WIP

cmd/rc-steering/rc-steering.go

@@ -16,6 +16,10 @@ const (
 func main() {
 	var mqttBroker, username, password, clientId string
 	var steeringTopic, driveModeTopic, rcSteeringTopic, tfSteeringTopic, objectsTopic string
+	var imgWidth, imgHeight int
+	var enableObjectsCorrection, enableObjectsCorrectionOnUserMode bool
+	var gridMapConfig, objectsMoveFactorsConfig string
+	var deltaMiddle float64
 
 	mqttQos := cli.InitIntFlag("MQTT_QOS", 0)
 	_, mqttRetain := os.LookupEnv("MQTT_RETAIN")
@@ -27,7 +31,13 @@ func main() {
 	flag.StringVar(&tfSteeringTopic, "mqtt-topic-tf-steering", os.Getenv("MQTT_TOPIC_TF_STEERING"), "Mqtt topic that contains tenorflow steering value, use MQTT_TOPIC_TF_STEERING if args not set")
 	flag.StringVar(&driveModeTopic, "mqtt-topic-drive-mode", os.Getenv("MQTT_TOPIC_DRIVE_MODE"), "Mqtt topic that contains DriveMode value, use MQTT_TOPIC_DRIVE_MODE if args not set")
 	flag.StringVar(&objectsTopic, "mqtt-topic-objects", os.Getenv("MQTT_TOPIC_OBJECTS"), "Mqtt topic that contains Objects from object detection value, use MQTT_TOPIC_OBJECTS if args not set")
-
+	flag.IntVar(&imgWidth, "image-width", 160, "Video pixels width")
+	flag.IntVar(&imgHeight, "image-height", 128, "Video pixels height")
+	flag.BoolVar(&enableObjectsCorrection, "enable-objects-correction", false, "Adjust steering to avoid objects")
+	flag.BoolVar(&enableObjectsCorrectionOnUserMode, "enable-objects-correction-user", false, "Adjust steering to avoid objects on user mode driving")
+	flag.StringVar(&gridMapConfig, "grid-map-config", "", "Json file path to configure grid object correction")
+	flag.StringVar(&objectsMoveFactorsConfig, "objects-move-factors-config", "", "Json file path to configure objects move corrections")
+	flag.Float64Var(&deltaMiddle, "delta-middle", 0.1, "Half Percent zone to interpret as straight")
 	logLevel := zap.LevelFlag("log", zap.InfoLevel, "log level")
 
 	flag.Parse()
@@ -50,13 +60,36 @@ func main() {
 	}()
 	zap.ReplaceGlobals(lgr)
 
+	zap.S().Infof("steering topic                  : %s", steeringTopic)
+	zap.S().Infof("rc topic                        : %s", rcSteeringTopic)
+	zap.S().Infof("tflite steering topic           : %s", tfSteeringTopic)
+	zap.S().Infof("drive mode topic                : %s", driveModeTopic)
+	zap.S().Infof("objects topic                   : %s", objectsTopic)
+	zap.S().Infof("objects correction enabled      : %v", enableObjectsCorrection)
+	zap.S().Infof("objects correction on user mode : %v", enableObjectsCorrectionOnUserMode)
+	zap.S().Infof("grid map file config            : %v", gridMapConfig)
+	zap.S().Infof("objects move factors grid config: %v", objectsMoveFactorsConfig)
+	zap.S().Infof("image width x height            : %v x %v", imgWidth, imgHeight)
+
 	client, err := cli.Connect(mqttBroker, username, password, clientId)
 	if err != nil {
 		log.Fatalf("unable to connect to mqtt bus: %v", err)
 	}
 	defer client.Disconnect(50)
 
-	p := steering.NewController(client, steeringTopic, driveModeTopic, rcSteeringTopic, tfSteeringTopic, objectsTopic)
+	p := steering.NewController(
+		client,
+		steeringTopic, driveModeTopic, rcSteeringTopic, tfSteeringTopic, objectsTopic,
+		steering.WithCorrector(
+			steering.NewCorrector(
+				steering.WidthDeltaMiddle(deltaMiddle),
+				steering.WithGridMap(gridMapConfig),
+				steering.WithObjectMoveFactors(objectsMoveFactorsConfig),
+				steering.WithImageSize(imgWidth, imgHeight),
+			),
+		),
+		steering.WithObjectsCorrectionEnabled(enableObjectsCorrection, enableObjectsCorrectionOnUserMode),
+	)
 	defer p.Stop()
 
 	cli.HandleExit(p)

pkg/steering/controller.go

@@ -1,6 +1,7 @@
 package steering
 
 import (
+	"fmt"
 	"github.com/cyrilix/robocar-base/service"
 	"github.com/cyrilix/robocar-protobuf/go/events"
 	mqtt "github.com/eclipse/paho.mqtt.golang"
@@ -9,8 +10,48 @@ import (
 	"sync"
 )
 
