monitoring: add configuration logs

cmd/rc-road/rc-road.go

@@ -77,12 +77,30 @@ func main() {
 	}()
 	zap.ReplaceGlobals(lgr)
 
+	zap.S().Infof("topic road                 : %v", roadTopic)
+	zap.S().Infof("topic camera               : %v", cameraTopic)
+	zap.S().Infof("horizon                    : %v", horizon)
+	zap.S().Infof("image width                : %v", imgWidth)
+	zap.S().Infof("image height               : %v", imgHeight)
+	zap.S().Infof("white threshold low        : %v", whiteThresholdLow)
+	zap.S().Infof("white threshold high       : %v", whiteThresholdHigh)
+	zap.S().Infof("canny threshold low        : %v", cannyThresholdLow)
+	zap.S().Infof("canny threshold high       : %v", cannyThresholdHigh)
+	zap.S().Infof("hough lines rho            : %v", houghLinesRho)
+	zap.S().Infof("hough lines theta          : %v", houghLinesTheta)
+	zap.S().Infof("hough lines threshold      : %v", houghLinesThreshold)
+	zap.S().Infof("hough lines min line length: %v", houghLinesMinLineLength)
+	zap.S().Infof("hough lines max line gap   : %v", houghLinesMaxLineGap)
+
 	client, err := cli.Connect(mqttBroker, username, password, clientId)
 	if err != nil {
 		zap.S().Fatalf("unable to connect to mqtt bus: %v", err)
 	}
 	defer client.Disconnect(50)
 
+	monitor := &road.DefaultMonitor{}
+	go monitor.Start()
+
 	p := road.NewPart(client,
 		cameraTopic, roadTopic,
 		road.NewDetector(
@@ -96,6 +114,7 @@ func main() {
 			road.WithRegionOfInterest(imgWidth, imgHeight, horizon),
 			road.WithPointOnRoad(image.Point{X: imgWidth / 2, Y: imgHeight - 30}),
 			road.WithHoughLines(houghLinesRho, float32(houghLinesTheta), houghLinesThreshold, houghLinesMinLineLength, houghLinesMaxLineGap),
+			road.WithMonitor(monitor),
 		),
 	)
 	defer p.Stop()

road/detect.go

@@ -83,6 +83,12 @@ func WithHoughLines(rho int, theta float32, threshold int, minLineLength int, ma
 	}
 }
 
+func WithMonitor(monitor Monitor) DetectorOption {
+	return func(d *Detector) {
+		d.monitor = monitor
+	}
+}
+
 func NewDetector(options ...DetectorOption) *Detector {
 	whiteThreshold := 20.
 
@@ -112,6 +118,8 @@ func NewDetector(options ...DetectorOption) *Detector {
 		roiMask: *roiMask,
 
 		pointOnRoad: pointOnRoad,
+
+		monitor: &FakeMonitor{},
 	}
 
 	for _, option := range options {
@@ -162,6 +170,8 @@ type Detector struct {
 	roiMask gocv.Mat
 
 	pointOnRoad image.Point
+
+	monitor Monitor
 }
 
 func (d *Detector) Close() {
@@ -248,6 +258,9 @@ func (d *Detector) Detect(img *gocv.Mat) ([]*events.Point, *events.Ellipse) {
 
 	// Run Hough on edge detected image
 	road, ellipsis := d.getRoadShapeWithHoughLines(maskedEdges)
+
+	d.monitor.Increment()
+
 	return road, ellipsis
 }
 

road/monitor.go

@@ -0,0 +1,54 @@
+package road
+
+import (
+	"go.uber.org/zap"
+	"sync"
+	"time"
+)
+
+type Monitor interface {
+	Increment()
+	Start()
+}
+
+type DefaultMonitor struct {
+	muCounter sync.Mutex
+	counter   uint
+}
+
+func (d *DefaultMonitor) Increment() {
+	d.muCounter.Lock()
+	defer d.muCounter.Unlock()
+	d.counter = d.counter + 1
+}
+
+func (d *DefaultMonitor) Start() {
+	start := time.Now().UnixNano()
+	for {
+		select {
+		case <-time.After(10 * time.Second):
+			start = d.displayFPS(start)
+
+		}
+	}
+
+}
+
+func (d *DefaultMonitor) displayFPS(start int64) int64 {
+	d.muCounter.Lock()
+	defer d.muCounter.Unlock()
+
+	end := time.Now().UnixNano()
+	count := int64(d.counter)
+	go func() {
+		zap.S().Infof("Current FPS: %d img/s", count/((end-start)/1_000_000_000))
+	}()
+	d.counter = 0
+	return end
+}
+
+type FakeMonitor struct{}
+
+func (f *FakeMonitor) Increment() {}
+
+func (f *FakeMonitor) Start() {}