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No commits in common. "f1261819f619fa6ed8cdbaf8aa5b7a9aaf08f03f" and "25bea1aab318c9cbcef7e82a313152a5fe4b694e" have entirely different histories.
f1261819f6
...
25bea1aab3
2
.gitignore
vendored
2
.gitignore
vendored
@ -284,5 +284,3 @@ local.properties
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./build/
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pkg/steering/test_result/
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120
build-docker.sh
120
build-docker.sh
@ -1,134 +1,50 @@
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#! /bin/bash
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IMAGE_NAME=robocar-steering
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BINARY_NAME=rc-steering
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TAG=$(git describe)
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FULL_IMAGE_NAME=docker.io/cyrilix/${IMAGE_NAME}:${TAG}
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OPENCV_VERSION=4.6.0
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SRC_CMD=./cmd/$BINARY_NAME
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GOLANG_VERSION=1.19
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BINARY=rc-steering
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GOTAGS="-tags netgo"
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image_build(){
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local containerName=builder
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local platform=$1
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GOPATH=/go
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buildah from --name ${containerName} docker.io/cyrilix/opencv-buildstage:${OPENCV_VERSION}
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buildah config --label maintainer="Cyrille Nofficial" "${containerName}"
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buildah copy --from=docker.io/library/golang:${GOLANG_VERSION} "${containerName}" /usr/local/go /usr/local/go
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buildah config --env GOPATH=/go \
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--env PATH=/usr/local/go/bin:$GOPATH/bin:/usr/local/go/bin:/usr/bin:/bin \
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"${containerName}"
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buildah run \
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--env GOPATH=${GOPATH} \
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"${containerName}" \
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mkdir -p /src "$GOPATH/src" "$GOPATH/bin"
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buildah run \
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--env GOPATH=${GOPATH} \
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"${containerName}" \
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chmod -R 777 "$GOPATH"
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buildah config --env PKG_CONFIG_PATH=/usr/local/lib/pkgconfig:/usr/local/lib64/pkgconfig "${containerName}"
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buildah config --workingdir /src/ "${containerName}"
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buildah add "${containerName}" . .
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for platform in "linux/amd64" "linux/arm64" "linux/arm/v7"
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do
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GOOS=$(echo "$platform" | cut -f1 -d/) && \
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GOARCH=$(echo "$platform" | cut -f2 -d/) && \
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GOARM=$(echo "$platform" | cut -f3 -d/ | sed "s/v//" )
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case $GOARCH in
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"amd64")
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ARCH=amd64
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ARCH_LIB_DIR=/usr/lib/x86_64-linux-gnu
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EXTRA_LIBS=""
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CC=gcc
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CXX=g++
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;;
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"arm64")
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ARCH=arm64
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ARCH_LIB_DIR=/usr/lib/aarch64-linux-gnu
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EXTRA_LIBS="-ltbb"
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CC=aarch64-linux-gnu-gcc
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CXX=aarch64-linux-gnu-g++
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;;
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"arm")
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ARCH=armhf
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ARCH_LIB_DIR=/usr/lib/arm-linux-gnueabihf
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EXTRA_LIBS="-ltbb"
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CC=arm-linux-gnueabihf-gcc
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CXX=arm-linux-gnueabihf-g++
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;;
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esac
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printf "Build binary for %s\n\n" "${platform}"
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buildah run \
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--env CGO_ENABLED=1 \
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--env CC=${CC} \
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--env CXX=${CXX} \
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--env GOOS=${GOOS} \
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--env GOARCH=${GOARCH} \
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--env GOARM=${GOARM} \
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--env CGO_CPPFLAGS="-I/opt/opencv/${ARCH}/include/opencv4/" \
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--env CGO_LDFLAGS="-L/opt/opencv/${ARCH}/lib -L${ARCH_LIB_DIR} ${EXTRA_LIBS} -lopencv_core -lopencv_face -lopencv_videoio -lopencv_imgproc -lopencv_highgui -lopencv_imgcodecs -lopencv_objdetect -lopencv_features2d -lopencv_video -lopencv_dnn -lopencv_xfeatures2d -lopencv_calib3d -lopencv_photo -lopencv_flann" \
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--env CGO_CXXFLAGS="--std=c++1z" \
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"${containerName}" \
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go build -tags customenv -a -o ${BINARY_NAME}.${ARCH} ${SRC_CMD}
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done
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buildah commit --rm ${containerName} ${IMAGE_NAME}-builder
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}
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image_final(){
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local containerName=runtime
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for platform in "linux/amd64" "linux/arm64" "linux/arm/v7"
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do
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GOOS=$(echo $platform | cut -f1 -d/) && \
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GOARCH=$(echo $platform | cut -f2 -d/) && \
