fix objects copy

refs robocars/robocar-setup#3

.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}:${TAG}
-BINARY=rc-steering
-
-GOTAGS="-tags netgo"
+OPENCV_VERSION=4.6.0
+SRC_CMD=./cmd/$BINARY_NAME
+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 $platform | cut -f1 -d/) && \
-  GOARCH=$(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
+  buildah config --env PKG_CONFIG_PATH=/usr/local/lib/pkgconfig:/usr/local/lib64/pkgconfig "${containerName}"
+  buildah config --workingdir /src/ "${containerName}"
 
-  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}"
-  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}/
+    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
 
-  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/$BINARY
-  buildah config --entrypoint '["/go/bin/'$BINARY'"]' "${containerName}"
+    printf "Build binary for %s\n\n" "${platform}"
 
-  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 linux/arm64
-image_build linux/arm/v7
-
+image_build
 
 # 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

@@ -3,7 +3,7 @@ package main
 import (
 	"flag"
 	"github.com/cyrilix/robocar-base/cli"
-	"github.com/cyrilix/robocar-steering/pkg/part"
+	"github.com/cyrilix/robocar-steering/pkg/steering"
 	"go.uber.org/zap"
 	"log"
 	"os"
@@ -15,8 +15,11 @@ const (
 
 func main() {
 	var mqttBroker, username, password, clientId string
-	var steeringTopic, driveModeTopic, rcSteeringTopic, tfSteeringTopic string
-	var debug bool
+	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 +30,14 @@ func main() {
 	flag.StringVar(&rcSteeringTopic, "mqtt-topic-rc-steering", os.Getenv("MQTT_TOPIC_RC_STEERING"), "Mqtt topic that contains RC steering value, use MQTT_TOPIC_RC_STEERING if args not set")
 	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()
@@ -50,14 +60,36 @@ func main() {
 	}()
 	zap.ReplaceGlobals(lgr)
 
-	debug = logLevel.Enabled(zap.DebugLevel)
+	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 := part.NewPart(client, steeringTopic, driveModeTopic, rcSteeringTopic, tfSteeringTopic, debug)
+	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

@@ -1,13 +1,14 @@
 module github.com/cyrilix/robocar-steering
 
-go 1.17
+go 1.19
 
 require (
-	github.com/cyrilix/robocar-base v0.1.6
-	github.com/cyrilix/robocar-protobuf/go v1.0.4
-	github.com/eclipse/paho.mqtt.golang v1.3.5
-	go.uber.org/zap v1.19.1
-	google.golang.org/protobuf v1.27.1
+	github.com/cyrilix/robocar-base v0.1.7
+	github.com/cyrilix/robocar-protobuf/go v1.1.0
+	github.com/eclipse/paho.mqtt.golang v1.4.1
+	go.uber.org/zap v1.21.0
+	gocv.io/x/gocv v0.31.0
+	google.golang.org/protobuf v1.28.0
 )
 
 require (
@@ -16,4 +17,5 @@ require (
 	go.uber.org/atomic v1.7.0 // indirect
 	go.uber.org/multierr v1.6.0 // indirect
 	golang.org/x/net v0.0.0-20210405180319-a5a99cb37ef4 // indirect
+	golang.org/x/sync v0.0.0-20210220032951-036812b2e83c // indirect
 )

go.sum

@@ -1,135 +1,67 @@
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@@ -139,24 +71,14 @@ golang.org/x/xerrors v0.0.0-20191011141410-1b5146add898/go.mod h1:I/5z698sn9Ka8T
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pkg/part/part.go

@@ -1,123 +0,0 @@
-package part
-
-import (
-	"github.com/cyrilix/robocar-base/service"
-	"github.com/cyrilix/robocar-protobuf/go/events"
-	mqtt "github.com/eclipse/paho.mqtt.golang"
-	"go.uber.org/zap"
-	"google.golang.org/protobuf/proto"
-	"sync"
-)
-
-func NewPart(client mqtt.Client, steeringTopic, driveModeTopic, rcSteeringTopic, tfSteeringTopic string, debug bool) *SteeringPart {
-	return &SteeringPart{
-		client:          client,
-		steeringTopic:   steeringTopic,
-		driveModeTopic:  driveModeTopic,
-		rcSteeringTopic: rcSteeringTopic,
-		tfSteeringTopic: tfSteeringTopic,
-		driveMode:       events.DriveMode_USER,
-	}
-
-}
-
-type SteeringPart struct {
-	client        mqtt.Client
-	steeringTopic string
-
-	muDriveMode sync.RWMutex
-	driveMode   events.DriveMode
-
-	cancel                                           chan interface{}
-	driveModeTopic, rcSteeringTopic, tfSteeringTopic string
-
-	debug bool
-}
-
-func (p *SteeringPart) Start() error {
-	if err := registerCallbacks(p); err != nil {
-		zap.S().Errorf("unable to rgeister callbacks: %v", err)
-		return err
-	}
-
-	p.cancel = make(chan interface{})
-	<-p.cancel
-	return nil
-}
-
-func (p *SteeringPart) Stop() {
-	close(p.cancel)
-	service.StopService("throttle", p.client, p.driveModeTopic, p.rcSteeringTopic, p.tfSteeringTopic)
-}
-
-func (p *SteeringPart) onDriveMode(_ mqtt.Client, message mqtt.Message) {
-	var msg events.DriveModeMessage
-	err := proto.Unmarshal(message.Payload(), &msg)
-	if err != nil {
-		zap.S().Errorf("unable to unmarshal protobuf %T message: %v", msg, err)
-		return
-	}
-
-	p.muDriveMode.Lock()
-	defer p.muDriveMode.Unlock()
-	p.driveMode = msg.GetDriveMode()
-}
-
-func (p *SteeringPart) 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)
-		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 {
-		// Republish same content
-		payload := message.Payload()
-		publish(p.client, p.steeringTopic, &payload)
-	}
-}
-func (p *SteeringPart) 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)
-		} 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)
-	}
-}
-
-var registerCallbacks = func(p *SteeringPart) error {
-	err := service.RegisterCallback(p.client, p.driveModeTopic, p.onDriveMode)
-	if err != nil {
-		return err
-	}
-
-	err = service.RegisterCallback(p.client, p.rcSteeringTopic, p.onRCSteering)
-	if err != nil {
-		return err
-	}
-
-	err = service.RegisterCallback(p.client, p.tfSteeringTopic, p.onTFSteering)
-	if err != nil {
-		return err
-	}
-	return nil
-}
-
-var publish = func(client mqtt.Client, topic string, payload *[]byte) {
-	client.Publish(topic, 0, false, *payload)
-}

pkg/part/part_test.go

@@ -1,116 +0,0 @@
-package part
-
-import (
-	"github.com/cyrilix/robocar-base/testtools"
-	"github.com/cyrilix/robocar-protobuf/go/events"
-	mqtt "github.com/eclipse/paho.mqtt.golang"
-	"google.golang.org/protobuf/proto"
-	"sync"
-	"testing"
-	"time"
-)
-
-func TestDefaultSteering(t *testing.T) {
-	oldRegister := registerCallbacks
-	oldPublish := publish
-	defer func() {
-		registerCallbacks = oldRegister
-		publish = oldPublish
-	}()
-	registerCallbacks = func(p *SteeringPart) error {
-		return nil
-	}
-
-	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
-	}
-
-	steeringTopic := "topic/steering"
-	driveModeTopic := "topic/driveMode"
-	rcSteeringTopic := "topic/rcSteering"
-	tfSteeringTopic := "topic/tfSteering"
-
-	p := NewPart(nil, steeringTopic, driveModeTopic, rcSteeringTopic, tfSteeringTopic, true)
-
-	cases := []struct {
-		driveMode        events.DriveModeMessage
-		rcSteering       events.SteeringMessage
-		tfSteering       events.SteeringMessage
-		expectedSteering events.SteeringMessage
-	}{
-		{
-			events.DriveModeMessage{DriveMode: events.DriveMode_USER},
-			events.SteeringMessage{Steering: 0.3, Confidence: 1.0},
-			events.SteeringMessage{Steering: 0.4, Confidence: 1.0},
-			events.SteeringMessage{Steering: 0.3, Confidence: 1.0},
-		},
-		{
-			events.DriveModeMessage{DriveMode: events.DriveMode_PILOT},
-			events.SteeringMessage{Steering: 0.5, Confidence: 1.0},
-			events.SteeringMessage{Steering: 0.6, Confidence: 1.0},
-			events.SteeringMessage{Steering: 0.6, Confidence: 1.0},
-		},
-		{
-			events.DriveModeMessage{DriveMode: events.DriveMode_PILOT},
-			events.SteeringMessage{Steering: 0.4, Confidence: 1.0},
-			events.SteeringMessage{Steering: 0.7, Confidence: 1.0},
-			events.SteeringMessage{Steering: 0.7, Confidence: 1.0},
-		},
-		{
-			events.DriveModeMessage{DriveMode: events.DriveMode_USER},
-			events.SteeringMessage{Steering: 0.5, Confidence: 1.0},
-			events.SteeringMessage{Steering: 0.8, Confidence: 1.0},
-			events.SteeringMessage{Steering: 0.5, Confidence: 1.0},
-		},
-		{
-			events.DriveModeMessage{DriveMode: events.DriveMode_USER},
-			events.SteeringMessage{Steering: 0.4, Confidence: 1.0},
-			events.SteeringMessage{Steering: 0.9, Confidence: 1.0},
-			events.SteeringMessage{Steering: 0.4, Confidence: 1.0},
-		},
-		{
-			events.DriveModeMessage{DriveMode: events.DriveMode_USER},
-			events.SteeringMessage{Steering: 0.6, Confidence: 1.0},
-			events.SteeringMessage{Steering: -0.3, Confidence: 1.0},
-			events.SteeringMessage{Steering: 0.6, Confidence: 1.0},
-		},
-	}
-
-	go p.Start()
-	defer func() { close(p.cancel) }()
-
-	for _, c := range cases {
-
-		p.onDriveMode(nil, testtools.NewFakeMessageFromProtobuf(driveModeTopic, &c.driveMode))
-		p.onRCSteering(nil, testtools.NewFakeMessageFromProtobuf(rcSteeringTopic, &c.rcSteering))
-		p.onTFSteering(nil, testtools.NewFakeMessageFromProtobuf(tfSteeringTopic, &c.tfSteering))
-
-		time.Sleep(10 * time.Millisecond)
-
-		for i := 3; i >= 0; i-- {
-
-			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() != c.expectedSteering.GetSteering() {
-				t.Errorf("bad msg value for mode %v: %v, wants %v",
-					c.driveMode, msg.GetSteering(), c.expectedSteering.GetSteering())
-			}
-			if msg.GetConfidence() != 1. {
-				t.Errorf("bad throtlle confidence: %v, wants %v", msg.GetConfidence(), 1.)
-			}
-
-			time.Sleep(1 * time.Millisecond)
-		}
-	}
-}

pkg/steering/bbox.go

@@ -0,0 +1,57 @@
+package steering
+
+import (
+	"github.com/cyrilix/robocar-protobuf/go/events"
+	"gocv.io/x/gocv"
+	"image"
+)
+
+func GroupBBoxes(bboxes []image.Rectangle) []image.Rectangle {
+	if len(bboxes) == 0 {
+		return []image.Rectangle{}
+	}
+	if len(bboxes) == 1 {
+		return []image.Rectangle{bboxes[0]}
+	}
+	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

@@ -0,0 +1,304 @@
+package steering
+
+import (
+	"encoding/json"
+	"fmt"
+	"github.com/cyrilix/robocar-protobuf/go/events"
+	"go.uber.org/zap"
+	"gocv.io/x/gocv"
+	"image"
+	"image/color"
+	"os"
+	"reflect"
+	"testing"
+)
+
+type ObjectsList struct {
+	BBoxes []BBox `json:"bboxes"`
+}
+type BBox struct {
+	Left       float32 `json:"left"`
+	Top        float32 `json:"top"`
+	Bottom     float32 `json:"bottom"`
+	Right      float32 `json:"right"`
+	Confidence float32 `json:"confidence"`
+}
+
+var (
+	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 {
+		img, bb, err := loadData(dataName)
+		if err != nil {
+			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
+	}
+}
+
+func bboxesToRectangles(bboxes []BBox, imgWidth, imgHeiht int) []image.Rectangle {
+	rects := make([]image.Rectangle, 0, len(bboxes))
+	for _, bb := range bboxes {
+		rects = append(rects, bb.toRect(imgWidth, imgHeiht))
+	}
+	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)),
+		int(bb.Top*float32(imgHeight)),
+		int(bb.Right*float32(imgWidth)),
+		int(bb.Bottom*float32(imgHeight)),
+	)
+}
+
+func loadData(dataName string) (*gocv.Mat, []BBox, error) {
+	contentBBoxes, err := os.ReadFile(fmt.Sprintf("test_data/bboxes-%s.json", dataName))
+	if err != nil {
+		return nil, []BBox{}, fmt.Errorf("unable to load json file for bbox of '%v': %w", dataName, err)
+	}
+
+	var obj ObjectsList
+	err = json.Unmarshal(contentBBoxes, &obj)
+	if err != nil {
+		return nil, []BBox{}, fmt.Errorf("unable to unmarsh json file for bbox of '%v': %w", dataName, err)
+	}
+
+	imgContent, err := os.ReadFile(fmt.Sprintf("test_data/img-%s.jpg", dataName))
+	if err != nil {
+		return nil, []BBox{}, fmt.Errorf("unable to load jpg file of '%v': %w", dataName, err)
+	}
+	img, err := gocv.IMDecode(imgContent, gocv.IMReadUnchanged)
+	if err != nil {
+		return nil, []BBox{}, fmt.Errorf("unable to load jpg of '%v': %w", dataName, err)
+	}
+	return &img, obj.BBoxes, nil
+}
+
+func drawImage(img *gocv.Mat, bboxes []BBox) {
+	for _, bb := range bboxes {
+		gocv.Rectangle(img, bb.toRect(img.Cols(), img.Rows()), color.RGBA{R: 0, G: 255, B: 0, A: 0}, 2)
+		gocv.PutText(
+			img,
+			fmt.Sprintf("%.2f", bb.Confidence),
+			image.Point{
+				X: int(bb.Left*float32(img.Cols()) + 10.),
+				Y: int(bb.Top*float32(img.Rows()) + 10.),
+			},
+			gocv.FontHersheyTriplex,
+			0.4,
+			color.RGBA{R: 0, G: 0, B: 0, A: 0},
+			1)
+	}
+}
+
+func drawRectangles(img *gocv.Mat, rects []image.Rectangle, c color.RGBA) {
+	for _, r := range rects {
+		gocv.Rectangle(img, r, c, 2)
+	}
+}
+
+func saveImage(name string, img *gocv.Mat) error {
+	err := os.MkdirAll("test_result", os.ModePerm)
+	if err != nil {
+		return fmt.Errorf("unable to create directory for test result: %w", err)
+	}
+	jpg, err := gocv.IMEncode(gocv.JPEGFileExt, *img)
+	if err != nil {
+		return fmt.Errorf("unable to encode jpg image: %w", err)
+	}
+	defer jpg.Close()
+
+	err = os.WriteFile(fmt.Sprintf("test_result/%s.jpg", name), jpg.GetBytes(), os.ModePerm)
+	if err != nil {
+		return fmt.Errorf("unable to write jpeg file: %w", err)
+	}
+	return nil
+}
+
+func DisplayImageAndBBoxes(dataName string) error {
+	img, bboxes, err := loadData(dataName)
+	if err != nil {
+		return fmt.Errorf("unable to load image and bboxes: %w", err)
+	}
+	drawImage(img, bboxes)
+	err = saveImage(dataName, img)
+	if err != nil {
+		return fmt.Errorf("unable to save image: %w", err)
+	}
+	return nil
+}
+
+func TestDisplayBBox(t *testing.T) {
+
+	type args struct {
+		dataName string
+	}
+	tests := []struct {
+		name string
+		args args
+	}{
+		{
+			name: "default",
+			args: args{dataName: "01"},
+		},
+		{
+			name: "02",
+			args: args{dataName: "02"},
+		},
+		{
+			name: "03",
+			args: args{dataName: "03"},
+		},
+		{
+			name: "04",
+			args: args{dataName: "04"},
+		},
+	}
+
+	for _, tt := range tests {
+		t.Run(tt.name, func(t *testing.T) {
+			err := DisplayImageAndBBoxes(tt.args.dataName)
+			if err != nil {
+				t.Errorf("unable to draw image: %v", err)
+			}
+		})
+	}
+
+}
+
+func TestGroupBBoxes(t *testing.T) {
+	type args struct {
+		dataName string
+	}
+	tests := []struct {
+		name string
+		args args
+		want []image.Rectangle
+	}{
+		{
+			name: "groupbbox-01",
+			args: args{
+				dataName: "01",
+			},
+			want: []image.Rectangle{{Min: image.Point{X: 42, Y: 20}, Max: image.Point{X: 84, Y: 57}}},
+		},
+		{
+			name: "groupbbox-02",
+			args: args{
+				dataName: "02",
+			},
+			want: []image.Rectangle{{Min: image.Point{X: 25, Y: 13}, Max: image.Point{X: 110, Y: 80}}},
+		},
+		{
+			name: "groupbbox-03",
+			args: args{
+				dataName: "03",
+			},
+			want: []image.Rectangle{{Min: image.Point{X: 0, Y: 17}, Max: image.Point{X: 35, Y: 77}}},
+		},
+		{
+			name: "groupbbox-04",
+			args: args{
+				dataName: "04",
+			},
+			want: []image.Rectangle{{Min: image.Point{X: 129, Y: 10}, Max: image.Point{X: 159, Y: 64}}},
+		},
+	}
+	for _, tt := range tests {
+		t.Run(tt.name, func(t *testing.T) {
+			got := GroupBBoxes(dataBBoxes[tt.args.dataName])
+			img := gocv.NewMat()
+			defer img.Close()
+			dataImages[tt.args.dataName].CopyTo(&img)
+			drawRectangles(&img, got, color.RGBA{R: 0, G: 0, B: 255, A: 0})
+			saveImage(tt.name, &img)
+			if !reflect.DeepEqual(got, tt.want) {
+				t.Errorf("GroupBBoxes() = %v, want %v", got, tt.want)
+			}
+		})
+	}
+}
+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

@@ -0,0 +1,236 @@
+package steering
+
+import (
+	"fmt"
+	"github.com/cyrilix/robocar-base/service"
+	"github.com/cyrilix/robocar-protobuf/go/events"
+	mqtt "github.com/eclipse/paho.mqtt.golang"
+	"go.uber.org/zap"
+	"google.golang.org/protobuf/proto"
+	"sync"
+)
+
+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,
+		rcSteeringTopic: rcSteeringTopic,
+		tfSteeringTopic: tfSteeringTopic,
+		objectsTopic:    objectsTopic,
+		driveMode:       events.DriveMode_USER,
+		corrector:       NewGridCorrector(),
+	}
+	for _, o := range options {
+		o(c)
+	}
+	return c
+}
+
+type Controller struct {
+	client        mqtt.Client
+	steeringTopic string
+
+	muDriveMode sync.RWMutex
+	driveMode   events.DriveMode
+
+	cancel                                                         chan interface{}
+	driveModeTopic, rcSteeringTopic, tfSteeringTopic, objectsTopic string
+
+	muObjects sync.RWMutex
+	objects   []*events.Object
+
+	corrector              Corrector
+	enableCorrection       bool
+	enableCorrectionOnUser bool
+}
+
+func (c *Controller) Start() error {
+	if err := registerCallbacks(c); err != nil {
+		zap.S().Errorf("unable to register callbacks: %v", err)
+		return err
+	}
+
+	c.cancel = make(chan interface{})
+	<-c.cancel
+	return nil
+}
+
+func (c *Controller) Stop() {
+	close(c.cancel)
+	service.StopService("throttle", c.client, c.driveModeTopic, c.rcSteeringTopic, c.tfSteeringTopic)
+}
+
+func (c *Controller) onObjects(_ mqtt.Client, message mqtt.Message) {
+	var msg events.ObjectsMessage
+	err := proto.Unmarshal(message.Payload(), &msg)
+	if err != nil {
+		zap.S().Errorf("unable to unmarshal protobuf %T message: %v", msg, err)
+		return
+	}
+
+	c.muObjects.Lock()
+	defer c.muObjects.Unlock()
+	c.objects = msg.GetObjects()
+	zap.S().Debugf("%v object(s) received", len(c.objects))
+}
+
+func (c *Controller) onDriveMode(_ mqtt.Client, message mqtt.Message) {
+	var msg events.DriveModeMessage
+	err := proto.Unmarshal(message.Payload(), &msg)
+	if err != nil {
+		zap.S().Errorf("unable to unmarshal protobuf %T message: %v", msg, err)
+		return
+	}
+
+	c.muDriveMode.Lock()
+	defer c.muDriveMode.Unlock()
+	c.driveMode = msg.GetDriveMode()
+}
+
+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().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())
+	}
+
+	payload := message.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 {
+	err := service.RegisterCallback(p.client, p.driveModeTopic, p.onDriveMode)
+	if err != nil {
+		return err
+	}
+
+	err = service.RegisterCallback(p.client, p.rcSteeringTopic, p.onRCSteering)
+	if err != nil {
+		return err
+	}
+
+	err = service.RegisterCallback(p.client, p.tfSteeringTopic, p.onTFSteering)
+	if err != nil {
+		return err
+	}
+
+	err = service.RegisterCallback(p.client, p.objectsTopic, p.onObjects)
+	if err != nil {
+		return err
+	}
+	return nil
+}
+
+var publish = func(client mqtt.Client, topic string, payload *[]byte) {
+	client.Publish(topic, 0, false, *payload)
+}

pkg/steering/controller_test.go

@@ -0,0 +1,320 @@
+package steering
+
+import (
+	"github.com/cyrilix/robocar-base/testtools"
+	"github.com/cyrilix/robocar-protobuf/go/events"
+	mqtt "github.com/eclipse/paho.mqtt.golang"
+	"google.golang.org/protobuf/proto"
+	"sync"
+	"testing"
+	"time"
+)
+
+func TestDefaultSteering(t *testing.T) {
+	oldRegister := registerCallbacks
+	oldPublish := publish
+	defer func() {
+		registerCallbacks = oldRegister
+		publish = oldPublish
+	}()
+	registerCallbacks = func(p *Controller) error {
+		return nil
+	}
+
+	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
+	}
+
+	steeringTopic := "topic/steering"
+	driveModeTopic := "topic/driveMode"
+	rcSteeringTopic := "topic/rcSteering"
+	tfSteeringTopic := "topic/tfSteering"
+	objectsTopic := "topic/objects"
+
+	p := NewController(nil, steeringTopic, driveModeTopic, rcSteeringTopic, tfSteeringTopic, objectsTopic)
+
+	cases := []struct {
+		driveMode        events.DriveModeMessage
+		rcSteering       events.SteeringMessage
+		tfSteering       events.SteeringMessage
+		expectedSteering events.SteeringMessage
+		objects          events.ObjectsMessage
+	}{
+		{
+			events.DriveModeMessage{DriveMode: events.DriveMode_USER},
+			events.SteeringMessage{Steering: 0.3, Confidence: 1.0},
+			events.SteeringMessage{Steering: 0.4, Confidence: 1.0},
+			events.SteeringMessage{Steering: 0.3, Confidence: 1.0},
+			events.ObjectsMessage{},
+		},
+		{
+			events.DriveModeMessage{DriveMode: events.DriveMode_PILOT},
+			events.SteeringMessage{Steering: 0.5, Confidence: 1.0},
+			events.SteeringMessage{Steering: 0.6, Confidence: 1.0},
+			events.SteeringMessage{Steering: 0.6, Confidence: 1.0},
+			events.ObjectsMessage{},
+		},
+		{
+			events.DriveModeMessage{DriveMode: events.DriveMode_PILOT},
+			events.SteeringMessage{Steering: 0.4, Confidence: 1.0},
+			events.SteeringMessage{Steering: 0.7, Confidence: 1.0},
+			events.SteeringMessage{Steering: 0.7, Confidence: 1.0},
+			events.ObjectsMessage{},
+		},
+		{
+			events.DriveModeMessage{DriveMode: events.DriveMode_USER},
+			events.SteeringMessage{Steering: 0.5, Confidence: 1.0},
+			events.SteeringMessage{Steering: 0.8, Confidence: 1.0},
+			events.SteeringMessage{Steering: 0.5, Confidence: 1.0},
+			events.ObjectsMessage{},
+		},
+		{
+			events.DriveModeMessage{DriveMode: events.DriveMode_USER},
+			events.SteeringMessage{Steering: 0.4, Confidence: 1.0},
+			events.SteeringMessage{Steering: 0.9, Confidence: 1.0},
+			events.SteeringMessage{Steering: 0.4, Confidence: 1.0},
+			events.ObjectsMessage{},
+		},
+		{
+			events.DriveModeMessage{DriveMode: events.DriveMode_USER},
+			events.SteeringMessage{Steering: 0.6, Confidence: 1.0},
+			events.SteeringMessage{Steering: -0.3, Confidence: 1.0},
+			events.SteeringMessage{Steering: 0.6, Confidence: 1.0},
+			events.ObjectsMessage{},
+		},
+	}
+
+	go p.Start()
+	defer func() { close(p.cancel) }()
+
+	for _, c := range cases {
+
+		p.onDriveMode(nil, testtools.NewFakeMessageFromProtobuf(driveModeTopic, &c.driveMode))
+		p.onRCSteering(nil, testtools.NewFakeMessageFromProtobuf(rcSteeringTopic, &c.rcSteering))
+		p.onTFSteering(nil, testtools.NewFakeMessageFromProtobuf(tfSteeringTopic, &c.tfSteering))
+		p.onObjects(nil, testtools.NewFakeMessageFromProtobuf(objectsTopic, &c.objects))
+
+		time.Sleep(10 * time.Millisecond)
+
+		for i := 3; i >= 0; i-- {
+
+			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() != c.expectedSteering.GetSteering() {
+				t.Errorf("bad msg value for mode %v: %v, wants %v",
+					c.driveMode.String(), msg.GetSteering(), c.expectedSteering.GetSteering())
+			}
+			if msg.GetConfidence() != 1. {
+				t.Errorf("bad throtlle confidence: %v, wants %v", msg.GetConfidence(), 1.)
+			}
+
+			time.Sleep(1 * time.Millisecond)
+		}
+	}
+}
+
+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

