordMsg: nil, wait: 5 * time.Millisecond},
+			expectedRecordMsg: nil, wait: 5 * time.Millisecond},
-		{recordMsg: &events.SwitchRecordMessage{Enabled: true}, frameMsg: frame2, steeringMsg: &steeringLeft, expectedRecordMsg: &events.RecordMessage{RecordSet: "record-1", Frame: frame2, Steering: &steeringLeft}, wait: 5 * time.Millisecond},
+		{recordMsg: &events.SwitchRecordMessage{Enabled: true}, frameMsg: frame1,
-		{recordMsg: &events.SwitchRecordMessage{Enabled: false}, frameMsg: nil, steeringMsg: nil, expectedRecordMsg: nil, wait: 5 * time.Millisecond},
+			steeringMsg: nil, autopilotMsg: nil, driveModeMsg: nil,
-		{recordMsg: &events.SwitchRecordMessage{Enabled: false}, frameMsg: nil, steeringMsg: nil, expectedRecordMsg: nil, wait: 5 * time.Millisecond},
+			expectedRecordMsg: nil, wait: 5 * time.Millisecond},
-		{recordMsg: &events.SwitchRecordMessage{Enabled: true}, frameMsg: frame1, steeringMsg: &steeringRight, expectedRecordMsg: &events.RecordMessage{RecordSet: "record-2", Frame: frame1, Steering: &steeringLeft}, wait: 5 * time.Millisecond},
+		{recordMsg: &events.SwitchRecordMessage{Enabled: true}, frameMsg: nil,
+			steeringMsg: &steeringRight, autopilotMsg: nil, driveModeMsg: nil,
+			expectedRecordMsg: nil, wait: 5 * time.Millisecond},
+		{recordMsg: &events.SwitchRecordMessage{Enabled: true}, frameMsg: frame1,
+			steeringMsg: &steeringRight, autopilotMsg: nil, driveModeMsg: nil,
+			expectedRecordMsg: &events.RecordMessage{RecordSet: "record-1", Frame: frame1, Steering: &steeringRight}, wait: 5 * time.Millisecond},
+		{recordMsg: &events.SwitchRecordMessage{Enabled: true}, frameMsg: nil,
+			steeringMsg: &steeringLeft, autopilotMsg: nil, driveModeMsg: nil,
+			expectedRecordMsg: nil, wait: 5 * time.Millisecond},
+		{recordMsg: &events.SwitchRecordMessage{Enabled: true}, frameMsg: frame2,
+			steeringMsg: &steeringLeft, autopilotMsg: nil, driveModeMsg: nil,
+			expectedRecordMsg: &events.RecordMessage{RecordSet: "record-1", Frame: frame2, Steering: &steeringLeft}, wait: 5 * time.Millisecond},
+		{recordMsg: &events.SwitchRecordMessage{Enabled: false}, frameMsg: nil,
+			steeringMsg: nil, autopilotMsg: nil, driveModeMsg: nil,
+			expectedRecordMsg: nil, wait: 5 * time.Millisecond},
+		{recordMsg: &events.SwitchRecordMessage{Enabled: false}, frameMsg: nil,
+			steeringMsg: nil, autopilotMsg: nil, driveModeMsg: nil,
+			expectedRecordMsg: nil, wait: 5 * time.Millisecond},
+		{recordMsg: &events.SwitchRecordMessage{Enabled: true}, frameMsg: frame1,
+			steeringMsg: &steeringRight, autopilotMsg: nil, driveModeMsg: nil,
+			expectedRecordMsg: &events.RecordMessage{RecordSet: "record-2", Frame: frame1, Steering: &steeringLeft}, wait: 5 * time.Millisecond},
+		{recordMsg: &events.SwitchRecordMessage{Enabled: true}, frameMsg: frame1,
+			steeringMsg: &steeringRight, autopilotMsg: &autopilotLeft, driveModeMsg: &driveModeManuel,
+			expectedRecordMsg: &events.RecordMessage{RecordSet: "record-2", Frame: frame1, Steering: &steeringRight, AutopilotSteering: &autopilotLeft, DriveMode: &driveModeManuel},
+			wait:              5 * time.Millisecond},
 	}
 
 	for _, c := range cases {
@@ -89,6 +125,12 @@ func TestRecorder_Record(t *testing.T) {
 		eventsPublished = nil
 		muEventsPublished.Unlock()
 
+		if c.autopilotMsg != nil {
+			recorder.onTfSteering(nil, testtools.NewFakeMessageFromProtobuf(autopilotSteeringTopic, c.autopilotMsg))
+		}
+		if c.driveModeMsg != nil {
+			recorder.onDriveMode(nil, testtools.NewFakeMessageFromProtobuf(driveModeTopic, c.driveModeMsg))
+		}
 		if c.recordMsg != nil {
 			recorder.onSwitchRecord(nil, testtools.NewFakeMessageFromProtobuf(recordTopic, c.recordMsg))
 		}
@@ -96,7 +138,7 @@ func TestRecorder_Record(t *testing.T) {
 			recorder.onFrame(nil, testtools.NewFakeMessageFromProtobuf(cameraTopic, c.frameMsg))
 		}
 		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)
 	}

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

@@ -1,7 +1,7 @@
 // Code generated by protoc-gen-go. DO NOT EDIT.
 // versions:
-// 	protoc-gen-go v1.27.1
+// 	protoc-gen-go v1.28.1
-// 	protoc        v3.12.4
+// 	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"`
+	Left       float32    `protobuf:"fixed32,2,opt,name=left,proto3" json:"left,omitempty"`
-	Top        int32      `protobuf:"varint,3,opt,name=top,proto3" json:"top,omitempty"`
+	Top        float32    `protobuf:"fixed32,3,opt,name=top,proto3" json:"top,omitempty"`
-	Right      int32      `protobuf:"varint,4,opt,name=right,proto3" json:"right,omitempty"`
+	Right      float32    `protobuf:"fixed32,4,opt,name=right,proto3" json:"right,omitempty"`
-	Bottom     int32      `protobuf:"varint,5,opt,name=bottom,proto3" json:"bottom,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
 	}
@@ -809,6 +809,8 @@ type RecordMessage struct {
 
 	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
 }
 
@@ -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,
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@@ -950,7 +966,7 @@ var file_events_events_proto_rawDesc = []byte{
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@@ -958,16 +974,25 @@ var file_events_events_proto_rawDesc = []byte{
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 }
 
 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
+	4,  // 14: robocar.events.RecordMessage.autopilot_steering:type_name -> robocar.events.SteeringMessage
-	14, // [14:14] is the sub-list for method input_type
+	6,  // 15: robocar.events.RecordMessage.drive_mode:type_name -> robocar.events.DriveModeMessage
-	14, // [14:14] is the sub-list for extension type_name
+	16, // [16:16] is the sub-list for method output_type
-	14, // [14:14] is the sub-list for extension extendee
+	16, // [16:16] is the sub-list for method input_type
-	0,  // [0:14] is the sub-list for field type_name
+	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() }

vendor/modules.txt

@@ -3,7 +3,7 @@
 github.com/cyrilix/robocar-base/cli
 github.com/cyrilix/robocar-base/service
 github.com/cyrilix/robocar-base/testtools
-# github.com/cyrilix/robocar-protobuf/go v1.0.5
+# github.com/cyrilix/robocar-protobuf/go v1.2.0
 ## explicit; go 1.18
 github.com/cyrilix/robocar-protobuf/go/events
 # github.com/eclipse/paho.mqtt.golang v1.4.1