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GOARM=$(echo $platform | cut -f3 -d/ | sed "s/v//" )
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VARIANT="--variant $(echo $platform | cut -f3 -d/ )"
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if [[ -z "$GOARM" ]] ;
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then
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VARIANT=""
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fi
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if [[ "${GOARCH}" == "arm" ]]
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then
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BINARY="${BINARY_NAME}.armhf"
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else
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BINARY="${BINARY_NAME}.${GOARCH}"
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fi
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local binary_suffix="$GOARCH$(echo $platform | cut -f3 -d/ )"
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buildah from --name "${containerName}" --os "${GOOS}" --arch "${GOARCH}" ${VARIANT} docker.io/cyrilix/opencv-runtime:${OPENCV_VERSION}
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local containerName="$IMAGE_NAME-$GOARCH$GOARM"
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buildah copy --from ${IMAGE_NAME}-builder "$containerName" "/src/${BINARY}" /usr/local/bin/${BINARY_NAME}
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buildah config --label maintainer="Cyrille Nofficial" "${containerName}"
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printf "\n\nBuild go binary %s\n\n" "${BINARY}.${binary_suffix}"
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mkdir -p build
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CGO_ENABLED=0 GOOS=${GOOS} GOARCH=${GOARCH} GOARM=${GOARM} go build -mod vendor -a ${GOTAGS} -o "build/${BINARY}.${binary_suffix}" ./cmd/${BINARY}/
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buildah --os "$GOOS" --arch "$GOARCH" $VARIANT --name "$containerName" from gcr.io/distroless/static
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buildah config --user 1234 "$containerName"
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buildah config --cmd '' "$containerName"
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buildah config --entrypoint '[ "/usr/local/bin/'${BINARY_NAME}'" ]' "$containerName"
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buildah copy "$containerName" "build/${BINARY}.${binary_suffix}" /go/bin/$BINARY
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buildah config --entrypoint '["/go/bin/'$BINARY'"]' "${containerName}"
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buildah commit --rm --manifest ${IMAGE_NAME} ${containerName}
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done
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buildah commit --rm --manifest $IMAGE_NAME "${containerName}" "${containerName}"
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}
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buildah rmi localhost/$IMAGE_NAME
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buildah manifest rm localhost/${IMAGE_NAME}
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image_build
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image_build linux/amd64
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image_build linux/arm64
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image_build linux/arm/v7
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# push image
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image_final
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printf "\n\nPush manifest to %s\n\n" ${FULL_IMAGE_NAME}
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buildah manifest push --rm -f v2s2 "localhost/$IMAGE_NAME" "docker://$FULL_IMAGE_NAME" --all
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@ -160,7 +160,18 @@ func TestController_Start(t *testing.T) {
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objectsTopic := "topic/objects"
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type fields struct {
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client mqtt.Client
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steeringTopic string
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muDriveMode sync.RWMutex
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driveMode events.DriveMode
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cancel chan interface{}
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driveModeTopic string
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rcSteeringTopic string
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tfSteeringTopic string
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objectsTopic string
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muObjects sync.RWMutex
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objects []*events.Object
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corrector *GridCorrector
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enableCorrection bool
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enableCorrectionOnUser bool
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}
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@ -182,10 +193,9 @@ func TestController_Start(t *testing.T) {
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}{
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{
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name: "On user drive mode, none correction",
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fields: fields{
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driveMode: events.DriveMode_USER,
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enableCorrection: false,
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enableCorrectionOnUser: false,
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},
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msgEvents: msgEvents{
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driveMode: events.DriveModeMessage{DriveMode: events.DriveMode_USER},
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@ -197,91 +207,6 @@ func TestController_Start(t *testing.T) {
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// Get rc value without correction
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want: events.SteeringMessage{Steering: 0.3, Confidence: 1.0},
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},
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{
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name: "On pilot drive mode, none correction",
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fields: fields{
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driveMode: events.DriveMode_PILOT,
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enableCorrection: false,
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enableCorrectionOnUser: false,
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},
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msgEvents: msgEvents{
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driveMode: events.DriveModeMessage{DriveMode: events.DriveMode_PILOT},
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rcSteering: events.SteeringMessage{Steering: 0.3, Confidence: 1.0},