@@ -0,0 +1,263 @@
+package steering
+
+import (
+	"encoding/json"
+	"fmt"
+	"github.com/cyrilix/robocar-protobuf/go/events"
+	"go.uber.org/zap"
+	"os"
+)
+
+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
+}
+
+/*
+AdjustFromObjectPosition modify steering value according object positions
+
+ 1. To compute steering correction, split in image in zones and define correction value for each zone
+
+    Steering computed
+    :  -1   -0.66 -0.33   0    0.33  0.66   1
+    0%  |-----|-----|-----|-----|-----|-----|
+    :   |  0  |  0  |  0  |  0  |  0  |  0  |
+    20% |-----|-----|-----|-----|-----|-----|
+    :   |  0  |  0  |  0  |  0  |  0  |  0  |
+    40% |-----|-----|-----|-----|-----|-----|
+    :   |  0  |  0  | 0.25|-0.25|  0  |  0  |
+    60% |-----|-----|-----|-----|-----|-----|
+    :   |  0  | 0.25| 0.5 |-0.5 |-0.25|  0  |
+    80% |-----|-----|-----|-----|-----|-----|
+    :   | 0.25| 0.5 |  1  |  -1 |-0.5 |-0.25|
+    100%|-----|-----|-----|-----|-----|-----|
+
+ 2. For straight (current steering near of 0), search nearest object and if:
+
+    * left and right values < 0: use correction from right value according image splitting
+    * left and right values > 0: use correction from left value according image splitting
+    * left < 0 and right values > 0: use (right + (right - left) / 2) value
+
+ 3. If current steering != 0 (turn on left or right), shift right and left values proportionnaly to current steering and
+    apply 2.
+
+    :  -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(grpObjs)
+	if err != nil {
+		zap.S().Warnf("unexpected error on nearest search object, ignore objects: %v", err)
+		return currentSteering
+	}
+
+	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))
+	}
+	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")
+	}
+	if len(objects) == 1 {
+		return objects[0], nil
+	}
+
+	var result *events.Object
+	for _, obj := range objects {
+		if result == nil || obj.Bottom > result.Bottom {
+			result = obj
+			continue
+		}
+	}
+	return result, nil
+}
+
+func NewGridMapFromJson(fileName string) (*GridMap, error) {
+	content, err := os.ReadFile(fileName)
+	if err != nil {
+		return nil, fmt.Errorf("unable to read content from %s file: %w", fileName, err)
+	}
+	var ft GridMap
+	err = json.Unmarshal(content, &ft)
+	if err != nil {
+		return nil, fmt.Errorf("unable to unmarshal json content from %s file: %w", fileName, err)
+	}
+	// TODO: check structure is valid
+	return &ft, nil
+}
+
+type GridMap struct {
+	DistanceSteps []float64   `json:"distance_steps"`
+	SteeringSteps []float64   `json:"steering_steps"`
+	Data          [][]float64 `json:"data"`
+}
+
+func (f *GridMap) ValueOf(steering float64, distance float64) (float64, error) {
+	if steering < f.SteeringSteps[0] || steering > f.SteeringSteps[len(f.SteeringSteps)-1] {
+		return 0., fmt.Errorf("invalid steering value: %v, must be between %v and %v", steering, f.SteeringSteps[0], f.SteeringSteps[len(f.SteeringSteps)-1])
+	}
+	if distance < f.DistanceSteps[0] || distance > f.DistanceSteps[len(f.DistanceSteps)-1] {
+		return 0., fmt.Errorf("invalid distance value: %v, must be between %v and %v", steering, f.DistanceSteps[0], f.DistanceSteps[len(f.DistanceSteps)-1])
+	}
+	// search column index
+	var idxCol int
+	// Start loop at 1 because first column should be skipped
+	for i := 1; i < len(f.SteeringSteps); i++ {
+		if steering < f.SteeringSteps[i] {
+			idxCol = i - 1
+			break
+		}
+	}
+
+	var idxRow int
+	// Start loop at 1 because first column should be skipped
+	for i := 1; i < len(f.DistanceSteps); i++ {
+		if distance < f.DistanceSteps[i] {
+			idxRow = i - 1
+			break
+		}
+	}
+
+	return f.Data[idxRow][idxCol], nil
+}

pkg/steering/corrector_test.go

@@ -0,0 +1,479 @@
+package steering
+
+import (
+	"github.com/cyrilix/robocar-protobuf/go/events"
+	"reflect"
+	"testing"
+)
+
+var (
+	objectOnMiddleDistant = events.Object{
+		Type:       events.TypeObject_ANY,
+		Left:       0.4,
+		Top:        0.1,
+		Right:      0.6,
+		Bottom:     0.2,
+		Confidence: 0.9,
+	}
+	objectOnLeftDistant = events.Object{
+		Type:       events.TypeObject_ANY,
+		Left:       0.1,
+		Top:        0.09,
+		Right:      0.3,
+		Bottom:     0.19,
+		Confidence: 0.9,
+	}
+	objectOnRightDistant = events.Object{
+		Type:       events.TypeObject_ANY,
+		Left:       0.7,
+		Top:        0.21,
+		Right:      0.9,
+		Bottom:     0.11,
+		Confidence: 0.9,
+	}
+	objectOnMiddleNear = events.Object{
+		Type:       events.TypeObject_ANY,
+		Left:       0.4,
+		Top:        0.8,
+		Right:      0.6,
+		Bottom:     0.9,
+		Confidence: 0.9,
+	}
+	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,
+	}
+)
+
+func TestCorrector_AdjustFromObjectPosition(t *testing.T) {
+	type args struct {
+		currentSteering float64
+		objects         []*events.Object
+	}
+	tests := []struct {
+		name string
+		args args
+		want float64
+	}{
+		{
+			name: "run straight without objects",
+			args: args{
+				currentSteering: 0.,
+				objects:         []*events.Object{},
+			},
+			want: 0.,
+		},
+		{
+			name: "run to left without objects",
+			args: args{
+				currentSteering: -0.9,
+				objects:         []*events.Object{},
+			},
+			want: -0.9,
+		},
+		{
+			name: "run to right without objects",
+			args: args{
+				currentSteering: 0.9,
+				objects:         []*events.Object{},
+			}, want: 0.9,
+		},
+
+		{
+			name: "run straight with 1 distant object",
+			args: args{
+				currentSteering: 0.,
+				objects:         []*events.Object{&objectOnMiddleDistant},
+			},
+			want: 0.,
+		},
+		{
+			name: "run to left with 1 distant object",
+			args: args{
+				currentSteering: -0.9,
+				objects:         []*events.Object{&objectOnMiddleDistant},
+			},
+			want: -0.9,
+		},
+		{
+			name: "run to right with 1 distant object",
+			args: args{
+				currentSteering: 0.9,
+				objects:         []*events.Object{&objectOnMiddleDistant},
+			},
+			want: 0.9,
+		},
+
+		{
+			name: "run straight with 1 near object",
+			args: args{
+				currentSteering: 0.,
+				objects:         []*events.Object{&objectOnMiddleNear},
+			},
+			want: 1,
+		},
+		{
+			name: "run to left with 1 near object",
+			args: args{
+				currentSteering: -0.9,
+				objects:         []*events.Object{&objectOnMiddleNear},
+			},
+			want: -1,
+		},
+		{
+			name: "run to right with 1 near object",
+			args: args{
+				currentSteering: 0.9,
+				objects:         []*events.Object{&objectOnMiddleNear},
+			},
+			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,
+		},
+	}
+	for _, tt := range tests {
+		t.Run(tt.name, func(t *testing.T) {
+			c := NewGridCorrector()
+			if got := c.AdjustFromObjectPosition(tt.args.currentSteering, tt.args.objects); got != tt.want {
+				t.Errorf("AdjustFromObjectPosition() = %v, want %v", got, tt.want)
+			}
+		})
+	}
+}
+
+func TestCorrector_nearObject(t *testing.T) {
+	type args struct {
+		objects []*events.Object
+	}
+	tests := []struct {
+		name    string
+		args    args
+		want    *events.Object
+		wantErr bool
+	}{
+		{
+			name: "List object is empty",
+			args: args{
+				objects: []*events.Object{},
+			},
+			want:    nil,
+			wantErr: true,
+		},
+		{
+			name: "List with only one object",
+			args: args{
+				objects: []*events.Object{&objectOnMiddleNear},
+			},
+			want:    &objectOnMiddleNear,
+			wantErr: false,
+		},
+		{
+			name: "List with many objects",
+			args: args{
+				objects: []*events.Object{&objectOnLeftDistant, &objectOnMiddleNear, &objectOnRightDistant, &objectOnMiddleDistant},
+			},
+			want:    &objectOnMiddleNear,
+			wantErr: false,
+		},
+	}
+	for _, tt := range tests {
+		t.Run(tt.name, func(t *testing.T) {
+			c := &GridCorrector{}
+			got, err := c.nearObject(tt.args.objects)
+			if (err != nil) != tt.wantErr {
+				t.Errorf("nearObject() error = %v, wantErr %v", err, tt.wantErr)
+				return
+			}
+			if !reflect.DeepEqual(got, tt.want) {
+				t.Errorf("nearObject() got = %v, want %v", got, tt.want)
+			}
+		})
+	}
+}
+
+func TestNewGridMapFromJson(t *testing.T) {
+	type args struct {
+		fileName string
+	}
+	tests := []struct {
+		name    string
+		args    args
+		want    *GridMap
+		wantErr bool
+	}{
+		{
+			name: "default config",
+			args: args{
+				fileName: "test_data/config.json",
+			},
+			want: &defaultGridMap,
+		},
+	}
+	for _, tt := range tests {
+		t.Run(tt.name, func(t *testing.T) {
+			got, err := NewGridMapFromJson(tt.args.fileName)
+			if (err != nil) != tt.wantErr {
+				t.Errorf("NewGridMapFromJson() error = %v, wantErr %v", err, tt.wantErr)
+				return
+			}
+			if !reflect.DeepEqual(*got, *tt.want) {
+				t.Errorf("NewGridMapFromJson() got = %v, want %v", got, tt.want)
+			}
+			if !reflect.DeepEqual(got.SteeringSteps, tt.want.SteeringSteps) {
+				t.Errorf("NewGridMapFromJson(), bad steering limits: got = %v, want %v", got.SteeringSteps, tt.want.SteeringSteps)
+			}
+			if !reflect.DeepEqual(got.DistanceSteps, tt.want.DistanceSteps) {
+				t.Errorf("NewGridMapFromJson(), bad distance limits: got = %v, want %v", got.DistanceSteps, tt.want.DistanceSteps)
+			}
+		})
+	}
+}
+
+func TestGridMap_ValueOf(t *testing.T) {
+	type fields struct {
+		DistanceSteps []float64
+		SteeringSteps []float64
+		Data          [][]float64
+	}
+	type args struct {
+		steering float64
+		distance float64
+	}
+	tests := []struct {
+		name    string
+		fields  fields
+		args    args
+		want    float64
+		wantErr bool
+	}{
+		{
+			name: "nominal",
+			fields: fields{
+				DistanceSteps: defaultGridMap.DistanceSteps,
+				SteeringSteps: defaultGridMap.SteeringSteps,
+				Data:          defaultGridMap.Data,
+			},
+			args: args{
+				steering: 0.,
+				distance: 0.,
+			},
+			want:    0,
+			wantErr: false,
+		},
+		{
+			name: "limit distance <",
+			fields: fields{
+				DistanceSteps: defaultGridMap.DistanceSteps,
+				SteeringSteps: defaultGridMap.SteeringSteps,
+				Data:          defaultGridMap.Data,
+			},
+			args: args{
+				steering: 0,
+				distance: 0.39999,
+			},
+			want:    0,
+			wantErr: false,
+		},
+		{
+			name: "limit distance >",
+			fields: fields{
+				DistanceSteps: defaultGridMap.DistanceSteps,
+				SteeringSteps: defaultGridMap.SteeringSteps,
+				Data:          defaultGridMap.Data,
+			},
+			args: args{
+				steering: 0,
+				distance: 0.400001,
+			},
+			want:    -0.25,
+			wantErr: false,
+		},
+		{
+			name: "limit steering <",
+			fields: fields{
+				DistanceSteps: defaultGridMap.DistanceSteps,
+				SteeringSteps: defaultGridMap.SteeringSteps,
+				Data:          defaultGridMap.Data,
+			},
+			args: args{
+				steering: -0.660001,
+				distance: 0.85,
+			},
+			want:    0.25,
+			wantErr: false,
+		},
+		{
+			name: "limit steering >",
+			fields: fields{
+				DistanceSteps: defaultGridMap.DistanceSteps,
+				SteeringSteps: defaultGridMap.SteeringSteps,
+				Data:          defaultGridMap.Data,
+			},
+			args: args{
+				steering: -0.66,
+				distance: 0.85,
+			},
+			want:    0.5,
+			wantErr: false,
+		},
+		{
+			name: "steering < min value",
+			fields: fields{
+				DistanceSteps: defaultGridMap.DistanceSteps,
+				SteeringSteps: defaultGridMap.SteeringSteps,
+				Data:          defaultGridMap.Data,
+			},
+			args: args{
+				steering: defaultGridMap.SteeringSteps[0] - 0.1,
+				distance: 0.85,
+			},
+			wantErr: true,
+		},
+		{
+			name: "steering  > max value",
+			fields: fields{
+				DistanceSteps: defaultGridMap.DistanceSteps,
+				SteeringSteps: defaultGridMap.SteeringSteps,
+				Data:          defaultGridMap.Data,
+			},
+			args: args{
+				steering: defaultGridMap.SteeringSteps[len(defaultGridMap.SteeringSteps)-1] + 0.1,
+				distance: 0.85,
+			},
+			wantErr: true,
+		},
+		{
+			name: "distance < min value",
+			fields: fields{
+				DistanceSteps: defaultGridMap.DistanceSteps,
+				SteeringSteps: defaultGridMap.SteeringSteps,
+				Data:          defaultGridMap.Data,
+			},
+			args: args{
+				steering: -0.65,
+				distance: defaultGridMap.DistanceSteps[0] - 0.1,
+			},
+			wantErr: true,
+		},
+		{
+			name: "distance  > max value",
+			fields: fields{
+				DistanceSteps: defaultGridMap.DistanceSteps,
+				SteeringSteps: defaultGridMap.SteeringSteps,
+				Data:          defaultGridMap.Data,
+			},
+			args: args{
+				steering: -0.65,
+				distance: defaultGridMap.DistanceSteps[len(defaultGridMap.DistanceSteps)-1] + 0.1,
+			},
+			wantErr: true,
+		},
+	}
+	for _, tt := range tests {
+		t.Run(tt.name, func(t *testing.T) {
+			f := &GridMap{
+				DistanceSteps: tt.fields.DistanceSteps,
+				SteeringSteps: tt.fields.SteeringSteps,
+				Data:          tt.fields.Data,
+			}
+			got, err := f.ValueOf(tt.args.steering, tt.args.distance)
+			if (err != nil) != tt.wantErr {
+				t.Errorf("ValueOf() error = %v, wantErr %v", err, tt.wantErr)
+				return
+			}
+			if !reflect.DeepEqual(got, tt.want) {
+				t.Errorf("ValueOf() = %v, want %v", got, tt.want)
+			}
+		})
+	}
+}
+
+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/bboxes-01.json

@@ -0,0 +1,12 @@
+{
+  "bboxes": [
+    {
+      "right": 0.5258789,
+      "top": 0.1706543,
+      "left": 0.26660156,
+      "bottom": 0.47583008,
+      "confidence": 0.4482422
+    }
+  ]
+}
+

pkg/steering/test_data/bboxes-02.json

@@ -0,0 +1,25 @@
+{
+  "bboxes": [
+    {
+      "right": 0.6879883,
+      "top": 0.115234375,
+      "left": 0.1586914,
+      "bottom": 0.66796875,
+      "confidence": 0.82714844
+    },
+    {
+      "right": 0.2794531,
+      "top": 0.301816406,
+      "left": 0.15698242,
+      "bottom": 0.65748047,
+      "confidence": 0.83447266
+    },
+    {
+      "right": 0.6875,
+      "top": 0.11328125,
+      "left": 0.15673828,
+      "bottom": 0.66748047,
+      "confidence": 0.85253906
+    }
+  ]
+}

pkg/steering/test_data/bboxes-03.json

@@ -0,0 +1,27 @@
+{
+  "bboxes": [
+    {
+      "right": 0.2211914,
+      "top": 0.14953613,
+      "left": 0.0015258789,
+      "bottom": 0.64941406,
+      "confidence": 0.5595703
+    },
+    {
+      "right": 0.22192383,
+      "top": 0.14819336,
+      "left": 0.0014038086,
+      "bottom": 0.64941406,
+      "confidence": 0.5493164
+    },
+    {
+      "right": 0.21948242,
+      "top": 0.1459961,
+      "left": 0.0015258789,
+      "bottom": 0.65185547,
+      "confidence": 0.5595703
+    }
+  ]
+}
+
+

pkg/steering/test_data/bboxes-04.json

@@ -0,0 +1,25 @@
+{
+  "bboxes": [
+    {
+      "right": 0.99902344,
+      "top": 0.08947754,
+      "left": 0.8095703,
+      "bottom": 0.54296875,
+      "confidence": 0.4741211
+    },
+    {
+      "right": 0.99902344,
+      "top": 0.08666992,
+      "left": 0.80859375,
+      "bottom": 0.54003906,
+      "confidence": 0.453125
+    },
+    {
+      "right": 0.99902344,
+      "top": 0.09423828,
+      "left": 0.8095703,
+      "bottom": 0.54345703,
+      "confidence": 0.44995117
+    }
+  ]
+}

pkg/steering/test_data/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, 0.25, -0.25, 0, 0],
+    [0, 0.25, 0.5, -0.5, -0.25, 0],
+    [0.25, 0.5, 1, -1, -0.5, -0.25]
+  ]
+}

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]
+  ]
+}

vendor/github.com/cyrilix/robocar-protobuf/go/events/events.pb.go

@@ -1,7 +1,7 @@
 // Code generated by protoc-gen-go. DO NOT EDIT.
 // versions:
-// 	protoc-gen-go v1.27.1
-// 	protoc        v3.12.4
+// 	protoc-gen-go v1.28.1
+// 	protoc        v3.21.4
 // source: events/events.proto
 
 package events
@@ -468,17 +468,17 @@ func (x *ObjectsMessage) GetFrameRef() *FrameRef {
 	return nil
 }
 
-// BoundingBox that contains an object
+// BoundingBox that contains an object, coordinates as percent
 type Object struct {
 	state         protoimpl.MessageState
 	sizeCache     protoimpl.SizeCache
 	unknownFields protoimpl.UnknownFields
 
 	Type       TypeObject `protobuf:"varint,1,opt,name=type,proto3,enum=robocar.events.TypeObject" json:"type,omitempty"`
-	Left       int32      `protobuf:"varint,2,opt,name=left,proto3" json:"left,omitempty"`
-	Top        int32      `protobuf:"varint,3,opt,name=top,proto3" json:"top,omitempty"`
-	Right      int32      `protobuf:"varint,4,opt,name=right,proto3" json:"right,omitempty"`
-	Bottom     int32      `protobuf:"varint,5,opt,name=bottom,proto3" json:"bottom,omitempty"`
+	Left       float32    `protobuf:"fixed32,2,opt,name=left,proto3" json:"left,omitempty"`
+	Top        float32    `protobuf:"fixed32,3,opt,name=top,proto3" json:"top,omitempty"`
+	Right      float32    `protobuf:"fixed32,4,opt,name=right,proto3" json:"right,omitempty"`
+	Bottom     float32    `protobuf:"fixed32,5,opt,name=bottom,proto3" json:"bottom,omitempty"`
 	Confidence float32    `protobuf:"fixed32,6,opt,name=confidence,proto3" json:"confidence,omitempty"`
 }
 
@@ -521,28 +521,28 @@ func (x *Object) GetType() TypeObject {
 	return TypeObject_ANY
 }
 
-func (x *Object) GetLeft() int32 {
+func (x *Object) GetLeft() float32 {
 	if x != nil {
 		return x.Left
 	}
 	return 0
 }
 
-func (x *Object) GetTop() int32 {
+func (x *Object) GetTop() float32 {
 	if x != nil {
 		return x.Top
 	}
 	return 0
 }
 
-func (x *Object) GetRight() int32 {
+func (x *Object) GetRight() float32 {
 	if x != nil {
 		return x.Right
 	}
 	return 0
 }
 
-func (x *Object) GetBottom() int32 {
+func (x *Object) GetBottom() float32 {
 	if x != nil {
 		return x.Bottom
 	}
@@ -918,10 +918,10 @@ var file_events_events_proto_rawDesc = []byte{
 	0x0e, 0x32, 0x1a, 0x2e, 0x72, 0x6f, 0x62, 0x6f, 0x63, 0x61, 0x72, 0x2e, 0x65, 0x76, 0x65, 0x6e,
 	0x74, 0x73, 0x2e, 0x54, 0x79, 0x70, 0x65, 0x4f, 0x62, 0x6a, 0x65, 0x63, 0x74, 0x52, 0x04, 0x74,
 	0x79, 0x70, 0x65, 0x12, 0x12, 0x0a, 0x04, 0x6c, 0x65, 0x66, 0x74, 0x18, 0x02, 0x20, 0x01, 0x28,
-	0x05, 0x52, 0x04, 0x6c, 0x65, 0x66, 0x74, 0x12, 0x10, 0x0a, 0x03, 0x74, 0x6f, 0x70, 0x18, 0x03,
-	0x20, 0x01, 0x28, 0x05, 0x52, 0x03, 0x74, 0x6f, 0x70, 0x12, 0x14, 0x0a, 0x05, 0x72, 0x69, 0x67,
-	0x68, 0x74, 0x18, 0x04, 0x20, 0x01, 0x28, 0x05, 0x52, 0x05, 0x72, 0x69, 0x67, 0x68, 0x74, 0x12,
-	0x16, 0x0a, 0x06, 0x62, 0x6f, 0x74, 0x74, 0x6f, 0x6d, 0x18, 0x05, 0x20, 0x01, 0x28, 0x05, 0x52,
+	0x02, 0x52, 0x04, 0x6c, 0x65, 0x66, 0x74, 0x12, 0x10, 0x0a, 0x03, 0x74, 0x6f, 0x70, 0x18, 0x03,
+	0x20, 0x01, 0x28, 0x02, 0x52, 0x03, 0x74, 0x6f, 0x70, 0x12, 0x14, 0x0a, 0x05, 0x72, 0x69, 0x67,
+	0x68, 0x74, 0x18, 0x04, 0x20, 0x01, 0x28, 0x02, 0x52, 0x05, 0x72, 0x69, 0x67, 0x68, 0x74, 0x12,
+	0x16, 0x0a, 0x06, 0x62, 0x6f, 0x74, 0x74, 0x6f, 0x6d, 0x18, 0x05, 0x20, 0x01, 0x28, 0x02, 0x52,
 	0x06, 0x62, 0x6f, 0x74, 0x74, 0x6f, 0x6d, 0x12, 0x1e, 0x0a, 0x0a, 0x63, 0x6f, 0x6e, 0x66, 0x69,
 	0x64, 0x65, 0x6e, 0x63, 0x65, 0x18, 0x06, 0x20, 0x01, 0x28, 0x02, 0x52, 0x0a, 0x63, 0x6f, 0x6e,
 	0x66, 0x69, 0x64, 0x65, 0x6e, 0x63, 0x65, 0x22, 0x2f, 0x0a, 0x13, 0x53, 0x77, 0x69, 0x74, 0x63,

vendor/github.com/eclipse/paho.mqtt.golang/DISTRIBUTION

@@ -1,15 +0,0 @@
-
-
-Eclipse Distribution License - v 1.0
-
-Copyright (c) 2007, Eclipse Foundation, Inc. and its licensors.
-
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
-
-    Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
-    Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
-    Neither the name of the Eclipse Foundation, Inc. nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. 
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

vendor/github.com/eclipse/paho.mqtt.golang/LICENSE

@@ -1,20 +1,294 @@
-This project is dual licensed under the Eclipse Public License 1.0 and the
-Eclipse Distribution License 1.0 as described in the epl-v10 and edl-v10 files.
+Eclipse Public License - v 2.0 (EPL-2.0)
 
-The EDL is copied below in order to pass the pkg.go.dev license check (https://pkg.go.dev/license-policy).
+This program and the accompanying materials
+are made available under the terms of the Eclipse Public License v2.0
+and Eclipse Distribution License v1.0 which accompany this distribution.
+
+The Eclipse Public License is available at
+  https://www.eclipse.org/legal/epl-2.0/
+and the Eclipse Distribution License is available at
+  http://www.eclipse.org/org/documents/edl-v10.php.
+
+For an explanation of what dual-licensing means to you, see:
+https://www.eclipse.org/legal/eplfaq.php#DUALLIC
 
 ****
-Eclipse Distribution License - v 1.0
+The epl-2.0 is copied below in order to pass the pkg.go.dev license check (https://pkg.go.dev/license-policy).
+****
+Eclipse Public License - v 2.0
 
-Copyright (c) 2007, Eclipse Foundation, Inc. and its licensors.
+    THE ACCOMPANYING PROGRAM IS PROVIDED UNDER THE TERMS OF THIS ECLIPSE
+    PUBLIC LICENSE ("AGREEMENT"). ANY USE, REPRODUCTION OR DISTRIBUTION
+    OF THE PROGRAM CONSTITUTES RECIPIENT'S ACCEPTANCE OF THIS AGREEMENT.
 
-All rights reserved.
+1. DEFINITIONS
 
-Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+"Contribution" means:
 
-    Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
-    Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
-    Neither the name of the Eclipse Foundation, Inc. nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
+  a) in the case of the initial Contributor, the initial content
+     Distributed under this Agreement, and
 
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+  b) in the case of each subsequent Contributor:
+     i) changes to the Program, and
+     ii) additions to the Program;
+  where such changes and/or additions to the Program originate from
+  and are Distributed by that particular Contributor. A Contribution
+  "originates" from a Contributor if it was added to the Program by
+  such Contributor itself or anyone acting on such Contributor's behalf.
+  Contributions do not include changes or additions to the Program that
+  are not Modified Works.
 
