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feat(on-objects): Steering corrector implementation

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This commit is contained in:
Cyrille Nofficial
2022-08-23 22:08:07 +02:00
parent 158f08a76f
commit d5d4d908a0
8 changed files with 740 additions and 99 deletions
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37
cmd/rc-steering/rc-steering.go
View File

@@ -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.NewGridCorrector(
steering.WidthDeltaMiddle(deltaMiddle),
steering.WithGridMap(gridMapConfig),
steering.WithObjectMoveFactors(objectsMoveFactorsConfig),
steering.WithImageSize(imgWidth, imgHeight),
),
),
steering.WithObjectsCorrectionEnabled(enableObjectsCorrection, enableObjectsCorrectionOnUserMode),
)
defer p.Stop()
cli.HandleExit(p)

41
pkg/steering/bbox.go
View File

@@ -1,6 +1,7 @@
package steering
import (
"github.com/cyrilix/robocar-protobuf/go/events"
"gocv.io/x/gocv"
"image"
)
@@ -14,3 +15,43 @@ func GroupBBoxes(bboxes []image.Rectangle) []image.Rectangle {
}
return gocv.GroupRectangles(bboxes, 1, 0.2)
}
func GroupObjects(objects []*events.Object, imgWidth, imgHeight int) []*events.Object {
if len(objects) == 0 {
return []*events.Object{}
}
if len(objects) == 1 {
return []*events.Object{objects[0]}
}
rectangles := make([]image.Rectangle, 0, len(objects))
for _, o := range objects {
rectangles = append(rectangles, *objectToRect(o, imgWidth, imgHeight))
}
grp := gocv.GroupRectangles(rectangles, 1, 0.2)
result := make([]*events.Object, 0, len(grp))
for _, r := range grp {
result = append(result, rectToObject(&r, imgWidth, imgHeight))
}
return result
}
func objectToRect(object *events.Object, imgWidth, imgHeight int) *image.Rectangle {
r := image.Rect(
int(object.Left*float32(imgWidth)),
int(object.Top*float32(imgHeight)),
int(object.Right*float32(imgWidth)),
int(object.Bottom*float32(imgHeight)),
)
return &r
}
func rectToObject(r *image.Rectangle, imgWidth, imgHeight int) *events.Object {
return &events.Object{
Type: events.TypeObject_ANY,
Left: float32(r.Min.X) / float32(imgWidth),
Top: float32(r.Min.Y) / float32(imgHeight),
Right: float32(r.Max.X) / float32(imgWidth),
Bottom: float32(r.Max.Y) / float32(imgHeight),
Confidence: -1,
}
}

