feat: record drive mode and autopilot steering
This commit is contained in:
parent
364a5a03ce
commit
554d70a6ae
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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github.com/golang/protobuf v1.5.2
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go.uber.org/zap v1.21.0
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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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@ -8,7 +8,6 @@ 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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)
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@ -69,7 +68,7 @@ func (r *Recorder) onRecordMsg(_ mqtt.Client, message mqtt.Message) {
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l.Errorf("unable to create %v directory: %v", imgDir, err)
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return
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}
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err = ioutil.WriteFile(imgName, msg.GetFrame().GetFrame(), os.FileMode(0755))
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err = os.WriteFile(imgName, msg.GetFrame().GetFrame(), os.FileMode(0755))
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if err != nil {
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l.Errorf("unable to write img file %v: %v", imgName, err)
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return
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@ -85,13 +84,15 @@ func (r *Recorder) onRecordMsg(_ mqtt.Client, message mqtt.Message) {
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record := Record{
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UserAngle: msg.GetSteering().GetSteering(),
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CamImageArray: imgRef,
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AutopilotAngle: msg.GetAutopilotSteering().GetSteering(),
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DriveMode: msg.GetDriveMode().GetDriveMode().String(),
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}
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jsonBytes, err := json.Marshal(&record)
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if err != nil {
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l.Errorf("unable to marshal json content: %v", err)
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return
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}
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err = ioutil.WriteFile(recordName, jsonBytes, 0755)
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err = os.WriteFile(recordName, jsonBytes, 0755)
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if err != nil {
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l.Errorf("unable to write json file %v: %v", recordName, err)
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}
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@ -100,5 +101,7 @@ func (r *Recorder) onRecordMsg(_ mqtt.Client, message mqtt.Message) {
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type Record struct {
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UserAngle float32 `json:"user/angle,"`
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AutopilotAngle float32 `json:"autopilot/angle,"`
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CamImageArray string `json:"cam/image_array,"`
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DriveMode string `json:"drive/mode,omitempty"`
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}
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@ -8,6 +8,7 @@ import (
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mqtt "github.com/eclipse/paho.mqtt.golang"
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"github.com/golang/protobuf/ptypes/timestamp"
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"io/ioutil"
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"os"
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"path"
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"testing"
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"time"
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@ -35,12 +36,14 @@ func TestRecorder_onRecordMsg(t *testing.T) {
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recordSet: "default",
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},
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args: args{
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message: generateMessage("1", "default", -0.5),
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message: generateMessage("1", "default", -0.5, 0.6, events.DriveMode_PILOT),
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},
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wantJsonFileName: "record_1.json",
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wantRecord: Record{
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UserAngle: -0.5,
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CamImageArray: "cam/cam-image_array_1.jpg",
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AutopilotAngle: 0.6,
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DriveMode: events.DriveMode_PILOT.String(),
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},
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},
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}
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@ -50,7 +53,7 @@ func TestRecorder_onRecordMsg(t *testing.T) {
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recordsDir: tt.fields.recordsDir,
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}
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r.onRecordMsg(nil, tt.args.message)
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fis, err := ioutil.ReadDir(tt.fields.recordsDir)
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fis, err := os.ReadDir(tt.fields.recordsDir)
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if err != nil {
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t.Errorf("unable to list files: %v", err)
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return
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@ -64,7 +67,7 @@ func TestRecorder_onRecordMsg(t *testing.T) {
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if fis[0].Name() != tt.name {
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t.Errorf("bad directory name '%v', want '%v'", fis[0].Name(), tt.fields.recordSet)
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}
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records, err := ioutil.ReadDir(path.Join(tt.fields.recordsDir, fis[0].Name()))
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records, err := os.ReadDir(path.Join(tt.fields.recordsDir, fis[0].Name()))
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if err != nil {
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t.Errorf("unable to list record files")
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return
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@ -113,7 +116,8 @@ func TestRecorder_onRecordMsg(t *testing.T) {
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}
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}
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func generateMessage(id string, recordSet string, userAngle float32) mqtt.Message {
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func generateMessage(id string, recordSet string, userAngle float32, autopilotAngle float32,
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driveMode events.DriveMode) mqtt.Message {
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now := time.Now()
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msg := events.RecordMessage{
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Frame: &events.FrameMessage{
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@ -139,6 +143,21 @@ func generateMessage(id string, recordSet string, userAngle float32) mqtt.Messag
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},
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},
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},
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DriveMode: &events.DriveModeMessage{
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DriveMode: driveMode,
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},
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AutopilotSteering: &events.SteeringMessage{
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Steering: autopilotAngle,
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Confidence: 0.8,
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FrameRef: &events.FrameRef{
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Name: fmt.Sprintf("framie-%s", id),
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Id: id,
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CreatedAt: ×tamp.Timestamp{
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Seconds: now.Unix(),
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Nanos: int32(now.Nanosecond()),
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},
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},
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},
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RecordSet: recordSet,
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}
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89
vendor/github.com/cyrilix/robocar-protobuf/go/events/events.pb.go
generated
vendored
89
vendor/github.com/cyrilix/robocar-protobuf/go/events/events.pb.go
generated
vendored
@ -1,7 +1,7 @@
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// Code generated by protoc-gen-go. DO NOT EDIT.