+"Contributor" means any person or entity that Distributes the Program.
+
+"Licensed Patents" mean patent claims licensable by a Contributor which
+are necessarily infringed by the use or sale of its Contribution alone
+or when combined with the Program.
+
+"Program" means the Contributions Distributed in accordance with this
+Agreement.
+
+"Recipient" means anyone who receives the Program under this Agreement
+or any Secondary License (as applicable), including Contributors.
+
+"Derivative Works" shall mean any work, whether in Source Code or other
+form, that is based on (or derived from) the Program and for which the
+editorial revisions, annotations, elaborations, or other modifications
+represent, as a whole, an original work of authorship.
+
+"Modified Works" shall mean any work in Source Code or other form that
+results from an addition to, deletion from, or modification of the
+contents of the Program, including, for purposes of clarity any new file
+in Source Code form that contains any contents of the Program. Modified
+Works shall not include works that contain only declarations,
+interfaces, types, classes, structures, or files of the Program solely
+in each case in order to link to, bind by name, or subclass the Program
+or Modified Works thereof.
+
+"Distribute" means the acts of a) distributing or b) making available
+in any manner that enables the transfer of a copy.
+
+"Source Code" means the form of a Program preferred for making
+modifications, including but not limited to software source code,
+documentation source, and configuration files.
+
+"Secondary License" means either the GNU General Public License,
+Version 2.0, or any later versions of that license, including any
+exceptions or additional permissions as identified by the initial
+Contributor.
+
+2. GRANT OF RIGHTS
+
+  a) Subject to the terms of this Agreement, each Contributor hereby
+  grants Recipient a non-exclusive, worldwide, royalty-free copyright
+  license to reproduce, prepare Derivative Works of, publicly display,
+  publicly perform, Distribute and sublicense the Contribution of such
+  Contributor, if any, and such Derivative Works.
+
+  b) Subject to the terms of this Agreement, each Contributor hereby
+  grants Recipient a non-exclusive, worldwide, royalty-free patent
+  license under Licensed Patents to make, use, sell, offer to sell,
+  import and otherwise transfer the Contribution of such Contributor,
+  if any, in Source Code or other form. This patent license shall
+  apply to the combination of the Contribution and the Program if, at
+  the time the Contribution is added by the Contributor, such addition
+  of the Contribution causes such combination to be covered by the
+  Licensed Patents. The patent license shall not apply to any other
+  combinations which include the Contribution. No hardware per se is
+  licensed hereunder.
+
+  c) Recipient understands that although each Contributor grants the
+  licenses to its Contributions set forth herein, no assurances are
+  provided by any Contributor that the Program does not infringe the
+  patent or other intellectual property rights of any other entity.
+  Each Contributor disclaims any liability to Recipient for claims
+  brought by any other entity based on infringement of intellectual
+  property rights or otherwise. As a condition to exercising the
+  rights and licenses granted hereunder, each Recipient hereby
+  assumes sole responsibility to secure any other intellectual
+  property rights needed, if any. For example, if a third party
+  patent license is required to allow Recipient to Distribute the
+  Program, it is Recipient's responsibility to acquire that license
+  before distributing the Program.
+
+  d) Each Contributor represents that to its knowledge it has
+  sufficient copyright rights in its Contribution, if any, to grant
+  the copyright license set forth in this Agreement.
+
+  e) Notwithstanding the terms of any Secondary License, no
+  Contributor makes additional grants to any Recipient (other than
+  those set forth in this Agreement) as a result of such Recipient's
+  receipt of the Program under the terms of a Secondary License
+  (if permitted under the terms of Section 3).
+
+3. REQUIREMENTS
+
+3.1 If a Contributor Distributes the Program in any form, then:
+
+  a) the Program must also be made available as Source Code, in
+  accordance with section 3.2, and the Contributor must accompany
+  the Program with a statement that the Source Code for the Program
+  is available under this Agreement, and informs Recipients how to
+  obtain it in a reasonable manner on or through a medium customarily
+  used for software exchange; and
+
+  b) the Contributor may Distribute the Program under a license
+  different than this Agreement, provided that such license:
+     i) effectively disclaims on behalf of all other Contributors all
+     warranties and conditions, express and implied, including
+     warranties or conditions of title and non-infringement, and
+     implied warranties or conditions of merchantability and fitness
+     for a particular purpose;
+
+     ii) effectively excludes on behalf of all other Contributors all
+     liability for damages, including direct, indirect, special,
+     incidental and consequential damages, such as lost profits;
+
+     iii) does not attempt to limit or alter the recipients' rights
+     in the Source Code under section 3.2; and
+
+     iv) requires any subsequent distribution of the Program by any
+     party to be under a license that satisfies the requirements
+     of this section 3.
+
+3.2 When the Program is Distributed as Source Code:
+
+  a) it must be made available under this Agreement, or if the
+  Program (i) is combined with other material in a separate file or
+  files made available under a Secondary License, and (ii) the initial
+  Contributor attached to the Source Code the notice described in
+  Exhibit A of this Agreement, then the Program may be made available
+  under the terms of such Secondary Licenses, and
+
+  b) a copy of this Agreement must be included with each copy of
+  the Program.
+
+3.3 Contributors may not remove or alter any copyright, patent,
+trademark, attribution notices, disclaimers of warranty, or limitations
+of liability ("notices") contained within the Program from any copy of
+the Program which they Distribute, provided that Contributors may add
+their own appropriate notices.
+
+4. COMMERCIAL DISTRIBUTION
+
+Commercial distributors of software may accept certain responsibilities
+with respect to end users, business partners and the like. While this
+license is intended to facilitate the commercial use of the Program,
+the Contributor who includes the Program in a commercial product
+offering should do so in a manner which does not create potential
+liability for other Contributors. Therefore, if a Contributor includes
+the Program in a commercial product offering, such Contributor
+("Commercial Contributor") hereby agrees to defend and indemnify every
+other Contributor ("Indemnified Contributor") against any losses,
+damages and costs (collectively "Losses") arising from claims, lawsuits
+and other legal actions brought by a third party against the Indemnified
+Contributor to the extent caused by the acts or omissions of such
+Commercial Contributor in connection with its distribution of the Program
+in a commercial product offering. The obligations in this section do not
+apply to any claims or Losses relating to any actual or alleged
+intellectual property infringement. In order to qualify, an Indemnified
+Contributor must: a) promptly notify the Commercial Contributor in
+writing of such claim, and b) allow the Commercial Contributor to control,
+and cooperate with the Commercial Contributor in, the defense and any
+related settlement negotiations. The Indemnified Contributor may
+participate in any such claim at its own expense.
+
+For example, a Contributor might include the Program in a commercial
+product offering, Product X. That Contributor is then a Commercial
+Contributor. If that Commercial Contributor then makes performance
+claims, or offers warranties related to Product X, those performance
+claims and warranties are such Commercial Contributor's responsibility
+alone. Under this section, the Commercial Contributor would have to
+defend claims against the other Contributors related to those performance
+claims and warranties, and if a court requires any other Contributor to
+pay any damages as a result, the Commercial Contributor must pay
+those damages.
+
+5. NO WARRANTY
+
+EXCEPT AS EXPRESSLY SET FORTH IN THIS AGREEMENT, AND TO THE EXTENT
+PERMITTED BY APPLICABLE LAW, THE PROGRAM IS PROVIDED ON AN "AS IS"
+BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, EITHER EXPRESS OR
+IMPLIED INCLUDING, WITHOUT LIMITATION, ANY WARRANTIES OR CONDITIONS OF
+TITLE, NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR
+PURPOSE. Each Recipient is solely responsible for determining the
+appropriateness of using and distributing the Program and assumes all
+risks associated with its exercise of rights under this Agreement,
+including but not limited to the risks and costs of program errors,
+compliance with applicable laws, damage to or loss of data, programs
+or equipment, and unavailability or interruption of operations.
+
+6. DISCLAIMER OF LIABILITY
+
+EXCEPT AS EXPRESSLY SET FORTH IN THIS AGREEMENT, AND TO THE EXTENT
+PERMITTED BY APPLICABLE LAW, NEITHER RECIPIENT NOR ANY CONTRIBUTORS
+SHALL HAVE ANY LIABILITY FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING WITHOUT LIMITATION LOST
+PROFITS), HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OR DISTRIBUTION OF THE PROGRAM OR THE
+EXERCISE OF ANY RIGHTS GRANTED HEREUNDER, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGES.
+
+7. GENERAL
+
+If any provision of this Agreement is invalid or unenforceable under
+applicable law, it shall not affect the validity or enforceability of
+the remainder of the terms of this Agreement, and without further
+action by the parties hereto, such provision shall be reformed to the
+minimum extent necessary to make such provision valid and enforceable.
+
+If Recipient institutes patent litigation against any entity
+(including a cross-claim or counterclaim in a lawsuit) alleging that the
+Program itself (excluding combinations of the Program with other software
+or hardware) infringes such Recipient's patent(s), then such Recipient's
+rights granted under Section 2(b) shall terminate as of the date such
+litigation is filed.
+
+All Recipient's rights under this Agreement shall terminate if it
+fails to comply with any of the material terms or conditions of this
+Agreement and does not cure such failure in a reasonable period of
+time after becoming aware of such noncompliance. If all Recipient's
+rights under this Agreement terminate, Recipient agrees to cease use
+and distribution of the Program as soon as reasonably practicable.
+However, Recipient's obligations under this Agreement and any licenses
+granted by Recipient relating to the Program shall continue and survive.
+
+Everyone is permitted to copy and distribute copies of this Agreement,
+but in order to avoid inconsistency the Agreement is copyrighted and
+may only be modified in the following manner. The Agreement Steward
+reserves the right to publish new versions (including revisions) of
+this Agreement from time to time. No one other than the Agreement
+Steward has the right to modify this Agreement. The Eclipse Foundation
+is the initial Agreement Steward. The Eclipse Foundation may assign the
+responsibility to serve as the Agreement Steward to a suitable separate
+entity. Each new version of the Agreement will be given a distinguishing
+version number. The Program (including Contributions) may always be
+Distributed subject to the version of the Agreement under which it was
+received. In addition, after a new version of the Agreement is published,
+Contributor may elect to Distribute the Program (including its
+Contributions) under the new version.
+
+Except as expressly stated in Sections 2(a) and 2(b) above, Recipient
+receives no rights or licenses to the intellectual property of any
+Contributor under this Agreement, whether expressly, by implication,
+estoppel or otherwise. All rights in the Program not expressly granted
+under this Agreement are reserved. Nothing in this Agreement is intended
+to be enforceable by any entity that is not a Contributor or Recipient.
+No third-party beneficiary rights are created under this Agreement.
+
+Exhibit A - Form of Secondary Licenses Notice
+
+"This Source Code may also be made available under the following
+Secondary Licenses when the conditions for such availability set forth
+in the Eclipse Public License, v. 2.0 are satisfied: {name license(s),
+version(s), and exceptions or additional permissions here}."
+
+  Simply including a copy of this Agreement, including this Exhibit A
+  is not sufficient to license the Source Code under Secondary Licenses.
+
+  If it is not possible or desirable to put the notice in a particular
+  file, then You may include the notice in a location (such as a LICENSE
+  file in a relevant directory) where a recipient would be likely to
+  look for such a notice.
+
+  You may add additional accurate notices of copyright ownership.

vendor/github.com/eclipse/paho.mqtt.golang/NOTICE.md

@@ -0,0 +1,77 @@
+# Notices for paho.mqtt.golang
+
+This content is produced and maintained by the Eclipse Paho project.
+
+ * Project home: https://www.eclipse.org/paho/
+
+Note that a [separate mqtt v5 client](https://github.com/eclipse/paho.golang) also exists (this is a full rewrite
+and deliberately incompatible with this library).
+
+## Trademarks
+
+Eclipse Mosquitto trademarks of the Eclipse Foundation. Eclipse, and the
+Eclipse Logo are registered trademarks of the Eclipse Foundation.
+
+Paho is a trademark of the Eclipse Foundation. Eclipse, and the Eclipse Logo are
+registered trademarks of the Eclipse Foundation.
+
+## Copyright
+
+All content is the property of the respective authors or their employers.
+For more information regarding authorship of content, please consult the
+listed source code repository logs.
+
+## Declared Project Licenses
+
+This program and the accompanying materials are made available under the terms of the 
+Eclipse Public License v2.0 and Eclipse Distribution License v1.0 which accompany this
+distribution.
+
+The Eclipse Public License is available at
+https://www.eclipse.org/legal/epl-2.0/
+and the Eclipse Distribution License is available at
+http://www.eclipse.org/org/documents/edl-v10.php.
+
+For an explanation of what dual-licensing means to you, see:
+https://www.eclipse.org/legal/eplfaq.php#DUALLIC
+
+SPDX-License-Identifier: EPL-2.0 or BSD-3-Clause
+
+## Source Code
+
+The project maintains the following source code repositories:
+
+ * https://github.com/eclipse/paho.mqtt.golang
+
+## Third-party Content
+
+This project makes use of the follow third party projects.
+
+Go Programming Language and Standard Library
+
+* License: BSD-style license (https://golang.org/LICENSE)
+* Project: https://golang.org/
+
+Go Networking
+
+* License: BSD 3-Clause style license and patent grant.
+* Project: https://cs.opensource.google/go/x/net
+
+Go Sync
+
+* License: BSD 3-Clause style license and patent grant.
+* Project: https://cs.opensource.google/go/x/sync/
+
+Gorilla Websockets v1.4.2
+
+* License: BSD 2-Clause "Simplified" License
+* Project: https://github.com/gorilla/websocket
+
+## Cryptography
+
+Content may contain encryption software. The country in which you are currently
+may have restrictions on the import, possession, and use, and/or re-export to
+another country, of encryption software. BEFORE using any encryption software,
+please check the country's laws, regulations and policies concerning the import,
+possession, or use, and re-export of encryption software, to see if this is
+permitted.

vendor/github.com/eclipse/paho.mqtt.golang/README.md

@@ -111,36 +111,54 @@ identifier; this is as per the [spec](https://docs.oasis-open.org/mqtt/mqtt/v3.1
   `ClientOptions.SetOrderMatters(false)` set). If you wish to perform a long-running task, or publish a message, then 
   please use a go routine (blocking in the handler is a common cause of unexpected `pingresp 
 not received, disconnecting` errors). 
-* When QOS1+ subscriptions have been created previously and you connect with `CleanSession` set to false it is possible that the broker will deliver retained 
-messages before `Subscribe` can be called. To process these messages either configure a handler with `AddRoute` or
-set a `DefaultPublishHandler`.
+* When QOS1+ subscriptions have been created previously and you connect with `CleanSession` set to false it is possible 
+that the broker will deliver retained messages before `Subscribe` can be called. To process these messages either 
+configure a handler with `AddRoute` or set a `DefaultPublishHandler`.
 * Loss of network connectivity may not be detected immediately. If this is an issue then consider setting 
 `ClientOptions.KeepAlive` (sends regular messages to check the link is active).
-* Brokers offer many configuration options; some settings may lead to unexpected results. If using Mosquitto check
-`max_inflight_messages`, `max_queued_messages`, `persistence` (the defaults may not be what you expect).
+* Reusing a `Client` is not completely safe. After calling `Disconnect` please create a new Client (`NewClient()`) rather 
+than attempting to reuse the existing one (note that features such as `SetAutoReconnect` mean this is rarely necessary).
+* Brokers offer many configuration options; some settings may lead to unexpected results.
+* Publish tokens will complete if the connection is lost and re-established using the default
+options.SetAutoReconnect(true) functionality (token.Error() will return nil). Attempts will be made to re-deliver the
+message but there is currently no easy way know when such messages are delivered.
+
+If using Mosquitto then there are a range of fairly common issues:
+* `listener` - By default [Mosquitto v2+](https://mosquitto.org/documentation/migrating-to-2-0/) listens on loopback 
+interfaces only (meaning it will only accept connections made from the computer its running on).
+* `max_inflight_messages` - Unless this is set to 1 mosquitto does not guarantee ordered delivery of messages. 
+* `max_queued_messages` / `max_queued_bytes` - These impose limits on the number/size of queued messages. The defaults
+may lead to messages being silently dropped.
+* `persistence` - Defaults to false (messages will not survive a broker restart)
+* `max_keepalive` - defaults to 65535 and, from version 2.0.12, `SetKeepAlive(0)` will result in a rejected connection 
+by default.
 
 Reporting bugs
 --------------
 
 Please report bugs by raising issues for this project in github https://github.com/eclipse/paho.mqtt.golang/issues
 
-*A limited number of contributors monitor the issues section so if you have a general question please consider the 
-resources in the [more information](#more-information) section (your question will be seen by more people, and you are 
-likely to receive an answer more quickly).*
+A limited number of contributors monitor the issues section so if you have a general question please see the 
+resources in the [more information](#more-information) section for help.
 
 We welcome bug reports, but it is important they are actionable. A significant percentage of issues reported are not 
 resolved due to a lack of information. If we cannot replicate the problem then it is unlikely we will be able to fix it. 
-The information required will vary from issue to issue but consider including:  
+The information required will vary from issue to issue but almost all bug reports would be expected to include: 
 
-* Which version of the package you are using (tag or commit - this should be in your go.mod file)
+* Which version of the package you are using (tag or commit - this should be in your `go.mod` file)
+* A full, clear, description of the problem (detail what you are expecting vs what actually happens).
+* Configuration information (code showing how you connect, please include all references to `ClientOption`)
+* Broker details (name and version).
+
+If at all possible please also include:
+* Details of your attempts to resolve the issue (what have you tried, what worked, what did not).
 * A [Minimal, Reproducible Example](https://stackoverflow.com/help/minimal-reproducible-example). Providing an example
 is the best way to demonstrate the issue you are facing; it is important this includes all relevant information
 (including broker configuration). Docker (see `cmd/docker`) makes it relatively simple to provide a working end-to-end
 example.
-* A full, clear, description of the problem (detail what you are expecting vs what actually happens).
-* Details of your attempts to resolve the issue (what have you tried, what worked, what did not).
-* [Application Logs](#logging) covering the period the issue occurred. Unless you have isolated the root cause of the issue please include a link to a full log (including data from well before the problem arose).
-* Broker Logs covering the period the issue occurred.
+* Broker logs covering the period the issue occurred.
+* [Application Logs](#logging) covering the period the issue occurred. Unless you have isolated the root cause of the 
+issue please include a link to a full log (including data from well before the problem arose).
 
 It is important to remember that this library does not stand alone; it communicates with a broker and any issues you are 
 seeing may be due to:
@@ -167,11 +185,12 @@ note of the requirement that the commit record contain a "Signed-off-by" entry.
 More information
 ----------------
 
+[Stack Overflow](https://stackoverflow.com/questions/tagged/mqtt+go) has a range questions/answers covering a range of 
+common issues (both relating to use of this library and MQTT in general). This is the best place to ask general questions 
+(including those relating to the use of this library).
+
 Discussion of the Paho clients takes place on the [Eclipse paho-dev mailing list](https://dev.eclipse.org/mailman/listinfo/paho-dev).
 
 General questions about the MQTT protocol are discussed in the [MQTT Google Group](https://groups.google.com/forum/?hl=en-US&fromgroups#!forum/mqtt).
 
 There is much more information available via the [MQTT community site](http://mqtt.org).
-
-[Stack Overflow](https://stackoverflow.com/questions/tagged/mqtt+go) has a range questions covering a range of common 
-issues (both relating to use of this library and MQTT in general).

vendor/github.com/eclipse/paho.mqtt.golang/about.html

@@ -1,41 +0,0 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
-<html xmlns="http://www.w3.org/1999/xhtml"><head>
-<meta http-equiv="Content-Type" content="text/html; charset=ISO-8859-1">
-<title>About</title>
-</head>
-<body lang="EN-US">
-<h2>About This Content</h2>
- 
-<p><em>December 9, 2013</em></p>	
-<h3>License</h3>
-
-<p>The Eclipse Foundation makes available all content in this plug-in ("Content").  Unless otherwise 
-indicated below, the Content is provided to you under the terms and conditions of the
-Eclipse Public License Version 1.0 ("EPL") and Eclipse Distribution License Version 1.0 ("EDL").
-A copy of the EPL is available at 
-<a href="http://www.eclipse.org/legal/epl-v10.html">http://www.eclipse.org/legal/epl-v10.html</a> 
-and a copy of the EDL is available at 
-<a href="http://www.eclipse.org/org/documents/edl-v10.php">http://www.eclipse.org/org/documents/edl-v10.php</a>. 
-For purposes of the EPL, "Program" will mean the Content.</p>
-
-<p>If you did not receive this Content directly from the Eclipse Foundation, the Content is 
-being redistributed by another party ("Redistributor") and different terms and conditions may
-apply to your use of any object code in the Content.  Check the Redistributor's license that was 
-provided with the Content.  If no such license exists, contact the Redistributor.  Unless otherwise
-indicated below, the terms and conditions of the EPL still apply to any source code in the Content
-and such source code may be obtained at <a href="http://www.eclipse.org/">http://www.eclipse.org</a>.</p>
-
-		
-		<h3>Third Party Content</h3>
-		<p>The Content includes items that have been sourced from third parties as set out below. If you 
-		did not receive this Content directly from the Eclipse Foundation, the following is provided 
-		for informational purposes only, and you should look to the Redistributor's license for 
-		terms and conditions of use.</p>
-		<p><em>
-		<strong>None</strong> <br><br>
-		<br><br> 
-		</em></p>
-
-
-
-</body></html>

vendor/github.com/eclipse/paho.mqtt.golang/client.go

@@ -1,15 +1,20 @@
 /*
- * Copyright (c) 2013 IBM Corp.
+ * Copyright (c) 2021 IBM Corp and others.
  *
  * All rights reserved. This program and the accompanying materials
- * are made available under the terms of the Eclipse Public License v1.0
- * which accompanies this distribution, and is available at
- * http://www.eclipse.org/legal/epl-v10.html
+ * are made available under the terms of the Eclipse Public License v2.0
+ * and Eclipse Distribution License v1.0 which accompany this distribution.
+ *
+ * The Eclipse Public License is available at
+ *    https://www.eclipse.org/legal/epl-2.0/
+ * and the Eclipse Distribution License is available at
+ *   http://www.eclipse.org/org/documents/edl-v10.php.
  *
  * Contributors:
  *    Seth Hoenig
  *    Allan Stockdill-Mander
  *    Mike Robertson
+ *    Matt Brittan
  */
 
 // Portions copyright © 2018 TIBCO Software Inc.
@@ -19,6 +24,7 @@ package mqtt
 
 import (
 	"bytes"
+	"context"
 	"errors"
 	"fmt"
 	"net"
@@ -27,6 +33,8 @@ import (
 	"sync/atomic"
 	"time"
 
+	"golang.org/x/sync/semaphore"
+
 	"github.com/eclipse/paho.mqtt.golang/packets"
 )
 
@@ -274,7 +282,7 @@ func (c *client) Connect() Token {
 		conn, rc, t.sessionPresent, err = c.attemptConnection()
 		if err != nil {
 			if c.options.ConnectRetry {
-				DEBUG.Println(CLI, "Connect failed, sleeping for", int(c.options.ConnectRetryInterval.Seconds()), "seconds and will then retry")
+				DEBUG.Println(CLI, "Connect failed, sleeping for", int(c.options.ConnectRetryInterval.Seconds()), "seconds and will then retry, error:", err.Error())
 				time.Sleep(c.options.ConnectRetryInterval)
 
 				if atomic.LoadUint32(&c.status) == connecting {
@@ -384,8 +392,17 @@ func (c *client) attemptConnection() (net.Conn, byte, bool, error) {
 			DEBUG.Println(CLI, "using custom onConnectAttempt handler...")
 			tlsCfg = c.options.OnConnectAttempt(broker, c.options.TLSConfig)
 		}
+		dialer := c.options.Dialer
+		if dialer == nil { //
+			WARN.Println(CLI, "dialer was nil, using default")
+			dialer = &net.Dialer{Timeout: 30 * time.Second}
+		}
 		// Start by opening the network connection (tcp, tls, ws) etc
-		conn, err = openConnection(broker, tlsCfg, c.options.ConnectTimeout, c.options.HTTPHeaders, c.options.WebsocketOptions)
+		if c.options.CustomOpenConnectionFn != nil {
+			conn, err = c.options.CustomOpenConnectionFn(broker, c.options)
+		} else {
+			conn, err = openConnection(broker, tlsCfg, c.options.ConnectTimeout, c.options.HTTPHeaders, c.options.WebsocketOptions, dialer)
+		}
 		if err != nil {
 			ERROR.Println(CLI, err.Error())
 			WARN.Println(CLI, "failed to connect to broker, trying next")
@@ -431,36 +448,36 @@ func (c *client) attemptConnection() (net.Conn, byte, bool, error) {
 // Disconnect will end the connection with the server, but not before waiting
 // the specified number of milliseconds to wait for existing work to be
 // completed.
+// WARNING: `Disconnect` may return before all activities (goroutines) have completed. This means that
+// reusing the `client` may lead to panics. If you want to reconnect when the connection drops then use
+// `SetAutoReconnect` and/or `SetConnectRetry`options instead of implementing this yourself.
 func (c *client) Disconnect(quiesce uint) {
+	defer c.disconnect()
+
 	status := atomic.LoadUint32(&c.status)
-	if status == connected {
-		DEBUG.Println(CLI, "disconnecting")
-		c.setConnected(disconnected)
+	c.setConnected(disconnected)
 
-		dm := packets.NewControlPacket(packets.Disconnect).(*packets.DisconnectPacket)
-		dt := newToken(packets.Disconnect)
-		disconnectSent := false
-		select {
-		case c.oboundP <- &PacketAndToken{p: dm, t: dt}:
-			disconnectSent = true
-		case <-c.commsStopped:
-			WARN.Println("Disconnect packet could not be sent because comms stopped")
-		case <-time.After(time.Duration(quiesce) * time.Millisecond):
-			WARN.Println("Disconnect packet not sent due to timeout")
-		}
-
-		// wait for work to finish, or quiesce time consumed
-		if disconnectSent {
-			DEBUG.Println(CLI, "calling WaitTimeout")
-			dt.WaitTimeout(time.Duration(quiesce) * time.Millisecond)
-			DEBUG.Println(CLI, "WaitTimeout done")
-		}
-	} else {
+	if status != connected {
 		WARN.Println(CLI, "Disconnect() called but not connected (disconnected/reconnecting)")
-		c.setConnected(disconnected)
+		return
 	}
 
-	c.disconnect()
+	DEBUG.Println(CLI, "disconnecting")
+	dm := packets.NewControlPacket(packets.Disconnect).(*packets.DisconnectPacket)
+	dt := newToken(packets.Disconnect)
+	select {
+	case c.oboundP <- &PacketAndToken{p: dm, t: dt}:
+		// wait for work to finish, or quiesce time consumed
+		DEBUG.Println(CLI, "calling WaitTimeout")
+		dt.WaitTimeout(time.Duration(quiesce) * time.Millisecond)
+		DEBUG.Println(CLI, "WaitTimeout done")
+	// Let's comment this chunk of code until we are able to safely read this variable
+	// without data races.
+	// case <-c.commsStopped:
+	//           WARN.Println("Disconnect packet could not be sent because comms stopped")
+	case <-time.After(time.Duration(quiesce) * time.Millisecond):
+		WARN.Println("Disconnect packet not sent due to timeout")
+	}
 }
 
 // forceDisconnect will end the connection with the mqtt broker immediately (used for tests only)
@@ -503,7 +520,9 @@ func (c *client) internalConnLost(err error) {
 			reconnect := c.options.AutoReconnect && c.connectionStatus() > connecting
 
 			if c.options.CleanSession && !reconnect {
-				c.messageIds.cleanUp()
+				c.messageIds.cleanUp() // completes PUB/SUB/UNSUB tokens
+			} else if !c.options.ResumeSubs {
+				c.messageIds.cleanUpSubscribe() // completes SUB/UNSUB tokens
 			}
 			if reconnect {
 				c.setConnected(reconnecting)
@@ -800,7 +819,9 @@ func (c *client) Subscribe(topic string, qos byte, callback MessageHandler) Toke
 	}
 	DEBUG.Println(CLI, sub.String())
 
