Implement steering/throttle reading from simulator

pkg/gateway/gateway.go

@@ -0,0 +1,247 @@
+package gateway
+
+import (
+	"bufio"
+	"encoding/json"
+	"fmt"
+	"github.com/avast/retry-go"
+	"github.com/cyrilix/robocar-protobuf/go/events"
+	"github.com/cyrilix/robocar-simulator/pkg/simulator"
+	mqtt "github.com/eclipse/paho.mqtt.golang"
+	"github.com/golang/protobuf/proto"
+	"github.com/golang/protobuf/ptypes/timestamp"
+	log "github.com/sirupsen/logrus"
+	"io"
+	"net"
+	"time"
+)
+
+func New(publisher Publisher, addressSimulator string) *Gateway {
+	l := log.WithField("simulator", addressSimulator)
+	l.Info("run gateway from simulator")
+
+	return &Gateway{
+		address:   addressSimulator,
+		publisher: publisher,
+		log:       l,
+	}
+}
+
+/* Simulator interface to publish gateway frames into mqtt topicFrame */
+type Gateway struct {
+	cancel chan interface{}
+
+	address string
+	conn    io.ReadCloser
+
+	publisher Publisher
+	log       *log.Entry
+}
+
+func (p *Gateway) Start() error {
+	p.log.Info("connect to simulator")
+	p.cancel = make(chan interface{})
+	msgChan := make(chan *simulator.TelemetryMsg)
+
+	go p.run(msgChan)
+
+	for {
+		select {
+		case msg := <-msgChan:
+			go p.publishFrame(msg)
+			go p.publishInputSteering(msg)
+			go p.publishInputThrottle(msg)
+		case <-p.cancel:
+			return nil
+		}
+	}
+}
+
+func (p *Gateway) Stop() {
+	p.log.Info("close simulator gateway")
+	close(p.cancel)
+
+	if err := p.Close(); err != nil {
+		p.log.Warnf("unexpected error while simulator connection is closed: %v", err)
+	}
+}
+
+func (p *Gateway) Close() error {
+	if p.conn == nil {
+		p.log.Warn("no connection to close")
+		return nil
+	}
+	if err := p.conn.Close(); err != nil {
+		return fmt.Errorf("unable to close connection to simulator: %v", err)
+	}
+	return nil
+}
+
+func (p *Gateway) run(msgChan chan<- *simulator.TelemetryMsg) {
+	err := retry.Do(func() error {
+		p.log.Info("connect to simulator")
+		conn, err := connect(p.address)
+		if err != nil {
+			return fmt.Errorf("unable to connect to simulator at %v", p.address)
+		}
+		p.conn = conn
+		p.log.Info("connection success")
+		return nil
+	},
+		retry.Delay(1*time.Second),
+	)
+	if err != nil {
+		p.log.Panicf("unable to connect to simulator: %v", err)
+	}
+
+	reader := bufio.NewReader(p.conn)
+
+	err = retry.Do(
+		func() error { return p.listen(msgChan, reader) },
+	)
+	if err != nil {
+		p.log.Errorf("unable to connect to server: %v", err)
+	}
+}
+
+func (p *Gateway) listen(msgChan chan<- *simulator.TelemetryMsg, reader *bufio.Reader) error {
+	for {
+		rawLine, err := reader.ReadBytes('\n')
+		if err == io.EOF {
+			p.log.Info("Connection closed")
+			return err
+		}
+		if err != nil {
+			return fmt.Errorf("unable to read response: %v", err)
+		}
+
+		var msg simulator.TelemetryMsg
+		err = json.Unmarshal(rawLine, &msg)
+		if err != nil {
+			p.log.Errorf("unable to unmarshal simulator msg '%v': %v", string(rawLine), err)
+		}
+		if "telemetry" != msg.MsgType {
+			continue
+		}
+		msgChan <- &msg
+	}
+}
+
+func (p *Gateway) publishFrame(msgSim *simulator.TelemetryMsg) {
+	now := time.Now()
+	msg := &events.FrameMessage{
+		Id: &events.FrameRef{
+			Name: "gateway",
+			Id:   fmt.Sprintf("%d%03d", now.Unix(), now.Nanosecond()/1000/1000),
+			CreatedAt: &timestamp.Timestamp{
+				Seconds: now.Unix(),
+				Nanos:   int32(now.Nanosecond()),
