From 554d70a6aef3b5611410e193534c7edc102f2a53 Mon Sep 17 00:00:00 2001 From: Cyrille Nofficial Date: Wed, 25 Jan 2023 19:48:51 +0100 Subject: [PATCH] feat: record drive mode and autopilot steering --- go.mod | 2 +- go.sum | 4 +- pkg/recorder/recorder.go | 17 ++-- pkg/recorder/recorder_test.go | 31 ++++-- .../robocar-protobuf/go/events/events.pb.go | 95 ++++++++++++------- vendor/modules.txt | 2 +- 6 files changed, 100 insertions(+), 51 deletions(-) diff --git a/go.mod b/go.mod index 126fb10..f344e7f 100644 --- a/go.mod +++ b/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 github.com/golang/protobuf v1.5.2 go.uber.org/zap v1.21.0 diff --git a/go.sum b/go.sum index 176a0ff..71c081e 100644 --- a/go.sum +++ b/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 v1.0.5/go.mod h1:Y3AE28K5V7EZxMXp/6A8RhkRz15VOfFy4CjST35FbtQ= +github.com/cyrilix/robocar-protobuf/go v1.2.0 h1:qxTm7X72rizaR8lO5ZpCMOoZv+ix24piiAv8w9Bh5tE= +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= diff --git a/pkg/recorder/recorder.go b/pkg/recorder/recorder.go index 75af61b..39cc371 100644 --- a/pkg/recorder/recorder.go +++ b/pkg/recorder/recorder.go @@ -8,7 +8,6 @@ import ( mqtt "github.com/eclipse/paho.mqtt.golang" "go.uber.org/zap" "google.golang.org/protobuf/proto" - "io/ioutil" "os" ) @@ -69,7 +68,7 @@ func (r *Recorder) onRecordMsg(_ mqtt.Client, message mqtt.Message) { l.Errorf("unable to create %v directory: %v", imgDir, err) return } - err = ioutil.WriteFile(imgName, msg.GetFrame().GetFrame(), os.FileMode(0755)) + err = os.WriteFile(imgName, msg.GetFrame().GetFrame(), os.FileMode(0755)) if err != nil { l.Errorf("unable to write img file %v: %v", imgName, err) return @@ -83,15 +82,17 @@ func (r *Recorder) onRecordMsg(_ mqtt.Client, message mqtt.Message) { return } record := Record{ - UserAngle: msg.GetSteering().GetSteering(), - CamImageArray: imgRef, + UserAngle: msg.GetSteering().GetSteering(), + CamImageArray: imgRef, + AutopilotAngle: msg.GetAutopilotSteering().GetSteering(), + DriveMode: msg.GetDriveMode().GetDriveMode().String(), } jsonBytes, err := json.Marshal(&record) if err != nil { l.Errorf("unable to marshal json content: %v", err) return } - err = ioutil.WriteFile(recordName, jsonBytes, 0755) + err = os.WriteFile(recordName, jsonBytes, 0755) if err != nil { l.Errorf("unable to write json file %v: %v", recordName, err) } @@ -99,6 +100,8 @@ func (r *Recorder) onRecordMsg(_ mqtt.Client, message mqtt.Message) { } type Record struct { - UserAngle float32 `json:"user/angle,"` - CamImageArray string `json:"cam/image_array,"` + UserAngle float32 `json:"user/angle,"` + AutopilotAngle float32 `json:"autopilot/angle,"` + CamImageArray string `json:"cam/image_array,"` + DriveMode string `json:"drive/mode,omitempty"` } diff --git a/pkg/recorder/recorder_test.go b/pkg/recorder/recorder_test.go index a43e6e2..de315dd 100644 --- a/pkg/recorder/recorder_test.go +++ b/pkg/recorder/recorder_test.go @@ -8,6 +8,7 @@ import ( mqtt "github.com/eclipse/paho.mqtt.golang" "github.com/golang/protobuf/ptypes/timestamp" "io/ioutil" + "os" "path" "testing" "time" @@ -35,12 +36,14 @@ func TestRecorder_onRecordMsg(t *testing.T) { recordSet: "default", }, args: args{ - message: generateMessage("1", "default", -0.5), + message: generateMessage("1", "default", -0.5, 0.6, events.DriveMode_PILOT), }, wantJsonFileName: "record_1.json", wantRecord: Record{ - UserAngle: -0.5, - CamImageArray: "cam/cam-image_array_1.jpg", + UserAngle: -0.5, + CamImageArray: "cam/cam-image_array_1.jpg", + AutopilotAngle: 0.6, + DriveMode: events.DriveMode_PILOT.String(), }, }, } @@ -50,7 +53,7 @@ func TestRecorder_onRecordMsg(t *testing.T) { recordsDir: tt.fields.recordsDir, } r.onRecordMsg(nil, tt.args.message) - fis, err := ioutil.ReadDir(tt.fields.recordsDir) + fis, err := os.ReadDir(tt.fields.recordsDir) if err != nil { t.Errorf("unable to list files: %v", err) return @@ -64,7 +67,7 @@ func TestRecorder_onRecordMsg(t *testing.T) { if fis[0].Name() != tt.name { t.Errorf("bad directory name '%v', want '%v'", fis[0].Name(), tt.fields.recordSet) } - records, err := ioutil.ReadDir(path.Join(tt.fields.recordsDir, fis[0].Name())) + records, err := os.ReadDir(path.Join(tt.fields.recordsDir, fis[0].Name())) if err != nil { t.Errorf("unable to list record files") return @@ -113,7 +116,8 @@ func TestRecorder_onRecordMsg(t *testing.T) { } } -func generateMessage(id string, recordSet string, userAngle float32) mqtt.Message { +func generateMessage(id string, recordSet string, userAngle float32, autopilotAngle float32, + driveMode events.DriveMode) mqtt.Message { now := time.Now() msg := events.RecordMessage{ Frame: &events.FrameMessage{ @@ -139,6 +143,21 @@ func generateMessage(id string, recordSet string, userAngle float32) mqtt.Messag }, }, }, + DriveMode: &events.DriveModeMessage{ + DriveMode: driveMode, + }, + AutopilotSteering: &events.SteeringMessage{ + Steering: autopilotAngle, + Confidence: 0.8, + FrameRef: &events.FrameRef{ + Name: fmt.Sprintf("framie-%s", id), + Id: id, + CreatedAt: ×tamp.Timestamp{ + Seconds: now.Unix(), + Nanos: int32(now.Nanosecond()), + }, + }, + }, RecordSet: recordSet, } diff --git a/vendor/github.com/cyrilix/robocar-protobuf/go/events/events.pb.go b/vendor/github.com/cyrilix/robocar-protobuf/go/events/events.pb.go index 7e53812..a9fd26c 100644 --- a/vendor/github.com/cyrilix/robocar-protobuf/go/events/events.pb.go +++ b/vendor/github.com/cyrilix/robocar-protobuf/go/events/events.pb.go @@ -1,7 +1,7 @@ // Code generated by protoc-gen-go. DO NOT EDIT. // versions: -// protoc-gen-go v1.27.1 -// protoc v3.12.4 +// protoc-gen-go v1.28.1 +// protoc v3.21.4 // source: events/events.proto package events @@ -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, - 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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() } diff --git a/vendor/modules.txt b/vendor/modules.txt index 316d46a..c52e04d 100644 --- a/vendor/modules.txt +++ b/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