-	persistOutbound(c.persist, sub)
+	if c.options.ResumeSubs { // Only persist if we need this to resume subs after a disconnection
+		persistOutbound(c.persist, sub)
+	}
 	switch c.connectionStatus() {
 	case connecting:
 		DEBUG.Println(CLI, "storing subscribe message (connecting), topic:", topic)
@@ -872,7 +893,9 @@ func (c *client) SubscribeMultiple(filters map[string]byte, callback MessageHand
 		sub.MessageID = mID
 		token.messageID = mID
 	}
-	persistOutbound(c.persist, sub)
+	if c.options.ResumeSubs { // Only persist if we need this to resume subs after a disconnection
+		persistOutbound(c.persist, sub)
+	}
 	switch c.connectionStatus() {
 	case connecting:
 		DEBUG.Println(CLI, "storing subscribe message (connecting), topics:", sub.Topics)
@@ -919,10 +942,42 @@ func (c *client) reserveStoredPublishIDs() {
 // Load all stored messages and resend them
 // Call this to ensure QOS > 1,2 even after an application crash
 // Note: This function will exit if c.stop is closed (this allows the shutdown to proceed avoiding a potential deadlock)
-//
+// other than that it does not return until all messages in the store have been sent (connect() does not complete its
+// token before this completes)
 func (c *client) resume(subscription bool, ibound chan packets.ControlPacket) {
 	DEBUG.Println(STR, "enter Resume")
 
+	// Prior to sending a message getSemaphore will be called and once sent releaseSemaphore will be called
+	// with the token (so semaphore can be released when ACK received if applicable).
+	// Using a weighted semaphore rather than channels because this retains ordering
+	getSemaphore := func() {}                    // Default = do nothing
+	releaseSemaphore := func(_ *PublishToken) {} // Default = do nothing
+	var sem *semaphore.Weighted
+	if c.options.MaxResumePubInFlight > 0 {
+		sem = semaphore.NewWeighted(int64(c.options.MaxResumePubInFlight))
+		ctx, cancel := context.WithCancel(context.Background()) // Context needed for semaphore
+		defer cancel()                                          // ensure context gets cancelled
+
+		go func() {
+			select {
+			case <-c.stop: // Request to stop (due to comm error etc)
+				cancel()
+			case <-ctx.Done(): // resume completed normally
+			}
+		}()
+
+		getSemaphore = func() { sem.Acquire(ctx, 1) }
+		releaseSemaphore = func(token *PublishToken) { // Note: If token never completes then resume() may stall (will still exit on ctx.Done())
+			go func() {
+				select {
+				case <-token.Done():
+				case <-ctx.Done():
+				}
+				sem.Release(1)
+			}()
+		}
+	}
+
 	storedKeys := c.persist.All()
 	for _, key := range storedKeys {
 		packet := c.persist.Get(key)
@@ -986,12 +1041,14 @@ func (c *client) resume(subscription bool, ibound chan packets.ControlPacket) {
 				c.claimID(token, details.MessageID)
 				DEBUG.Println(STR, fmt.Sprintf("loaded pending publish (%d)", details.MessageID))
 				DEBUG.Println(STR, details)
+				getSemaphore()
 				select {
 				case c.obound <- &PacketAndToken{p: p, t: token}:
 				case <-c.stop:
 					DEBUG.Println(STR, "resume exiting due to stop")
 					return
 				}
+				releaseSemaphore(token) // If limiting simultaneous messages then we need to know when message is acknowledged
 			default:
 				ERROR.Println(STR, "invalid message type in store (discarded)")
 				c.persist.Del(key)
@@ -1051,7 +1108,9 @@ func (c *client) Unsubscribe(topics ...string) Token {
 		token.messageID = mID
 	}
 
-	persistOutbound(c.persist, unsub)
+	if c.options.ResumeSubs { // Only persist if we need this to resume subs after a disconnection
+		persistOutbound(c.persist, unsub)
+	}
 
 	switch c.connectionStatus() {
 	case connecting:

vendor/github.com/eclipse/paho.mqtt.golang/components.go

@@ -1,10 +1,14 @@
 /*
- * Copyright (c) 2013 IBM Corp.
+ * Copyright (c) 2021 IBM Corp and others.
  *
  * All rights reserved. This program and the accompanying materials
- * are made available under the terms of the Eclipse Public License v1.0
- * which accompanies this distribution, and is available at
- * http://www.eclipse.org/legal/epl-v10.html
+ * are made available under the terms of the Eclipse Public License v2.0
+ * and Eclipse Distribution License v1.0 which accompany this distribution.
+ *
+ * The Eclipse Public License is available at
+ *    https://www.eclipse.org/legal/epl-2.0/
+ * and the Eclipse Distribution License is available at
+ *   http://www.eclipse.org/org/documents/edl-v10.php.
  *
  * Contributors:
  *    Seth Hoenig

vendor/github.com/eclipse/paho.mqtt.golang/epl-v10

@@ -1,70 +0,0 @@
-Eclipse Public License - v 1.0
-
-THE ACCOMPANYING PROGRAM IS PROVIDED UNDER THE TERMS OF THIS ECLIPSE PUBLIC LICENSE ("AGREEMENT"). ANY USE, REPRODUCTION OR DISTRIBUTION OF THE PROGRAM CONSTITUTES RECIPIENT'S ACCEPTANCE OF THIS AGREEMENT.
-
-1. DEFINITIONS
-
-"Contribution" means:
-
-a) in the case of the initial Contributor, the initial code and documentation distributed under this Agreement, and
-b) in the case of each subsequent Contributor:
-i) changes to the Program, and
-ii) additions to the Program;
-where such changes and/or additions to the Program originate from and are distributed by that particular Contributor. A Contribution 'originates' from a Contributor if it was added to the Program by such Contributor itself or anyone acting on such Contributor's behalf. Contributions do not include additions to the Program which: (i) are separate modules of software distributed in conjunction with the Program under their own license agreement, and (ii) are not derivative works of the Program.
-"Contributor" means any person or entity that distributes the Program.
-
-"Licensed Patents" mean patent claims licensable by a Contributor which are necessarily infringed by the use or sale of its Contribution alone or when combined with the Program.
-
-"Program" means the Contributions distributed in accordance with this Agreement.
-
-"Recipient" means anyone who receives the Program under this Agreement, including all Contributors.
-
-2. GRANT OF RIGHTS
-
-a) Subject to the terms of this Agreement, each Contributor hereby grants Recipient a non-exclusive, worldwide, royalty-free copyright license to reproduce, prepare derivative works of, publicly display, publicly perform, distribute and sublicense the Contribution of such Contributor, if any, and such derivative works, in source code and object code form.
-b) Subject to the terms of this Agreement, each Contributor hereby grants Recipient a non-exclusive, worldwide, royalty-free patent license under Licensed Patents to make, use, sell, offer to sell, import and otherwise transfer the Contribution of such Contributor, if any, in source code and object code form. This patent license shall apply to the combination of the Contribution and the Program if, at the time the Contribution is added by the Contributor, such addition of the Contribution causes such combination to be covered by the Licensed Patents. The patent license shall not apply to any other combinations which include the Contribution. No hardware per se is licensed hereunder.
-c) Recipient understands that although each Contributor grants the licenses to its Contributions set forth herein, no assurances are provided by any Contributor that the Program does not infringe the patent or other intellectual property rights of any other entity. Each Contributor disclaims any liability to Recipient for claims brought by any other entity based on infringement of intellectual property rights or otherwise. As a condition to exercising the rights and licenses granted hereunder, each Recipient hereby assumes sole responsibility to secure any other intellectual property rights needed, if any. For example, if a third party patent license is required to allow Recipient to distribute the Program, it is Recipient's responsibility to acquire that license before distributing the Program.
-d) Each Contributor represents that to its knowledge it has sufficient copyright rights in its Contribution, if any, to grant the copyright license set forth in this Agreement.
-3. REQUIREMENTS
-
-A Contributor may choose to distribute the Program in object code form under its own license agreement, provided that:
-
-a) it complies with the terms and conditions of this Agreement; and
-b) its license agreement:
-i) effectively disclaims on behalf of all Contributors all warranties and conditions, express and implied, including warranties or conditions of title and non-infringement, and implied warranties or conditions of merchantability and fitness for a particular purpose;
-ii) effectively excludes on behalf of all Contributors all liability for damages, including direct, indirect, special, incidental and consequential damages, such as lost profits;
-iii) states that any provisions which differ from this Agreement are offered by that Contributor alone and not by any other party; and
-iv) states that source code for the Program is available from such Contributor, and informs licensees how to obtain it in a reasonable manner on or through a medium customarily used for software exchange.
-When the Program is made available in source code form:
-
-a) it must be made available under this Agreement; and
-b) a copy of this Agreement must be included with each copy of the Program.
-Contributors may not remove or alter any copyright notices contained within the Program.
-
-Each Contributor must identify itself as the originator of its Contribution, if any, in a manner that reasonably allows subsequent Recipients to identify the originator of the Contribution.
-
-4. COMMERCIAL DISTRIBUTION
-
-Commercial distributors of software may accept certain responsibilities with respect to end users, business partners and the like. While this license is intended to facilitate the commercial use of the Program, the Contributor who includes the Program in a commercial product offering should do so in a manner which does not create potential liability for other Contributors. Therefore, if a Contributor includes the Program in a commercial product offering, such Contributor ("Commercial Contributor") hereby agrees to defend and indemnify every other Contributor ("Indemnified Contributor") against any losses, damages and costs (collectively "Losses") arising from claims, lawsuits and other legal actions brought by a third party against the Indemnified Contributor to the extent caused by the acts or omissions of such Commercial Contributor in connection with its distribution of the Program in a commercial product offering. The obligations in this section do not apply to any claims or Losses relating to any actual or alleged intellectual property infringement. In order to qualify, an Indemnified Contributor must: a) promptly notify the Commercial Contributor in writing of such claim, and b) allow the Commercial Contributor to control, and cooperate with the Commercial Contributor in, the defense and any related settlement negotiations. The Indemnified Contributor may participate in any such claim at its own expense.
-
-For example, a Contributor might include the Program in a commercial product offering, Product X. That Contributor is then a Commercial Contributor. If that Commercial Contributor then makes performance claims, or offers warranties related to Product X, those performance claims and warranties are such Commercial Contributor's responsibility alone. Under this section, the Commercial Contributor would have to defend claims against the other Contributors related to those performance claims and warranties, and if a court requires any other Contributor to pay any damages as a result, the Commercial Contributor must pay those damages.
-
-5. NO WARRANTY
-
-EXCEPT AS EXPRESSLY SET FORTH IN THIS AGREEMENT, THE PROGRAM IS PROVIDED ON AN "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, EITHER EXPRESS OR IMPLIED INCLUDING, WITHOUT LIMITATION, ANY WARRANTIES OR CONDITIONS OF TITLE, NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE. Each Recipient is solely responsible for determining the appropriateness of using and distributing the Program and assumes all risks associated with its exercise of rights under this Agreement , including but not limited to the risks and costs of program errors, compliance with applicable laws, damage to or loss of data, programs or equipment, and unavailability or interruption of operations.
-
-6. DISCLAIMER OF LIABILITY
-
-EXCEPT AS EXPRESSLY SET FORTH IN THIS AGREEMENT, NEITHER RECIPIENT NOR ANY CONTRIBUTORS SHALL HAVE ANY LIABILITY FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING WITHOUT LIMITATION LOST PROFITS), HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OR DISTRIBUTION OF THE PROGRAM OR THE EXERCISE OF ANY RIGHTS GRANTED HEREUNDER, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGES.
-
-7. GENERAL
-
-If any provision of this Agreement is invalid or unenforceable under applicable law, it shall not affect the validity or enforceability of the remainder of the terms of this Agreement, and without further action by the parties hereto, such provision shall be reformed to the minimum extent necessary to make such provision valid and enforceable.
-
-If Recipient institutes patent litigation against any entity (including a cross-claim or counterclaim in a lawsuit) alleging that the Program itself (excluding combinations of the Program with other software or hardware) infringes such Recipient's patent(s), then such Recipient's rights granted under Section 2(b) shall terminate as of the date such litigation is filed.
-
-All Recipient's rights under this Agreement shall terminate if it fails to comply with any of the material terms or conditions of this Agreement and does not cure such failure in a reasonable period of time after becoming aware of such noncompliance. If all Recipient's rights under this Agreement terminate, Recipient agrees to cease use and distribution of the Program as soon as reasonably practicable. However, Recipient's obligations under this Agreement and any licenses granted by Recipient relating to the Program shall continue and survive.
-
-Everyone is permitted to copy and distribute copies of this Agreement, but in order to avoid inconsistency the Agreement is copyrighted and may only be modified in the following manner. The Agreement Steward reserves the right to publish new versions (including revisions) of this Agreement from time to time. No one other than the Agreement Steward has the right to modify this Agreement. The Eclipse Foundation is the initial Agreement Steward. The Eclipse Foundation may assign the responsibility to serve as the Agreement Steward to a suitable separate entity. Each new version of the Agreement will be given a distinguishing version number. The Program (including Contributions) may always be distributed subject to the version of the Agreement under which it was received. In addition, after a new version of the Agreement is published, Contributor may elect to distribute the Program (including its Contributions) under the new version. Except as expressly stated in Sections 2(a) and 2(b) above, Recipient receives no rights or licenses to the intellectual property of any Contributor under this Agreement, whether expressly, by implication, estoppel or otherwise. All rights in the Program not expressly granted under this Agreement are reserved.
-
-This Agreement is governed by the laws of the State of New York and the intellectual property laws of the United States of America. No party to this Agreement will bring a legal action under this Agreement more than one year after the cause of action arose. Each party waives its rights to a jury trial in any resulting litigation.

vendor/github.com/eclipse/paho.mqtt.golang/epl-v20

@@ -0,0 +1,277 @@
+Eclipse Public License - v 2.0
+
+    THE ACCOMPANYING PROGRAM IS PROVIDED UNDER THE TERMS OF THIS ECLIPSE
+    PUBLIC LICENSE ("AGREEMENT"). ANY USE, REPRODUCTION OR DISTRIBUTION
+    OF THE PROGRAM CONSTITUTES RECIPIENT'S ACCEPTANCE OF THIS AGREEMENT.
+
+1. DEFINITIONS
+
+"Contribution" means:
+
+  a) in the case of the initial Contributor, the initial content
+     Distributed under this Agreement, and
+
+  b) in the case of each subsequent Contributor:
+     i) changes to the Program, and
+     ii) additions to the Program;
+  where such changes and/or additions to the Program originate from
+  and are Distributed by that particular Contributor. A Contribution
+  "originates" from a Contributor if it was added to the Program by
+  such Contributor itself or anyone acting on such Contributor's behalf.
+  Contributions do not include changes or additions to the Program that
+  are not Modified Works.
+
+"Contributor" means any person or entity that Distributes the Program.
+
+"Licensed Patents" mean patent claims licensable by a Contributor which
+are necessarily infringed by the use or sale of its Contribution alone
+or when combined with the Program.
+
+"Program" means the Contributions Distributed in accordance with this
+Agreement.
+
+"Recipient" means anyone who receives the Program under this Agreement
+or any Secondary License (as applicable), including Contributors.
+
+"Derivative Works" shall mean any work, whether in Source Code or other
+form, that is based on (or derived from) the Program and for which the
+editorial revisions, annotations, elaborations, or other modifications
+represent, as a whole, an original work of authorship.
+
+"Modified Works" shall mean any work in Source Code or other form that
+results from an addition to, deletion from, or modification of the
+contents of the Program, including, for purposes of clarity any new file
+in Source Code form that contains any contents of the Program. Modified
+Works shall not include works that contain only declarations,
+interfaces, types, classes, structures, or files of the Program solely
+in each case in order to link to, bind by name, or subclass the Program
+or Modified Works thereof.
+
+"Distribute" means the acts of a) distributing or b) making available
+in any manner that enables the transfer of a copy.
+
+"Source Code" means the form of a Program preferred for making
+modifications, including but not limited to software source code,
+documentation source, and configuration files.
+
+"Secondary License" means either the GNU General Public License,
+Version 2.0, or any later versions of that license, including any
+exceptions or additional permissions as identified by the initial
+Contributor.
+
+2. GRANT OF RIGHTS
+
+  a) Subject to the terms of this Agreement, each Contributor hereby
+  grants Recipient a non-exclusive, worldwide, royalty-free copyright
+  license to reproduce, prepare Derivative Works of, publicly display,
+  publicly perform, Distribute and sublicense the Contribution of such
+  Contributor, if any, and such Derivative Works.
+
+  b) Subject to the terms of this Agreement, each Contributor hereby
+  grants Recipient a non-exclusive, worldwide, royalty-free patent
+  license under Licensed Patents to make, use, sell, offer to sell,
+  import and otherwise transfer the Contribution of such Contributor,
+  if any, in Source Code or other form. This patent license shall
+  apply to the combination of the Contribution and the Program if, at
+  the time the Contribution is added by the Contributor, such addition
+  of the Contribution causes such combination to be covered by the
+  Licensed Patents. The patent license shall not apply to any other
+  combinations which include the Contribution. No hardware per se is
+  licensed hereunder.
+
+  c) Recipient understands that although each Contributor grants the
+  licenses to its Contributions set forth herein, no assurances are
+  provided by any Contributor that the Program does not infringe the
+  patent or other intellectual property rights of any other entity.
+  Each Contributor disclaims any liability to Recipient for claims
+  brought by any other entity based on infringement of intellectual
+  property rights or otherwise. As a condition to exercising the
+  rights and licenses granted hereunder, each Recipient hereby
+  assumes sole responsibility to secure any other intellectual
+  property rights needed, if any. For example, if a third party
+  patent license is required to allow Recipient to Distribute the
+  Program, it is Recipient's responsibility to acquire that license
+  before distributing the Program.
+
+  d) Each Contributor represents that to its knowledge it has
+  sufficient copyright rights in its Contribution, if any, to grant
+  the copyright license set forth in this Agreement.
+
+  e) Notwithstanding the terms of any Secondary License, no
+  Contributor makes additional grants to any Recipient (other than
+  those set forth in this Agreement) as a result of such Recipient's
+  receipt of the Program under the terms of a Secondary License
+  (if permitted under the terms of Section 3).
+
+3. REQUIREMENTS
+
+3.1 If a Contributor Distributes the Program in any form, then:
+
+  a) the Program must also be made available as Source Code, in
+  accordance with section 3.2, and the Contributor must accompany
+  the Program with a statement that the Source Code for the Program
+  is available under this Agreement, and informs Recipients how to
+  obtain it in a reasonable manner on or through a medium customarily
+  used for software exchange; and
+
+  b) the Contributor may Distribute the Program under a license
+  different than this Agreement, provided that such license:
+     i) effectively disclaims on behalf of all other Contributors all
+     warranties and conditions, express and implied, including
+     warranties or conditions of title and non-infringement, and
+     implied warranties or conditions of merchantability and fitness
+     for a particular purpose;
+
+     ii) effectively excludes on behalf of all other Contributors all
+     liability for damages, including direct, indirect, special,
+     incidental and consequential damages, such as lost profits;
+
+     iii) does not attempt to limit or alter the recipients' rights
+     in the Source Code under section 3.2; and
+
+     iv) requires any subsequent distribution of the Program by any
+     party to be under a license that satisfies the requirements
+     of this section 3.
+
+3.2 When the Program is Distributed as Source Code:
+
+  a) it must be made available under this Agreement, or if the
+  Program (i) is combined with other material in a separate file or
+  files made available under a Secondary License, and (ii) the initial
+  Contributor attached to the Source Code the notice described in
+  Exhibit A of this Agreement, then the Program may be made available
+  under the terms of such Secondary Licenses, and
+
+  b) a copy of this Agreement must be included with each copy of
+  the Program.
+
+3.3 Contributors may not remove or alter any copyright, patent,
+trademark, attribution notices, disclaimers of warranty, or limitations
+of liability ("notices") contained within the Program from any copy of
+the Program which they Distribute, provided that Contributors may add
+their own appropriate notices.
+
+4. COMMERCIAL DISTRIBUTION
+
+Commercial distributors of software may accept certain responsibilities
+with respect to end users, business partners and the like. While this
+license is intended to facilitate the commercial use of the Program,
+the Contributor who includes the Program in a commercial product
+offering should do so in a manner which does not create potential
+liability for other Contributors. Therefore, if a Contributor includes
+the Program in a commercial product offering, such Contributor
+("Commercial Contributor") hereby agrees to defend and indemnify every
+other Contributor ("Indemnified Contributor") against any losses,
+damages and costs (collectively "Losses") arising from claims, lawsuits
+and other legal actions brought by a third party against the Indemnified
+Contributor to the extent caused by the acts or omissions of such
+Commercial Contributor in connection with its distribution of the Program
+in a commercial product offering. The obligations in this section do not
+apply to any claims or Losses relating to any actual or alleged
+intellectual property infringement. In order to qualify, an Indemnified
+Contributor must: a) promptly notify the Commercial Contributor in
+writing of such claim, and b) allow the Commercial Contributor to control,
+and cooperate with the Commercial Contributor in, the defense and any
+related settlement negotiations. The Indemnified Contributor may
+participate in any such claim at its own expense.
+
+For example, a Contributor might include the Program in a commercial
+product offering, Product X. That Contributor is then a Commercial
+Contributor. If that Commercial Contributor then makes performance
+claims, or offers warranties related to Product X, those performance
+claims and warranties are such Commercial Contributor's responsibility
+alone. Under this section, the Commercial Contributor would have to
+defend claims against the other Contributors related to those performance
+claims and warranties, and if a court requires any other Contributor to
+pay any damages as a result, the Commercial Contributor must pay
+those damages.
+
+5. NO WARRANTY
+
+EXCEPT AS EXPRESSLY SET FORTH IN THIS AGREEMENT, AND TO THE EXTENT
+PERMITTED BY APPLICABLE LAW, THE PROGRAM IS PROVIDED ON AN "AS IS"
+BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, EITHER EXPRESS OR
+IMPLIED INCLUDING, WITHOUT LIMITATION, ANY WARRANTIES OR CONDITIONS OF
+TITLE, NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR
+PURPOSE. Each Recipient is solely responsible for determining the
+appropriateness of using and distributing the Program and assumes all
+risks associated with its exercise of rights under this Agreement,
+including but not limited to the risks and costs of program errors,
+compliance with applicable laws, damage to or loss of data, programs
+or equipment, and unavailability or interruption of operations.
+
+6. DISCLAIMER OF LIABILITY
+
+EXCEPT AS EXPRESSLY SET FORTH IN THIS AGREEMENT, AND TO THE EXTENT
+PERMITTED BY APPLICABLE LAW, NEITHER RECIPIENT NOR ANY CONTRIBUTORS
+SHALL HAVE ANY LIABILITY FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING WITHOUT LIMITATION LOST
+PROFITS), HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OR DISTRIBUTION OF THE PROGRAM OR THE
+EXERCISE OF ANY RIGHTS GRANTED HEREUNDER, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGES.
+
+7. GENERAL
+
+If any provision of this Agreement is invalid or unenforceable under
+applicable law, it shall not affect the validity or enforceability of
+the remainder of the terms of this Agreement, and without further
+action by the parties hereto, such provision shall be reformed to the
+minimum extent necessary to make such provision valid and enforceable.
+
+If Recipient institutes patent litigation against any entity
+(including a cross-claim or counterclaim in a lawsuit) alleging that the
+Program itself (excluding combinations of the Program with other software
+or hardware) infringes such Recipient's patent(s), then such Recipient's
+rights granted under Section 2(b) shall terminate as of the date such
+litigation is filed.
+
+All Recipient's rights under this Agreement shall terminate if it
+fails to comply with any of the material terms or conditions of this
+Agreement and does not cure such failure in a reasonable period of
+time after becoming aware of such noncompliance. If all Recipient's
+rights under this Agreement terminate, Recipient agrees to cease use
+and distribution of the Program as soon as reasonably practicable.
+However, Recipient's obligations under this Agreement and any licenses
+granted by Recipient relating to the Program shall continue and survive.
+
+Everyone is permitted to copy and distribute copies of this Agreement,
+but in order to avoid inconsistency the Agreement is copyrighted and
+may only be modified in the following manner. The Agreement Steward
+reserves the right to publish new versions (including revisions) of
+this Agreement from time to time. No one other than the Agreement
+Steward has the right to modify this Agreement. The Eclipse Foundation
+is the initial Agreement Steward. The Eclipse Foundation may assign the
+responsibility to serve as the Agreement Steward to a suitable separate
+entity. Each new version of the Agreement will be given a distinguishing
+version number. The Program (including Contributions) may always be
+Distributed subject to the version of the Agreement under which it was
+received. In addition, after a new version of the Agreement is published,
+Contributor may elect to Distribute the Program (including its
+Contributions) under the new version.
+
+Except as expressly stated in Sections 2(a) and 2(b) above, Recipient
+receives no rights or licenses to the intellectual property of any
+Contributor under this Agreement, whether expressly, by implication,
+estoppel or otherwise. All rights in the Program not expressly granted
+under this Agreement are reserved. Nothing in this Agreement is intended
+to be enforceable by any entity that is not a Contributor or Recipient.
+No third-party beneficiary rights are created under this Agreement.
+
+Exhibit A - Form of Secondary Licenses Notice
+
+"This Source Code may also be made available under the following
+Secondary Licenses when the conditions for such availability set forth
+in the Eclipse Public License, v. 2.0 are satisfied: {name license(s),
+version(s), and exceptions or additional permissions here}."
+
+  Simply including a copy of this Agreement, including this Exhibit A
+  is not sufficient to license the Source Code under Secondary Licenses.
+
+  If it is not possible or desirable to put the notice in a particular
+  file, then You may include the notice in a location (such as a LICENSE
+  file in a relevant directory) where a recipient would be likely to
+  look for such a notice.
+
+  You may add additional accurate notices of copyright ownership.