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tfSteering: events.SteeringMessage{Steering: 0.4, Confidence: 1.0},
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objects: events.ObjectsMessage{Objects: []*events.Object{&objectOnMiddleNear}},
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},
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correctionOnObject: 0.5,
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// Get rc value without correction
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want: events.SteeringMessage{Steering: 0.4, Confidence: 1.0},
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},
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{
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name: "On pilot drive mode, correction enabled",
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fields: fields{
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driveMode: events.DriveMode_PILOT,
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enableCorrection: true,
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enableCorrectionOnUser: false,
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},
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msgEvents: msgEvents{
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driveMode: events.DriveModeMessage{DriveMode: events.DriveMode_PILOT},
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rcSteering: events.SteeringMessage{Steering: 0.3, Confidence: 1.0},
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tfSteering: events.SteeringMessage{Steering: 0.4, Confidence: 1.0},
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objects: events.ObjectsMessage{Objects: []*events.Object{&objectOnMiddleNear}},
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},
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correctionOnObject: 0.5,
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// Get rc value without correction
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want: events.SteeringMessage{Steering: 0.5, Confidence: 1.0},
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},
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{
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name: "On pilot drive mode, all corrections enabled",
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fields: fields{
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driveMode: events.DriveMode_PILOT,
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enableCorrection: true,
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enableCorrectionOnUser: true,
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},
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msgEvents: msgEvents{
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driveMode: events.DriveModeMessage{DriveMode: events.DriveMode_PILOT},
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rcSteering: events.SteeringMessage{Steering: 0.3, Confidence: 1.0},
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tfSteering: events.SteeringMessage{Steering: 0.4, Confidence: 1.0},
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objects: events.ObjectsMessage{Objects: []*events.Object{&objectOnMiddleNear}},
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},
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correctionOnObject: 0.5,
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// Get rc value without correction
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want: events.SteeringMessage{Steering: 0.5, Confidence: 1.0},
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},
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{
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name: "On user drive mode, only correction PILOT enabled",
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fields: fields{
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driveMode: events.DriveMode_PILOT,
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enableCorrection: true,
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enableCorrectionOnUser: false,
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},
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msgEvents: msgEvents{
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driveMode: events.DriveModeMessage{DriveMode: events.DriveMode_USER},
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rcSteering: events.SteeringMessage{Steering: 0.3, Confidence: 1.0},
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tfSteering: events.SteeringMessage{Steering: 0.4, Confidence: 1.0},
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objects: events.ObjectsMessage{Objects: []*events.Object{&objectOnMiddleNear}},
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},
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correctionOnObject: 0.5,
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// Get rc value without correction
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want: events.SteeringMessage{Steering: 0.3, Confidence: 1.0},
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},
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{
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name: "On user drive mode, all corrections enabled",
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fields: fields{
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driveMode: events.DriveMode_USER,
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enableCorrection: true,
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enableCorrectionOnUser: true,
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},
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msgEvents: msgEvents{
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driveMode: events.DriveModeMessage{DriveMode: events.DriveMode_USER},
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rcSteering: events.SteeringMessage{Steering: 0.3, Confidence: 1.0},
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tfSteering: events.SteeringMessage{Steering: 0.4, Confidence: 1.0},
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objects: events.ObjectsMessage{Objects: []*events.Object{&objectOnMiddleNear}},
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},
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correctionOnObject: 0.5,
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// Get rc value without correction
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want: events.SteeringMessage{Steering: 0.5, Confidence: 1.0},
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},
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}
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for _, tt := range tests {
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@ -292,7 +217,7 @@ func TestController_Start(t *testing.T) {
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WithCorrector(&StaticCorrector{delta: tt.correctionOnObject}),
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)
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go c.Start()
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time.Sleep(1 * time.Millisecond)
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defer c.Stop()
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// Publish events and wait generation of new steering message
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waitPublish.Add(1)
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