fix: default values

cmd/rc-simulator/rc-simultator.go

@@ -63,7 +63,7 @@ func main() {
 	flag.Float64Var(&cameraFishEyeX, "camera-fish-eye-x", 0.4, "")
 	flag.Float64Var(&cameraFishEyeY, "camera-fish-eye-y", 0.7, "")
 	flag.IntVar(&cameraImgW, "camera-img-w", 160, "image width")
-	flag.IntVar(&cameraImgH, "camera-img-h", 120, "image height")
+	flag.IntVar(&cameraImgH, "camera-img-h", 128, "image height")
 	flag.IntVar(&cameraImgD, "camera-img-d", 3, "Image depth")
 	flag.StringVar(&cameraImgEnc, "camera-img-enc", string(simulator.CameraImageEncJpeg), "")
 	flag.Float64Var(&cameraOffsetX, "camera-offset-x", 0, "moves camera left/right")
@@ -107,16 +107,16 @@ func main() {
 	camera := simulator.CamConfigMsg{
 		MsgType:  simulator.MsgTypeCameraConfig,
 		Fov:      strconv.Itoa(cameraFov),
-		FishEyeX: fmt.Sprintf("%f", cameraFishEyeX),
-		FishEyeY: fmt.Sprintf("%f",cameraFishEyeY),
+		FishEyeX: fmt.Sprintf("%.2f", cameraFishEyeX),
+		FishEyeY: fmt.Sprintf("%.2f",cameraFishEyeY),
 		ImgW:     strconv.Itoa(cameraImgW),
 		ImgH:     strconv.Itoa(cameraImgH),
 		ImgD:     strconv.Itoa(cameraImgD),
 		ImgEnc:   simulator.CameraImageEnc(cameraImgEnc),
-		OffsetX:  fmt.Sprintf("%f",cameraOffsetX),
-		OffsetY: fmt.Sprintf("%f", cameraOffsetY),
-		OffsetZ: fmt.Sprintf("%f", cameraOffsetZ),
-		RotX:    fmt.Sprintf("%f", cameraOffsetZ),
+		OffsetX:  fmt.Sprintf("%.2f",cameraOffsetX),
+		OffsetY: fmt.Sprintf("%.2f", cameraOffsetY),
+		OffsetZ: fmt.Sprintf("%.2f", cameraOffsetZ),
+		RotX:    fmt.Sprintf("%.2f", cameraRotX),
 	}
 	gtw := gateway.New(address, &carConfig, &racer, &camera)
 	defer gtw.Stop()

pkg/gateway/gateway.go

@@ -87,14 +87,14 @@ func (g *Gateway) Start() error {
 
 	go g.run()
 
-	err := g.writeCarConfig()
-	if err != nil {
-		return fmt.Errorf("unable to configure car to server: %v", err)
-	}
-	err = g.writeRacerConfig()
+	err := g.writeRacerConfig()
 	if err != nil {
 		return fmt.Errorf("unable to configure racer to server: %v", err)
 	}
+	err = g.writeCarConfig()
+	if err != nil {
+		return fmt.Errorf("unable to configure car to server: %v", err)
+	}
 	err = g.writeCameraConfig()
 	if err != nil {
 		return fmt.Errorf("unable to configure camera to server: %v", err)
@@ -398,7 +398,7 @@ func (g *Gateway) writeCommand(content []byte) error {
 		g.log.Errorf("unable to connect to simulator to send control command: %v", err)
 		return nil
 	}
-	log.Debugf("write command to simulator: %v", g.lastControl)
+	log.Debugf("write command to simulator: %v", string(content))
 	w := bufio.NewWriter(g.conn)
 
 	_, err := w.Write(append(content, '\n'))
@@ -458,6 +458,7 @@ func (g *Gateway) writeCarConfig() error {
 
 	msg := <-carChan
 	g.log.Infof("Car loaded: %v", msg)
+	time.Sleep(250 * time.Millisecond)
 	return nil
 }
 
@@ -477,10 +478,10 @@ func (g *Gateway) writeRacerConfig() error {
 		return fmt.Errorf("unable to send racer config to simulator: %v", err)
 	}
 
-	select{
+	select {
 	case msg := <-racerChan:
 		g.log.Infof("Racer loaded: %v", msg)
-		case <- time.Tick(25 * time.Millisecond):
+	case <-time.Tick(250 * time.Millisecond):
 	}
 	return nil
 }
@@ -501,10 +502,10 @@ func (g *Gateway) writeCameraConfig() error {
 		return fmt.Errorf("unable to send camera config to simulator: %v", err)
 	}
 
-	select{
+	select {
 	case msg := <-cameraChan:
 		g.log.Infof("Camera configured: %v", msg)
-	case <- time.Tick(25 * time.Millisecond):
+	case <-time.Tick(250 * time.Millisecond):
 	}
 	return nil
 }

pkg/simulator/simulator.go

@@ -104,7 +104,7 @@ type CamConfigMsg struct {
 	MsgType  MsgType        `json:"msg_type"`
 	Fov      string         `json:"fov"`
 	FishEyeX string         `json:"fish_eye_x"`
-	FishEyeY string         `json:"fish_eye_Y"`
+	FishEyeY string         `json:"fish_eye_y"`
 	ImgW     string         `json:"img_w"`
 	ImgH     string         `json:"img_h"`
 	ImgD     string         `json:"img_d"`