+			},
+		},
+		Frame: msgSim.Image,
+	}
+
+	log.Debugf("publish frame '%v/%v'", msg.Id.Name, msg.Id.Id)
+	payload, err := proto.Marshal(msg)
+	if err != nil {
+		p.log.Errorf("unable to marshal protobuf message: %v", err)
+	}
+	p.publisher.PublishFrame(payload)
+}
+
+func (p *Gateway) publishInputSteering(msgSim *simulator.TelemetryMsg) {
+	steering := &events.SteeringMessage{
+		Steering:  float32(msgSim.SteeringAngle),
+		Confidence: 1.0,
+	}
+
+	log.Debugf("publish steering '%v'", steering.Steering)
+	payload, err := proto.Marshal(steering)
+	if err != nil {
+		p.log.Errorf("unable to marshal protobuf message: %v", err)
+	}
+	p.publisher.PublishSteering(payload)
+}
+
+func (p *Gateway) publishInputThrottle(msgSim *simulator.TelemetryMsg) {
+	steering := &events.ThrottleMessage{
+		Throttle:  float32(msgSim.Throttle),
+		Confidence: 1.0,
+	}
+
+	log.Debugf("publish throttle '%v'", steering.Throttle)
+	payload, err := proto.Marshal(steering)
+	if err != nil {
+		p.log.Errorf("unable to marshal protobuf message: %v", err)
+	}
+	p.publisher.PublishThrottle(payload)
+}
+
+var connect = func(address string) (io.ReadWriteCloser, error) {
+	conn, err := net.Dial("tcp", address)
+	if err != nil {
+		return nil, fmt.Errorf("unable to connect to %v", address)
+	}
+	return conn, nil
+}
+
+type Publisher interface {
+	PublishFrame(payload []byte)
+	PublishThrottle(payload []byte)
+	PublishSteering(payload []byte)
+}
+
+func NewMqttPublisher(client mqtt.Client, topicFrame, topicThrottle, topicSteering string) Publisher {
+	return &MqttPublisher{
+		client:     client,
+		topicFrame: topicFrame,
+		topicSteering: topicSteering,
+		topicThrottle: topicThrottle,
+	}
+}
+
+type MqttPublisher struct {
+	client     mqtt.Client
+	topicFrame string
+	topicSteering string
+	topicThrottle string
+}
+
+func (m *MqttPublisher) PublishThrottle(payload []byte) {
+	if m.topicThrottle == "" {
+		return
+	}
+	err := m.publish(m.topicThrottle, payload)
+	if err != nil {
+		log.Errorf("unable to publish throttle: %v", err)
+	}
+}
+
+func (m *MqttPublisher) PublishSteering(payload []byte) {
+	if m.topicSteering == "" {
+		return
+	}
+	err := m.publish(m.topicSteering, payload)
+	if err != nil {
+		log.Errorf("unable to publish steering: %v", err)
+	}
+}
+
+func (m *MqttPublisher) PublishFrame(payload []byte) {
+	if m.topicFrame == "" {
+		return
+	}
+	err := m.publish(m.topicFrame, payload)
+	if err != nil {
+		log.Errorf("unable to publish frame: %v", err)
+	}
+}
+
+func (m *MqttPublisher) publish(topic string, payload []byte) error {
+	token := m.client.Publish(topic, 0, false, payload)
+	token.WaitTimeout(10 * time.Millisecond)
+	if err := token.Error(); err != nil {
+		return fmt.Errorf("unable to publish to topic: %v", err)
+	}
+	return nil
+}

pkg/gateway/gateway_test.go

@@ -0,0 +1,289 @@
+package gateway
+
+import (
+	"bufio"
+	"encoding/json"
+	"fmt"
+	"github.com/cyrilix/robocar-protobuf/go/events"
+	"github.com/golang/protobuf/proto"
+	log "github.com/sirupsen/logrus"
+	"io"
+	"io/ioutil"
+	"net"
+	"strings"
+	"sync"
+	"testing"
+	"time"
+)
+
+type MockPublisher struct {
+	notifyFrameChan        chan []byte
+	initNotifyFrameChan    sync.Once
+	notifySteeringChan     chan []byte
+	initNotifySteeringChan sync.Once
+	notifyThrottleChan     chan []byte
+	initNotifyThrottleChan sync.Once
+}
+
+func (p *MockPublisher) Close() error {
