chore: update gitignore

.gitignore

@@ -284,3 +284,5 @@ local.properties
 
 ./build/
 
+pkg/steering/test_result/
+

build-docker.sh

@@ -1,50 +1,134 @@
 #! /bin/bash
 
 IMAGE_NAME=robocar-steering
+BINARY_NAME=rc-steering
 TAG=$(git describe)
 FULL_IMAGE_NAME=docker.io/cyrilix/${IMAGE_NAME}:${TAG}
-BINARY=rc-steering
+OPENCV_VERSION=4.6.0
-
+SRC_CMD=./cmd/$BINARY_NAME
-GOTAGS="-tags netgo"
+GOLANG_VERSION=1.19
 
 image_build(){
-  local platform=$1
+  local containerName=builder
+
+  GOPATH=/go
+
+  buildah from --name ${containerName} docker.io/cyrilix/opencv-buildstage:${OPENCV_VERSION}
+  buildah config --label maintainer="Cyrille Nofficial" "${containerName}"
+
+  buildah copy --from=docker.io/library/golang:${GOLANG_VERSION} "${containerName}" /usr/local/go /usr/local/go
+  buildah config --env GOPATH=/go \
+                 --env PATH=/usr/local/go/bin:$GOPATH/bin:/usr/local/go/bin:/usr/bin:/bin \
+                 "${containerName}"
+
+  buildah run \
+    --env GOPATH=${GOPATH} \
+    "${containerName}" \
+    mkdir -p /src "$GOPATH/src" "$GOPATH/bin"
+
+  buildah run \
+    --env GOPATH=${GOPATH} \
+    "${containerName}" \
+    chmod -R 777 "$GOPATH"
 
 
-  GOOS=$(echo $platform | cut -f1 -d/) && \
+  buildah config --env PKG_CONFIG_PATH=/usr/local/lib/pkgconfig:/usr/local/lib64/pkgconfig "${containerName}"
-  GOARCH=$(echo $platform | cut -f2 -d/) && \
+  buildah config --workingdir /src/ "${containerName}"
-  GOARM=$(echo $platform | cut -f3 -d/ | sed "s/v//" )
-  VARIANT="--variant $(echo $platform | cut -f3 -d/  )"
-  if [[ -z "$GOARM" ]] ;
-  then
-  VARIANT=""
-  fi
 
-  local binary_suffix="$GOARCH$(echo $platform | cut -f3 -d/ )"
+  buildah add "${containerName}" . .
 
-  local containerName="$IMAGE_NAME-$GOARCH$GOARM"
+  for platform in "linux/amd64" "linux/arm64" "linux/arm/v7"
+  do
 
+    GOOS=$(echo "$platform" | cut -f1 -d/) && \
+    GOARCH=$(echo "$platform" | cut -f2 -d/) && \
+    GOARM=$(echo "$platform" | cut -f3 -d/ | sed "s/v//" )
 
-  printf "\n\nBuild go binary %s\n\n" "${BINARY}.${binary_suffix}"
+    case $GOARCH in
-  mkdir -p build
+      "amd64")
-  CGO_ENABLED=0 GOOS=${GOOS} GOARCH=${GOARCH} GOARM=${GOARM} go build -mod vendor -a ${GOTAGS} -o "build/${BINARY}.${binary_suffix}" ./cmd/${BINARY}/
+        ARCH=amd64
+        ARCH_LIB_DIR=/usr/lib/x86_64-linux-gnu
+        EXTRA_LIBS=""
+        CC=gcc
+        CXX=g++
+      ;;
+      "arm64")
+        ARCH=arm64
+        ARCH_LIB_DIR=/usr/lib/aarch64-linux-gnu
+        EXTRA_LIBS="-ltbb"
+        CC=aarch64-linux-gnu-gcc
+        CXX=aarch64-linux-gnu-g++
+      ;;
+      "arm")
+        ARCH=armhf
+        ARCH_LIB_DIR=/usr/lib/arm-linux-gnueabihf
+        EXTRA_LIBS="-ltbb"
+        CC=arm-linux-gnueabihf-gcc
+        CXX=arm-linux-gnueabihf-g++
+      ;;
+    esac
 
-  buildah --os "$GOOS" --arch "$GOARCH" $VARIANT  --name "$containerName" from gcr.io/distroless/static
+    printf "Build binary for %s\n\n" "${platform}"
-  buildah config --user 1234 "$containerName"
-  buildah copy "$containerName" "build/${BINARY}.${binary_suffix}" /go/bin/$BINARY
-  buildah config --entrypoint '["/go/bin/'$BINARY'"]' "${containerName}"
 
