robocars/robocar-simulator
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refactor: log with zap

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This commit is contained in:
Cyrille Nofficial
2021-10-12 22:33:13 +02:00
parent f1566b8e4a
commit 8234a0cefa
415 changed files with 38405 additions and 22765 deletions
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8
pkg/events/events.go
View File

@ -5,9 +5,9 @@ import (
"github.com/cyrilix/robocar-simulator/pkg/gateway"
mqtt "github.com/eclipse/paho.mqtt.golang"
"github.com/golang/protobuf/proto"
log "github.com/sirupsen/logrus"
"sync"
"time"
"go.uber.org/zap"
)
func NewMsgPublisher(srcEvents gateway.SimulatorSource, p Publisher, topicFrame, topicSteering, topicThrottle string) *MsgPublisher {
@ -59,7 +59,7 @@ func (m *MsgPublisher) Stop() {
}
func (m *MsgPublisher) listenThrottle() {
logr := log.WithField("msg_type", "throttleChan")
logr := zap.S().With("msg_type", "throttleChan")
msgChan := m.srcEvents.SubscribeThrottle()
for {
select {
@ -83,7 +83,7 @@ func (m *MsgPublisher) listenThrottle() {
}
func (m *MsgPublisher) listenSteering() {
logr := log.WithField("msg_type", "steeringChan")
logr := zap.S().With("msg_type", "steeringChan")
msgChan := m.srcEvents.SubscribeSteering()
for {
select {
@ -107,7 +107,7 @@ func (m *MsgPublisher) listenSteering() {
}
func (m *MsgPublisher) listenFrame() {
logr := log.WithField("msg_type", "frame")
logr := zap.S().With("msg_type", "frame")
msgChan := m.srcEvents.SubscribeFrame()
for {
msg := <-msgChan

18
pkg/gateway/gateway.go
View File

@ -8,7 +8,7 @@ import (
"github.com/cyrilix/robocar-protobuf/go/events"
"github.com/cyrilix/robocar-simulator/pkg/simulator"
"github.com/golang/protobuf/ptypes/timestamp"
log "github.com/sirupsen/logrus"
"go.uber.org/zap"
"io"
"net"
"sync"
@ -32,7 +32,7 @@ type ThrottleSource interface {
}
func New(addressSimulator string, car *simulator.CarConfigMsg, racer *simulator.RacerBioMsg, camera *simulator.CamConfigMsg) *Gateway {
l := log.WithField("simulator", addressSimulator)
l := zap.S().With("simulator", addressSimulator)
l.Info("run gateway from simulator")
return &Gateway{
@ -51,7 +51,7 @@ func New(addressSimulator string, car *simulator.CarConfigMsg, racer *simulator.
}
}
/* Simulator interface to events gateway frames into events topicFrame */
// Gateway is Simulator interface to events gateway frames into events topicFrame
type Gateway struct {
cancel chan interface{}
@ -64,7 +64,7 @@ type Gateway struct {
muControl sync.Mutex
lastControl *simulator.ControlMsg
log *log.Entry
log *zap.SugaredLogger
frameSubscribers map[chan<- *events.FrameMessage]interface{}
steeringSubscribers map[chan<- *events.SteeringMessage]interface{}
@ -205,7 +205,7 @@ func (g *Gateway) listen() error {
case simulator.MsgTypeRacerInfo:
g.broadcastRacerMsg(rawLine)
default:
log.Warnf("unmanaged simulator message: %v", string(rawLine))
g.log.Warnf("unmanaged simulator message: %v", string(rawLine))
}
}
}
@ -269,7 +269,7 @@ func (g *Gateway) publishFrame(msgSim *simulator.TelemetryMsg) *events.FrameRef
Frame: msgSim.Image,
}
log.Debugf("events frame '%v/%v'", msg.Id.Name, msg.Id.Id)
g.log.Debugf("events frame '%v/%v'", msg.Id.Name, msg.Id.Id)
for fs := range g.frameSubscribers {
fs <- msg
@ -284,7 +284,7 @@ func (g *Gateway) publishInputSteering(msgSim *simulator.TelemetryMsg, frameRef
Confidence: 1.0,
}
log.Debugf("events steering '%v'", steering.Steering)
g.log.Debugf("events steering '%v'", steering.Steering)
for ss := range g.steeringSubscribers {
ss <- steering
}
@ -297,7 +297,7 @@ func (g *Gateway) publishInputThrottle(msgSim *simulator.TelemetryMsg, frameRef
Confidence: 1.0,
}
log.Debugf("events throttle '%v'", msg.Throttle)
g.log.Debugf("events throttle '%v'", msg.Throttle)
for ts := range g.throttleSubscribers {
ts <- msg
}
@ -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", string(content))
g.log.Debugf("write command to simulator: %v", string(content))
w := bufio.NewWriter(g.conn)
_, err := w.Write(append(content, '\n'))

