fix objects copy

.gitignore

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

Dockerfile

@@ -1,4 +1,4 @@
-FROM --platform=$BUILDPLATFORM golang:1.17-alpine AS builder
+FROM --platform=$BUILDPLATFORM golang:1.19-alpine AS builder
 
 ARG TARGETPLATFORM
 ARG BUILDPLATFORM

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"
+
+
+  buildah config --env PKG_CONFIG_PATH=/usr/local/lib/pkgconfig:/usr/local/lib64/pkgconfig "${containerName}"
+  buildah config --workingdir /src/ "${containerName}"
+
+  buildah add "${containerName}" . .
+
+  for platform in "linux/amd64" "linux/arm64" "linux/arm/v7"
+  do
+
+    GOOS=$(echo "$platform" | cut -f1 -d/) && \
+    GOARCH=$(echo "$platform" | cut -f2 -d/) && \
+    GOARM=$(echo "$platform" | cut -f3 -d/ | sed "s/v//" )
+
+    case $GOARCH in
+      "amd64")
+        ARCH=amd64
+        ARCH_LIB_DIR=/usr/lib/x86_64-linux-gnu
+        EXTRA_LIBS=""
+        CC=gcc
+        CXX=g++
+      ;;
+      "arm64")
+        ARCH=arm64
+        ARCH_LIB_DIR=/usr/lib/aarch64-linux-gnu
+        EXTRA_LIBS="-ltbb"
+        CC=aarch64-linux-gnu-gcc
+        CXX=aarch64-linux-gnu-g++
+      ;;
+      "arm")
+        ARCH=armhf
+        ARCH_LIB_DIR=/usr/lib/arm-linux-gnueabihf
+        EXTRA_LIBS="-ltbb"
+        CC=arm-linux-gnueabihf-gcc
+        CXX=arm-linux-gnueabihf-g++
+      ;;
+    esac
+
+    printf "Build binary for %s\n\n" "${platform}"
+
+    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
 
-  local binary_suffix="$GOARCH$(echo $platform | cut -f3 -d/ )"
+    if [[ "${GOARCH}" == "arm" ]]
+    then
+      BINARY="${BINARY_NAME}.armhf"
+    else
+      BINARY="${BINARY_NAME}.${GOARCH}"
+    fi
 
-  local containerName="$IMAGE_NAME-$GOARCH$GOARM"
+    buildah from --name "${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}
 
-  printf "\n\nBuild go binary %s\n\n" "${BINARY}.${binary_suffix}"
+    buildah config --label maintainer="Cyrille Nofficial" "${containerName}"
-  mkdir -p build
-  CGO_ENABLED=0 GOOS=${GOOS} GOARCH=${GOARCH} GOARM=${GOARM} go build -mod vendor -a ${GOTAGS} -o "build/${BINARY}.${binary_suffix}" ./cmd/${BINARY}/
-
-  buildah --os "$GOOS" --arch "$GOARCH" $VARIANT  --name "$containerName" from gcr.io/distroless/static
     buildah config --user 1234 "$containerName"
-  buildah copy "$containerName" "build/${BINARY}.${binary_suffix}" /go/bin/$BINARY
+    buildah config --cmd '' "$containerName"
-  buildah config --entrypoint '["/go/bin/'$BINARY'"]' "${containerName}"
+    buildah config --entrypoint '[ "/usr/local/bin/'${BINARY_NAME}'" ]' "$containerName"
 
-  buildah commit --rm --manifest $IMAGE_NAME "${containerName}" "${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

cmd/rc-steering/rc-steering.go

@@ -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)

go.mod

@@ -1,6 +1,6 @@
 module github.com/cyrilix/robocar-steering
 
-go 1.18
+go 1.19
 
 require (
 	github.com/cyrilix/robocar-base v0.1.7

go.sum

@@ -2,8 +2,6 @@ github.com/benbjohnson/clock v1.1.0 h1:Q92kusRqC1XV2MjkWETPvjJVqKetz1OzxZB7mHJLj
 github.com/benbjohnson/clock v1.1.0/go.mod h1:J11/hYXuz8f4ySSvYwY0FKfm+ezbsZBKZxNJlLklBHA=
 github.com/cyrilix/robocar-base v0.1.7 h1:EVzZ0KjigSFpke5f3A/PybEH3WFUEIrYSc3z/dhOZ48=
 github.com/cyrilix/robocar-base v0.1.7/go.mod h1:4E11HQSNy2NT8e7MW188y6ST9C0RzarKyn7sK/3V/Lk=
-github.com/cyrilix/robocar-protobuf/go v1.0.5 h1:PX1At+pf6G7gJwT4LzJLQu3/LPFTTNNlZmZSYtnSELY=
-github.com/cyrilix/robocar-protobuf/go v1.0.5/go.mod h1:Y3AE28K5V7EZxMXp/6A8RhkRz15VOfFy4CjST35FbtQ=
 github.com/cyrilix/robocar-protobuf/go v1.1.0 h1:txIjGnnCF3UzedpsWu+sL7nMA+pNjSnX6HZlAmuReH4=
 github.com/cyrilix/robocar-protobuf/go v1.1.0/go.mod h1:Y3AE28K5V7EZxMXp/6A8RhkRz15VOfFy4CjST35FbtQ=
 github.com/davecgh/go-spew v1.1.0/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=

pkg/steering/bbox.go

@@ -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,
+	}
+}

pkg/steering/bbox_test.go

@@ -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"
@@ -25,6 +26,7 @@ type BBox struct {
 
 var (
 	dataBBoxes  map[string][]image.Rectangle
+	dataObjects map[string][]*events.Object
 	dataImages  map[string]*gocv.Mat
 )
 