-  buildah commit --rm --manifest $IMAGE_NAME "${containerName}" "${containerName}"
+    buildah run \
+      --env CGO_ENABLED=1 \
+      --env CC=${CC} \
+      --env CXX=${CXX} \
+      --env GOOS=${GOOS} \
+      --env GOARCH=${GOARCH} \
+      --env GOARM=${GOARM} \
+      --env CGO_CPPFLAGS="-I/opt/opencv/${ARCH}/include/opencv4/" \
+      --env CGO_LDFLAGS="-L/opt/opencv/${ARCH}/lib -L${ARCH_LIB_DIR} ${EXTRA_LIBS} -lopencv_core -lopencv_face -lopencv_videoio -lopencv_imgproc -lopencv_highgui -lopencv_imgcodecs -lopencv_objdetect -lopencv_features2d -lopencv_video -lopencv_dnn -lopencv_xfeatures2d -lopencv_calib3d -lopencv_photo -lopencv_flann" \
+      --env CGO_CXXFLAGS="--std=c++1z" \
+      "${containerName}" \
+      go build  -tags customenv -a -o ${BINARY_NAME}.${ARCH} ${SRC_CMD}
+
+  done
+  buildah commit --rm ${containerName} ${IMAGE_NAME}-builder
+}
+
+image_final(){
+  local containerName=runtime
+
+  for platform in "linux/amd64" "linux/arm64" "linux/arm/v7"
+  do
+
+    GOOS=$(echo $platform | cut -f1 -d/) && \
+    GOARCH=$(echo $platform | cut -f2 -d/) && \
+    GOARM=$(echo $platform | cut -f3 -d/ | sed "s/v//" )
+    VARIANT="--variant $(echo $platform | cut -f3 -d/  )"
+
+    if [[ -z "$GOARM" ]] ;
+    then
+      VARIANT=""
+    fi
+
+    if [[ "${GOARCH}" == "arm" ]]
+    then
+      BINARY="${BINARY_NAME}.armhf"
+    else
+      BINARY="${BINARY_NAME}.${GOARCH}"
+    fi
+
+    buildah from --name "${containerName}" --os "${GOOS}" --arch "${GOARCH}" ${VARIANT} docker.io/cyrilix/opencv-runtime:${OPENCV_VERSION}
+
+    buildah copy --from ${IMAGE_NAME}-builder  "$containerName" "/src/${BINARY}" /usr/local/bin/${BINARY_NAME}
+
+    buildah config --label maintainer="Cyrille Nofficial" "${containerName}"
+    buildah config --user 1234 "$containerName"
+    buildah config --cmd '' "$containerName"
+    buildah config --entrypoint '[ "/usr/local/bin/'${BINARY_NAME}'" ]' "$containerName"
+
+    buildah commit --rm --manifest ${IMAGE_NAME} ${containerName}
+  done
 }
 
 buildah rmi localhost/$IMAGE_NAME
 buildah manifest rm localhost/${IMAGE_NAME}
 
-image_build linux/amd64
+image_build
-image_build linux/arm64
-image_build linux/arm/v7
-
 
 # push image
+image_final
 printf "\n\nPush manifest to %s\n\n" ${FULL_IMAGE_NAME}
 buildah manifest push --rm -f v2s2 "localhost/$IMAGE_NAME" "docker://$FULL_IMAGE_NAME" --all

pkg/steering/controller_test.go

@@ -160,18 +160,7 @@ func TestController_Start(t *testing.T) {
 	objectsTopic := "topic/objects"
 
 	type fields struct {
-		client                 mqtt.Client
-		steeringTopic          string
-		muDriveMode            sync.RWMutex
 		driveMode              events.DriveMode
-		cancel                 chan interface{}
-		driveModeTopic         string
-		rcSteeringTopic        string
-		tfSteeringTopic        string
-		objectsTopic           string
-		muObjects              sync.RWMutex
-		objects                []*events.Object
-		corrector              *GridCorrector
 		enableCorrection       bool
 		enableCorrectionOnUser bool
 	}
@@ -193,9 +182,10 @@ func TestController_Start(t *testing.T) {
 	}{
 		{
 			name: "On user drive mode, none correction",
-
 			fields: fields{
-				driveMode: events.DriveMode_USER,
+				driveMode:              events.DriveMode_USER,
+				enableCorrection:       false,
+				enableCorrectionOnUser: false,
 			},
 			msgEvents: msgEvents{
 				driveMode:  events.DriveModeMessage{DriveMode: events.DriveMode_USER},
@@ -207,6 +197,91 @@ func TestController_Start(t *testing.T) {
 			// 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 {
@@ -217,7 +292,7 @@ func TestController_Start(t *testing.T) {
 				WithCorrector(&StaticCorrector{delta: tt.correctionOnObject}),
 			)
 			go c.Start()
-			defer c.Stop()
+			time.Sleep(1 * time.Millisecond)
 
 			// Publish events and wait generation of new steering message
 			waitPublish.Add(1)