6
pkg/gateway/gateway_test.go
View File

@ -5,7 +5,7 @@ import (
"fmt"
"github.com/cyrilix/robocar-protobuf/go/events"
"github.com/cyrilix/robocar-simulator/pkg/simulator"
log "github.com/sirupsen/logrus"
"go.uber.org/zap"
"io/ioutil"
"strings"
"sync"
@ -48,7 +48,7 @@ func TestGateway_ListenEvents(t *testing.T) {
simulatorMock.WaitConnection()
simulatorMock.EmitMsg(fmt.Sprintf("{\"msg_type\": \"%s\"}", simulator.MsgTypeCarLoaded))
log.Trace("read test data")
zap.S().Debug("read test data")
testContent, err := ioutil.ReadFile("testdata/msg.json")
lines := strings.Split(string(testContent), "\n")
@ -93,7 +93,7 @@ func TestGateway_ListenEvents(t *testing.T) {
throttleIdRef = msg.FrameRef
wg.Done()
case <-finished:
log.Trace("loop ended")
zap.S().Debugf("loop ended")
endLoop = true
case <-timeout:
t.Errorf("not all event are published")

11
pkg/gateway/util_test.go
View File

@ -5,7 +5,7 @@ import (
"encoding/json"
"fmt"
"github.com/cyrilix/robocar-simulator/pkg/simulator"
log "github.com/sirupsen/logrus"
"go.uber.org/zap"
"io"
"net"
"sync"
@ -51,7 +51,7 @@ func (c *Gw2SimMock) listen() error {
for {
conn, err := c.ln.Accept()
if err != nil {
log.Debugf("connection close: %v", err)
zap.S().Debugf("connection close: %v", err)
break
}
go c.handleConnection(conn)
@ -65,6 +65,7 @@ func (c *Gw2SimMock) Addr() string {
}
func (c *Gw2SimMock) handleConnection(conn net.Conn) {
log := zap.S()
c.initOnce.Do(c.init)
reader := bufio.NewReader(conn)
writer := bufio.NewWriter(conn)
@ -131,7 +132,7 @@ func (c *Gw2SimMock) handleConnection(conn net.Conn) {
}
func (c *Gw2SimMock) Close() error {
log.Debugf("close mock server")
zap.S().Debugf("close mock server")
err := c.ln.Close()
if err != nil {
return fmt.Errorf("unable to close mock server: %v", err)
@ -154,7 +155,7 @@ type Sim2GwMock struct {
conn net.Conn
writer *bufio.Writer
newConnection chan net.Conn
logger *log.Entry
logger *zap.SugaredLogger
}
func (c *Sim2GwMock) EmitMsg(p string) (err error) {
@ -187,7 +188,7 @@ func (c *Sim2GwMock) WaitConnection() {
}
func (c *Sim2GwMock) Start() error {
c.logger = log.WithField("simulator", "mock")
c.logger = zap.S().With("simulator", "mock")
c.newConnection = make(chan net.Conn)
ln, err := net.Listen("tcp", "127.0.0.1:")
c.ln = ln

2
pkg/simulator/simulator.go
View File

@ -29,7 +29,7 @@ type TelemetryMsg struct {
Cte float64 `json:"cte"`
}
/* Json msg used to control cars. MsgType must be filled with "control" */
// ControlMsg is json msg used to control cars. MsgType must be filled with "control"
type ControlMsg struct {
MsgType MsgType `json:"msg_type"`
Steering string `json:"steering"`