vendor/github.com/eclipse/paho.mqtt.golang/filestore.go

@@ -1,10 +1,14 @@
 /*
- * Copyright (c) 2013 IBM Corp.
+ * Copyright (c) 2021 IBM Corp and others.
  *
  * All rights reserved. This program and the accompanying materials
- * are made available under the terms of the Eclipse Public License v1.0
- * which accompanies this distribution, and is available at
- * http://www.eclipse.org/legal/epl-v10.html
+ * are made available under the terms of the Eclipse Public License v2.0
+ * and Eclipse Distribution License v1.0 which accompany this distribution.
+ *
+ * The Eclipse Public License is available at
+ *    https://www.eclipse.org/legal/epl-2.0/
+ * and the Eclipse Distribution License is available at
+ *   http://www.eclipse.org/org/documents/edl-v10.php.
  *
  * Contributors:
  *    Seth Hoenig
@@ -168,7 +172,7 @@ func (store *FileStore) all() []string {
 	for _, f := range files {
 		DEBUG.Println(STR, "file in All():", f.Name())
 		name := f.Name()
-		if name[len(name)-4:] != msgExt {
+		if len(name) < len(msgExt) || name[len(name)-len(msgExt):] != msgExt {
 			DEBUG.Println(STR, "skipping file, doesn't have right extension: ", name)
 			continue
 		}

vendor/github.com/eclipse/paho.mqtt.golang/memstore.go

@@ -1,10 +1,14 @@
 /*
- * Copyright (c) 2013 IBM Corp.
+ * Copyright (c) 2021 IBM Corp and others.
  *
  * All rights reserved. This program and the accompanying materials
- * are made available under the terms of the Eclipse Public License v1.0
- * which accompanies this distribution, and is available at
- * http://www.eclipse.org/legal/epl-v10.html
+ * are made available under the terms of the Eclipse Public License v2.0
+ * and Eclipse Distribution License v1.0 which accompany this distribution.
+ *
+ * The Eclipse Public License is available at
+ *    https://www.eclipse.org/legal/epl-2.0/
+ * and the Eclipse Distribution License is available at
+ *   http://www.eclipse.org/org/documents/edl-v10.php.
  *
  * Contributors:
  *    Seth Hoenig

vendor/github.com/eclipse/paho.mqtt.golang/memstore_ordered.go

@@ -0,0 +1,166 @@
+/*
+ * Copyright (c) 2021 IBM Corp and others.
+ *
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v2.0
+ * and Eclipse Distribution License v1.0 which accompany this distribution.
+ *
+ * The Eclipse Public License is available at
+ *    https://www.eclipse.org/legal/epl-2.0/
+ * and the Eclipse Distribution License is available at
+ *   http://www.eclipse.org/org/documents/edl-v10.php.
+ *
+ * Contributors:
+ *    Seth Hoenig
+ *    Allan Stockdill-Mander
+ *    Mike Robertson
+ *    Matt Brittan
+ */
+
+package mqtt
+
+import (
+	"sort"
+	"sync"
+	"time"
+
+	"github.com/eclipse/paho.mqtt.golang/packets"
+)
+
+// OrderedMemoryStore uses a map internally so the order in which All() returns packets is
+// undefined. OrderedMemoryStore resolves this by storing the time the message is added
+// and sorting based upon this.
+
+// storedMessage encapsulates a message and the time it was initially stored
+type storedMessage struct {
+	ts  time.Time
+	msg packets.ControlPacket
+}
+
+// OrderedMemoryStore implements the store interface to provide a "persistence"
+// mechanism wholly stored in memory. This is only useful for
+// as long as the client instance exists.
+type OrderedMemoryStore struct {
+	sync.RWMutex
+	messages map[string]storedMessage
+	opened   bool
+}
+
+// NewOrderedMemoryStore returns a pointer to a new instance of
+// OrderedMemoryStore, the instance is not initialized and ready to
+// use until Open() has been called on it.
+func NewOrderedMemoryStore() *OrderedMemoryStore {
+	store := &OrderedMemoryStore{
+		messages: make(map[string]storedMessage),
+		opened:   false,
+	}
+	return store
+}
+
+// Open initializes a OrderedMemoryStore instance.
+func (store *OrderedMemoryStore) Open() {
+	store.Lock()
+	defer store.Unlock()
+	store.opened = true
+	DEBUG.Println(STR, "OrderedMemoryStore initialized")
+}
+
+// Put takes a key and a pointer to a Message and stores the
+// message.
+func (store *OrderedMemoryStore) Put(key string, message packets.ControlPacket) {
+	store.Lock()
+	defer store.Unlock()
+	if !store.opened {
+		ERROR.Println(STR, "Trying to use memory store, but not open")
+		return
+	}
+	store.messages[key] = storedMessage{ts: time.Now(), msg: message}
+}
+
+// Get takes a key and looks in the store for a matching Message
+// returning either the Message pointer or nil.
+func (store *OrderedMemoryStore) Get(key string) packets.ControlPacket {
+	store.RLock()
+	defer store.RUnlock()
+	if !store.opened {
+		ERROR.Println(STR, "Trying to use memory store, but not open")
+		return nil
+	}
+	mid := mIDFromKey(key)
+	m, ok := store.messages[key]
+	if !ok || m.msg == nil {
+		CRITICAL.Println(STR, "OrderedMemoryStore get: message", mid, "not found")
+	} else {
+		DEBUG.Println(STR, "OrderedMemoryStore get: message", mid, "found")
+	}
+	return m.msg
+}
+
+// All returns a slice of strings containing all the keys currently
+// in the OrderedMemoryStore.
+func (store *OrderedMemoryStore) All() []string {
+	store.RLock()
+	defer store.RUnlock()
+	if !store.opened {
+		ERROR.Println(STR, "Trying to use memory store, but not open")
+		return nil
+	}
+	type tsAndKey struct {
+		ts  time.Time
+		key string
+	}
+
+	tsKeys := make([]tsAndKey, 0, len(store.messages))
+	for k, v := range store.messages {
+		tsKeys = append(tsKeys, tsAndKey{ts: v.ts, key: k})
+	}
+	sort.Slice(tsKeys, func(a int, b int) bool { return tsKeys[a].ts.Before(tsKeys[b].ts) })
+
+	keys := make([]string, len(tsKeys))
+	for i := range tsKeys {
+		keys[i] = tsKeys[i].key
+	}
+	return keys
+}
+
+// Del takes a key, searches the OrderedMemoryStore and if the key is found
+// deletes the Message pointer associated with it.
+func (store *OrderedMemoryStore) Del(key string) {
+	store.Lock()
+	defer store.Unlock()
+	if !store.opened {
+		ERROR.Println(STR, "Trying to use memory store, but not open")
+		return
+	}
+	mid := mIDFromKey(key)
+	_, ok := store.messages[key]
+	if !ok {
+		WARN.Println(STR, "OrderedMemoryStore del: message", mid, "not found")
+	} else {
+		delete(store.messages, key)
+		DEBUG.Println(STR, "OrderedMemoryStore del: message", mid, "was deleted")
+	}
+}
+
+// Close will disallow modifications to the state of the store.
+func (store *OrderedMemoryStore) Close() {
+	store.Lock()
+	defer store.Unlock()
+	if !store.opened {
+		ERROR.Println(STR, "Trying to close memory store, but not open")
+		return
+	}
+	store.opened = false
+	DEBUG.Println(STR, "OrderedMemoryStore closed")
+}
+
+// Reset eliminates all persisted message data in the store.
+func (store *OrderedMemoryStore) Reset() {
+	store.Lock()
+	defer store.Unlock()
+	if !store.opened {
+		ERROR.Println(STR, "Trying to reset memory store, but not open")
+	}
+	store.messages = make(map[string]storedMessage)
+	WARN.Println(STR, "OrderedMemoryStore wiped")
+}

vendor/github.com/eclipse/paho.mqtt.golang/message.go

@@ -1,10 +1,14 @@
 /*
- * Copyright (c) 2013 IBM Corp.
+ * Copyright (c) 2021 IBM Corp and others.
  *
  * All rights reserved. This program and the accompanying materials
- * are made available under the terms of the Eclipse Public License v1.0
- * which accompanies this distribution, and is available at
- * http://www.eclipse.org/legal/epl-v10.html
+ * are made available under the terms of the Eclipse Public License v2.0
+ * and Eclipse Distribution License v1.0 which accompany this distribution.
+ *
+ * The Eclipse Public License is available at
+ *    https://www.eclipse.org/legal/epl-2.0/
+ * and the Eclipse Distribution License is available at
+ *   http://www.eclipse.org/org/documents/edl-v10.php.
  *
  * Contributors:
  *    Seth Hoenig

vendor/github.com/eclipse/paho.mqtt.golang/messageids.go

@@ -1,15 +1,20 @@
 /*
- * Copyright (c) 2013 IBM Corp.
+ * Copyright (c) 2013 IBM Corp and others.
  *
  * All rights reserved. This program and the accompanying materials
- * are made available under the terms of the Eclipse Public License v1.0
- * which accompanies this distribution, and is available at
- * http://www.eclipse.org/legal/epl-v10.html
+ * are made available under the terms of the Eclipse Public License v2.0
+ * and Eclipse Distribution License v1.0 which accompany this distribution.
+ *
+ * The Eclipse Public License is available at
+ *    https://www.eclipse.org/legal/epl-2.0/
+ * and the Eclipse Distribution License is available at
+ *   http://www.eclipse.org/org/documents/edl-v10.php.
  *
  * Contributors:
  *    Seth Hoenig
  *    Allan Stockdill-Mander
  *    Mike Robertson
+ *    Matt Brittan
  */
 
 package mqtt
@@ -37,6 +42,7 @@ const (
 	midMax uint16 = 65535
 )
 
+// cleanup clears the message ID map; completes all token types and sets error on PUB, SUB and UNSUB tokens.
 func (mids *messageIds) cleanUp() {
 	mids.Lock()
 	for _, token := range mids.index {
@@ -47,7 +53,7 @@ func (mids *messageIds) cleanUp() {
 			token.setError(fmt.Errorf("connection lost before Subscribe completed"))
 		case *UnsubscribeToken:
 			token.setError(fmt.Errorf("connection lost before Unsubscribe completed"))
-		case nil:
+		case nil: // should not be any nil entries
 			continue
 		}
 		token.flowComplete()
@@ -57,6 +63,24 @@ func (mids *messageIds) cleanUp() {
 	DEBUG.Println(MID, "cleaned up")
 }
 
+// cleanUpSubscribe removes all SUBSCRIBE and UNSUBSCRIBE tokens (setting error)
+// This may be called when the connection is lost, and we will not be resending SUB/UNSUB packets
+func (mids *messageIds) cleanUpSubscribe() {
+	mids.Lock()
+	for mid, token := range mids.index {
+		switch token.(type) {
+		case *SubscribeToken:
+			token.setError(fmt.Errorf("connection lost before Subscribe completed"))
+			delete(mids.index, mid)
+		case *UnsubscribeToken:
+			token.setError(fmt.Errorf("connection lost before Unsubscribe completed"))
+			delete(mids.index, mid)
+		}
+	}
+	mids.Unlock()
+	DEBUG.Println(MID, "cleaned up subs")
+}
+
 func (mids *messageIds) freeID(id uint16) {
 	mids.Lock()
 	delete(mids.index, id)

vendor/github.com/eclipse/paho.mqtt.golang/net.go

@@ -1,15 +1,20 @@
 /*
- * Copyright (c) 2013 IBM Corp.
+ * Copyright (c) 2021 IBM Corp and others.
  *
  * All rights reserved. This program and the accompanying materials
- * are made available under the terms of the Eclipse Public License v1.0
- * which accompanies this distribution, and is available at
- * http://www.eclipse.org/legal/epl-v10.html
+ * are made available under the terms of the Eclipse Public License v2.0
+ * and Eclipse Distribution License v1.0 which accompany this distribution.
+ *
+ * The Eclipse Public License is available at
+ *    https://www.eclipse.org/legal/epl-2.0/
+ * and the Eclipse Distribution License is available at
+ *   http://www.eclipse.org/org/documents/edl-v10.php.
  *
  * Contributors:
  *    Seth Hoenig
  *    Allan Stockdill-Mander
  *    Mike Robertson
+ *    Matt Brittan
  */
 
 package mqtt

vendor/github.com/eclipse/paho.mqtt.golang/netconn.go

@@ -1,15 +1,20 @@
 /*
- * Copyright (c) 2013 IBM Corp.
+ * Copyright (c) 2021 IBM Corp and others.
  *
  * All rights reserved. This program and the accompanying materials
- * are made available under the terms of the Eclipse Public License v1.0
- * which accompanies this distribution, and is available at
- * http://www.eclipse.org/legal/epl-v10.html
+ * are made available under the terms of the Eclipse Public License v2.0
+ * and Eclipse Distribution License v1.0 which accompany this distribution.
+ *
+ * The Eclipse Public License is available at
+ *    https://www.eclipse.org/legal/epl-2.0/
+ * and the Eclipse Distribution License is available at
+ *   http://www.eclipse.org/org/documents/edl-v10.php.
  *
  * Contributors:
  *    Seth Hoenig
  *    Allan Stockdill-Mander
  *    Mike Robertson
+ *    MAtt Brittan
  */
 
 package mqtt
@@ -32,7 +37,7 @@ import (
 
 // openConnection opens a network connection using the protocol indicated in the URL.
 // Does not carry out any MQTT specific handshakes.
-func openConnection(uri *url.URL, tlsc *tls.Config, timeout time.Duration, headers http.Header, websocketOptions *WebsocketOptions) (net.Conn, error) {
+func openConnection(uri *url.URL, tlsc *tls.Config, timeout time.Duration, headers http.Header, websocketOptions *WebsocketOptions, dialer *net.Dialer) (net.Conn, error) {
 	switch uri.Scheme {
 	case "ws":
 		conn, err := NewWebsocket(uri.String(), nil, timeout, headers, websocketOptions)
@@ -43,7 +48,7 @@ func openConnection(uri *url.URL, tlsc *tls.Config, timeout time.Duration, heade
 	case "mqtt", "tcp":
 		allProxy := os.Getenv("all_proxy")
 		if len(allProxy) == 0 {
-			conn, err := net.DialTimeout("tcp", uri.Host, timeout)
+			conn, err := dialer.Dial("tcp", uri.Host)
 			if err != nil {
 				return nil, err
 			}
@@ -57,7 +62,17 @@ func openConnection(uri *url.URL, tlsc *tls.Config, timeout time.Duration, heade
 		}
 		return conn, nil
 	case "unix":
-		conn, err := net.DialTimeout("unix", uri.Host, timeout)
+		var conn net.Conn
+		var err error
+
+		// this check is preserved for compatibility with older versions
+		// which used uri.Host only (it works for local paths, e.g. unix://socket.sock in current dir)
+		if len(uri.Host) > 0 {
+			conn, err = dialer.Dial("unix", uri.Host)
+		} else {
+			conn, err = dialer.Dial("unix", uri.Path)
+		}
+
 		if err != nil {
 			return nil, err
 		}
@@ -65,14 +80,13 @@ func openConnection(uri *url.URL, tlsc *tls.Config, timeout time.Duration, heade
 	case "ssl", "tls", "mqtts", "mqtt+ssl", "tcps":
 		allProxy := os.Getenv("all_proxy")
 		if len(allProxy) == 0 {
-			conn, err := tls.DialWithDialer(&net.Dialer{Timeout: timeout}, "tcp", uri.Host, tlsc)
+			conn, err := tls.DialWithDialer(dialer, "tcp", uri.Host, tlsc)
 			if err != nil {
 				return nil, err
 			}
 			return conn, nil
 		}
 		proxyDialer := proxy.FromEnvironment()
-
 		conn, err := proxyDialer.Dial("tcp", uri.Host)
 		if err != nil {
 			return nil, err

vendor/github.com/eclipse/paho.mqtt.golang/notice.html

@@ -1,108 +0,0 @@
-<?xml version="1.0" encoding="ISO-8859-1" ?>
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
-<html xmlns="http://www.w3.org/1999/xhtml">
-<head>
-<meta http-equiv="Content-Type" content="text/html; charset=ISO-8859-1" />
-<title>Eclipse Foundation Software User Agreement</title>
-</head>
-
-<body lang="EN-US">
-<h2>Eclipse Foundation Software User Agreement</h2>
-<p>February 1, 2011</p>
-
-<h3>Usage Of Content</h3>
-
-<p>THE ECLIPSE FOUNDATION MAKES AVAILABLE SOFTWARE, DOCUMENTATION, INFORMATION AND/OR OTHER MATERIALS FOR OPEN SOURCE PROJECTS
-   (COLLECTIVELY &quot;CONTENT&quot;).  USE OF THE CONTENT IS GOVERNED BY THE TERMS AND CONDITIONS OF THIS AGREEMENT AND/OR THE TERMS AND
-   CONDITIONS OF LICENSE AGREEMENTS OR NOTICES INDICATED OR REFERENCED BELOW.  BY USING THE CONTENT, YOU AGREE THAT YOUR USE
-   OF THE CONTENT IS GOVERNED BY THIS AGREEMENT AND/OR THE TERMS AND CONDITIONS OF ANY APPLICABLE LICENSE AGREEMENTS OR
-   NOTICES INDICATED OR REFERENCED BELOW.  IF YOU DO NOT AGREE TO THE TERMS AND CONDITIONS OF THIS AGREEMENT AND THE TERMS AND
-   CONDITIONS OF ANY APPLICABLE LICENSE AGREEMENTS OR NOTICES INDICATED OR REFERENCED BELOW, THEN YOU MAY NOT USE THE CONTENT.</p>
-
-<h3>Applicable Licenses</h3>
-
-<p>Unless otherwise indicated, all Content made available by the Eclipse Foundation is provided to you under the terms and conditions of the Eclipse Public License Version 1.0
-   (&quot;EPL&quot;).  A copy of the EPL is provided with this Content and is also available at <a href="http://www.eclipse.org/legal/epl-v10.html">http://www.eclipse.org/legal/epl-v10.html</a>.
-   For purposes of the EPL, &quot;Program&quot; will mean the Content.</p>
-
-<p>Content includes, but is not limited to, source code, object code, documentation and other files maintained in the Eclipse Foundation source code
-   repository (&quot;Repository&quot;) in software modules (&quot;Modules&quot;) and made available as downloadable archives (&quot;Downloads&quot;).</p>
-
-<ul>
-       <li>Content may be structured and packaged into modules to facilitate delivering, extending, and upgrading the Content.  Typical modules may include plug-ins (&quot;Plug-ins&quot;), plug-in fragments (&quot;Fragments&quot;), and features (&quot;Features&quot;).</li>
-       <li>Each Plug-in or Fragment may be packaged as a sub-directory or JAR (Java&trade; ARchive) in a directory named &quot;plugins&quot;.</li>
-       <li>A Feature is a bundle of one or more Plug-ins and/or Fragments and associated material.  Each Feature may be packaged as a sub-directory in a directory named &quot;features&quot;.  Within a Feature, files named &quot;feature.xml&quot; may contain a list of the names and version numbers of the Plug-ins
-      and/or Fragments associated with that Feature.</li>
-       <li>Features may also include other Features (&quot;Included Features&quot;). Within a Feature, files named &quot;feature.xml&quot; may contain a list of the names and version numbers of Included Features.</li>
-</ul>
-
-<p>The terms and conditions governing Plug-ins and Fragments should be contained in files named &quot;about.html&quot; (&quot;Abouts&quot;). The terms and conditions governing Features and
-Included Features should be contained in files named &quot;license.html&quot; (&quot;Feature Licenses&quot;).  Abouts and Feature Licenses may be located in any directory of a Download or Module
-including, but not limited to the following locations:</p>
-
-<ul>
-       <li>The top-level (root) directory</li>
-       <li>Plug-in and Fragment directories</li>
-       <li>Inside Plug-ins and Fragments packaged as JARs</li>
-       <li>Sub-directories of the directory named &quot;src&quot; of certain Plug-ins</li>
-       <li>Feature directories</li>
-</ul>
-
-<p>Note: if a Feature made available by the Eclipse Foundation is installed using the Provisioning Technology (as defined below), you must agree to a license (&quot;Feature Update License&quot;) during the
-installation process.  If the Feature contains Included Features, the Feature Update License should either provide you with the terms and conditions governing the Included Features or
-inform you where you can locate them.  Feature Update Licenses may be found in the &quot;license&quot; property of files named &quot;feature.properties&quot; found within a Feature.
-Such Abouts, Feature Licenses, and Feature Update Licenses contain the terms and conditions (or references to such terms and conditions) that govern your use of the associated Content in
-that directory.</p>
-
-<p>THE ABOUTS, FEATURE LICENSES, AND FEATURE UPDATE LICENSES MAY REFER TO THE EPL OR OTHER LICENSE AGREEMENTS, NOTICES OR TERMS AND CONDITIONS.  SOME OF THESE
-OTHER LICENSE AGREEMENTS MAY INCLUDE (BUT ARE NOT LIMITED TO):</p>
-
-<ul>
-       <li>Eclipse Distribution License Version 1.0 (available at <a href="http://www.eclipse.org/licenses/edl-v10.html">http://www.eclipse.org/licenses/edl-v1.0.html</a>)</li>
-       <li>Common Public License Version 1.0 (available at <a href="http://www.eclipse.org/legal/cpl-v10.html">http://www.eclipse.org/legal/cpl-v10.html</a>)</li>
-       <li>Apache Software License 1.1 (available at <a href="http://www.apache.org/licenses/LICENSE">http://www.apache.org/licenses/LICENSE</a>)</li>
-       <li>Apache Software License 2.0 (available at <a href="http://www.apache.org/licenses/LICENSE-2.0">http://www.apache.org/licenses/LICENSE-2.0</a>)</li>
-       <li>Metro Link Public License 1.00 (available at <a href="http://www.opengroup.org/openmotif/supporters/metrolink/license.html">http://www.opengroup.org/openmotif/supporters/metrolink/license.html</a>)</li>
-       <li>Mozilla Public License Version 1.1 (available at <a href="http://www.mozilla.org/MPL/MPL-1.1.html">http://www.mozilla.org/MPL/MPL-1.1.html</a>)</li>
-</ul>
-
-<p>IT IS YOUR OBLIGATION TO READ AND ACCEPT ALL SUCH TERMS AND CONDITIONS PRIOR TO USE OF THE CONTENT.  If no About, Feature License, or Feature Update License is provided, please
-contact the Eclipse Foundation to determine what terms and conditions govern that particular Content.</p>
-
-
-<h3>Use of Provisioning Technology</h3>
-
-<p>The Eclipse Foundation makes available provisioning software, examples of which include, but are not limited to, p2 and the Eclipse
-   Update Manager (&quot;Provisioning Technology&quot;) for the purpose of allowing users to install software, documentation, information and/or
-   other materials (collectively &quot;Installable Software&quot;). This capability is provided with the intent of allowing such users to
-   install, extend and update Eclipse-based products. Information about packaging Installable Software is available at <a
-       href="http://eclipse.org/equinox/p2/repository_packaging.html">http://eclipse.org/equinox/p2/repository_packaging.html</a>
-   (&quot;Specification&quot;).</p>
-
-<p>You may use Provisioning Technology to allow other parties to install Installable Software. You shall be responsible for enabling the
-   applicable license agreements relating to the Installable Software to be presented to, and accepted by, the users of the Provisioning Technology
-   in accordance with the Specification. By using Provisioning Technology in such a manner and making it available in accordance with the
-   Specification, you further acknowledge your agreement to, and the acquisition of all necessary rights to permit the following:</p>
-
-<ol>
-       <li>A series of actions may occur (&quot;Provisioning Process&quot;) in which a user may execute the Provisioning Technology
-       on a machine (&quot;Target Machine&quot;) with the intent of installing, extending or updating the functionality of an Eclipse-based
-       product.</li>
-       <li>During the Provisioning Process, the Provisioning Technology may cause third party Installable Software or a portion thereof to be
-       accessed and copied to the Target Machine.</li>
-       <li>Pursuant to the Specification, you will provide to the user the terms and conditions that govern the use of the Installable
-       Software (&quot;Installable Software Agreement&quot;) and such Installable Software Agreement shall be accessed from the Target
-       Machine in accordance with the Specification. Such Installable Software Agreement must inform the user of the terms and conditions that govern
-       the Installable Software and must solicit acceptance by the end user in the manner prescribed in such Installable Software Agreement. Upon such
-       indication of agreement by the user, the provisioning Technology will complete installation of the Installable Software.</li>
-</ol>
-
-<h3>Cryptography</h3>
-
-<p>Content may contain encryption software. The country in which you are currently may have restrictions on the import, possession, and use, and/or re-export to
-   another country, of encryption software. BEFORE using any encryption software, please check the country's laws, regulations and policies concerning the import,
-   possession, or use, and re-export of encryption software, to see if this is permitted.</p>
-
-<p><small>Java and all Java-based trademarks are trademarks of Oracle Corporation in the United States, other countries, or both.</small></p>
-</body>
-</html>

vendor/github.com/eclipse/paho.mqtt.golang/oops.go

@@ -1,10 +1,14 @@
 /*
- * Copyright (c) 2013 IBM Corp.
+ * Copyright (c) 2021 IBM Corp and others.
  *
  * All rights reserved. This program and the accompanying materials
- * are made available under the terms of the Eclipse Public License v1.0
- * which accompanies this distribution, and is available at
- * http://www.eclipse.org/legal/epl-v10.html
+ * are made available under the terms of the Eclipse Public License v2.0
+ * and Eclipse Distribution License v1.0 which accompany this distribution.
+ *
+ * The Eclipse Public License is available at
+ *    https://www.eclipse.org/legal/epl-2.0/
+ * and the Eclipse Distribution License is available at
+ *   http://www.eclipse.org/org/documents/edl-v10.php.
  *
  * Contributors:
  *    Seth Hoenig

vendor/github.com/eclipse/paho.mqtt.golang/options.go

@@ -1,10 +1,14 @@
 /*
- * Copyright (c) 2013 IBM Corp.
+ * Copyright (c) 2021 IBM Corp and others.
  *
  * All rights reserved. This program and the accompanying materials
- * are made available under the terms of the Eclipse Public License v1.0
- * which accompanies this distribution, and is available at
- * http://www.eclipse.org/legal/epl-v10.html
+ * are made available under the terms of the Eclipse Public License v2.0
+ * and Eclipse Distribution License v1.0 which accompany this distribution.
+ *
+ * The Eclipse Public License is available at
+ *    https://www.eclipse.org/legal/epl-2.0/
+ * and the Eclipse Distribution License is available at
+ *   http://www.eclipse.org/org/documents/edl-v10.php.
  *
  * Contributors:
  *    Seth Hoenig
@@ -19,6 +23,7 @@ package mqtt
 
 import (
 	"crypto/tls"
+	"net"
 	"net/http"
 	"net/url"
 	"strings"
@@ -52,8 +57,16 @@ type ReconnectHandler func(Client, *ClientOptions)
 // ConnectionAttemptHandler is invoked prior to making the initial connection.
 type ConnectionAttemptHandler func(broker *url.URL, tlsCfg *tls.Config) *tls.Config
 
+// OpenConnectionFunc is invoked to establish the underlying network connection
+// Its purpose if for custom network transports.
+// Does not carry out any MQTT specific handshakes.
+type OpenConnectionFunc func(uri *url.URL, options ClientOptions) (net.Conn, error)
+
 // ClientOptions contains configurable options for an Client. Note that these should be set using the
 // relevant methods (e.g. AddBroker) rather than directly. See those functions for information on usage.
+// WARNING: Create the below using NewClientOptions unless you have a compelling reason not to. It is easy
+// to create a configuration with difficult to trace issues (e.g. Mosquitto 2.0.12+ will reject connections
+// with KeepAlive=0 by default).
 type ClientOptions struct {
 	Servers                 []*url.URL
 	ClientID                string
@@ -70,7 +83,7 @@ type ClientOptions struct {
 	ProtocolVersion         uint
 	protocolVersionExplicit bool
 	TLSConfig               *tls.Config
-	KeepAlive               int64
+	KeepAlive               int64 // Warning: Some brokers may reject connections with Keepalive = 0.
 	PingTimeout             time.Duration
 	ConnectTimeout          time.Duration
 	MaxReconnectInterval    time.Duration
@@ -88,6 +101,9 @@ type ClientOptions struct {
 	ResumeSubs              bool
 	HTTPHeaders             http.Header
 	WebsocketOptions        *WebsocketOptions
+	MaxResumePubInFlight    int // // 0 = no limit; otherwise this is the maximum simultaneous messages sent while resuming
+	Dialer                  *net.Dialer
+	CustomOpenConnectionFn  OpenConnectionFunc
 }
 