-func NewController(client mqtt.Client, steeringTopic, driveModeTopic, rcSteeringTopic, tfSteeringTopic, objectsTopic string) *Controller {
+var (
-	return &Controller{
+	defaultGridMap = GridMap{
+		DistanceSteps: []float64{0., 0.2, 0.4, 0.6, 0.8, 1.},
+		SteeringSteps: []float64{-1., -0.66, -0.33, 0., 0.33, 0.66, 1.},
+		Data: [][]float64{
+			{0., 0., 0., 0., 0., 0.},
+			{0., 0., 0., 0., 0., 0.},
+			{0., 0., 0.25, -0.25, 0., 0.},
+			{0., 0.25, 0.5, -0.5, -0.25, 0.},
+			{0.25, 0.5, 1, -1, -0.5, -0.25},
+		},
+	}
+	defaultObjectFactors = GridMap{
+		DistanceSteps: []float64{0., 0.2, 0.4, 0.6, 0.8, 1.},
+		SteeringSteps: []float64{-1., -0.66, -0.33, 0., 0.33, 0.66, 1.},
+		Data: [][]float64{
+			{0., 0., 0., 0., 0., 0.},
+			{0., 0., 0., 0., 0., 0.},
+			{0., 0., 0., 0., 0., 0.},
+			{0., 0.25, 0, 0, -0.25, 0.},
+			{0.5, 0.25, 0, 0, -0.5, -0.25},
+		},
+	}
+)
+
+type Option func(c *Controller)
+
+func WithCorrector(c *Corrector) Option {
+	return func(ctrl *Controller) {
+		ctrl.corrector = c
+	}
+}
+
+func WithObjectsCorrectionEnabled(enabled, enabledOnUserDrive bool) Option {
+	return func(ctrl *Controller) {
+		ctrl.enableCorrection = enabled
+		ctrl.enableCorrectionOnUser = enabledOnUserDrive
+	}
+}
+
+func NewController(client mqtt.Client, steeringTopic, driveModeTopic, rcSteeringTopic, tfSteeringTopic, objectsTopic string, options ...Option) *Controller {
+	c := &Controller{
 		client:          client,
 		steeringTopic:   steeringTopic,
 		driveModeTopic:  driveModeTopic,
@@ -18,8 +59,12 @@ func NewController(client mqtt.Client, steeringTopic, driveModeTopic, rcSteering
 		tfSteeringTopic: tfSteeringTopic,
 		objectsTopic:    objectsTopic,
 		driveMode:       events.DriveMode_USER,
+		corrector:       NewCorrector(),
 	}
-
+	for _, o := range options {
+		o(c)
+	}
+	return c
 }
 
 type Controller struct {
@@ -35,26 +80,28 @@ type Controller struct {
 	muObjects sync.RWMutex
 	objects   []*events.Object
 
-	debug bool
+	corrector              *Corrector
+	enableCorrection       bool
+	enableCorrectionOnUser bool
 }
 
-func (p *Controller) Start() error {
+func (c *Controller) Start() error {
-	if err := registerCallbacks(p); err != nil {
+	if err := registerCallbacks(c); err != nil {
-		zap.S().Errorf("unable to rgeister callbacks: %v", err)
+		zap.S().Errorf("unable to register callbacks: %v", err)
 		return err
 	}
 
-	p.cancel = make(chan interface{})
+	c.cancel = make(chan interface{})
-	<-p.cancel
+	<-c.cancel
 	return nil
 }
 
-func (p *Controller) Stop() {
+func (c *Controller) Stop() {
-	close(p.cancel)
+	close(c.cancel)
-	service.StopService("throttle", p.client, p.driveModeTopic, p.rcSteeringTopic, p.tfSteeringTopic)
+	service.StopService("throttle", c.client, c.driveModeTopic, c.rcSteeringTopic, c.tfSteeringTopic)
 }
 
