From 8b79fc58c073df2d2dbf95f545043ff2a1b0a5c6 Mon Sep 17 00:00:00 2001
From: Cyrille Nofficial <cynoffic@cyrilix.fr>
Date: Fri, 5 Nov 2021 19:48:26 +0100
Subject: [PATCH] debug: unmarshal msg when debug is enabled

---
 cmd/rc-steering/rc-steering.go |  2 +-
 pkg/part/part.go               | 25 ++++++++++++++++++++++---
 2 files changed, 23 insertions(+), 4 deletions(-)

diff --git a/cmd/rc-steering/rc-steering.go b/cmd/rc-steering/rc-steering.go
index bf7d002..7c6cbb0 100644
--- a/cmd/rc-steering/rc-steering.go
+++ b/cmd/rc-steering/rc-steering.go
@@ -59,7 +59,7 @@ func main() {
 	}
 	defer client.Disconnect(50)
 
-	p := part.NewPart(client, steeringTopic, driveModeTopic, rcSteeringTopic, tfSteeringTopic)
+	p := part.NewPart(client, steeringTopic, driveModeTopic, rcSteeringTopic, tfSteeringTopic, debug)
 	defer p.Stop()
 
 	cli.HandleExit(p)
diff --git a/pkg/part/part.go b/pkg/part/part.go
index 8eb478f..0bbbe20 100644
--- a/pkg/part/part.go
+++ b/pkg/part/part.go
@@ -9,7 +9,7 @@ import (
 	"sync"
 )
 
-func NewPart(client mqtt.Client, steeringTopic, driveModeTopic, rcSteeringTopic, tfSteeringTopic string) *SteeringPart {
+func NewPart(client mqtt.Client, steeringTopic, driveModeTopic, rcSteeringTopic, tfSteeringTopic string, debug bool) *SteeringPart {
 	return &SteeringPart{
 		client:          client,
 		steeringTopic:   steeringTopic,
@@ -17,6 +17,7 @@ func NewPart(client mqtt.Client, steeringTopic, driveModeTopic, rcSteeringTopic,
 		rcSteeringTopic: rcSteeringTopic,
 		tfSteeringTopic: tfSteeringTopic,
 		driveMode:       events.DriveMode_USER,
+		debug:           debug,
 	}
 
 }
@@ -30,6 +31,8 @@ type SteeringPart struct {
 
 	cancel                                           chan interface{}
 	driveModeTopic, rcSteeringTopic, tfSteeringTopic string
+
+	debug bool
 }
 
 func (p *SteeringPart) Start() error {
@@ -64,7 +67,15 @@ func (p *SteeringPart) onDriveMode(_ mqtt.Client, message mqtt.Message) {
 func (p *SteeringPart) onRCSteering(_ mqtt.Client, message mqtt.Message) {
 	p.muDriveMode.RLock()
 	defer p.muDriveMode.RUnlock()
-	zap.S().Debugf("receive steering message from radio command: %v",message)
+	if p.debug {
+		var evt events.SteeringMessage
+		err := proto.Unmarshal(message.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 p.driveMode == events.DriveMode_USER {
 		// Republish same content
 		payload := message.Payload()
@@ -74,7 +85,15 @@ func (p *SteeringPart) onRCSteering(_ mqtt.Client, message mqtt.Message) {
 func (p *SteeringPart) onTFSteering(_ mqtt.Client, message mqtt.Message) {
 	p.muDriveMode.RLock()
 	defer p.muDriveMode.RUnlock()
-	zap.S().Debugf("receive steering message from tensorflow: %v",message)
+	if p.debug {
+		var evt events.SteeringMessage
+		err := proto.Unmarshal(message.Payload(), &evt)
+		if err != nil {
+			zap.S().Debugf("unable to unmarshal tensorflow event: %v", err)
+		}else {
+			zap.S().Debugf("receive steering message from tensorflow: %0.00f", evt.GetSteering())
+		}
+	}
 	if p.driveMode == events.DriveMode_PILOT {
 		// Republish same content
 		payload := message.Payload()