 // NewClientOptions will create a new ClientClientOptions type with some
@@ -129,6 +145,8 @@ func NewClientOptions() *ClientOptions {
 		ResumeSubs:              false,
 		HTTPHeaders:             make(map[string][]string),
 		WebsocketOptions:        &WebsocketOptions{},
+		Dialer:                  &net.Dialer{Timeout: 30 * time.Second},
+		CustomOpenConnectionFn:  nil,
 	}
 	return o
 }
@@ -347,6 +365,7 @@ func (o *ClientOptions) SetWriteTimeout(t time.Duration) *ClientOptions {
 // Default 30 seconds. Currently only operational on TCP/TLS connections.
 func (o *ClientOptions) SetConnectTimeout(t time.Duration) *ClientOptions {
 	o.ConnectTimeout = t
+	o.Dialer.Timeout = t
 	return o
 }
 
@@ -401,3 +420,29 @@ func (o *ClientOptions) SetWebsocketOptions(w *WebsocketOptions) *ClientOptions
 	o.WebsocketOptions = w
 	return o
 }
+
+// SetMaxResumePubInFlight sets the maximum simultaneous publish messages that will be sent while resuming. Note that
+// this only applies to messages coming from the store (so additional sends may push us over the limit)
+// Note that the connect token will not be flagged as complete until all messages have been sent from the
+// store. If broker does not respond to messages then resume may not complete.
+// This option was put in place because resuming after downtime can saturate low capacity links.
+func (o *ClientOptions) SetMaxResumePubInFlight(MaxResumePubInFlight int) *ClientOptions {
+	o.MaxResumePubInFlight = MaxResumePubInFlight
+	return o
+}
+
+// SetDialer sets the tcp dialer options used in a tcp connection
+func (o *ClientOptions) SetDialer(dialer *net.Dialer) *ClientOptions {
+	o.Dialer = dialer
+	return o
+}
+
+// SetCustomOpenConnectionFn replaces the inbuilt function that establishes a network connection with a custom function.
+// The passed in function should return an open `net.Conn` or an error (see the existing openConnection function for an example)
+// It enables custom networking types in addition to the defaults (tcp, tls, websockets...)
+func (o *ClientOptions) SetCustomOpenConnectionFn(customOpenConnectionFn OpenConnectionFunc) *ClientOptions {
+	if customOpenConnectionFn != nil {
+		o.CustomOpenConnectionFn = customOpenConnectionFn
+	}
+	return o
+}

vendor/github.com/eclipse/paho.mqtt.golang/options_reader.go

@@ -1,10 +1,14 @@
 /*
- * Copyright (c) 2013 IBM Corp.
+ * Copyright (c) 2021 IBM Corp and others.
  *
  * All rights reserved. This program and the accompanying materials
- * are made available under the terms of the Eclipse Public License v1.0
- * which accompanies this distribution, and is available at
- * http://www.eclipse.org/legal/epl-v10.html
+ * are made available under the terms of the Eclipse Public License v2.0
+ * and Eclipse Distribution License v1.0 which accompany this distribution.
+ *
+ * The Eclipse Public License is available at
+ *    https://www.eclipse.org/legal/epl-2.0/
+ * and the Eclipse Distribution License is available at
+ *   http://www.eclipse.org/org/documents/edl-v10.php.
  *
  * Contributors:
  *    Seth Hoenig

vendor/github.com/eclipse/paho.mqtt.golang/packets/connack.go

@@ -1,3 +1,19 @@
+/*
+ * Copyright (c) 2021 IBM Corp and others.
+ *
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v2.0
+ * and Eclipse Distribution License v1.0 which accompany this distribution.
+ *
+ * The Eclipse Public License is available at
+ *    https://www.eclipse.org/legal/epl-2.0/
+ * and the Eclipse Distribution License is available at
+ *   http://www.eclipse.org/org/documents/edl-v10.php.
+ *
+ * Contributors:
+ *    Allan Stockdill-Mander
+ */
+
 package packets
 
 import (

vendor/github.com/eclipse/paho.mqtt.golang/packets/connect.go

@@ -1,3 +1,19 @@
+/*
+ * Copyright (c) 2021 IBM Corp and others.
+ *
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v2.0
+ * and Eclipse Distribution License v1.0 which accompany this distribution.
+ *
+ * The Eclipse Public License is available at
+ *    https://www.eclipse.org/legal/epl-2.0/
+ * and the Eclipse Distribution License is available at
+ *   http://www.eclipse.org/org/documents/edl-v10.php.
+ *
+ * Contributors:
+ *    Allan Stockdill-Mander
+ */
+
 package packets
 
 import (

vendor/github.com/eclipse/paho.mqtt.golang/packets/disconnect.go

@@ -1,3 +1,19 @@
+/*
+ * Copyright (c) 2021 IBM Corp and others.
+ *
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v2.0
+ * and Eclipse Distribution License v1.0 which accompany this distribution.
+ *
+ * The Eclipse Public License is available at
+ *    https://www.eclipse.org/legal/epl-2.0/
+ * and the Eclipse Distribution License is available at
+ *   http://www.eclipse.org/org/documents/edl-v10.php.
+ *
+ * Contributors:
+ *    Allan Stockdill-Mander
+ */
+
 package packets
 
 import (

vendor/github.com/eclipse/paho.mqtt.golang/packets/packets.go

@@ -1,3 +1,19 @@
+/*
+ * Copyright (c) 2021 IBM Corp and others.
+ *
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v2.0
+ * and Eclipse Distribution License v1.0 which accompany this distribution.
+ *
+ * The Eclipse Public License is available at
+ *    https://www.eclipse.org/legal/epl-2.0/
+ * and the Eclipse Distribution License is available at
+ *   http://www.eclipse.org/org/documents/edl-v10.php.
+ *
+ * Contributors:
+ *    Allan Stockdill-Mander
+ */
+
 package packets
 
 import (

vendor/github.com/eclipse/paho.mqtt.golang/packets/pingreq.go

@@ -1,3 +1,19 @@
+/*
+ * Copyright (c) 2021 IBM Corp and others.
+ *
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v2.0
+ * and Eclipse Distribution License v1.0 which accompany this distribution.
+ *
+ * The Eclipse Public License is available at
+ *    https://www.eclipse.org/legal/epl-2.0/
+ * and the Eclipse Distribution License is available at
+ *   http://www.eclipse.org/org/documents/edl-v10.php.
+ *
+ * Contributors:
+ *    Allan Stockdill-Mander
+ */
+
 package packets
 
 import (

vendor/github.com/eclipse/paho.mqtt.golang/packets/pingresp.go

@@ -1,3 +1,19 @@
+/*
+ * Copyright (c) 2021 IBM Corp and others.
+ *
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v2.0
+ * and Eclipse Distribution License v1.0 which accompany this distribution.
+ *
+ * The Eclipse Public License is available at
+ *    https://www.eclipse.org/legal/epl-2.0/
+ * and the Eclipse Distribution License is available at
+ *   http://www.eclipse.org/org/documents/edl-v10.php.
+ *
+ * Contributors:
+ *    Allan Stockdill-Mander
+ */
+
 package packets
 
 import (

vendor/github.com/eclipse/paho.mqtt.golang/packets/puback.go

@@ -1,3 +1,19 @@
+/*
+ * Copyright (c) 2021 IBM Corp and others.
+ *
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v2.0
+ * and Eclipse Distribution License v1.0 which accompany this distribution.
+ *
+ * The Eclipse Public License is available at
+ *    https://www.eclipse.org/legal/epl-2.0/
+ * and the Eclipse Distribution License is available at
+ *   http://www.eclipse.org/org/documents/edl-v10.php.
+ *
+ * Contributors:
+ *    Allan Stockdill-Mander
+ */
+
 package packets
 
 import (

vendor/github.com/eclipse/paho.mqtt.golang/packets/pubcomp.go

@@ -1,3 +1,19 @@
+/*
+ * Copyright (c) 2021 IBM Corp and others.
+ *
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v2.0
+ * and Eclipse Distribution License v1.0 which accompany this distribution.
+ *
+ * The Eclipse Public License is available at
+ *    https://www.eclipse.org/legal/epl-2.0/
+ * and the Eclipse Distribution License is available at
+ *   http://www.eclipse.org/org/documents/edl-v10.php.
+ *
+ * Contributors:
+ *    Allan Stockdill-Mander
+ */
+
 package packets
 
 import (

vendor/github.com/eclipse/paho.mqtt.golang/packets/publish.go

@@ -1,3 +1,19 @@
+/*
+ * Copyright (c) 2021 IBM Corp and others.
+ *
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v2.0
+ * and Eclipse Distribution License v1.0 which accompany this distribution.
+ *
+ * The Eclipse Public License is available at
+ *    https://www.eclipse.org/legal/epl-2.0/
+ * and the Eclipse Distribution License is available at
+ *   http://www.eclipse.org/org/documents/edl-v10.php.
+ *
+ * Contributors:
+ *    Allan Stockdill-Mander
+ */
+
 package packets
 
 import (

vendor/github.com/eclipse/paho.mqtt.golang/packets/pubrec.go

@@ -1,3 +1,19 @@
+/*
+ * Copyright (c) 2021 IBM Corp and others.
+ *
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v2.0
+ * and Eclipse Distribution License v1.0 which accompany this distribution.
+ *
+ * The Eclipse Public License is available at
+ *    https://www.eclipse.org/legal/epl-2.0/
+ * and the Eclipse Distribution License is available at
+ *   http://www.eclipse.org/org/documents/edl-v10.php.
+ *
+ * Contributors:
+ *    Allan Stockdill-Mander
+ */
+
 package packets
 
 import (

vendor/github.com/eclipse/paho.mqtt.golang/packets/pubrel.go

@@ -1,3 +1,19 @@
+/*
+ * Copyright (c) 2021 IBM Corp and others.
+ *
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v2.0
+ * and Eclipse Distribution License v1.0 which accompany this distribution.
+ *
+ * The Eclipse Public License is available at
+ *    https://www.eclipse.org/legal/epl-2.0/
+ * and the Eclipse Distribution License is available at
+ *   http://www.eclipse.org/org/documents/edl-v10.php.
+ *
+ * Contributors:
+ *    Allan Stockdill-Mander
+ */
+
 package packets
 
 import (

vendor/github.com/eclipse/paho.mqtt.golang/packets/suback.go

@@ -1,3 +1,19 @@
+/*
+ * Copyright (c) 2021 IBM Corp and others.
+ *
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v2.0
+ * and Eclipse Distribution License v1.0 which accompany this distribution.
+ *
+ * The Eclipse Public License is available at
+ *    https://www.eclipse.org/legal/epl-2.0/
+ * and the Eclipse Distribution License is available at
+ *   http://www.eclipse.org/org/documents/edl-v10.php.
+ *
+ * Contributors:
+ *    Allan Stockdill-Mander
+ */
+
 package packets
 
 import (

vendor/github.com/eclipse/paho.mqtt.golang/packets/subscribe.go

@@ -1,3 +1,19 @@
+/*
+ * Copyright (c) 2021 IBM Corp and others.
+ *
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v2.0
+ * and Eclipse Distribution License v1.0 which accompany this distribution.
+ *
+ * The Eclipse Public License is available at
+ *    https://www.eclipse.org/legal/epl-2.0/
+ * and the Eclipse Distribution License is available at
+ *   http://www.eclipse.org/org/documents/edl-v10.php.
+ *
+ * Contributors:
+ *    Allan Stockdill-Mander
+ */
+
 package packets
 
 import (

vendor/github.com/eclipse/paho.mqtt.golang/packets/unsuback.go

@@ -1,3 +1,19 @@
+/*
+ * Copyright (c) 2021 IBM Corp and others.
+ *
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v2.0
+ * and Eclipse Distribution License v1.0 which accompany this distribution.
+ *
+ * The Eclipse Public License is available at
+ *    https://www.eclipse.org/legal/epl-2.0/
+ * and the Eclipse Distribution License is available at
+ *   http://www.eclipse.org/org/documents/edl-v10.php.
+ *
+ * Contributors:
+ *    Allan Stockdill-Mander
+ */
+
 package packets
 
 import (

vendor/github.com/eclipse/paho.mqtt.golang/packets/unsubscribe.go

@@ -1,3 +1,19 @@
+/*
+ * Copyright (c) 2021 IBM Corp and others.
+ *
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v2.0
+ * and Eclipse Distribution License v1.0 which accompany this distribution.
+ *
+ * The Eclipse Public License is available at
+ *    https://www.eclipse.org/legal/epl-2.0/
+ * and the Eclipse Distribution License is available at
+ *   http://www.eclipse.org/org/documents/edl-v10.php.
+ *
+ * Contributors:
+ *    Allan Stockdill-Mander
+ */
+
 package packets
 
 import (

vendor/github.com/eclipse/paho.mqtt.golang/ping.go

@@ -1,10 +1,14 @@
 /*
- * Copyright (c) 2013 IBM Corp.
+ * Copyright (c) 2021 IBM Corp and others.
  *
  * All rights reserved. This program and the accompanying materials
- * are made available under the terms of the Eclipse Public License v1.0
- * which accompanies this distribution, and is available at
- * http://www.eclipse.org/legal/epl-v10.html
+ * are made available under the terms of the Eclipse Public License v2.0
+ * and Eclipse Distribution License v1.0 which accompany this distribution.
+ *
+ * The Eclipse Public License is available at
+ *    https://www.eclipse.org/legal/epl-2.0/
+ * and the Eclipse Distribution License is available at
+ *   http://www.eclipse.org/org/documents/edl-v10.php.
  *
  * Contributors:
  *    Seth Hoenig

vendor/github.com/eclipse/paho.mqtt.golang/router.go

@@ -1,10 +1,14 @@
 /*
- * Copyright (c) 2013 IBM Corp.
+ * Copyright (c) 2021 IBM Corp and others.
  *
  * All rights reserved. This program and the accompanying materials
- * are made available under the terms of the Eclipse Public License v1.0
- * which accompanies this distribution, and is available at
- * http://www.eclipse.org/legal/epl-v10.html
+ * are made available under the terms of the Eclipse Public License v2.0
+ * and Eclipse Distribution License v1.0 which accompany this distribution.
+ *
+ * The Eclipse Public License is available at
+ *    https://www.eclipse.org/legal/epl-2.0/
+ * and the Eclipse Distribution License is available at
+ *   http://www.eclipse.org/org/documents/edl-v10.php.
  *
  * Contributors:
  *    Seth Hoenig

vendor/github.com/eclipse/paho.mqtt.golang/store.go

@@ -1,10 +1,14 @@
 /*
- * Copyright (c) 2013 IBM Corp.
+ * Copyright (c) 2021 IBM Corp and others.
  *
  * All rights reserved. This program and the accompanying materials
- * are made available under the terms of the Eclipse Public License v1.0
- * which accompanies this distribution, and is available at
- * http://www.eclipse.org/legal/epl-v10.html
+ * are made available under the terms of the Eclipse Public License v2.0
+ * and Eclipse Distribution License v1.0 which accompany this distribution.
+ *
+ * The Eclipse Public License is available at
+ *    https://www.eclipse.org/legal/epl-2.0/
+ * and the Eclipse Distribution License is available at
+ *   http://www.eclipse.org/org/documents/edl-v10.php.
  *
  * Contributors:
  *    Seth Hoenig
@@ -45,7 +49,7 @@ type Store interface {
 // where X is 'i' or 'o'
 func mIDFromKey(key string) uint16 {
 	s := key[2:]
-	i, err := strconv.Atoi(s)
+	i, err := strconv.ParseUint(s, 10, 16)
 	chkerr(err)
 	return uint16(i)
 }

vendor/github.com/eclipse/paho.mqtt.golang/token.go

@@ -1,10 +1,14 @@
 /*
- * Copyright (c) 2014 IBM Corp.
+ * Copyright (c) 2021 IBM Corp and others.
  *
  * All rights reserved. This program and the accompanying materials
- * are made available under the terms of the Eclipse Public License v1.0
- * which accompanies this distribution, and is available at
- * http://www.eclipse.org/legal/epl-v10.html
+ * are made available under the terms of the Eclipse Public License v2.0
+ * and Eclipse Distribution License v1.0 which accompany this distribution.
+ *
+ * The Eclipse Public License is available at
+ *    https://www.eclipse.org/legal/epl-2.0/
+ * and the Eclipse Distribution License is available at
+ *   http://www.eclipse.org/org/documents/edl-v10.php.
  *
  * Contributors:
  *    Allan Stockdill-Mander

vendor/github.com/eclipse/paho.mqtt.golang/topic.go

@@ -1,10 +1,14 @@
 /*
- * Copyright (c) 2014 IBM Corp.
+ * Copyright (c) 2021 IBM Corp and others.
  *
  * All rights reserved. This program and the accompanying materials
- * are made available under the terms of the Eclipse Public License v1.0
- * which accompanies this distribution, and is available at
- * http://www.eclipse.org/legal/epl-v10.html
+ * are made available under the terms of the Eclipse Public License v2.0
+ * and Eclipse Distribution License v1.0 which accompany this distribution.
+ *
+ * The Eclipse Public License is available at
+ *    https://www.eclipse.org/legal/epl-2.0/
+ * and the Eclipse Distribution License is available at
+ *   http://www.eclipse.org/org/documents/edl-v10.php.
  *
  * Contributors:
  *    Seth Hoenig

vendor/github.com/eclipse/paho.mqtt.golang/trace.go

@@ -1,10 +1,14 @@
 /*
- * Copyright (c) 2013 IBM Corp.
+ * Copyright (c) 2021 IBM Corp and others.
  *
  * All rights reserved. This program and the accompanying materials
- * are made available under the terms of the Eclipse Public License v1.0
- * which accompanies this distribution, and is available at
- * http://www.eclipse.org/legal/epl-v10.html
+ * are made available under the terms of the Eclipse Public License v2.0
+ * and Eclipse Distribution License v1.0 which accompany this distribution.
+ *
+ * The Eclipse Public License is available at
+ *    https://www.eclipse.org/legal/epl-2.0/
+ * and the Eclipse Distribution License is available at
+ *   http://www.eclipse.org/org/documents/edl-v10.php.
  *
  * Contributors:
  *    Seth Hoenig

vendor/github.com/eclipse/paho.mqtt.golang/websocket.go

@@ -1,3 +1,16 @@
+/*
+ * This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v2.0
+ * and Eclipse Distribution License v1.0 which accompany this distribution.
+ *
+ * The Eclipse Public License is available at
+ *    https://www.eclipse.org/legal/epl-2.0/
+ * and the Eclipse Distribution License is available at
+ *   http://www.eclipse.org/org/documents/edl-v10.php.
+ *
+ * Contributors:
+ */
+
 package mqtt
 
 import (

vendor/go.uber.org/zap/.readme.tmpl

@@ -96,14 +96,14 @@ Released under the [MIT License](LICENSE.txt).
 
 <sup id="footnote-versions">1</sup> In particular, keep in mind that we may be
 benchmarking against slightly older versions of other packages. Versions are
-pinned in zap's [glide.lock][] file. [↩](#anchor-versions)
+pinned in the [benchmarks/go.mod][] file. [↩](#anchor-versions)
 
-[doc-img]: https://godoc.org/go.uber.org/zap?status.svg
-[doc]: https://godoc.org/go.uber.org/zap
-[ci-img]: https://travis-ci.com/uber-go/zap.svg?branch=master
-[ci]: https://travis-ci.com/uber-go/zap
+[doc-img]: https://pkg.go.dev/badge/go.uber.org/zap
+[doc]: https://pkg.go.dev/go.uber.org/zap
+[ci-img]: https://github.com/uber-go/zap/actions/workflows/go.yml/badge.svg
+[ci]: https://github.com/uber-go/zap/actions/workflows/go.yml
 [cov-img]: https://codecov.io/gh/uber-go/zap/branch/master/graph/badge.svg
 [cov]: https://codecov.io/gh/uber-go/zap
 [benchmarking suite]: https://github.com/uber-go/zap/tree/master/benchmarks
-[glide.lock]: https://github.com/uber-go/zap/blob/master/glide.lock
+[benchmarks/go.mod]: https://github.com/uber-go/zap/blob/master/benchmarks/go.mod
 

vendor/go.uber.org/zap/CHANGELOG.md

@@ -3,9 +3,57 @@ All notable changes to this project will be documented in this file.
 
 This project adheres to [Semantic Versioning](http://semver.org/spec/v2.0.0.html).
 
+## 1.21.0 (7 Feb 2022)
+
+Enhancements:
+*  [#1047][]: Add `zapcore.ParseLevel` to parse a `Level` from a string.
+*  [#1048][]: Add `zap.ParseAtomicLevel` to parse an `AtomicLevel` from a
+   string.
+
+Bugfixes:
+* [#1058][]: Fix panic in JSON encoder when `EncodeLevel` is unset.
+
+Other changes:
+* [#1052][]: Improve encoding performance when the `AddCaller` and
+  `AddStacktrace` options are used together.
+
+[#1047]: https://github.com/uber-go/zap/pull/1047
+[#1048]: https://github.com/uber-go/zap/pull/1048
+[#1052]: https://github.com/uber-go/zap/pull/1052
+[#1058]: https://github.com/uber-go/zap/pull/1058
+
+Thanks to @aerosol and @Techassi for their contributions to this release.
+
+## 1.20.0 (4 Jan 2022)
+
+Enhancements:
+* [#989][]: Add `EncoderConfig.SkipLineEnding` flag to disable adding newline
+  characters between log statements.
+* [#1039][]: Add `EncoderConfig.NewReflectedEncoder` field to customize JSON
+  encoding of reflected log fields.
+
+Bugfixes:
+* [#1011][]: Fix inaccurate precision when encoding complex64 as JSON.
+* [#554][], [#1017][]: Close JSON namespaces opened in `MarshalLogObject`
+  methods when the methods return.
+* [#1033][]: Avoid panicking in Sampler core if `thereafter` is zero.
+
+Other changes:
+* [#1028][]: Drop support for Go < 1.15.
+
+[#554]: https://github.com/uber-go/zap/pull/554
+[#989]: https://github.com/uber-go/zap/pull/989
+[#1011]: https://github.com/uber-go/zap/pull/1011
+[#1017]: https://github.com/uber-go/zap/pull/1017
+[#1028]: https://github.com/uber-go/zap/pull/1028
+[#1033]: https://github.com/uber-go/zap/pull/1033
+[#1039]: https://github.com/uber-go/zap/pull/1039
+
+Thanks to @psrajat, @lruggieri, @sammyrnycreal for their contributions to this release.
+
 ## 1.19.1 (8 Sep 2021)
 
-### Fixed
+Bugfixes:
 * [#1001][]: JSON: Fix complex number encoding with negative imaginary part. Thanks to @hemantjadon.
 * [#1003][]: JSON: Fix inaccurate precision when encoding float32.
 

vendor/go.uber.org/zap/README.md

@@ -66,38 +66,38 @@ Log a message and 10 fields:
 
 | Package | Time | Time % to zap | Objects Allocated |
 | :------ | :--: | :-----------: | :---------------: |
-| :zap: zap | 862 ns/op | +0% | 5 allocs/op
-| :zap: zap (sugared) | 1250 ns/op | +45% | 11 allocs/op
-| zerolog | 4021 ns/op | +366% | 76 allocs/op
-| go-kit | 4542 ns/op | +427% | 105 allocs/op
-| apex/log | 26785 ns/op | +3007% | 115 allocs/op
-| logrus | 29501 ns/op | +3322% | 125 allocs/op
-| log15 | 29906 ns/op | +3369% | 122 allocs/op
+| :zap: zap | 2900 ns/op | +0% | 5 allocs/op
+| :zap: zap (sugared) | 3475 ns/op | +20% | 10 allocs/op
+| zerolog | 10639 ns/op | +267% | 32 allocs/op
+| go-kit | 14434 ns/op | +398% | 59 allocs/op
+| logrus | 17104 ns/op | +490% | 81 allocs/op
+| apex/log | 32424 ns/op | +1018% | 66 allocs/op
+| log15 | 33579 ns/op | +1058% | 76 allocs/op
 
 Log a message with a logger that already has 10 fields of context:
 
 | Package | Time | Time % to zap | Objects Allocated |
 | :------ | :--: | :-----------: | :---------------: |
-| :zap: zap | 126 ns/op | +0% | 0 allocs/op
-| :zap: zap (sugared) | 187 ns/op | +48% | 2 allocs/op
-| zerolog | 88 ns/op | -30% | 0 allocs/op
-| go-kit | 5087 ns/op | +3937% | 103 allocs/op
-| log15 | 18548 ns/op | +14621% | 73 allocs/op
-| apex/log | 26012 ns/op | +20544% | 104 allocs/op
-| logrus | 27236 ns/op | +21516% | 113 allocs/op
+| :zap: zap | 373 ns/op | +0% | 0 allocs/op
+| :zap: zap (sugared) | 452 ns/op | +21% | 1 allocs/op
+| zerolog | 288 ns/op | -23% | 0 allocs/op
+| go-kit | 11785 ns/op | +3060% | 58 allocs/op
+| logrus | 19629 ns/op | +5162% | 70 allocs/op
+| log15 | 21866 ns/op | +5762% | 72 allocs/op
+| apex/log | 30890 ns/op | +8182% | 55 allocs/op
 
 Log a static string, without any context or `printf`-style templating:
 
 | Package | Time | Time % to zap | Objects Allocated |
 | :------ | :--: | :-----------: | :---------------: |
-| :zap: zap | 118 ns/op | +0% | 0 allocs/op
-| :zap: zap (sugared) | 191 ns/op | +62% | 2 allocs/op
-| zerolog | 93 ns/op | -21% | 0 allocs/op
-| go-kit | 280 ns/op | +137% | 11 allocs/op
-| standard library | 499 ns/op | +323% | 2 allocs/op
-| apex/log | 1990 ns/op | +1586% | 10 allocs/op
-| logrus | 3129 ns/op | +2552% | 24 allocs/op
-| log15 | 3887 ns/op | +3194% | 23 allocs/op
+| :zap: zap | 381 ns/op | +0% | 0 allocs/op
+| :zap: zap (sugared) | 410 ns/op | +8% | 1 allocs/op
+| zerolog | 369 ns/op | -3% | 0 allocs/op
+| standard library | 385 ns/op | +1% | 2 allocs/op
+| go-kit | 606 ns/op | +59% | 11 allocs/op
+| logrus | 1730 ns/op | +354% | 25 allocs/op
+| apex/log | 1998 ns/op | +424% | 7 allocs/op
+| log15 | 4546 ns/op | +1093% | 22 allocs/op
 