-func (p *Controller) onObjects(_ mqtt.Client, message mqtt.Message) {
+func (c *Controller) onObjects(_ mqtt.Client, message mqtt.Message) {
 	var msg events.ObjectsMessage
 	err := proto.Unmarshal(message.Payload(), &msg)
 	if err != nil {
@@ -62,12 +109,12 @@ func (p *Controller) onObjects(_ mqtt.Client, message mqtt.Message) {
 		return
 	}
 
-	p.muObjects.Lock()
+	c.muObjects.Lock()
-	defer p.muObjects.Unlock()
+	defer c.muObjects.Unlock()
-	p.objects = msg.GetObjects()
+	c.objects = msg.GetObjects()
 }
 
-func (p *Controller) onDriveMode(_ mqtt.Client, message mqtt.Message) {
+func (c *Controller) onDriveMode(_ mqtt.Client, message mqtt.Message) {
 	var msg events.DriveModeMessage
 	err := proto.Unmarshal(message.Payload(), &msg)
 	if err != nil {
@@ -75,46 +122,85 @@ func (p *Controller) onDriveMode(_ mqtt.Client, message mqtt.Message) {
 		return
 	}
 
-	p.muDriveMode.Lock()
+	c.muDriveMode.Lock()
-	defer p.muDriveMode.Unlock()
+	defer c.muDriveMode.Unlock()
-	p.driveMode = msg.GetDriveMode()
+	c.driveMode = msg.GetDriveMode()
 }
 
-func (p *Controller) onRCSteering(_ mqtt.Client, message mqtt.Message) {
+func (c *Controller) onRCSteering(_ mqtt.Client, message mqtt.Message) {
-	p.muDriveMode.RLock()
+	c.muDriveMode.RLock()
-	defer p.muDriveMode.RUnlock()
+	defer c.muDriveMode.RUnlock()
-	if p.debug {
+
-		var evt events.SteeringMessage
+	if c.driveMode != events.DriveMode_USER {
-		err := proto.Unmarshal(message.Payload(), &evt)
+		return
+	}
+
+	payload := message.Payload()
+	evt := &events.SteeringMessage{}
+	err := proto.Unmarshal(payload, evt)
+	if err != nil {
+		zap.S().Debugf("unable to unmarshal rc event: %v", err)
+	} else {
+		zap.S().Debugf("receive steering message from radio command: %0.00f", evt.GetSteering())
+	}
+
+	if c.enableCorrection && c.enableCorrectionOnUser {
+		payload, err = c.adjustSteering(evt)
 		if err != nil {
-			zap.S().Debugf("unable to unmarshal rc event: %v", err)
+			zap.S().Errorf("unable to adjust steering, skip message: %v", err)
-		} else {
+			return
-			zap.S().Debugf("receive steering message from radio command: %0.00f", evt.GetSteering())
 		}
 	}
-	if p.driveMode == events.DriveMode_USER {
+	publish(c.client, c.steeringTopic, &payload)
-		// Republish same content
-		payload := message.Payload()
-		publish(p.client, p.steeringTopic, &payload)
-	}
 }
-func (p *Controller) onTFSteering(_ mqtt.Client, message mqtt.Message) {
+
-	p.muDriveMode.RLock()
+func (c *Controller) onTFSteering(_ mqtt.Client, message mqtt.Message) {
-	defer p.muDriveMode.RUnlock()
+	c.muDriveMode.RLock()
-	if p.debug {
+	defer c.muDriveMode.RUnlock()
-		var evt events.SteeringMessage
+	if c.driveMode != events.DriveMode_PILOT {
-		err := proto.Unmarshal(message.Payload(), &evt)
+		// User mode, skip new message
+		return
+	}
+
+	evt := &events.SteeringMessage{}
+	err := proto.Unmarshal(message.Payload(), evt)
+	if err != nil {
+		zap.S().Errorf("unable to unmarshal tensorflow event: %v", err)
+		return
+	} else {
+		zap.S().Debugf("receive steering message from tensorflow: %0.00f", evt.GetSteering())
+	}
+
+	payload := message.Payload()
+	if c.enableCorrection {
+		payload, err = c.adjustSteering(evt)
 		if err != nil {
-			zap.S().Debugf("unable to unmarshal tensorflow event: %v", err)
+			zap.S().Errorf("unable to adjust steering, skip message: %v", err)
-		} else {
+			return
-			zap.S().Debugf("receive steering message from tensorflow: %0.00f", evt.GetSteering())
 		}
 	}
-	if p.driveMode == events.DriveMode_PILOT {
+
-		// Republish same content
+	publish(c.client, c.steeringTopic, &payload)
-		payload := message.Payload()
+}
-		publish(p.client, p.steeringTopic, &payload)
+
+func (c *Controller) adjustSteering(evt *events.SteeringMessage) ([]byte, error) {
+	steering := float64(evt.GetSteering())
+	steering = c.corrector.AdjustFromObjectPosition(steering, c.Objects())
+	evt.Steering = float32(steering)
+	// override payload content
+	payload, err := proto.Marshal(evt)
+	if err != nil {
+		return nil, fmt.Errorf("unable to marshal steering message with new value, skip message: %v", err)
 	}
+	return payload, nil
+}
+
+func (c *Controller) Objects() []*events.Object {
+	c.muObjects.RLock()
+	defer c.muObjects.RUnlock()
+	res := make([]*events.Object, 0, len(c.objects))
+	copy(res, c.objects)
+	return res
 }
 