78
pkg/steering/bbox_test.go
View File

@@ -3,6 +3,7 @@ package steering
import (
"encoding/json"
"fmt"
"github.com/cyrilix/robocar-protobuf/go/events"
"go.uber.org/zap"
"gocv.io/x/gocv"
"image"
@@ -24,14 +25,16 @@ type BBox struct {
}
var (
dataBBoxes map[string][]image.Rectangle
dataImages map[string]*gocv.Mat
dataBBoxes map[string][]image.Rectangle
dataObjects map[string][]*events.Object
dataImages map[string]*gocv.Mat
)
func init() {
// TODO: empty img without bbox
dataNames := []string{"01", "02", "03", "04"}
dataBBoxes = make(map[string][]image.Rectangle, len(dataNames))
dataObjects = make(map[string][]*events.Object, len(dataNames))
dataImages = make(map[string]*gocv.Mat, len(dataNames))
for _, dataName := range dataNames {
@@ -40,6 +43,7 @@ func init() {
zap.S().Panicf("unable to load data test: %v", err)
}
dataBBoxes[dataName] = bboxesToRectangles(bb, img.Cols(), img.Rows())
dataObjects[dataName] = bboxesToObjects(bb)
dataImages[dataName] = img
}
}
@@ -52,6 +56,20 @@ func bboxesToRectangles(bboxes []BBox, imgWidth, imgHeiht int) []image.Rectangle
return rects
}
func bboxesToObjects(bboxes []BBox) []*events.Object {
objects := make([]*events.Object, 0, len(bboxes))
for _, bb := range bboxes {
objects = append(objects, &events.Object{
Type: events.TypeObject_ANY,
Left: bb.Left,
Top: bb.Top,
Right: bb.Right,
Bottom: bb.Bottom,
Confidence: bb.Confidence,
})
}
return objects
}
func (bb *BBox) toRect(imgWidth, imgHeight int) image.Rectangle {
return image.Rect(
int(bb.Left*float32(imgWidth)),
@@ -228,3 +246,59 @@ func TestGroupBBoxes(t *testing.T) {
})
}
}
func TestGroupObjects(t *testing.T) {
type args struct {
dataName string
}
tests := []struct {
name string
args args
want []*events.Object
}{
{
name: "groupbbox-01",
args: args{
dataName: "01",
},
want: []*events.Object{
{Left: 0.26660156, Top: 0.1706543, Right: 0.5258789, Bottom: 0.47583008, Confidence: 0.4482422},
},
},
{
name: "groupbbox-02",
args: args{
dataName: "02",
},
want: []*events.Object{
{Left: 0.15625, Top: 0.108333334, Right: 0.6875, Bottom: 0.6666667, Confidence: -1},
},
},
{
name: "groupbbox-03",
args: args{
dataName: "03",
},
want: []*events.Object{
{Top: 0.14166667, Right: 0.21875, Bottom: 0.64166665, Confidence: -1},
},
},
{
name: "groupbbox-04",
args: args{
dataName: "04",
},
want: []*events.Object{
{Left: 0.80625, Top: 0.083333336, Right: 0.99375, Bottom: 0.53333336, Confidence: -1},
},
},
}
for _, tt := range tests {
t.Run(tt.name, func(t *testing.T) {
img := dataImages[tt.args.dataName]
got := GroupObjects(dataObjects[tt.args.dataName], img.Cols(), img.Rows())
if !reflect.DeepEqual(got, tt.want) {
t.Errorf("GroupObjects() = %v, want %v", got, tt.want)
}
})
}
}

185
pkg/steering/controller.go
View File

@@ -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 {
return &Controller{
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},
},
}
)
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: NewGridCorrector(),
}
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 {
if err := registerCallbacks(p); err != nil {
zap.S().Errorf("unable to rgeister callbacks: %v", err)
func (c *Controller) Start() error {
if err := registerCallbacks(c); err != nil {
zap.S().Errorf("unable to register callbacks: %v", err)
return err
}
p.cancel = make(chan interface{})
<-p.cancel
c.cancel = make(chan interface{})
<-c.cancel
return nil
}
func (p *Controller) Stop() {
close(p.cancel)
service.StopService("throttle", p.client, p.driveModeTopic, p.rcSteeringTopic, p.tfSteeringTopic)
func (c *Controller) Stop() {
close(c.cancel)
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 +109,13 @@ func (p *Controller) onObjects(_ mqtt.Client, message mqtt.Message) {
return
}
p.muObjects.Lock()
defer p.muObjects.Unlock()
p.objects = msg.GetObjects()
c.muObjects.Lock()
defer c.muObjects.Unlock()
c.objects = msg.GetObjects()
zap.S().Debugf("%v object(s) received", len(c.objects))
}
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 +123,89 @@ func (p *Controller) onDriveMode(_ mqtt.Client, message mqtt.Message) {
return
}
p.muDriveMode.Lock()
defer p.muDriveMode.Unlock()
p.driveMode = msg.GetDriveMode()
c.muDriveMode.Lock()
defer c.muDriveMode.Unlock()
c.driveMode = msg.GetDriveMode()
}
func (p *Controller) onRCSteering(_ mqtt.Client, message mqtt.Message) {
p.muDriveMode.RLock()
defer p.muDriveMode.RUnlock()
if p.debug {
var evt events.SteeringMessage
err := proto.Unmarshal(message.Payload(), &evt)
func (c *Controller) onRCSteering(_ mqtt.Client, message mqtt.Message) {
c.muDriveMode.RLock()
defer c.muDriveMode.RUnlock()
if c.driveMode != events.DriveMode_USER {
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)
} else {
zap.S().Debugf("receive steering message from radio command: %0.00f", evt.GetSteering())
zap.S().Errorf("unable to adjust steering, skip message: %v", err)
return
}
}
if p.driveMode == events.DriveMode_USER {
// Republish same content
payload := message.Payload()
publish(p.client, p.steeringTopic, &payload)
}
publish(c.client, c.steeringTopic, &payload)
}
func (p *Controller) onTFSteering(_ mqtt.Client, message mqtt.Message) {
p.muDriveMode.RLock()
defer p.muDriveMode.RUnlock()
if p.debug {
var evt events.SteeringMessage
err := proto.Unmarshal(message.Payload(), &evt)
func (c *Controller) onTFSteering(_ mqtt.Client, message mqtt.Message) {
c.muDriveMode.RLock()
defer c.muDriveMode.RUnlock()
if c.driveMode != events.DriveMode_PILOT {
// 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)
} else {
zap.S().Debugf("receive steering message from tensorflow: %0.00f", evt.GetSteering())
zap.S().Errorf("unable to adjust steering, skip message: %v", err)
return
}
}
if p.driveMode == events.DriveMode_PILOT {
// Republish same content
payload := message.Payload()
publish(p.client, p.steeringTopic, &payload)
publish(c.client, c.steeringTopic, &payload)
}
func (c *Controller) adjustSteering(evt *events.SteeringMessage) ([]byte, error) {
steering := float64(evt.GetSteering())
steering = c.corrector.AdjustFromObjectPosition(steering, c.Objects())
zap.S().Debugf("adjust steering to avoid objects: %v -> %v", evt.GetSteering(), steering)
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))
for _, o := range c.objects {
res = append(res, o)
}
zap.S().Debugf("copy object from %v to %v", c.objects, res)
return res
}
var registerCallbacks = func(p *Controller) error {