+	if p.notifyFrameChan != nil {
+		close(p.notifyFrameChan)
+	}
+	if p.notifyThrottleChan != nil {
+		close(p.notifyThrottleChan)
+	}
+	if p.notifySteeringChan != nil {
+		close(p.notifySteeringChan)
+	}
+	return nil
+}
+
+func (p *MockPublisher) PublishFrame(payload []byte) {
+	p.notifyFrameChan <- payload
+}
+func (p *MockPublisher) PublishSteering(payload []byte) {
+	p.notifySteeringChan <- payload
+}
+func (p *MockPublisher) PublishThrottle(payload []byte) {
+	p.notifyThrottleChan <- payload
+}
+
+func (p *MockPublisher) NotifyFrame() <-chan []byte {
+	p.initNotifyFrameChan.Do(func() { p.notifyFrameChan = make(chan []byte) })
+	return p.notifyFrameChan
+}
+func (p *MockPublisher) NotifySteering() <-chan []byte {
+	p.initNotifySteeringChan.Do(func() { p.notifySteeringChan = make(chan []byte) })
+	return p.notifySteeringChan
+}
+func (p *MockPublisher) NotifyThrottle() <-chan []byte {
+	p.initNotifyThrottleChan.Do(func() { p.notifyThrottleChan = make(chan []byte) })
+	return p.notifyThrottleChan
+}
+
+func TestPart_ListenEvents(t *testing.T) {
+	simulatorMock := SimulatorMock{}
+	err := simulatorMock.Start()
+	if err != nil {
+		t.Errorf("unable to start mock server: %v", err)
+	}
+	defer func() {
+		if err := simulatorMock.Close(); err != nil {
+			t.Errorf("unable to close mock server: %v", err)
+		}
+	}()
+
+	publisher := MockPublisher{}
+
+	part := New(&publisher, simulatorMock.Addr())
+	go func() {
+		err := part.Start()
+		if err != nil {
+			t.Fatalf("unable to start gateway simulator: %v", err)
+		}
+	}()
+	defer func() {
+		if err := part.Close(); err != nil {
+			t.Errorf("unable to close gateway simulator: %v", err)
+		}
+	}()
+
+	simulatorMock.WaitConnection()
+	log.Trace("read test data")
+	testContent, err := ioutil.ReadFile("testdata/msg.json")
+	lines := strings.Split(string(testContent), "\n")
+
+	for idx, line := range lines {
+		err = simulatorMock.EmitMsg(line)
+		if err != nil {
+			t.Errorf("[line %v/%v] unable to write line: %v", idx+1, len(lines), err)
+		}
+
+		eventsType := map[string]bool{"frame": false, "steering": false, "throttle": false}
+		nbEventsExpected := len(eventsType)
+		wg := sync.WaitGroup{}
+		// Expect number mqtt event
+
+		wg.Add(nbEventsExpected)
+		finished := make(chan struct{})
+		go func() {
+			wg.Wait()
+			finished <- struct{}{}
+		}()
+
+		timeout := time.Tick(100 * time.Millisecond)
+
+		endLoop := false
+		for {
+			select {
+			case byteMsg := <-publisher.NotifyFrame():
+				checkFrame(t, byteMsg)
+				eventsType["frame"] = true
+				wg.Done()
+			case byteMsg := <-publisher.NotifySteering():
+				checkSteering(t, byteMsg, line)
+				eventsType["steering"] = true
+				wg.Done()
+			case byteMsg := <-publisher.NotifyThrottle():
+				checkThrottle(t, byteMsg, line)
+				eventsType["throttle"] = true
+				wg.Done()
+			case <-finished:
+				log.Trace("loop ended")
+				endLoop = true
+			case <-timeout:
+				t.Errorf("not all event are published")
+				t.FailNow()
+			}
+			if endLoop {
+				break
+			}
+		}
+		for k, v := range eventsType {
+			if !v {
+				t.Errorf("no %v event published for line %v", k, line)
+			}
+		}
+	}
+}
+
+
+func checkFrame(t *testing.T, byteMsg []byte) {
+	var msg events.FrameMessage
+	err := proto.Unmarshal(byteMsg, &msg)
+	if err != nil {
+		t.Errorf("unable to unmarshal frame msg: %v", err)
+	}