 var registerCallbacks = func(p *Controller) error {

pkg/steering/corrector.go

@@ -8,14 +8,80 @@ import (
 	"os"
 )
 
-func NewCorrector(gridMap *GridMap, objectMoveFactors *GridMap) *Corrector {
+type OptionCorrector func(c *Corrector)
-	return &Corrector{
+
-		gridMap:           gridMap,
+func WithGridMap(configPath string) OptionCorrector {
-		objectMoveFactors: objectMoveFactors,
+	var gm *GridMap
+	if configPath == "" {
+		zap.S().Warnf("no configuration defined for grid map, use default")
+		gm = &defaultGridMap
+	} else {
+		var err error
+		gm, err = loadConfig(configPath)
+		if err != nil {
+			zap.S().Panicf("unable to load grid-map config from file '%v': %w", configPath, err)
+		}
+	}
+	return func(c *Corrector) {
+		c.gridMap = gm
+	}
+}
+
+func WithObjectMoveFactors(configPath string) OptionCorrector {
+	var omf *GridMap
+	if configPath == "" {
+		zap.S().Warnf("no configuration defined for objects move factors, use default")
+		omf = &defaultObjectFactors
+	} else {
+		var err error
+		omf, err = loadConfig(configPath)
+		if err != nil {
+			zap.S().Panicf("unable to load objects move factors config from file '%v': %w", configPath, err)
+		}
+	}
+	return func(c *Corrector) {
+		c.objectMoveFactors = omf
+	}
+}
+
+func loadConfig(configPath string) (*GridMap, error) {
+	content, err := os.ReadFile(configPath)
+	if err != nil {
+		return nil, fmt.Errorf("unable to load grid-map config from file '%v': %w", configPath, err)
+	}
+	var gm GridMap
+	err = json.Unmarshal(content, &gm)
+	if err != nil {
+		return nil, fmt.Errorf("unable to unmarshal json config '%s': %w", configPath, err)
+	}
+	return &gm, nil
+}
+
+func WithImageSize(width, height int) OptionCorrector {
+	return func(c *Corrector) {
+		c.imgWidth = width
+		c.imgHeight = height
+	}
+}
+
+func WidthDeltaMiddle(d float64) OptionCorrector {
+	return func(c *Corrector) {
+		c.deltaMiddle = d
+	}
+
+}
+func NewCorrector(options ...OptionCorrector) *Corrector {
+	c := &Corrector{
+		gridMap:           &defaultGridMap,
+		objectMoveFactors: &defaultObjectFactors,
 		deltaMiddle:       0.1,
 		imgWidth:          160,
 		imgHeight:         120,
 	}
+	for _, o := range options {
+		o(c)
+	}
+	return c
 }
 
 type Corrector struct {

pkg/steering/corrector_test.go

@@ -57,31 +57,6 @@ var (
 	}
 )
 