195
pkg/steering/controller_test.go
View File

@@ -123,3 +123,198 @@ func TestDefaultSteering(t *testing.T) {
}
}
}
type StaticCorrector struct {
delta float64
}
func (s *StaticCorrector) AdjustFromObjectPosition(currentSteering float64, objects []*events.Object) float64 {
return s.delta
}
func TestController_Start(t *testing.T) {
oldRegister := registerCallbacks
oldPublish := publish
defer func() {
registerCallbacks = oldRegister
publish = oldPublish
}()
registerCallbacks = func(p *Controller) error {
return nil
}
waitPublish := sync.WaitGroup{}
var muEventsPublished sync.Mutex
eventsPublished := make(map[string][]byte)
publish = func(client mqtt.Client, topic string, payload *[]byte) {
muEventsPublished.Lock()
defer muEventsPublished.Unlock()
eventsPublished[topic] = *payload
waitPublish.Done()
}
steeringTopic := "topic/steering"
driveModeTopic := "topic/driveMode"
rcSteeringTopic := "topic/rcSteering"
tfSteeringTopic := "topic/tfSteering"
objectsTopic := "topic/objects"
type fields struct {
driveMode events.DriveMode
enableCorrection bool
enableCorrectionOnUser bool
}
type msgEvents struct {
driveMode events.DriveModeMessage
rcSteering events.SteeringMessage
tfSteering events.SteeringMessage
expectedSteering events.SteeringMessage
objects events.ObjectsMessage
}
tests := []struct {
name string
fields fields
msgEvents msgEvents
correctionOnObject float64
want events.SteeringMessage
wantErr bool
}{
{
name: "On user drive mode, none correction",
fields: fields{
driveMode: events.DriveMode_USER,
enableCorrection: false,
enableCorrectionOnUser: false,
},
msgEvents: msgEvents{
driveMode: events.DriveModeMessage{DriveMode: events.DriveMode_USER},
rcSteering: events.SteeringMessage{Steering: 0.3, Confidence: 1.0},
tfSteering: events.SteeringMessage{Steering: 0.4, Confidence: 1.0},
objects: events.ObjectsMessage{Objects: []*events.Object{&objectOnMiddleNear}},
},
correctionOnObject: 0.5,
// Get rc value without correction
want: events.SteeringMessage{Steering: 0.3, Confidence: 1.0},
},
{
name: "On pilot drive mode, none correction",
fields: fields{
driveMode: events.DriveMode_PILOT,
enableCorrection: false,
enableCorrectionOnUser: false,
},
msgEvents: msgEvents{
driveMode: events.DriveModeMessage{DriveMode: events.DriveMode_PILOT},
rcSteering: events.SteeringMessage{Steering: 0.3, Confidence: 1.0},
tfSteering: events.SteeringMessage{Steering: 0.4, Confidence: 1.0},
objects: events.ObjectsMessage{Objects: []*events.Object{&objectOnMiddleNear}},
},
correctionOnObject: 0.5,
// Get rc value without correction
want: events.SteeringMessage{Steering: 0.4, Confidence: 1.0},
},
{
name: "On pilot drive mode, correction enabled",
fields: fields{
driveMode: events.DriveMode_PILOT,
enableCorrection: true,
enableCorrectionOnUser: false,
},
msgEvents: msgEvents{
driveMode: events.DriveModeMessage{DriveMode: events.DriveMode_PILOT},
rcSteering: events.SteeringMessage{Steering: 0.3, Confidence: 1.0},
tfSteering: events.SteeringMessage{Steering: 0.4, Confidence: 1.0},
objects: events.ObjectsMessage{Objects: []*events.Object{&objectOnMiddleNear}},
},
correctionOnObject: 0.5,
// Get rc value without correction