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// versions:
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// protoc-gen-go v1.27.1
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// protoc v3.12.4
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// protoc-gen-go v1.28.1
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// protoc v3.21.4
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// source: events/events.proto
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package events
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@ -468,17 +468,17 @@ func (x *ObjectsMessage) GetFrameRef() *FrameRef {
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return nil
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}
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// BoundingBox that contains an object
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// BoundingBox that contains an object, coordinates as percent
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type Object struct {
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state protoimpl.MessageState
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sizeCache protoimpl.SizeCache
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unknownFields protoimpl.UnknownFields
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Type TypeObject `protobuf:"varint,1,opt,name=type,proto3,enum=robocar.events.TypeObject" json:"type,omitempty"`
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Left int32 `protobuf:"varint,2,opt,name=left,proto3" json:"left,omitempty"`
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Top int32 `protobuf:"varint,3,opt,name=top,proto3" json:"top,omitempty"`
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Right int32 `protobuf:"varint,4,opt,name=right,proto3" json:"right,omitempty"`
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Bottom int32 `protobuf:"varint,5,opt,name=bottom,proto3" json:"bottom,omitempty"`
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Left float32 `protobuf:"fixed32,2,opt,name=left,proto3" json:"left,omitempty"`
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Top float32 `protobuf:"fixed32,3,opt,name=top,proto3" json:"top,omitempty"`
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Right float32 `protobuf:"fixed32,4,opt,name=right,proto3" json:"right,omitempty"`
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Bottom float32 `protobuf:"fixed32,5,opt,name=bottom,proto3" json:"bottom,omitempty"`
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Confidence float32 `protobuf:"fixed32,6,opt,name=confidence,proto3" json:"confidence,omitempty"`
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}
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@ -521,28 +521,28 @@ func (x *Object) GetType() TypeObject {
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return TypeObject_ANY
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}
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func (x *Object) GetLeft() int32 {
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func (x *Object) GetLeft() float32 {
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if x != nil {
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return x.Left
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}
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return 0
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}
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func (x *Object) GetTop() int32 {
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func (x *Object) GetTop() float32 {
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if x != nil {
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return x.Top
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}
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return 0
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}
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func (x *Object) GetRight() int32 {
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func (x *Object) GetRight() float32 {
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if x != nil {
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return x.Right
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}
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return 0
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}
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func (x *Object) GetBottom() int32 {
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func (x *Object) GetBottom() float32 {
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if x != nil {
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return x.Bottom
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}
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@ -809,6 +809,8 @@ type RecordMessage struct {
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Frame *FrameMessage `protobuf:"bytes,1,opt,name=frame,proto3" json:"frame,omitempty"`
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Steering *SteeringMessage `protobuf:"bytes,2,opt,name=steering,proto3" json:"steering,omitempty"`
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AutopilotSteering *SteeringMessage `protobuf:"bytes,4,opt,name=autopilot_steering,json=autopilotSteering,proto3" json:"autopilot_steering,omitempty"`
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DriveMode *DriveModeMessage `protobuf:"bytes,5,opt,name=drive_mode,json=driveMode,proto3" json:"drive_mode,omitempty"`
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RecordSet string `protobuf:"bytes,3,opt,name=recordSet,proto3" json:"recordSet,omitempty"` // Record set name
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}
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@ -858,6 +860,20 @@ func (x *RecordMessage) GetSteering() *SteeringMessage {
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return nil
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}
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func (x *RecordMessage) GetAutopilotSteering() *SteeringMessage {
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if x != nil {
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return x.AutopilotSteering
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}
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return nil
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}
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func (x *RecordMessage) GetDriveMode() *DriveModeMessage {
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if x != nil {
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return x.DriveMode
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}
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return nil
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}
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func (x *RecordMessage) GetRecordSet() string {
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if x != nil {
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return x.RecordSet
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@ -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{
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@ -958,16 +974,25 @@ var file_events_events_proto_rawDesc = []byte{
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0x4d, 0x65, 0x73, 0x73, 0x61, 0x67, 0x65, 0x52, 0x11, 0x61, 0x75, 0x74, 0x6f, 0x70, 0x69, 0x6c,
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0x6f, 0x74, 0x53, 0x74, 0x65, 0x65, 0x72, 0x69, 0x6e, 0x67, 0x12, 0x3f, 0x0a, 0x0a, 0x64, 0x72,
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||||
0x69, 0x76, 0x65, 0x5f, 0x6d, 0x6f, 0x64, 0x65, 0x18, 0x05, 0x20, 0x01, 0x28, 0x0b, 0x32, 0x20,
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||||
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