-var (
-	defaultGridMap = GridMap{
-		DistanceSteps: []float64{0., 0.2, 0.4, 0.6, 0.8, 1.},
-		SteeringSteps: []float64{-1., -0.66, -0.33, 0., 0.33, 0.66, 1.},
-		Data: [][]float64{
-			{0., 0., 0., 0., 0., 0.},
-			{0., 0., 0., 0., 0., 0.},
-			{0., 0., 0.25, -0.25, 0., 0.},
-			{0., 0.25, 0.5, -0.5, -0.25, 0.},
-			{0.25, 0.5, 1, -1, -0.5, -0.25},
-		},
-	}
-	defaultObjectFactors = GridMap{
-		DistanceSteps: []float64{0., 0.2, 0.4, 0.6, 0.8, 1.},
-		SteeringSteps: []float64{-1., -0.66, -0.33, 0., 0.33, 0.66, 1.},
-		Data: [][]float64{
-			{0., 0., 0., 0., 0., 0.},
-			{0., 0., 0., 0., 0., 0.},
-			{0., 0., 0., 0., 0., 0.},
-			{0., 0.25, 0, 0, -0.25, 0.},
-			{0.5, 0.25, 0, 0, -0.5, -0.25},
-		},
-	}
-)
-
 func TestCorrector_AdjustFromObjectPosition(t *testing.T) {
 	type args struct {
 		currentSteering float64
@@ -184,7 +159,7 @@ func TestCorrector_AdjustFromObjectPosition(t *testing.T) {
 	}
 	for _, tt := range tests {
 		t.Run(tt.name, func(t *testing.T) {
-			c := NewCorrector(&defaultGridMap, &defaultObjectFactors)
+			c := NewCorrector()
 			if got := c.AdjustFromObjectPosition(tt.args.currentSteering, tt.args.objects); got != tt.want {
 				t.Errorf("AdjustFromObjectPosition() = %v, want %v", got, tt.want)
 			}
@@ -438,3 +413,67 @@ func TestGridMap_ValueOf(t *testing.T) {
 		})
 	}
 }
+
+func TestWithGridMap(t *testing.T) {
+	type args struct {
+		config string
+	}
+	tests := []struct {
+		name string
+		args args
+		want GridMap
+	}{
+		{
+			name: "default value",
+			args: args{config: ""},
+			want: defaultGridMap,
+		},
+		{
+			name: "load config",
+			args: args{config: "test_data/config.json"},
+			want: defaultGridMap,
+		},
+	}
+	for _, tt := range tests {
+		t.Run(tt.name, func(t *testing.T) {
+			c := Corrector{}
+			got := WithGridMap(tt.args.config)
+			got(&c)
+			if !reflect.DeepEqual(*c.gridMap, tt.want) {
+				t.Errorf("WithGridMap() = %v, want %v", *c.gridMap, tt.want)
+			}
+		})
+	}
+}
+
+func TestWithObjectMoveFactors(t *testing.T) {
+	type args struct {
+		config string
+	}
+	tests := []struct {
+		name string
+		args args
+		want GridMap
+	}{
+		{
+			name: "default value",
+			args: args{config: ""},
+			want: defaultObjectFactors,
+		},
+		{
+			name: "load config",
+			args: args{config: "test_data/omf-config.json"},
+			want: defaultObjectFactors,
+		},
+	}
+	for _, tt := range tests {
+		t.Run(tt.name, func(t *testing.T) {
+			c := Corrector{}
+			got := WithObjectMoveFactors(tt.args.config)
+			got(&c)
+			if !reflect.DeepEqual(*c.objectMoveFactors, tt.want) {
+				t.Errorf("WithObjectMoveFactors() = %v, want %v", *c.objectMoveFactors, tt.want)
+			}
+		})
+	}
+}

pkg/steering/test_data/omf-config.json

@@ -0,0 +1,11 @@
+{
+  "steering_steps":[-1, -0.66, -0.33, 0, 0.33, 0.66, 1],
+  "distance_steps": [0, 0.2, 0.4, 0.6, 0.8, 1],
+  "data": [
+	[0, 0, 0, 0, 0, 0],
+	[0, 0, 0, 0, 0, 0],
+	[0, 0, 0, 0, 0, 0],
+	[0, 0.25, 0, 0, -0.25, 0],
+	[0.5, 0.25, 0, 0, -0.5, -0.25]
+  ]
+}