@@ -32,6 +34,7 @@ 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)
+			}
+		})
+	}
+}

pkg/steering/controller.go

@@ -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 {
+var (
-	return &Controller{
+	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 {
+func (c *Controller) Start() error {
-	if err := registerCallbacks(p); err != nil {
+	if err := registerCallbacks(c); err != nil {
-		zap.S().Errorf("unable to rgeister callbacks: %v", err)
+		zap.S().Errorf("unable to register callbacks: %v", err)
 		return err
 	}
 
-	p.cancel = make(chan interface{})
+	c.cancel = make(chan interface{})
-	<-p.cancel
+	<-c.cancel
 	return nil
 }
 
-func (p *Controller) Stop() {
+func (c *Controller) Stop() {
-	close(p.cancel)
+	close(c.cancel)
-	service.StopService("throttle", p.client, p.driveModeTopic, p.rcSteeringTopic, p.tfSteeringTopic)
+	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()
+	c.muObjects.Lock()
-	defer p.muObjects.Unlock()
+	defer c.muObjects.Unlock()
-	p.objects = msg.GetObjects()
+	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()
+	c.muDriveMode.Lock()
-	defer p.muDriveMode.Unlock()
+	defer c.muDriveMode.Unlock()
-	p.driveMode = msg.GetDriveMode()
+	c.driveMode = msg.GetDriveMode()
 }
 
-func (p *Controller) onRCSteering(_ mqtt.Client, message mqtt.Message) {
+func (c *Controller) onRCSteering(_ mqtt.Client, message mqtt.Message) {
-	p.muDriveMode.RLock()
+	c.muDriveMode.RLock()
-	defer p.muDriveMode.RUnlock()
+	defer c.muDriveMode.RUnlock()
-	if p.debug {
+
-		var evt events.SteeringMessage
+	if c.driveMode != events.DriveMode_USER {
-		err := proto.Unmarshal(message.Payload(), &evt)
+		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 p.driveMode == events.DriveMode_USER {
+	if c.enableCorrection && c.enableCorrectionOnUser {
-		// Republish same content
+		payload, err = c.adjustSteering(evt)
-		payload := message.Payload()
-		publish(p.client, p.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)
 		if err != nil {
-			zap.S().Debugf("unable to unmarshal tensorflow event: %v", err)
+			zap.S().Errorf("unable to adjust steering, skip message: %v", err)
+			return
+		}
+	}
+	publish(c.client, c.steeringTopic, &payload)
+}
+
+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())
 	}
-	}
+
-	if p.driveMode == events.DriveMode_PILOT {
-		// Republish same content
 	payload := message.Payload()
-		publish(p.client, p.steeringTopic, &payload)
+	if c.enableCorrection {
+		payload, err = c.adjustSteering(evt)
+		if err != nil {
+			zap.S().Errorf("unable to adjust steering, skip message: %v", err)
+			return
 		}
+	}
+
+	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 {

pkg/steering/controller_test.go

@@ -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())
+			}
+
+		})
+	}
+}

pkg/steering/corrector.go

@@ -8,8 +8,90 @@ import (
 	"os"
 )
 
-type Corrector struct {
+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
 }
 
 /*
@@ -39,24 +121,64 @@ 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 {
+	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 factor to apply to object: %v", err)
+			return currentSteering
+		}
+		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
+	}
+}
 
+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))
 	}
@@ -69,15 +191,11 @@ func (c *Corrector) AdjustFromObjectPosition(currentSteering float64, objects []
 		zap.S().Warnf("unable to compute delta to apply to steering, skip correction: %v", err)
 		delta = 0
 	}
-		return currentSteering + delta
+	zap.S().Debugf("new deviation computed: %v", delta)
-	}
+	return delta
-
-	// 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) nearObject(objects []*events.Object) (*events.Object, error) {
 	if len(objects) == 0 {
 		return nil, fmt.Errorf("list objects must contain at least one object")
 	}

pkg/steering/corrector_test.go

@@ -39,19 +39,21 @@ var (
 		Bottom:     0.9,
 		Confidence: 0.9,
 	}
-)
+	objectOnRightNear = events.Object{
-
+		Type:       events.TypeObject_ANY,
-var (
+		Left:       0.7,
-	defaultGridMap = GridMap{
+		Top:        0.8,
-		DistanceSteps: []float64{0., 0.2, 0.4, 0.6, 0.8, 1.},
+		Right:      0.9,
-		SteeringSteps: []float64{-1., -0.66, -0.33, 0., 0.33, 0.66, 1.},
+		Bottom:     0.9,
-		Data: [][]float64{
+		Confidence: 0.9,
-			{0., 0., 0., 0., 0., 0.},
+	}
-			{0., 0., 0., 0., 0., 0.},
+	objectOnLeftNear = events.Object{
-			{0., 0., 0.25, -0.25, 0., 0.},
+		Type:       events.TypeObject_ANY,
-			{0., 0.25, 0.5, -0.5, -0.25, 0.},
+		Left:       0.1,
-			{0.25, 0.5, 1, -1, -0.5, -0.25},
+		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{
+			c := NewGridCorrector()
-				gridMap: &defaultGridMap,
-			}
 			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)
+			}
+		})
+	}
+}

pkg/steering/test_data/omf-config.json

@@ -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]
+  ]
+}