want: events.SteeringMessage{Steering: 0.5, Confidence: 1.0},
},
{
name: "On pilot drive mode, all corrections enabled",
fields: fields{
driveMode: events.DriveMode_PILOT,
enableCorrection: true,
enableCorrectionOnUser: true,
},
msgEvents: msgEvents{
driveMode: events.DriveModeMessage{DriveMode: events.DriveMode_PILOT},
rcSteering: events.SteeringMessage{Steering: 0.3, Confidence: 1.0},
tfSteering: events.SteeringMessage{Steering: 0.4, Confidence: 1.0},
objects: events.ObjectsMessage{Objects: []*events.Object{&objectOnMiddleNear}},
},
correctionOnObject: 0.5,
// Get rc value without correction
want: events.SteeringMessage{Steering: 0.5, Confidence: 1.0},
},
{
name: "On user drive mode, only correction PILOT enabled",
fields: fields{
driveMode: events.DriveMode_PILOT,
enableCorrection: true,
enableCorrectionOnUser: false,
},
msgEvents: msgEvents{
driveMode: events.DriveModeMessage{DriveMode: events.DriveMode_USER},
rcSteering: events.SteeringMessage{Steering: 0.3, Confidence: 1.0},
tfSteering: events.SteeringMessage{Steering: 0.4, Confidence: 1.0},
objects: events.ObjectsMessage{Objects: []*events.Object{&objectOnMiddleNear}},
},
correctionOnObject: 0.5,
// Get rc value without correction
want: events.SteeringMessage{Steering: 0.3, Confidence: 1.0},
},
{
name: "On user drive mode, all corrections enabled",
fields: fields{
driveMode: events.DriveMode_USER,
enableCorrection: true,
enableCorrectionOnUser: true,
},
msgEvents: msgEvents{
driveMode: events.DriveModeMessage{DriveMode: events.DriveMode_USER},
rcSteering: events.SteeringMessage{Steering: 0.3, Confidence: 1.0},
tfSteering: events.SteeringMessage{Steering: 0.4, Confidence: 1.0},
objects: events.ObjectsMessage{Objects: []*events.Object{&objectOnMiddleNear}},
},
correctionOnObject: 0.5,
// Get rc value without correction
want: events.SteeringMessage{Steering: 0.5, Confidence: 1.0},
},
}
for _, tt := range tests {
t.Run(tt.name, func(t *testing.T) {
c := NewController(nil,
steeringTopic, driveModeTopic, rcSteeringTopic, tfSteeringTopic, objectsTopic,
WithObjectsCorrectionEnabled(tt.fields.enableCorrection, tt.fields.enableCorrectionOnUser),
WithCorrector(&StaticCorrector{delta: tt.correctionOnObject}),
)
go c.Start()
time.Sleep(1 * time.Millisecond)
// Publish events and wait generation of new steering message
waitPublish.Add(1)
c.onDriveMode(nil, testtools.NewFakeMessageFromProtobuf(driveModeTopic, &tt.msgEvents.driveMode))
c.onRCSteering(nil, testtools.NewFakeMessageFromProtobuf(rcSteeringTopic, &tt.msgEvents.rcSteering))
c.onTFSteering(nil, testtools.NewFakeMessageFromProtobuf(tfSteeringTopic, &tt.msgEvents.tfSteering))
c.onObjects(nil, testtools.NewFakeMessageFromProtobuf(objectsTopic, &tt.msgEvents.objects))
waitPublish.Wait()
var msg events.SteeringMessage
muEventsPublished.Lock()
err := proto.Unmarshal(eventsPublished[steeringTopic], &msg)
if err != nil {
t.Errorf("unable to unmarshall response: %v", err)
t.Fail()
}
muEventsPublished.Unlock()
if msg.GetSteering() != tt.want.GetSteering() {
t.Errorf("bad msg value for mode %v: %v, wants %v", c.driveMode.String(), msg.GetSteering(), tt.want.GetSteering())
}
})
}
}

