robocars/robocar-steering
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add debug logs

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This commit is contained in:
Cyrille Nofficial 2022-08-31 21:27:05 +02:00
parent f1261819f6
commit a78bedd598
1 changed files with 1 additions and 0 deletions
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pkg/steering/controller.go
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@ -186,6 +186,7 @@ func (c *Controller) onTFSteering(_ mqtt.Client, message mqtt.Message) {
func (c *Controller) adjustSteering(evt *events.SteeringMessage) ([]byte, error) { func (c *Controller) adjustSteering(evt *events.SteeringMessage) ([]byte, error) {
steering := float64(evt.GetSteering()) steering := float64(evt.GetSteering())
steering = c.corrector.AdjustFromObjectPosition(steering, c.Objects()) steering = c.corrector.AdjustFromObjectPosition(steering, c.Objects())
zap.S().Debugf("adjust steering to avoid objects: %v -> %v", evt.GetSteering(), steering)
evt.Steering = float32(steering) evt.Steering = float32(steering)
// override payload content // override payload content
payload, err := proto.Marshal(evt) payload, err := proto.Marshal(evt)