robocars/robocar-steering
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debug: unmarshal msg when debug is enabled

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This commit is contained in:
Cyrille Nofficial 2021-11-05 19:48:26 +01:00
parent f7d2ba12e8
commit 8b79fc58c0
2 changed files with 23 additions and 4 deletions
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2
cmd/rc-steering/rc-steering.go
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@ -59,7 +59,7 @@ func main() {
} }
defer client.Disconnect(50) defer client.Disconnect(50)
p := part.NewPart(client, steeringTopic, driveModeTopic, rcSteeringTopic, tfSteeringTopic) p := part.NewPart(client, steeringTopic, driveModeTopic, rcSteeringTopic, tfSteeringTopic, debug)
defer p.Stop() defer p.Stop()
cli.HandleExit(p) cli.HandleExit(p)

25
pkg/part/part.go
View File

@ -9,7 +9,7 @@ import (
"sync" "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{ return &SteeringPart{
client: client, client: client,
steeringTopic: steeringTopic, steeringTopic: steeringTopic,
@ -17,6 +17,7 @@ func NewPart(client mqtt.Client, steeringTopic, driveModeTopic, rcSteeringTopic,
rcSteeringTopic: rcSteeringTopic, rcSteeringTopic: rcSteeringTopic,
tfSteeringTopic: tfSteeringTopic, tfSteeringTopic: tfSteeringTopic,
driveMode: events.DriveMode_USER, driveMode: events.DriveMode_USER,
debug: debug,
} }
} }
@ -30,6 +31,8 @@ type SteeringPart struct {
cancel chan interface{} cancel chan interface{}
driveModeTopic, rcSteeringTopic, tfSteeringTopic string driveModeTopic, rcSteeringTopic, tfSteeringTopic string
debug bool
} }
func (p *SteeringPart) Start() error { 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) { func (p *SteeringPart) onRCSteering(_ mqtt.Client, message mqtt.Message) {
p.muDriveMode.RLock() p.muDriveMode.RLock()
defer p.muDriveMode.RUnlock() 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 { if p.driveMode == events.DriveMode_USER {
// Republish same content // Republish same content
payload := message.Payload() 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) { func (p *SteeringPart) onTFSteering(_ mqtt.Client, message mqtt.Message) {
p.muDriveMode.RLock() p.muDriveMode.RLock()
defer p.muDriveMode.RUnlock() 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 { if p.driveMode == events.DriveMode_PILOT {
// Republish same content // Republish same content
payload := message.Payload() payload := message.Payload()