172
pkg/steering/corrector.go
View File

@@ -8,8 +8,90 @@ import (
"os"
)
type Corrector struct {
gridMap *GridMap
type Corrector interface {
AdjustFromObjectPosition(currentSteering float64, objects []*events.Object) float64
}
type OptionCorrector func(c *GridCorrector)
func WithGridMap(configPath string) OptionCorrector {
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 *GridCorrector) {
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 *GridCorrector) {
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 *GridCorrector) {
c.imgWidth = width
c.imgHeight = height
}
}
func WidthDeltaMiddle(d float64) OptionCorrector {
return func(c *GridCorrector) {
c.deltaMiddle = d
}
}
func NewGridCorrector(options ...OptionCorrector) *GridCorrector {
c := &GridCorrector{
gridMap: &defaultGridMap,
objectMoveFactors: &defaultObjectFactors,
deltaMiddle: 0.1,
imgWidth: 160,
imgHeight: 120,
}
for _, o := range options {
o(c)
}
return c
}
type GridCorrector struct {
gridMap *GridMap
objectMoveFactors *GridMap
deltaMiddle float64
imgWidth, imgHeight int
}
/*
@@ -39,45 +121,81 @@ AdjustFromObjectPosition modify steering value according object positions
3. If current steering != 0 (turn on left or right), shift right and left values proportionnaly to current steering and
apply 2.
*/
func (c *Corrector) AdjustFromObjectPosition(currentSteering float64, objects []*events.Object) float64 {
// TODO, group rectangle
: -1 -0.66 -0.33 0 0.33 0.66 1
0% |-----|-----|-----|-----|-----|-----|
: | 0 | 0 | 0 | 0 | 0 | 0 |
20% |-----|-----|-----|-----|-----|-----|
: | 0.2 | 0.1 | 0 | 0 |-0.1 |-0.2 |
40% |-----|-----|-----|-----|-----|-----|
: | ... | ... | ... | ... | ... | ... |
*/
func (c *GridCorrector) AdjustFromObjectPosition(currentSteering float64, objects []*events.Object) float64 {
zap.S().Debugf("%v objects to avoid", len(objects))
if len(objects) == 0 {
return currentSteering
}
grpObjs := GroupObjects(objects, c.imgWidth, c.imgHeight)
// get nearest object
nearest, err := c.nearObject(objects)
nearest, err := c.nearObject(grpObjs)
if err != nil {
zap.S().Warnf("unexpected error on nearest seach object, ignore objects: %v", err)
zap.S().Warnf("unexpected error on nearest search object, ignore objects: %v", err)
return currentSteering
}
if currentSteering > -0.1 && currentSteering < 0.1 {
var delta float64
if nearest.Left < 0 && nearest.Right < 0 {
delta, err = c.gridMap.ValueOf(float64(nearest.Right)*2-1., float64(nearest.Bottom))
}
if nearest.Left > 0 && nearest.Right > 0 {
delta, err = c.gridMap.ValueOf(float64(nearest.Left)*2-1., float64(nearest.Bottom))
} else {
delta, err = c.gridMap.ValueOf(float64(float64(nearest.Left)+(float64(nearest.Right)-float64(nearest.Left))/2.)*2.-1., float64(nearest.Bottom))
}
if currentSteering > -1*c.deltaMiddle && currentSteering < c.deltaMiddle {
// Straight
return currentSteering + c.computeDeviation(nearest)
} else {
// Turn to right or left, so search to avoid collision with objects on the right
// Apply factor to object to move it at middle. This factor is function of distance
factor, err := c.objectMoveFactors.ValueOf(float64(nearest.Right), float64(nearest.Bottom))
if err != nil {
zap.S().Warnf("unable to compute delta to apply to steering, skip correction: %v", err)
delta = 0
zap.S().Warnf("unable to compute factor to apply to object: %v", err)
return currentSteering
}
return currentSteering + delta
objMoved := events.Object{
Type: nearest.Type,
Left: nearest.Left + float32(currentSteering*factor),
Top: nearest.Top,
Right: nearest.Right + float32(currentSteering*factor),
Bottom: nearest.Bottom,
Confidence: nearest.Confidence,
}
result := currentSteering + c.computeDeviation(&objMoved)
if result < -1. {
result = -1.
}
if result > 1. {
result = 1.
}
return result
}
// Search if current steering is near of Right or Left
return currentSteering
}
func (c *Corrector) nearObject(objects []*events.Object) (*events.Object, error) {
func (c *GridCorrector) computeDeviation(nearest *events.Object) float64 {
var delta float64
var err error
zap.S().Debugf("search delta value for bottom limit: %v", nearest.Bottom)
if nearest.Left < 0 && nearest.Right < 0 {
delta, err = c.gridMap.ValueOf(float64(nearest.Right)*2-1., float64(nearest.Bottom))
}
if nearest.Left > 0 && nearest.Right > 0 {
delta, err = c.gridMap.ValueOf(float64(nearest.Left)*2-1., float64(nearest.Bottom))
} else {
delta, err = c.gridMap.ValueOf(float64(float64(nearest.Left)+(float64(nearest.Right)-float64(nearest.Left))/2.)*2.-1., float64(nearest.Bottom))
}
if err != nil {
zap.S().Warnf("unable to compute delta to apply to steering, skip correction: %v", err)
delta = 0
}
zap.S().Debugf("new deviation computed: %v", delta)
return delta
}
func (c *GridCorrector) nearObject(objects []*events.Object) (*events.Object, error) {
if len(objects) == 0 {
return nil, fmt.Errorf("list objects must contain at least one object")
}

