robocars/robocar-recorder-store
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feat: record drive mode and autopilot steering

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This commit is contained in:
Cyrille Nofficial 2023-01-25 19:48:51 +01:00
parent 364a5a03ce
commit 554d70a6ae
6 changed files with 100 additions and 51 deletions
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2
go.mod
View File

@ -4,7 +4,7 @@ go 1.19
require ( require (
github.com/cyrilix/robocar-base v0.1.7 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/eclipse/paho.mqtt.golang v1.4.1
github.com/golang/protobuf v1.5.2 github.com/golang/protobuf v1.5.2
go.uber.org/zap v1.21.0 go.uber.org/zap v1.21.0

4
go.sum
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@ -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/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 h1:EVzZ0KjigSFpke5f3A/PybEH3WFUEIrYSc3z/dhOZ48=
github.com/cyrilix/robocar-base v0.1.7/go.mod h1:4E11HQSNy2NT8e7MW188y6ST9C0RzarKyn7sK/3V/Lk= 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 v1.1.0/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 h1:vj9j/u1bqnvCEfJOwUhtlOARqs3+rkHYY13jYWTU97c=
github.com/davecgh/go-spew v1.1.1/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38= github.com/davecgh/go-spew v1.1.1/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=

17
pkg/recorder/recorder.go
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@ -8,7 +8,6 @@ import (
mqtt "github.com/eclipse/paho.mqtt.golang" mqtt "github.com/eclipse/paho.mqtt.golang"
"go.uber.org/zap" "go.uber.org/zap"
"google.golang.org/protobuf/proto" "google.golang.org/protobuf/proto"
"io/ioutil"
"os" "os"
) )
@ -69,7 +68,7 @@ func (r *Recorder) onRecordMsg(_ mqtt.Client, message mqtt.Message) {
l.Errorf("unable to create %v directory: %v", imgDir, err) l.Errorf("unable to create %v directory: %v", imgDir, err)
return return
} }
err = ioutil.WriteFile(imgName, msg.GetFrame().GetFrame(), os.FileMode(0755)) err = os.WriteFile(imgName, msg.GetFrame().GetFrame(), os.FileMode(0755))
if err != nil { if err != nil {
l.Errorf("unable to write img file %v: %v", imgName, err) l.Errorf("unable to write img file %v: %v", imgName, err)
return return
@ -83,15 +82,17 @@ func (r *Recorder) onRecordMsg(_ mqtt.Client, message mqtt.Message) {
return return
} }
record := Record{ record := Record{
UserAngle: msg.GetSteering().GetSteering(), UserAngle: msg.GetSteering().GetSteering(),
CamImageArray: imgRef, CamImageArray: imgRef,
AutopilotAngle: msg.GetAutopilotSteering().GetSteering(),
DriveMode: msg.GetDriveMode().GetDriveMode().String(),
} }
jsonBytes, err := json.Marshal(&record) jsonBytes, err := json.Marshal(&record)
if err != nil { if err != nil {
l.Errorf("unable to marshal json content: %v", err) l.Errorf("unable to marshal json content: %v", err)
return return
} }
err = ioutil.WriteFile(recordName, jsonBytes, 0755) err = os.WriteFile(recordName, jsonBytes, 0755)
if err != nil { if err != nil {
l.Errorf("unable to write json file %v: %v", recordName, err) 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 { type Record struct {
UserAngle float32 `json:"user/angle,"` UserAngle float32 `json:"user/angle,"`
CamImageArray string `json:"cam/image_array,"` AutopilotAngle float32 `json:"autopilot/angle,"`
CamImageArray string `json:"cam/image_array,"`
DriveMode string `json:"drive/mode,omitempty"`
} }

31
pkg/recorder/recorder_test.go
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@ -8,6 +8,7 @@ import (
mqtt "github.com/eclipse/paho.mqtt.golang" mqtt "github.com/eclipse/paho.mqtt.golang"
"github.com/golang/protobuf/ptypes/timestamp" "github.com/golang/protobuf/ptypes/timestamp"
"io/ioutil" "io/ioutil"
"os"
"path" "path"
"testing" "testing"
"time" "time"
@ -35,12 +36,14 @@ func TestRecorder_onRecordMsg(t *testing.T) {
recordSet: "default", recordSet: "default",
}, },
args: args{ args: args{
message: generateMessage("1", "default", -0.5), message: generateMessage("1", "default", -0.5, 0.6, events.DriveMode_PILOT),
}, },
wantJsonFileName: "record_1.json", wantJsonFileName: "record_1.json",
wantRecord: Record{ wantRecord: Record{
UserAngle: -0.5, UserAngle: -0.5,
CamImageArray: "cam/cam-image_array_1.jpg", 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, recordsDir: tt.fields.recordsDir,
} }
r.onRecordMsg(nil, tt.args.message) r.onRecordMsg(nil, tt.args.message)
fis, err := ioutil.ReadDir(tt.fields.recordsDir) fis, err := os.ReadDir(tt.fields.recordsDir)
if err != nil { if err != nil {
t.Errorf("unable to list files: %v", err) t.Errorf("unable to list files: %v", err)
return return
@ -64,7 +67,7 @@ func TestRecorder_onRecordMsg(t *testing.T) {
if fis[0].Name() != tt.name { if fis[0].Name() != tt.name {
t.Errorf("bad directory name '%v', want '%v'", fis[0].Name(), tt.fields.recordSet) 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 { if err != nil {
t.Errorf("unable to list record files") t.Errorf("unable to list record files")
return 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() now := time.Now()
msg := events.RecordMessage{ msg := events.RecordMessage{
Frame: &events.FrameMessage{ 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: &timestamp.Timestamp{
Seconds: now.Unix(),
Nanos: int32(now.Nanosecond()),
},
},
},
RecordSet: recordSet, RecordSet: recordSet,
} }