 ## Development Status: Stable
 

vendor/go.uber.org/zap/global.go

@@ -31,6 +31,7 @@ import (
 )
 
 const (
+	_stdLogDefaultDepth      = 1
 	_loggerWriterDepth       = 2
 	_programmerErrorTemplate = "You've found a bug in zap! Please file a bug at " +
 		"https://github.com/uber-go/zap/issues/new and reference this error: %v"

vendor/go.uber.org/zap/global_prego112.go

@@ -1,26 +0,0 @@
-// Copyright (c) 2019 Uber Technologies, Inc.
-//
-// Permission is hereby granted, free of charge, to any person obtaining a copy
-// of this software and associated documentation files (the "Software"), to deal
-// in the Software without restriction, including without limitation the rights
-// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-// copies of the Software, and to permit persons to whom the Software is
-// furnished to do so, subject to the following conditions:
-//
-// The above copyright notice and this permission notice shall be included in
-// all copies or substantial portions of the Software.
-//
-// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-// THE SOFTWARE.
-
-// See #682 for more information.
-// +build !go1.12
-
-package zap
-
-const _stdLogDefaultDepth = 2

vendor/go.uber.org/zap/level.go

@@ -86,6 +86,23 @@ func NewAtomicLevelAt(l zapcore.Level) AtomicLevel {
 	return a
 }
 
+// ParseAtomicLevel parses an AtomicLevel based on a lowercase or all-caps ASCII
+// representation of the log level. If the provided ASCII representation is
+// invalid an error is returned.
+//
+// This is particularly useful when dealing with text input to configure log
+// levels.
+func ParseAtomicLevel(text string) (AtomicLevel, error) {
+	a := NewAtomicLevel()
+	l, err := zapcore.ParseLevel(text)
+	if err != nil {
+		return a, err
+	}
+
+	a.SetLevel(l)
+	return a, nil
+}
+
 // Enabled implements the zapcore.LevelEnabler interface, which allows the
 // AtomicLevel to be used in place of traditional static levels.
 func (lvl AtomicLevel) Enabled(l zapcore.Level) bool {

vendor/go.uber.org/zap/logger.go

@@ -24,9 +24,9 @@ import (
 	"fmt"
 	"io/ioutil"
 	"os"
-	"runtime"
 	"strings"
 
+	"go.uber.org/zap/internal/bufferpool"
 	"go.uber.org/zap/zapcore"
 )
 
@@ -259,8 +259,10 @@ func (log *Logger) clone() *Logger {
 }
 
 func (log *Logger) check(lvl zapcore.Level, msg string) *zapcore.CheckedEntry {
-	// check must always be called directly by a method in the Logger interface
-	// (e.g., Check, Info, Fatal).
+	// Logger.check must always be called directly by a method in the
+	// Logger interface (e.g., Check, Info, Fatal).
+	// This skips Logger.check and the Info/Fatal/Check/etc. method that
+	// called it.
 	const callerSkipOffset = 2
 
 	// Check the level first to reduce the cost of disabled log calls.
@@ -307,42 +309,55 @@ func (log *Logger) check(lvl zapcore.Level, msg string) *zapcore.CheckedEntry {
 
 	// Thread the error output through to the CheckedEntry.
 	ce.ErrorOutput = log.errorOutput
-	if log.addCaller {
-		frame, defined := getCallerFrame(log.callerSkip + callerSkipOffset)
-		if !defined {
+
+	addStack := log.addStack.Enabled(ce.Level)
+	if !log.addCaller && !addStack {
+		return ce
+	}
+
+	// Adding the caller or stack trace requires capturing the callers of
+	// this function. We'll share information between these two.
+	stackDepth := stacktraceFirst
+	if addStack {
+		stackDepth = stacktraceFull
+	}
+	stack := captureStacktrace(log.callerSkip+callerSkipOffset, stackDepth)
+	defer stack.Free()
+
+	if stack.Count() == 0 {
+		if log.addCaller {
 			fmt.Fprintf(log.errorOutput, "%v Logger.check error: failed to get caller\n", ent.Time.UTC())
 			log.errorOutput.Sync()
 		}
+		return ce
+	}
 
-		ce.Entry.Caller = zapcore.EntryCaller{
-			Defined:  defined,
+	frame, more := stack.Next()
+
+	if log.addCaller {
+		ce.Caller = zapcore.EntryCaller{
+			Defined:  frame.PC != 0,
 			PC:       frame.PC,
 			File:     frame.File,
 			Line:     frame.Line,
 			Function: frame.Function,
 		}
 	}
-	if log.addStack.Enabled(ce.Entry.Level) {
-		ce.Entry.Stack = StackSkip("", log.callerSkip+callerSkipOffset).String
+
+	if addStack {
+		buffer := bufferpool.Get()
+		defer buffer.Free()
+
+		stackfmt := newStackFormatter(buffer)
+
+		// We've already extracted the first frame, so format that
+		// separately and defer to stackfmt for the rest.
+		stackfmt.FormatFrame(frame)
+		if more {
+			stackfmt.FormatStack(stack)
+		}
+		ce.Stack = buffer.String()
 	}
 
 	return ce
 }
-
-// getCallerFrame gets caller frame. The argument skip is the number of stack
-// frames to ascend, with 0 identifying the caller of getCallerFrame. The
-// boolean ok is false if it was not possible to recover the information.
-//
-// Note: This implementation is similar to runtime.Caller, but it returns the whole frame.
-func getCallerFrame(skip int) (frame runtime.Frame, ok bool) {
-	const skipOffset = 2 // skip getCallerFrame and Callers
-
-	pc := make([]uintptr, 1)
-	numFrames := runtime.Callers(skip+skipOffset, pc)
-	if numFrames < 1 {
-		return
-	}
-
-	frame, _ = runtime.CallersFrames(pc).Next()
-	return frame, frame.PC != 0
-}

vendor/go.uber.org/zap/stacktrace.go

@@ -24,62 +24,153 @@ import (
 	"runtime"
 	"sync"
 
+	"go.uber.org/zap/buffer"
 	"go.uber.org/zap/internal/bufferpool"
 )
 
-var (
-	_stacktracePool = sync.Pool{
-		New: func() interface{} {
-			return newProgramCounters(64)
-		},
-	}
+var _stacktracePool = sync.Pool{
+	New: func() interface{} {
+		return &stacktrace{
+			storage: make([]uintptr, 64),
+		}
+	},
+}
+
+type stacktrace struct {
+	pcs    []uintptr // program counters; always a subslice of storage
+	frames *runtime.Frames
+
+	// The size of pcs varies depending on requirements:
+	// it will be one if the only the first frame was requested,
+	// and otherwise it will reflect the depth of the call stack.
+	//
+	// storage decouples the slice we need (pcs) from the slice we pool.
+	// We will always allocate a reasonably large storage, but we'll use
+	// only as much of it as we need.
+	storage []uintptr
+}
+
+// stacktraceDepth specifies how deep of a stack trace should be captured.
+type stacktraceDepth int
+
+const (
+	// stacktraceFirst captures only the first frame.
+	stacktraceFirst stacktraceDepth = iota
+
+	// stacktraceFull captures the entire call stack, allocating more
+	// storage for it if needed.
+	stacktraceFull
 )
 
+// captureStacktrace captures a stack trace of the specified depth, skipping
+// the provided number of frames. skip=0 identifies the caller of
+// captureStacktrace.
+//
+// The caller must call Free on the returned stacktrace after using it.
+func captureStacktrace(skip int, depth stacktraceDepth) *stacktrace {
+	stack := _stacktracePool.Get().(*stacktrace)
+
+	switch depth {
+	case stacktraceFirst:
+		stack.pcs = stack.storage[:1]
+	case stacktraceFull:
+		stack.pcs = stack.storage
+	}
+
+	// Unlike other "skip"-based APIs, skip=0 identifies runtime.Callers
+	// itself. +2 to skip captureStacktrace and runtime.Callers.
+	numFrames := runtime.Callers(
+		skip+2,
+		stack.pcs,
+	)
+
+	// runtime.Callers truncates the recorded stacktrace if there is no
+	// room in the provided slice. For the full stack trace, keep expanding
+	// storage until there are fewer frames than there is room.
+	if depth == stacktraceFull {
+		pcs := stack.pcs
+		for numFrames == len(pcs) {
+			pcs = make([]uintptr, len(pcs)*2)
+			numFrames = runtime.Callers(skip+2, pcs)
+		}
+
+		// Discard old storage instead of returning it to the pool.
+		// This will adjust the pool size over time if stack traces are
+		// consistently very deep.
+		stack.storage = pcs
+		stack.pcs = pcs[:numFrames]
+	} else {
+		stack.pcs = stack.pcs[:numFrames]
+	}
+
+	stack.frames = runtime.CallersFrames(stack.pcs)
+	return stack
+}
+
+// Free releases resources associated with this stacktrace
+// and returns it back to the pool.
+func (st *stacktrace) Free() {
+	st.frames = nil
+	st.pcs = nil
+	_stacktracePool.Put(st)
+}
+
+// Count reports the total number of frames in this stacktrace.
+// Count DOES NOT change as Next is called.
+func (st *stacktrace) Count() int {
+	return len(st.pcs)
+}
+
+// Next returns the next frame in the stack trace,
+// and a boolean indicating whether there are more after it.
+func (st *stacktrace) Next() (_ runtime.Frame, more bool) {
+	return st.frames.Next()
+}
+
 func takeStacktrace(skip int) string {
+	stack := captureStacktrace(skip+1, stacktraceFull)
+	defer stack.Free()
+
 	buffer := bufferpool.Get()
 	defer buffer.Free()
-	programCounters := _stacktracePool.Get().(*programCounters)
-	defer _stacktracePool.Put(programCounters)
-
-	var numFrames int
-	for {
-		// Skip the call to runtime.Callers and takeStacktrace so that the
-		// program counters start at the caller of takeStacktrace.
-		numFrames = runtime.Callers(skip+2, programCounters.pcs)
-		if numFrames < len(programCounters.pcs) {
-			break
-		}
-		// Don't put the too-short counter slice back into the pool; this lets
-		// the pool adjust if we consistently take deep stacktraces.
-		programCounters = newProgramCounters(len(programCounters.pcs) * 2)
-	}
-
-	i := 0
-	frames := runtime.CallersFrames(programCounters.pcs[:numFrames])
-
-	// Note: On the last iteration, frames.Next() returns false, with a valid
-	// frame, but we ignore this frame. The last frame is a a runtime frame which
-	// adds noise, since it's only either runtime.main or runtime.goexit.
-	for frame, more := frames.Next(); more; frame, more = frames.Next() {
-		if i != 0 {
-			buffer.AppendByte('\n')
-		}
-		i++
-		buffer.AppendString(frame.Function)
-		buffer.AppendByte('\n')
-		buffer.AppendByte('\t')
-		buffer.AppendString(frame.File)
-		buffer.AppendByte(':')
-		buffer.AppendInt(int64(frame.Line))
-	}
 
+	stackfmt := newStackFormatter(buffer)
+	stackfmt.FormatStack(stack)
 	return buffer.String()
 }
 
-type programCounters struct {
-	pcs []uintptr
+// stackFormatter formats a stack trace into a readable string representation.
+type stackFormatter struct {
+	b        *buffer.Buffer
+	nonEmpty bool // whehther we've written at least one frame already
 }
 
-func newProgramCounters(size int) *programCounters {
-	return &programCounters{make([]uintptr, size)}
+// newStackFormatter builds a new stackFormatter.
+func newStackFormatter(b *buffer.Buffer) stackFormatter {
+	return stackFormatter{b: b}
+}
+
+// FormatStack formats all remaining frames in the provided stacktrace -- minus
+// the final runtime.main/runtime.goexit frame.
+func (sf *stackFormatter) FormatStack(stack *stacktrace) {
+	// Note: On the last iteration, frames.Next() returns false, with a valid
+	// frame, but we ignore this frame. The last frame is a a runtime frame which
+	// adds noise, since it's only either runtime.main or runtime.goexit.
+	for frame, more := stack.Next(); more; frame, more = stack.Next() {
+		sf.FormatFrame(frame)
+	}
+}
+
+// FormatFrame formats the given frame.
+func (sf *stackFormatter) FormatFrame(frame runtime.Frame) {
+	if sf.nonEmpty {
+		sf.b.AppendByte('\n')
+	}
+	sf.nonEmpty = true
+	sf.b.AppendString(frame.Function)
+	sf.b.AppendByte('\n')
+	sf.b.AppendByte('\t')
+	sf.b.AppendString(frame.File)
+	sf.b.AppendByte(':')
+	sf.b.AppendInt(int64(frame.Line))
 }

vendor/go.uber.org/zap/zapcore/clock.go

@@ -20,9 +20,7 @@
 
 package zapcore
 
-import (
-	"time"
-)
+import "time"
 
 // DefaultClock is the default clock used by Zap in operations that require
 // time. This clock uses the system clock for all operations.

vendor/go.uber.org/zap/zapcore/console_encoder.go

@@ -125,11 +125,7 @@ func (c consoleEncoder) EncodeEntry(ent Entry, fields []Field) (*buffer.Buffer,
 		line.AppendString(ent.Stack)
 	}
 
-	if c.LineEnding != "" {
-		line.AppendString(c.LineEnding)
-	} else {
-		line.AppendString(DefaultLineEnding)
-	}
+	line.AppendString(c.LineEnding)
 	return line, nil
 }
 

vendor/go.uber.org/zap/zapcore/encoder.go

@@ -22,6 +22,7 @@ package zapcore
 
 import (
 	"encoding/json"
+	"io"
 	"time"
 
 	"go.uber.org/zap/buffer"
@@ -312,14 +313,15 @@ func (e *NameEncoder) UnmarshalText(text []byte) error {
 type EncoderConfig struct {
 	// Set the keys used for each log entry. If any key is empty, that portion
 	// of the entry is omitted.
-	MessageKey    string `json:"messageKey" yaml:"messageKey"`
-	LevelKey      string `json:"levelKey" yaml:"levelKey"`
-	TimeKey       string `json:"timeKey" yaml:"timeKey"`
-	NameKey       string `json:"nameKey" yaml:"nameKey"`
-	CallerKey     string `json:"callerKey" yaml:"callerKey"`
-	FunctionKey   string `json:"functionKey" yaml:"functionKey"`
-	StacktraceKey string `json:"stacktraceKey" yaml:"stacktraceKey"`
-	LineEnding    string `json:"lineEnding" yaml:"lineEnding"`
+	MessageKey     string `json:"messageKey" yaml:"messageKey"`
+	LevelKey       string `json:"levelKey" yaml:"levelKey"`
+	TimeKey        string `json:"timeKey" yaml:"timeKey"`
+	NameKey        string `json:"nameKey" yaml:"nameKey"`
+	CallerKey      string `json:"callerKey" yaml:"callerKey"`
+	FunctionKey    string `json:"functionKey" yaml:"functionKey"`
+	StacktraceKey  string `json:"stacktraceKey" yaml:"stacktraceKey"`
+	SkipLineEnding bool   `json:"skipLineEnding" yaml:"skipLineEnding"`
+	LineEnding     string `json:"lineEnding" yaml:"lineEnding"`
 	// Configure the primitive representations of common complex types. For
 	// example, some users may want all time.Times serialized as floating-point
 	// seconds since epoch, while others may prefer ISO8601 strings.
@@ -330,6 +332,9 @@ type EncoderConfig struct {
 	// Unlike the other primitive type encoders, EncodeName is optional. The
 	// zero value falls back to FullNameEncoder.
 	EncodeName NameEncoder `json:"nameEncoder" yaml:"nameEncoder"`
+	// Configure the encoder for interface{} type objects.
+	// If not provided, objects are encoded using json.Encoder
+	NewReflectedEncoder func(io.Writer) ReflectedEncoder `json:"-" yaml:"-"`
 	// Configures the field separator used by the console encoder. Defaults
 	// to tab.
 	ConsoleSeparator string `json:"consoleSeparator" yaml:"consoleSeparator"`

vendor/go.uber.org/zap/zapcore/json_encoder.go

@@ -22,7 +22,6 @@ package zapcore
 
 import (
 	"encoding/base64"
-	"encoding/json"
 	"math"
 	"sync"
 	"time"
@@ -64,7 +63,7 @@ type jsonEncoder struct {
 
 	// for encoding generic values by reflection
 	reflectBuf *buffer.Buffer
-	reflectEnc *json.Encoder
+	reflectEnc ReflectedEncoder
 }
 
 // NewJSONEncoder creates a fast, low-allocation JSON encoder. The encoder
@@ -82,6 +81,17 @@ func NewJSONEncoder(cfg EncoderConfig) Encoder {
 }
 
 func newJSONEncoder(cfg EncoderConfig, spaced bool) *jsonEncoder {
+	if cfg.SkipLineEnding {
+		cfg.LineEnding = ""
+	} else if cfg.LineEnding == "" {
+		cfg.LineEnding = DefaultLineEnding
+	}
+
+	// If no EncoderConfig.NewReflectedEncoder is provided by the user, then use default
+	if cfg.NewReflectedEncoder == nil {
+		cfg.NewReflectedEncoder = defaultReflectedEncoder
+	}
+
 	return &jsonEncoder{
 		EncoderConfig: &cfg,
 		buf:           bufferpool.Get(),
@@ -118,6 +128,11 @@ func (enc *jsonEncoder) AddComplex128(key string, val complex128) {
 	enc.AppendComplex128(val)
 }
 
+func (enc *jsonEncoder) AddComplex64(key string, val complex64) {
+	enc.addKey(key)
+	enc.AppendComplex64(val)
+}
+
 func (enc *jsonEncoder) AddDuration(key string, val time.Duration) {
 	enc.addKey(key)
 	enc.AppendDuration(val)
@@ -141,10 +156,7 @@ func (enc *jsonEncoder) AddInt64(key string, val int64) {
 func (enc *jsonEncoder) resetReflectBuf() {
 	if enc.reflectBuf == nil {
 		enc.reflectBuf = bufferpool.Get()
-		enc.reflectEnc = json.NewEncoder(enc.reflectBuf)
-
-		// For consistency with our custom JSON encoder.
-		enc.reflectEnc.SetEscapeHTML(false)
+		enc.reflectEnc = enc.NewReflectedEncoder(enc.reflectBuf)
 	} else {
 		enc.reflectBuf.Reset()
 	}
@@ -206,10 +218,16 @@ func (enc *jsonEncoder) AppendArray(arr ArrayMarshaler) error {
 }
 
 func (enc *jsonEncoder) AppendObject(obj ObjectMarshaler) error {
+	// Close ONLY new openNamespaces that are created during
+	// AppendObject().
+	old := enc.openNamespaces
+	enc.openNamespaces = 0
 	enc.addElementSeparator()
 	enc.buf.AppendByte('{')
 	err := obj.MarshalLogObject(enc)
 	enc.buf.AppendByte('}')
+	enc.closeOpenNamespaces()
+	enc.openNamespaces = old
 	return err
 }
 
@@ -225,20 +243,23 @@ func (enc *jsonEncoder) AppendByteString(val []byte) {
 	enc.buf.AppendByte('"')
 }
 
-func (enc *jsonEncoder) AppendComplex128(val complex128) {
+// appendComplex appends the encoded form of the provided complex128 value.
+// precision specifies the encoding precision for the real and imaginary
+// components of the complex number.
+func (enc *jsonEncoder) appendComplex(val complex128, precision int) {
 	enc.addElementSeparator()
 	// Cast to a platform-independent, fixed-size type.
 	r, i := float64(real(val)), float64(imag(val))
 	enc.buf.AppendByte('"')
 	// Because we're always in a quoted string, we can use strconv without
 	// special-casing NaN and +/-Inf.
-	enc.buf.AppendFloat(r, 64)
+	enc.buf.AppendFloat(r, precision)
 	// If imaginary part is less than 0, minus (-) sign is added by default
 	// by AppendFloat.
 	if i >= 0 {
 		enc.buf.AppendByte('+')
 	}
-	enc.buf.AppendFloat(i, 64)
+	enc.buf.AppendFloat(i, precision)
 	enc.buf.AppendByte('i')
 	enc.buf.AppendByte('"')
 }
@@ -301,28 +322,28 @@ func (enc *jsonEncoder) AppendUint64(val uint64) {
 	enc.buf.AppendUint(val)
 }
 
-func (enc *jsonEncoder) AddComplex64(k string, v complex64) { enc.AddComplex128(k, complex128(v)) }
-func (enc *jsonEncoder) AddInt(k string, v int)             { enc.AddInt64(k, int64(v)) }
-func (enc *jsonEncoder) AddInt32(k string, v int32)         { enc.AddInt64(k, int64(v)) }
-func (enc *jsonEncoder) AddInt16(k string, v int16)         { enc.AddInt64(k, int64(v)) }
-func (enc *jsonEncoder) AddInt8(k string, v int8)           { enc.AddInt64(k, int64(v)) }
-func (enc *jsonEncoder) AddUint(k string, v uint)           { enc.AddUint64(k, uint64(v)) }
-func (enc *jsonEncoder) AddUint32(k string, v uint32)       { enc.AddUint64(k, uint64(v)) }
-func (enc *jsonEncoder) AddUint16(k string, v uint16)       { enc.AddUint64(k, uint64(v)) }
-func (enc *jsonEncoder) AddUint8(k string, v uint8)         { enc.AddUint64(k, uint64(v)) }
-func (enc *jsonEncoder) AddUintptr(k string, v uintptr)     { enc.AddUint64(k, uint64(v)) }
-func (enc *jsonEncoder) AppendComplex64(v complex64)        { enc.AppendComplex128(complex128(v)) }
-func (enc *jsonEncoder) AppendFloat64(v float64)            { enc.appendFloat(v, 64) }
-func (enc *jsonEncoder) AppendFloat32(v float32)            { enc.appendFloat(float64(v), 32) }
-func (enc *jsonEncoder) AppendInt(v int)                    { enc.AppendInt64(int64(v)) }
-func (enc *jsonEncoder) AppendInt32(v int32)                { enc.AppendInt64(int64(v)) }
-func (enc *jsonEncoder) AppendInt16(v int16)                { enc.AppendInt64(int64(v)) }
-func (enc *jsonEncoder) AppendInt8(v int8)                  { enc.AppendInt64(int64(v)) }
-func (enc *jsonEncoder) AppendUint(v uint)                  { enc.AppendUint64(uint64(v)) }
-func (enc *jsonEncoder) AppendUint32(v uint32)              { enc.AppendUint64(uint64(v)) }
-func (enc *jsonEncoder) AppendUint16(v uint16)              { enc.AppendUint64(uint64(v)) }
-func (enc *jsonEncoder) AppendUint8(v uint8)                { enc.AppendUint64(uint64(v)) }
-func (enc *jsonEncoder) AppendUintptr(v uintptr)            { enc.AppendUint64(uint64(v)) }
+func (enc *jsonEncoder) AddInt(k string, v int)         { enc.AddInt64(k, int64(v)) }
+func (enc *jsonEncoder) AddInt32(k string, v int32)     { enc.AddInt64(k, int64(v)) }
+func (enc *jsonEncoder) AddInt16(k string, v int16)     { enc.AddInt64(k, int64(v)) }
+func (enc *jsonEncoder) AddInt8(k string, v int8)       { enc.AddInt64(k, int64(v)) }
+func (enc *jsonEncoder) AddUint(k string, v uint)       { enc.AddUint64(k, uint64(v)) }
+func (enc *jsonEncoder) AddUint32(k string, v uint32)   { enc.AddUint64(k, uint64(v)) }
+func (enc *jsonEncoder) AddUint16(k string, v uint16)   { enc.AddUint64(k, uint64(v)) }
+func (enc *jsonEncoder) AddUint8(k string, v uint8)     { enc.AddUint64(k, uint64(v)) }
+func (enc *jsonEncoder) AddUintptr(k string, v uintptr) { enc.AddUint64(k, uint64(v)) }
+func (enc *jsonEncoder) AppendComplex64(v complex64)    { enc.appendComplex(complex128(v), 32) }
+func (enc *jsonEncoder) AppendComplex128(v complex128)  { enc.appendComplex(complex128(v), 64) }
+func (enc *jsonEncoder) AppendFloat64(v float64)        { enc.appendFloat(v, 64) }
+func (enc *jsonEncoder) AppendFloat32(v float32)        { enc.appendFloat(float64(v), 32) }
+func (enc *jsonEncoder) AppendInt(v int)                { enc.AppendInt64(int64(v)) }
+func (enc *jsonEncoder) AppendInt32(v int32)            { enc.AppendInt64(int64(v)) }
+func (enc *jsonEncoder) AppendInt16(v int16)            { enc.AppendInt64(int64(v)) }
+func (enc *jsonEncoder) AppendInt8(v int8)              { enc.AppendInt64(int64(v)) }
+func (enc *jsonEncoder) AppendUint(v uint)              { enc.AppendUint64(uint64(v)) }
+func (enc *jsonEncoder) AppendUint32(v uint32)          { enc.AppendUint64(uint64(v)) }
+func (enc *jsonEncoder) AppendUint16(v uint16)          { enc.AppendUint64(uint64(v)) }
+func (enc *jsonEncoder) AppendUint8(v uint8)            { enc.AppendUint64(uint64(v)) }
+func (enc *jsonEncoder) AppendUintptr(v uintptr)        { enc.AppendUint64(uint64(v)) }
 
 func (enc *jsonEncoder) Clone() Encoder {
 	clone := enc.clone()
@@ -343,7 +364,7 @@ func (enc *jsonEncoder) EncodeEntry(ent Entry, fields []Field) (*buffer.Buffer,
 	final := enc.clone()
 	final.buf.AppendByte('{')
 
-	if final.LevelKey != "" {
+	if final.LevelKey != "" && final.EncodeLevel != nil {
 		final.addKey(final.LevelKey)
 		cur := final.buf.Len()
 		final.EncodeLevel(ent.Level, final)
@@ -404,11 +425,7 @@ func (enc *jsonEncoder) EncodeEntry(ent Entry, fields []Field) (*buffer.Buffer,
 		final.AddString(final.StacktraceKey, ent.Stack)
 	}
 	final.buf.AppendByte('}')
-	if final.LineEnding != "" {
-		final.buf.AppendString(final.LineEnding)
-	} else {
-		final.buf.AppendString(DefaultLineEnding)
-	}
+	final.buf.AppendString(final.LineEnding)
 
 	ret := final.buf
 	putJSONEncoder(final)
@@ -423,6 +440,7 @@ func (enc *jsonEncoder) closeOpenNamespaces() {
 	for i := 0; i < enc.openNamespaces; i++ {
 		enc.buf.AppendByte('}')
 	}
+	enc.openNamespaces = 0
 }
 
 func (enc *jsonEncoder) addKey(key string) {

vendor/go.uber.org/zap/zapcore/level.go

@@ -55,6 +55,18 @@ const (
 	_maxLevel = FatalLevel
 )
 
+// ParseLevel parses a level based on the lower-case or all-caps ASCII
+// representation of the log level. If the provided ASCII representation is
+// invalid an error is returned.
+//
+// This is particularly useful when dealing with text input to configure log
+// levels.
+func ParseLevel(text string) (Level, error) {
+	var level Level
+	err := level.UnmarshalText([]byte(text))
+	return level, err
+}
+
 // String returns a lower-case ASCII representation of the log level.
 func (l Level) String() string {
 	switch l {

vendor/go.uber.org/zap/zapcore/reflected_encoder.go

@@ -1,4 +1,4 @@
-// Copyright (c) 2019 Uber Technologies, Inc.
+// Copyright (c) 2016 Uber Technologies, Inc.
 //
 // Permission is hereby granted, free of charge, to any person obtaining a copy
 // of this software and associated documentation files (the "Software"), to deal
@@ -18,9 +18,24 @@
 // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 // THE SOFTWARE.
 