120
pkg/steering/corrector_test.go
View File

@@ -39,19 +39,21 @@ var (
Bottom: 0.9,
Confidence: 0.9,
}
)
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},
},
objectOnRightNear = events.Object{
Type: events.TypeObject_ANY,
Left: 0.7,
Top: 0.8,
Right: 0.9,
Bottom: 0.9,
Confidence: 0.9,
}
objectOnLeftNear = events.Object{
Type: events.TypeObject_ANY,
Left: 0.1,
Top: 0.8,
Right: 0.3,
Bottom: 0.9,
Confidence: 0.9,
}
)
@@ -128,7 +130,7 @@ func TestCorrector_AdjustFromObjectPosition(t *testing.T) {
currentSteering: -0.9,
objects: []*events.Object{&objectOnMiddleNear},
},
want: -0.4,
want: -1,
},
{
name: "run to right with 1 near object",
@@ -136,16 +138,28 @@ func TestCorrector_AdjustFromObjectPosition(t *testing.T) {
currentSteering: 0.9,
objects: []*events.Object{&objectOnMiddleNear},
},
want: 0.4,
want: 1.,
},
{
name: "run to right with 1 near object on the right",
args: args{
currentSteering: 0.9,
objects: []*events.Object{&objectOnRightNear},
},
want: 1.,
},
{
name: "run to left with 1 near object on the left",
args: args{
currentSteering: -0.9,
objects: []*events.Object{&objectOnLeftNear},
},
want: -0.65,
},
// Todo Object on left/right near/distant
}
for _, tt := range tests {
t.Run(tt.name, func(t *testing.T) {
c := &Corrector{
gridMap: &defaultGridMap,
}
c := NewGridCorrector()
if got := c.AdjustFromObjectPosition(tt.args.currentSteering, tt.args.objects); got != tt.want {
t.Errorf("AdjustFromObjectPosition() = %v, want %v", got, tt.want)
}
@@ -190,7 +204,7 @@ func TestCorrector_nearObject(t *testing.T) {
}
for _, tt := range tests {
t.Run(tt.name, func(t *testing.T) {
c := &Corrector{}
c := &GridCorrector{}
got, err := c.nearObject(tt.args.objects)
if (err != nil) != tt.wantErr {
t.Errorf("nearObject() error = %v, wantErr %v", err, tt.wantErr)
@@ -399,3 +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 := GridCorrector{}
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 := GridCorrector{}
got := WithObjectMoveFactors(tt.args.config)
got(&c)
if !reflect.DeepEqual(*c.objectMoveFactors, tt.want) {
t.Errorf("WithObjectMoveFactors() = %v, want %v", *c.objectMoveFactors, tt.want)
}
})
}
}

11
pkg/steering/test_data/omf-config.json Normal file
View File

@@ -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]
]
}