+	if msg.GetId() == nil {
+		t.Error("frame msg has not Id")
+	}
+	if len(msg.Frame) < 10 {
+		t.Errorf("[%v] invalid frame image: %v", msg.Id, msg.GetFrame())
+	}
+}
+func checkSteering(t *testing.T, byteMsg []byte, rawLine string) {
+	var input map[string]interface{}
+	err := json.Unmarshal([]byte(rawLine), &input)
+	if err != nil {
+		t.Fatalf("unable to parse input data '%v': %v", rawLine, err)
+	}
+	steering := input["steering_angle"].(float64)
+	expectedSteering := float32(steering)
+
+	var msg events.SteeringMessage
+	err = proto.Unmarshal(byteMsg, &msg)
+	if err != nil {
+		t.Errorf("unable to unmarshal steering msg: %v", err)
+	}
+
+	if msg.GetSteering() != expectedSteering{
+		t.Errorf("invalid steering value: %f, wants %f", msg.GetSteering(), expectedSteering)
+	}
+	if msg.Confidence != 1.0 {
+		t.Errorf("invalid steering confidence: %f, wants %f", msg.Confidence, 1.0)
+	}
+}
+
+func checkThrottle(t *testing.T, byteMsg []byte, rawLine string) {
+	var input map[string]interface{}
+	err := json.Unmarshal([]byte(rawLine), &input)
+	if err != nil {
+		t.Fatalf("unable to parse input data '%v': %v", rawLine, err)
+	}
+	throttle := input["throttle"].(float64)
+	expectedThrottle := float32(throttle)
+
+	var msg events.SteeringMessage
+	err = proto.Unmarshal(byteMsg, &msg)
+	if err != nil {
+		t.Errorf("unable to unmarshal throttle msg: %v", err)
+	}
+
+	if msg.GetSteering() != expectedThrottle {
+		t.Errorf("invalid throttle value: %f, wants %f", msg.GetSteering(), expectedThrottle)
+	}
+	if msg.Confidence != 1.0 {
+		t.Errorf("invalid throttle confidence: %f, wants %f", msg.Confidence, 1.0)
+	}
+}
+
+type SimulatorMock struct {
+	ln            net.Listener
+	muConn        sync.Mutex
+	conn          net.Conn
+	writer        *bufio.Writer
+	newConnection chan net.Conn
+	logger        *log.Entry
+}
+
+func (c *SimulatorMock) EmitMsg(p string) (err error) {
+	c.muConn.Lock()
+	defer c.muConn.Unlock()
+	_, err = c.writer.WriteString(p + "\n")
+	if err != nil {
+		c.logger.Errorf("unable to write response: %v", err)
+	}
+	if err == io.EOF {
+		c.logger.Info("Connection closed")
+		return err
+	}
+	err = c.writer.Flush()
+	return err
+}
+
+func (c *SimulatorMock) WaitConnection() {
+	c.muConn.Lock()
+	defer c.muConn.Unlock()
+	c.logger.Debug("simulator waiting connection")
+	if c.conn != nil {
+		return
+	}
+	c.logger.Debug("new connection")
+	conn := <-c.newConnection
+
+	c.conn = conn
+	c.writer = bufio.NewWriter(conn)
+}
+
+func (c *SimulatorMock) Start() error {
+	c.logger = log.WithField("simulator", "mock")
+	c.newConnection = make(chan net.Conn)
+	ln, err := net.Listen("tcp", "127.0.0.1:")
+	c.ln = ln
+	if err != nil {
+		return fmt.Errorf("unable to listen on port: %v", err)
+	}
+	go func() {
+		for {
+			conn, err := c.ln.Accept()
+			if err != nil && err == io.EOF {
+				c.logger.Errorf("connection close: %v", err)
+				break
+			}
+			if c.newConnection == nil {
+				break
+			}
+			c.newConnection <- conn
+		}
+	}()
+	return nil
+}
+
+func (c *SimulatorMock) Addr() string {
+	return c.ln.Addr().String()
+}
+
+func (c *SimulatorMock) Close() error {
+	c.logger.Debug("close mock server")
+
+	if c == nil {
+		return nil
+	}
+	close(c.newConnection)
+	c.newConnection = nil
+	err := c.ln.Close()
+	if err != nil {
+		return fmt.Errorf("unable to close mock server: %v", err)
+	}
+	return nil
+}