95
vendor/github.com/cyrilix/robocar-protobuf/go/events/events.pb.go generated vendored
View File

@ -1,7 +1,7 @@
// Code generated by protoc-gen-go. DO NOT EDIT. // Code generated by protoc-gen-go. DO NOT EDIT.
// versions: // 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 // source: events/events.proto
package events package events
@ -468,17 +468,17 @@ func (x *ObjectsMessage) GetFrameRef() *FrameRef {
return nil return nil
} }
// BoundingBox that contains an object // BoundingBox that contains an object, coordinates as percent
type Object struct { type Object struct {
state protoimpl.MessageState state protoimpl.MessageState
sizeCache protoimpl.SizeCache sizeCache protoimpl.SizeCache
unknownFields protoimpl.UnknownFields unknownFields protoimpl.UnknownFields
Type TypeObject `protobuf:"varint,1,opt,name=type,proto3,enum=robocar.events.TypeObject" json:"type,omitempty"` 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"` Confidence float32 `protobuf:"fixed32,6,opt,name=confidence,proto3" json:"confidence,omitempty"`
} }
@ -521,28 +521,28 @@ func (x *Object) GetType() TypeObject {
return TypeObject_ANY return TypeObject_ANY
} }
func (x *Object) GetLeft() int32 { func (x *Object) GetLeft() float32 {
if x != nil { if x != nil {
return x.Left return x.Left
} }
return 0 return 0
} }
func (x *Object) GetTop() int32 { func (x *Object) GetTop() float32 {
if x != nil { if x != nil {
return x.Top return x.Top
} }
return 0 return 0
} }
func (x *Object) GetRight() int32 { func (x *Object) GetRight() float32 {
if x != nil { if x != nil {
return x.Right return x.Right
} }
return 0 return 0
} }
func (x *Object) GetBottom() int32 { func (x *Object) GetBottom() float32 {
if x != nil { if x != nil {
return x.Bottom return x.Bottom
} }
@ -807,9 +807,11 @@ type RecordMessage struct {
sizeCache protoimpl.SizeCache sizeCache protoimpl.SizeCache
unknownFields protoimpl.UnknownFields unknownFields protoimpl.UnknownFields
Frame *FrameMessage `protobuf:"bytes,1,opt,name=frame,proto3" json:"frame,omitempty"` Frame *FrameMessage `protobuf:"bytes,1,opt,name=frame,proto3" json:"frame,omitempty"`
Steering *SteeringMessage `protobuf:"bytes,2,opt,name=steering,proto3" json:"steering,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 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() { func (x *RecordMessage) Reset() {
@ -858,6 +860,20 @@ func (x *RecordMessage) GetSteering() *SteeringMessage {
return nil 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 { func (x *RecordMessage) GetRecordSet() string {
if x != nil { if x != nil {
return x.RecordSet return x.RecordSet
@ -918,10 +934,10 @@ var file_events_events_proto_rawDesc = []byte{
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@ -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, 0x74, 0x12, 0x14, 0x0a, 0x05, 0x61, 0x6e, 0x67, 0x6c, 0x65, 0x18, 0x04, 0x20, 0x01, 0x28, 0x02,
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@ -958,16 +974,25 @@ var file_events_events_proto_rawDesc = []byte{
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} }
var ( var (
@ -1016,11 +1041,13 @@ var file_events_events_proto_depIdxs = []int32{
11, // 11: robocar.events.Ellipse.center:type_name -> robocar.events.Point 11, // 11: robocar.events.Ellipse.center:type_name -> robocar.events.Point
3, // 12: robocar.events.RecordMessage.frame:type_name -> robocar.events.FrameMessage 3, // 12: robocar.events.RecordMessage.frame:type_name -> robocar.events.FrameMessage
4, // 13: robocar.events.RecordMessage.steering:type_name -> robocar.events.SteeringMessage 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() } func init() { file_events_events_proto_init() }

2
vendor/modules.txt vendored
View File

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