fix: log configuration

cmd/rc-steering/rc-steering.go

@@ -18,12 +18,8 @@ func main() {
 	var cameraTopic, steeringTopic string
 	var modelPath string
 	var edgeVerbosity int
+	var debug bool
 
-	lgr, err := zap.NewProductionConfig().Build()
-	if err != nil {
-		log.Fatalf("unable to init logger: %v", err)
-	}
-	zap.ReplaceGlobals(lgr)
 
 	mqttQos := cli.InitIntFlag("MQTT_QOS", 0)
 	_, mqttRetain := os.LookupEnv("MQTT_RETAIN")
@@ -34,6 +30,7 @@ func main() {
 	flag.StringVar(&steeringTopic, "mqtt-topic-road", os.Getenv("MQTT_TOPIC_STEERING"), "Mqtt topic to publish road detection result, use MQTT_TOPIC_STEERING if args not set")
 	flag.StringVar(&cameraTopic, "mqtt-topic-camera", os.Getenv("MQTT_TOPIC_CAMERA"), "Mqtt topic that contains camera frame values, use MQTT_TOPIC_CAMERA if args not set")
 	flag.IntVar(&edgeVerbosity, "edge-verbosity", 0, "Edge TPU Verbosity")
+	flag.BoolVar(&debug, "debug", false, "Display debug logs")
 
 	flag.Parse()
 	if len(os.Args) <= 1 {
@@ -41,6 +38,23 @@ func main() {
 		os.Exit(1)
 	}
 
+	config := zap.NewDevelopmentConfig()
+	if debug {
+		config.Level = zap.NewAtomicLevelAt(zap.DebugLevel)
+	} else {
+		config.Level = zap.NewAtomicLevelAt(zap.InfoLevel)
+	}
+	lgr, err := config.Build()
+	if err != nil {
+		log.Fatalf("unable to init logger: %v", err)
+	}
+	defer func() {
+		if err := lgr.Sync(); err != nil {
+			log.Printf("unable to Sync logger: %v\n", err)
+		}
+	}()
+	zap.ReplaceGlobals(lgr)
+
 	if modelPath == "" {
 		zap.L().Error("model path is mandatory")
 		flag.PrintDefaults()
@@ -53,7 +67,7 @@ func main() {
 	}
 	defer client.Disconnect(50)
 
-	p := steering.NewPart(client, steeringTopic, cameraTopic, edgeVerbosity)
+	p := steering.NewPart(client, modelPath, steeringTopic, cameraTopic, edgeVerbosity)
 	defer p.Stop()
 
 	cli.HandleExit(p)

pkg/steering/steering.go

@@ -11,12 +11,14 @@ import (
 	"github.com/mattn/go-tflite/delegates/edgetpu"
 	"go.uber.org/zap"
 	"image"
+	_ "image/jpeg"
 	"sort"
 )
 
-func NewPart(client mqtt.Client, steeringTopic, cameraTopic string, edgeVerbosity int) *Part {
+func NewPart(client mqtt.Client, modelPath, steeringTopic, cameraTopic string, edgeVerbosity int) *Part {
 	return &Part{
 		client:        client,
+		modelPath:     modelPath,
 		steeringTopic: steeringTopic,
 		cameraTopic:   cameraTopic,
 		edgeVebosity:  edgeVerbosity,
@@ -39,6 +41,7 @@ type Part struct {
 }
 
 func (p *Part) Start() error {
+	p.cancel = make(chan interface{})
 	p.model = tflite.NewModelFromFile(p.modelPath)
 	if p.model == nil {
 		return fmt.Errorf("cannot load model %v", p.modelPath)
@@ -58,19 +61,27 @@ func (p *Part) Start() error {
 	if err != nil {
 		return fmt.Errorf("cannot get EdgeTPU version: %w", err)
 	}
-	zap.S().Infof("EdgeTPU Version: %s\n", edgetpuVersion)
+	zap.S().Infof("EdgeTPU Version: %s", edgetpuVersion)
 	edgetpu.Verbosity(p.edgeVebosity)
 
 	p.options = tflite.NewInterpreterOptions()
-	//options.SetNumThread(4)
+	p.options.SetNumThread(4)
 	p.options.SetErrorReporter(func(msg string, userData interface{}) {
-		zap.L().Error(msg,
-			zap.Any("userData", userData),
+		zap.S().Errorw(msg,
+			"userData", userData,
 		)
 	}, nil)
 
+	zap.S().Infof("find %d edgetpu devices", len(devices))
+	zap.S().Infow("configure edgetpu",
+		"path", devices[0].Path,
+		"type", uint32(devices[0].Type),
+	)
 	// Add the first EdgeTPU device
 	d := edgetpu.New(devices[0])
+	if d == nil {
+		return fmt.Errorf("unable to create new EdgeTpu delegate")
+	}
 	p.options.AddDelegate(d)
 
 	p.interpreter = tflite.NewInterpreter(p.model, p.options)
@@ -79,7 +90,7 @@ func (p *Part) Start() error {
 	}
 
 	if err := registerCallbacks(p); err != nil {
-		zap.S().Errorf("unable to register callbacks: %v", err)
+		zap.S().Errorw("unable to register callbacks", "error", err)
 		return err
 	}
 
@@ -113,10 +124,22 @@ func (p *Part) onFrame(_ mqtt.Client, message mqtt.Message) {
 
 	img, _, err := image.Decode(bytes.NewReader(msg.GetFrame()))
 	if err != nil {
-		zap.L().Error("unable to decode frame", zap.Error(err))
+		zap.L().Error("unable to decode frame, skip frame", zap.Error(err))
+		return
 	}
 
 	steering, confidence, err := p.Value(img)
+	if err != nil {
+		zap.S().Errorw("unable to compute sterring",
+			"frame", msg.GetId().GetId(),
+		"error", err,
+		)
+		return
+	}
+	zap.L().Debug("new steering value",
+		zap.Float32("steering", steering),
+		zap.Float32("confidence", confidence),
+	)
 	msgSteering := &events.SteeringMessage{
 		Steering:   steering,
 		Confidence: confidence,
@@ -201,7 +224,7 @@ func (p *Part) Value(img image.Image) (float32, float32, error) {
 var registerCallbacks = func(p *Part) error {
 	err := service.RegisterCallback(p.client, p.cameraTopic, p.onFrame)
 	if err != nil {
-		return err
+		return fmt.Errorf("unable to register callback: %w", err)
 	}
 	return nil
 }