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refactor: log with zap

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This commit is contained in:
Cyrille Nofficial
2021-10-12 23:15:05 +02:00
parent 41083cb023
commit ddb2a0c2d9
414 changed files with 38409 additions and 22760 deletions
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10
part/opencv.go
View File

@ -2,7 +2,7 @@ package part
import (
"github.com/cyrilix/robocar-protobuf/go/events"
log "github.com/sirupsen/logrus"
"go.uber.org/zap"
"gocv.io/x/gocv"
"image"
"image/color"
@ -23,11 +23,11 @@ func (rd *RoadDetector) Close() error {
var err error
err = nil
if err1 := rd.thresholdLowerBound.Close(); err1 != nil {
log.Errorf("unable to close thresholdLowerBound resource: %v", err1)
zap.S().Errorf("unable to close thresholdLowerBound resource: %v", err1)
err = err1
}
if err2 := rd.thresholdUpperBound.Close(); err2 != nil {
log.Errorf("unable to close thresholdUpperBound resource: %v", err2)
zap.S().Errorf("unable to close thresholdUpperBound resource: %v", err2)
err = err2
}
return err
@ -51,7 +51,7 @@ func (rd *RoadDetector) DetectRoadContour(imgGray *gocv.Mat, horizonRow int) *go
img := imgGray.Clone()
defer func() {
if err := img.Close(); err != nil {
log.Warnf("unable to close mat resource: %v", err)
zap.S().Warnf("unable to close mat resource: %v", err)
}
}()
@ -125,7 +125,7 @@ func (rd *RoadDetector) ComputeEllipsis(road *gocv.PointVector) *events.Ellipse
rotatedRect := gocv.FitEllipse(*road)
trust := rd.computeTrustFromCenter(&rotatedRect.Center)
log.Debugf("Trust: %v", trust)
zap.S().Debugf("Trust: %v", trust)
return &events.Ellipse{
Center: &events.Point{

4
part/opencv_test.go
View File

@ -3,7 +3,7 @@ package part
import (
"fmt"
"github.com/cyrilix/robocar-protobuf/go/events"
log "github.com/sirupsen/logrus"
"go.uber.org/zap"
"gocv.io/x/gocv"
"image"
"image/color"
@ -82,7 +82,7 @@ func TestRoadDetection_DetectRoadContour(t *testing.T) {
imgGray := toGray(*c.img)
contours := rd.DetectRoadContour(imgGray, c.horizon)
log.Infof("[%v] contour: %v", c.name, *contours)
zap.S().Infof("[%v] contour: %v", c.name, *contours)
expected := gocv.NewPointVectorFromPoints(c.expectedContour)
if contours.Size() != expected.Size() {

14
part/part.go
View File

@ -5,8 +5,9 @@ import (
"github.com/cyrilix/robocar-protobuf/go/events"
mqtt "github.com/eclipse/paho.mqtt.golang"
"github.com/golang/protobuf/proto"
log "github.com/sirupsen/logrus"
"go.uber.org/zap"
"gocv.io/x/gocv"
"log"
)
type RoadPart struct {
@ -32,6 +33,7 @@ func NewRoadPart(client mqtt.Client, horizon int, cameraTopic, roadTopic string)
}
func (r *RoadPart) Start() error {
log := zap.S()
registerCallBacks(r)
var frame = frameToProcess{}
@ -69,7 +71,7 @@ var registerCallBacks = func(r *RoadPart) {
func (r *RoadPart) Stop() {
defer func() {
if err := r.roadDetector.Close(); err != nil {
log.Errorf("unable to close roadDetector: %v", err)
zap.S().Errorf("unable to close roadDetector: %v", err)
}
}()
close(r.readyForNext)
@ -81,13 +83,13 @@ func (r *RoadPart) OnFrame(_ mqtt.Client, msg mqtt.Message) {
var frameMsg events.FrameMessage
err := proto.Unmarshal(msg.Payload(), &frameMsg)
if err != nil {
log.Errorf("unable to unmarshal %T message: %v", frameMsg, err)
zap.S().Errorf("unable to unmarshal %T message: %v", frameMsg, err)
return
}
img, err := gocv.IMDecode(frameMsg.GetFrame(), gocv.IMReadUnchanged)
if err != nil {
log.Errorf("unable to decode image: %v", err)
zap.S().Errorf("unable to decode image: %v", err)
return
}
frame := frameToProcess{
@ -107,7 +109,7 @@ func (r *RoadPart) processFrame(frame *frameToProcess) {
imgGray := gocv.NewMatWithSize(img.Rows(), img.Cols(), gocv.MatTypeCV8UC1)
defer func() {
if err := imgGray.Close(); err != nil {
log.Warnf("unable to close Mat resource: %v", err)
zap.S().Warnf("unable to close Mat resource: %v", err)
}
}()
gocv.CvtColor(img, &imgGray, gocv.ColorRGBToGray)
@ -131,7 +133,7 @@ func (r *RoadPart) processFrame(frame *frameToProcess) {
payload, err := proto.Marshal(&msg)
if err != nil {
log.Errorf("unable to marshal %T to protobuf: %err", msg, err)
zap.S().Errorf("unable to marshal %T to protobuf: %err", msg, err)
return
}
publish(r.client, r.roadTopic, &payload)

4
part/part_test.go
View File

@ -7,7 +7,7 @@ import (
mqtt "github.com/eclipse/paho.mqtt.golang"
"github.com/golang/protobuf/proto"
"github.com/golang/protobuf/ptypes/timestamp"
log "github.com/sirupsen/logrus"
"go.uber.org/zap"
"io/ioutil"
"sync"
"testing"
@ -91,7 +91,7 @@ func frameRefFromPayload(payload []byte) *events.FrameRef {
var msg events.FrameMessage
err := proto.Unmarshal(payload, &msg)
if err != nil {
log.Errorf("unable to unmarchal %T msg: %v", msg, err)
zap.S().Errorf("unable to unmarshal %T msg: %v", msg, err)
}
return msg.GetId()
}