-// See #682 for more information.
-// +build go1.12
+package zapcore
 
-package zap
+import (
+	"encoding/json"
+	"io"
+)
 
-const _stdLogDefaultDepth = 1
+// ReflectedEncoder serializes log fields that can't be serialized with Zap's
+// JSON encoder. These have the ReflectType field type.
+// Use EncoderConfig.NewReflectedEncoder to set this.
+type ReflectedEncoder interface {
+	// Encode encodes and writes to the underlying data stream.
+	Encode(interface{}) error
+}
+
+func defaultReflectedEncoder(w io.Writer) ReflectedEncoder {
+	enc := json.NewEncoder(w)
+	// For consistency with our custom JSON encoder.
+	enc.SetEscapeHTML(false)
+	return enc
+}

vendor/go.uber.org/zap/zapcore/sampler.go

@@ -133,10 +133,21 @@ func SamplerHook(hook func(entry Entry, dec SamplingDecision)) SamplerOption {
 // each tick. If more Entries with the same level and message are seen during
 // the same interval, every Mth message is logged and the rest are dropped.
 //
+// For example,
+//
+//   core = NewSamplerWithOptions(core, time.Second, 10, 5)
+//
+// This will log the first 10 log entries with the same level and message
+// in a one second interval as-is. Following that, it will allow through
+// every 5th log entry with the same level and message in that interval.
+//
+// If thereafter is zero, the Core will drop all log entries after the first N
+// in that interval.
+//
 // Sampler can be configured to report sampling decisions with the SamplerHook
 // option.
 //
-// Keep in mind that zap's sampling implementation is optimized for speed over
+// Keep in mind that Zap's sampling implementation is optimized for speed over
 // absolute precision; under load, each tick may be slightly over- or
 // under-sampled.
 func NewSamplerWithOptions(core Core, tick time.Duration, first, thereafter int, opts ...SamplerOption) Core {
@@ -200,7 +211,7 @@ func (s *sampler) Check(ent Entry, ce *CheckedEntry) *CheckedEntry {
 	if ent.Level >= _minLevel && ent.Level <= _maxLevel {
 		counter := s.counts.get(ent.Level, ent.Message)
 		n := counter.IncCheckReset(ent.Time, s.tick)
-		if n > s.first && (n-s.first)%s.thereafter != 0 {
+		if n > s.first && (s.thereafter == 0 || (n-s.first)%s.thereafter != 0) {
 			s.hook(ent, LogDropped)
 			return ce
 		}

vendor/gocv.io/x/gocv/.astylerc

@@ -0,0 +1,28 @@
+--lineend=linux
+
+--style=google
+
+--indent=spaces=4
+--indent-col1-comments
+--convert-tabs
+
+--attach-return-type
+--attach-namespaces
+--attach-classes
+--attach-inlines
+
+--add-brackets
+--add-braces
+
+--align-pointer=type
+--align-reference=type
+
+--max-code-length=100
+--break-after-logical
+
+--pad-comma
+--pad-oper
+--unpad-paren
+
+--break-blocks
+--pad-header

vendor/gocv.io/x/gocv/.gitignore

@@ -0,0 +1,12 @@
+profile.cov
+count.out
+*.swp
+*.snap
+/parts
+/prime
+/stage
+.vscode/
+/build
+.idea/
+contrib/data.yaml
+contrib/testOilPainting.png

vendor/gocv.io/x/gocv/CODE_OF_CONDUCT.md

@@ -0,0 +1,76 @@
+# Contributor Covenant Code of Conduct
+
+## Our Pledge
+
+In the interest of fostering an open and welcoming environment, we as
+contributors and maintainers pledge to making participation in our project and
+our community a harassment-free experience for everyone, regardless of age, body
+size, disability, ethnicity, sex characteristics, gender identity and expression,
+level of experience, education, socio-economic status, nationality, personal
+appearance, race, religion, or sexual identity and orientation.
+
+## Our Standards
+
+Examples of behavior that contributes to creating a positive environment
+include:
+
+* Using welcoming and inclusive language
+* Being respectful of differing viewpoints and experiences
+* Gracefully accepting constructive criticism
+* Focusing on what is best for the community
+* Showing empathy towards other community members
+
+Examples of unacceptable behavior by participants include:
+
+* The use of sexualized language or imagery and unwelcome sexual attention or
+ advances
+* Trolling, insulting/derogatory comments, and personal or political attacks
+* Public or private harassment
+* Publishing others' private information, such as a physical or electronic
+ address, without explicit permission
+* Other conduct which could reasonably be considered inappropriate in a
+ professional setting
+
+## Our Responsibilities
+
+Project maintainers are responsible for clarifying the standards of acceptable
+behavior and are expected to take appropriate and fair corrective action in
+response to any instances of unacceptable behavior.
+
+Project maintainers have the right and responsibility to remove, edit, or
+reject comments, commits, code, wiki edits, issues, and other contributions
+that are not aligned to this Code of Conduct, or to ban temporarily or
+permanently any contributor for other behaviors that they deem inappropriate,
+threatening, offensive, or harmful.
+
+## Scope
+
+This Code of Conduct applies both within project spaces and in public spaces
+when an individual is representing the project or its community. Examples of
+representing a project or community include using an official project e-mail
+address, posting via an official social media account, or acting as an appointed
+representative at an online or offline event. Representation of a project may be
+further defined and clarified by project maintainers.
+
+## Enforcement
+
+Instances of abusive, harassing, or otherwise unacceptable behavior may be
+reported by contacting the project team at info@hybridgroup.com. All
+complaints will be reviewed and investigated and will result in a response that
+is deemed necessary and appropriate to the circumstances. The project team is
+obligated to maintain confidentiality with regard to the reporter of an incident.
+Further details of specific enforcement policies may be posted separately.
+
+Project maintainers who do not follow or enforce the Code of Conduct in good
+faith may face temporary or permanent repercussions as determined by other
+members of the project's leadership.
+
+## Attribution
+
+This Code of Conduct is adapted from the [Contributor Covenant][homepage], version 1.4,
+available at https://www.contributor-covenant.org/version/1/4/code-of-conduct.html
+
+[homepage]: https://www.contributor-covenant.org
+
+For answers to common questions about this code of conduct, see
+https://www.contributor-covenant.org/faq

vendor/gocv.io/x/gocv/CONTRIBUTING.md

@@ -0,0 +1,136 @@
+# How to contribute
+
+Thank you for your interest in improving GoCV.
+
+We would like your help to make this project better, so we appreciate any contributions. See if one of the following descriptions matches your situation:
+
+### Newcomer to GoCV, to OpenCV, or to computer vision in general
+
+We'd love to get your feedback on getting started with GoCV. Run into any difficulty, confusion, or anything else? You are not alone. We want to know about your experience, so we can help the next people. Please open a Github issue with your questions, or get in touch directly with us.
+
+### Something in GoCV is not working as you expect
+
+Please open a Github issue with your problem, and we will be happy to assist.
+
+### Something you want/need from OpenCV does not appear to be in GoCV
+
+We probably have not implemented it yet. Please take a look at our [ROADMAP.md](ROADMAP.md). Your pull request adding the functionality to GoCV would be greatly appreciated.
+
+### You found some Python code on the Internet that performs some computer vision task, and you want to do it using GoCV
+
+Please open a Github issue with your needs, and we can see what we can do.
+
+## How to use our Github repository
+
+The `release` branch of this repo will always have the latest released version of GoCV. All of the active development work for the next release will take place in the `dev` branch. GoCV will use semantic versioning and will create a tag/release for each release.
+
+Here is how to contribute back some code or documentation:
+
+- Fork repo
+- Create a feature branch off of the `dev` branch
+- Make some useful change
+- Submit a pull request against the `dev` branch.
+- Be kind
+
+## How to add a function from OpenCV to GoCV
+
+Here are a few basic guidelines on how to add a function from OpenCV to GoCV:
+
+- Please open a Github issue. We want to help, and also make sure that there is no duplications of efforts. Sometimes what you need is already being worked on by someone else.
+- Use the proper Go style naming `MissingFunction()` for the Go wrapper.
+- Make any output parameters `Mat*` to indicate to developers that the underlying OpenCV data will be changed by the function.
+- Use Go types when possible as parameters for example `image.Point` and then convert to the appropriate OpenCV struct. Also define a new type based on `int` and `const` values instead of just passing "magic numbers" as params. For example, the `VideoCaptureProperties` type used in `videoio.go`.
+- Always add the function to the GoCV file named the same as the OpenCV module to which the function belongs.
+- If the new function is in a module that is not yet implemented by GoCV, a new set of files for that module will need to be added.
+- Always add a "smoke" test for the new function being added. We are not testing OpenCV itself, but just the GoCV wrapper, so all that is needed generally is just exercising the new function.
+- If OpenCV has any default params for a function, we have been implementing 2 versions of the function since Go does not support overloading. For example, with a OpenCV function:
+
+```c
+opencv::xYZ(int p1, int p2, int p3=2, int p4=3);
+```
+
+We would define 2 functions in GoCV:
+
+```go
+// uses default param values
+XYZ(p1, p2)
+
+// sets each param
+XYZWithParams(p2, p2, p3, p4)
+```
+
+## How to run tests
+
+To run the tests:
+
+```
+go test .
+go test ./contrib/.
+```
+
+If you want to run an individual test, you can provide a RegExp to the `-run` argument:
+```
+go test -run TestMat
+```
+
+If you are using Intel OpenVINO, you can run those tests using:
+
+```
+go test ./openvino/...
+```
+
+## Contributing workflow
+
+This section provides a short description of one of many possible workflows you can follow to contribute to `GoCV`. This workflow is based on multiple [git remotes](https://git-scm.com/docs/git-remote) and it's by no means the only workflow you can use to contribute to `GoCV`. However, it's an option that might help you get started quickly without too much hassle as this workflow lets you work off the `gocv` repo directory path!
+
+Assuming you have already forked the `gocv` repo, you need to add a new `git remote` which will point to your GitHub fork. Notice below that you **must** `cd` to `gocv` repo directory before you add the new `git remote`:
+
+```shell
+cd $GOPATH/src/gocv.io/x/gocv
+git remote add gocv-fork https://github.com/YOUR_GH_HANDLE/gocv.git
+```
+
+Note, that in the command above we called our new `git remote`, **gocv-fork** for convenience so we can easily recognize it. You are free to choose any remote name of your liking.
+
+You should now see your new `git remote` when running the command below:
+
+```shell
+git remote -v
+
+gocv-fork	https://github.com/YOUR_GH_HANDLE/gocv.git (fetch)
+gocv-fork	https://github.com/YOUR_GH_HANDLE/gocv.git (push)
+origin	        https://github.com/hybridgroup/gocv (fetch)
+origin	        https://github.com/hybridgroup/gocv (push)
+```
+
+Before you create a new branch from `dev` you should fetch the latests commits from the `dev` branch:
+
+```shell
+git fetch origin dev
+```
+
+You want the `dev` branch in your `gocv` fork to be in sync with the `dev` branch of `gocv`, so push the earlier fetched commits to your GitHub fork as shown below. Note, the `-f` force switch might not be needed:
+
+```shell
+git push gocv-fork dev -f
+```
+
+Create a new feature branch from `dev`:
+
+```shell
+git checkout -b new-feature
+```
+
+After you've made your changes you can run the tests using the `make` command listed below. Note, you're still working off the `gocv` project root directory, hence running the command below does not require complicated `$GOPATH` rewrites or whatnot:
+
+```shell
+make test
+```
+
+Once the tests have passed, commit your new code to the `new-feature` branch and push it to your fork running the command below:
+
+```shell
+git push gocv-fork new-feature
+```
+
+You can now open a new PR from `new-feature` branch in your forked repo against the `dev` branch of `gocv`.

vendor/gocv.io/x/gocv/Dockerfile

@@ -0,0 +1,12 @@
+# to build this docker image:
+#   docker build .
+FROM gocv/opencv:4.6.0
+
+ENV GOPATH /go
+
+COPY . /go/src/gocv.io/x/gocv/
+
+WORKDIR /go/src/gocv.io/x/gocv
+RUN go build -tags example -o /build/gocv_version -i ./cmd/version/
+
+CMD ["/build/gocv_version"]

vendor/gocv.io/x/gocv/Dockerfile-test

@@ -0,0 +1,19 @@
+# To build:
+#   docker build -f Dockerfile-test -t gocv-test .
+#
+# To run tests:
+#   xhost +
+#   docker run -it --rm -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix gocv-test
+#   xhost -
+#
+FROM gocv/opencv:4.6.0 AS gocv-test
+
+ENV GOPATH /go
+
+COPY . /go/src/gocv.io/x/gocv/
+
+WORKDIR /go/src/gocv.io/x/gocv
+
+RUN go get -u github.com/rakyll/gotest
+
+ENTRYPOINT ["gotest", "-v", ".", "./contrib/..."]

vendor/gocv.io/x/gocv/Dockerfile-test.gpu-cuda-10

@@ -0,0 +1,18 @@
+# To build:
+#   docker build -f Dockerfile-test.gpu-cuda-10 -t gocv-test-gpu-cuda-10 .
+#
+# To run tests:
+#   docker run -it --rm --gpus all gocv-test-gpu-cuda-10
+#
+FROM gocv/opencv:4.6.0-gpu-cuda-10 AS gocv-gpu-test-cuda-10
+
+ENV GOPATH /go
+ENV PATH="${PATH}:/go/bin"
+
+COPY . /go/src/gocv.io/x/gocv/
+
+WORKDIR /go/src/gocv.io/x/gocv
+
+RUN go get -u github.com/rakyll/gotest
+
+ENTRYPOINT ["gotest", "-v", "./cuda/..."]

vendor/gocv.io/x/gocv/Dockerfile-test.gpu-cuda-11

@@ -0,0 +1,18 @@
+# To build:
+#   docker build -f Dockerfile-test.gpu-cuda-11 -t gocv-test-gpu-cuda-11 .
+#
+# To run tests:
+#   docker run -it --rm --gpus all gocv-test-gpu-cuda-11
+#
+FROM gocv/opencv:4.6.0-gpu-cuda-11 AS gocv-gpu-test-cuda-11
+
+ENV GOPATH /go
+ENV PATH="${PATH}:/go/bin"
+
+COPY . /go/src/gocv.io/x/gocv/
+
+WORKDIR /go/src/gocv.io/x/gocv
+
+RUN go get -u github.com/rakyll/gotest
+
+ENTRYPOINT ["gotest", "-v", "./cuda/..."]

vendor/gocv.io/x/gocv/Dockerfile.gpu

@@ -0,0 +1,12 @@
+# to build this docker image:
+#   docker build -f Dockerfile.gpu .
+FROM gocv/opencv:4.6.0-gpu-cuda-11 AS gocv-gpu
+
+ENV GOPATH /go
+
+COPY . /go/src/gocv.io/x/gocv/
+
+WORKDIR /go/src/gocv.io/x/gocv
+RUN go build -tags cuda -o /build/gocv_cuda_version ./cmd/cuda/
+
+CMD ["/build/gocv_cuda_version"]

vendor/gocv.io/x/gocv/Dockerfile.opencv

@@ -0,0 +1,45 @@
+# to build this docker image:
+#   docker build -f Dockerfile.opencv -t gocv/opencv:4.6.0 .
+FROM golang:1.18-buster AS opencv
+LABEL maintainer="hybridgroup"
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+            git build-essential cmake pkg-config unzip libgtk2.0-dev \
+            curl ca-certificates libcurl4-openssl-dev libssl-dev \
+            libavcodec-dev libavformat-dev libswscale-dev libtbb2 libtbb-dev \
+            libjpeg-dev libpng-dev libtiff-dev libdc1394-22-dev && \
+            rm -rf /var/lib/apt/lists/*
+
+ARG OPENCV_VERSION="4.6.0"
+ENV OPENCV_VERSION $OPENCV_VERSION
+
+RUN curl -Lo opencv.zip https://github.com/opencv/opencv/archive/${OPENCV_VERSION}.zip && \
+            unzip -q opencv.zip && \
+            curl -Lo opencv_contrib.zip https://github.com/opencv/opencv_contrib/archive/${OPENCV_VERSION}.zip && \
+            unzip -q opencv_contrib.zip && \
+            rm opencv.zip opencv_contrib.zip && \
+            cd opencv-${OPENCV_VERSION} && \
+            mkdir build && cd build && \
+            cmake -D CMAKE_BUILD_TYPE=RELEASE \
+                  -D WITH_IPP=OFF \
+                  -D WITH_OPENGL=OFF \
+                  -D WITH_QT=OFF \
+                  -D CMAKE_INSTALL_PREFIX=/usr/local \
+                  -D OPENCV_EXTRA_MODULES_PATH=../../opencv_contrib-${OPENCV_VERSION}/modules \
+                  -D OPENCV_ENABLE_NONFREE=ON \
+                  -D WITH_JASPER=OFF \
+                  -D WITH_TBB=ON \
+                  -D BUILD_DOCS=OFF \
+                  -D BUILD_EXAMPLES=OFF \
+                  -D BUILD_TESTS=OFF \
+                  -D BUILD_PERF_TESTS=OFF \
+                  -D BUILD_opencv_java=NO \
+                  -D BUILD_opencv_python=NO \
+                  -D BUILD_opencv_python2=NO \
+                  -D BUILD_opencv_python3=NO \
+                  -D OPENCV_GENERATE_PKGCONFIG=ON .. && \
+            make -j $(nproc --all) && \
+            make preinstall && make install && ldconfig && \
+            cd / && rm -rf opencv*
+
+CMD ["go version"]

vendor/gocv.io/x/gocv/Dockerfile.opencv-gpu-cuda-10

@@ -0,0 +1,68 @@
+# to build this docker image:
+#   docker build -f Dockerfile.opencv-gpu-cuda-10 -t gocv/opencv:4.6.0-gpu-cuda-10 .
+FROM nvidia/cuda:10.2-cudnn8-devel AS opencv-gpu-base
+LABEL maintainer="hybridgroup"
+
+# needed for cuda repo key rotation. see:
+# https://forums.developer.nvidia.com/t/notice-cuda-linux-repository-key-rotation/212771
+#
+RUN apt-key adv --fetch-keys http://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/3bf863cc.pub
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+            git build-essential cmake pkg-config unzip libgtk2.0-dev \
+            wget curl ca-certificates libcurl4-openssl-dev libssl-dev \
+            libavcodec-dev libavformat-dev libswscale-dev libtbb2 libtbb-dev \
+            libjpeg-dev libpng-dev libtiff-dev libdc1394-22-dev && \
+            rm -rf /var/lib/apt/lists/*
+
+ARG OPENCV_VERSION="4.6.0"
+ENV OPENCV_VERSION $OPENCV_VERSION
+
+RUN curl -Lo opencv.zip https://github.com/opencv/opencv/archive/${OPENCV_VERSION}.zip && \
+    unzip -q opencv.zip && \
+    curl -Lo opencv_contrib.zip https://github.com/opencv/opencv_contrib/archive/${OPENCV_VERSION}.zip && \
+    unzip -q opencv_contrib.zip && \
+    rm opencv.zip opencv_contrib.zip && \
+    cd opencv-${OPENCV_VERSION} && \
+    mkdir build && cd build && \
+    cmake -D CMAKE_BUILD_TYPE=RELEASE \
+            -D WITH_IPP=OFF \
+            -D WITH_OPENGL=OFF \
+            -D WITH_QT=OFF \
+            -D CMAKE_INSTALL_PREFIX=/usr/local \
+            -D OPENCV_EXTRA_MODULES_PATH=../../opencv_contrib-${OPENCV_VERSION}/modules \
+            -D OPENCV_ENABLE_NONFREE=ON \
+            -D WITH_JASPER=OFF \
+            -D BUILD_DOCS=OFF \
+            -D BUILD_EXAMPLES=OFF \
+            -D BUILD_TESTS=OFF \
+            -D BUILD_PERF_TESTS=OFF \
+            -D BUILD_opencv_java=NO \
+            -D BUILD_opencv_python=NO \
+            -D BUILD_opencv_python2=NO \
+            -D BUILD_opencv_python3=NO \
+            -D WITH_TBB=ON \
+            -D WITH_CUDA=ON \
+            -D ENABLE_FAST_MATH=1 \
+            -D CUDA_FAST_MATH=1 \
+            -D WITH_CUBLAS=1 \
+            -D CUDA_TOOLKIT_ROOT_DIR=/usr/local/cuda/ \
+            -D BUILD_opencv_cudacodec=OFF \
+            -D WITH_CUDNN=ON \
+            -D OPENCV_DNN_CUDA=ON \
+            -D CUDA_GENERATION=Auto \
+            -D OPENCV_GENERATE_PKGCONFIG=ON .. && \
+    make -j $(nproc --all) && \
+    make preinstall && make install && ldconfig && \
+    cd / && rm -rf opencv*
+
+# install golang here
+FROM opencv-gpu-base AS opencv-gpu-golang
+
+ENV GO_RELEASE=1.18.3
+RUN wget https://dl.google.com/go/go${GO_RELEASE}.linux-amd64.tar.gz && \
+    tar xfv go${GO_RELEASE}.linux-amd64.tar.gz -C /usr/local && \
+    rm go${GO_RELEASE}.linux-amd64.tar.gz
+ENV PATH="${PATH}:/usr/local/go/bin"
+
+CMD ["go version"]

vendor/gocv.io/x/gocv/Dockerfile.opencv-gpu-cuda-11

@@ -0,0 +1,64 @@
+# to build this docker image:
+#   docker build -f Dockerfile.opencv-gpu-cuda-11 -t gocv/opencv:4.6.0-gpu-cuda-11 .
+FROM nvidia/cuda:11.5.2-cudnn8-devel-ubuntu20.04 AS opencv-gpu-cuda-11-base
+LABEL maintainer="hybridgroup"
+ENV DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+            git build-essential cmake pkg-config unzip libgtk2.0-dev \
+            wget curl ca-certificates libcurl4-openssl-dev libssl-dev \
+            libavcodec-dev libavformat-dev libswscale-dev libtbb2 libtbb-dev \
+            libjpeg-dev libpng-dev libtiff-dev libdc1394-22-dev && \
+            rm -rf /var/lib/apt/lists/*
+
+ARG OPENCV_VERSION="4.6.0"
+ENV OPENCV_VERSION $OPENCV_VERSION
+
+RUN curl -Lo opencv.zip https://github.com/opencv/opencv/archive/${OPENCV_VERSION}.zip && \
+    unzip -q opencv.zip && \
+    curl -Lo opencv_contrib.zip https://github.com/opencv/opencv_contrib/archive/${OPENCV_VERSION}.zip && \
+    unzip -q opencv_contrib.zip && \
+    rm opencv.zip opencv_contrib.zip && \
+    cd opencv-${OPENCV_VERSION} && \
+    mkdir build && cd build && \
+    cmake -D CMAKE_BUILD_TYPE=RELEASE \
+            -D WITH_IPP=OFF \
+            -D WITH_OPENGL=OFF \
+            -D WITH_QT=OFF \
+            -D CMAKE_INSTALL_PREFIX=/usr/local \
+            -D OPENCV_EXTRA_MODULES_PATH=../../opencv_contrib-${OPENCV_VERSION}/modules \
+            -D OPENCV_ENABLE_NONFREE=ON \
+            -D WITH_JASPER=OFF \
+            -D BUILD_DOCS=OFF \
+            -D BUILD_EXAMPLES=OFF \
+            -D BUILD_TESTS=OFF \
+            -D BUILD_PERF_TESTS=OFF \
+            -D BUILD_opencv_java=NO \
+            -D BUILD_opencv_python=NO \
+            -D BUILD_opencv_python2=NO \
+            -D BUILD_opencv_python3=NO \
+            -D WITH_TBB=ON \
+            -D WITH_CUDA=ON \
+            -D ENABLE_FAST_MATH=1 \
+            -D CUDA_FAST_MATH=1 \
+            -D WITH_CUBLAS=1 \
+            -D CUDA_TOOLKIT_ROOT_DIR=/usr/local/cuda/ \
+            -D BUILD_opencv_cudacodec=OFF \
+            -D WITH_CUDNN=ON \
+            -D OPENCV_DNN_CUDA=ON \
+            -D CUDA_GENERATION=Auto \
+            -D OPENCV_GENERATE_PKGCONFIG=ON .. && \
+    make -j $(nproc --all) && \
+    make preinstall && make install && ldconfig && \
+    cd / && rm -rf opencv*
+
+# install golang here
+FROM opencv-gpu-cuda-11-base AS opencv-gpu-cuda-11-golang
+
+ENV GO_RELEASE=1.18.3
+RUN wget https://dl.google.com/go/go${GO_RELEASE}.linux-amd64.tar.gz && \
+    tar xfv go${GO_RELEASE}.linux-amd64.tar.gz -C /usr/local && \
+    rm go${GO_RELEASE}.linux-amd64.tar.gz
+ENV PATH="${PATH}:/usr/local/go/bin"
+
+CMD ["go version"]

vendor/gocv.io/x/gocv/LICENSE.txt

@@ -0,0 +1,13 @@
+Copyright (c) 2017-2022 The Hybrid Group and friends
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+    http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.

vendor/gocv.io/x/gocv/Makefile

@@ -0,0 +1,311 @@
+.ONESHELL:
+.PHONY: test deps download build clean astyle cmds docker
+
+# GoCV version to use.
+GOCV_VERSION?="v0.31.0"
+
+# OpenCV version to use.
+OPENCV_VERSION?=4.6.0
+
+# Go version to use when building Docker image
+GOVERSION?=1.16.2
+
+# Temporary directory to put files into.
+TMP_DIR?=/tmp/
+
+# Build shared or static library
+BUILD_SHARED_LIBS?=ON
+
+# Package list for each well-known Linux distribution
+RPMS=cmake curl wget git gtk2-devel libpng-devel libjpeg-devel libtiff-devel tbb tbb-devel libdc1394-devel unzip gcc-c++
+DEBS=unzip wget build-essential cmake curl git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libdc1394-22-dev
+JETSON=build-essential cmake git unzip pkg-config libjpeg-dev libpng-dev libtiff-dev libavcodec-dev libavformat-dev libswscale-dev libgtk2.0-dev libcanberra-gtk* libxvidcore-dev libx264-dev libgtk-3-dev libtbb2 libtbb-dev libdc1394-22-dev libv4l-dev v4l-utils libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libavresample-dev libvorbis-dev libxine2-dev libfaac-dev libmp3lame-dev libtheora-dev libopencore-amrnb-dev libopencore-amrwb-dev libopenblas-dev libatlas-base-dev libblas-dev liblapack-dev libeigen3-dev gfortran libhdf5-dev protobuf-compiler libprotobuf-dev libgoogle-glog-dev libgflags-dev
+
+explain:
+	@echo "For quick install with typical defaults of both OpenCV and GoCV, run 'make install'"
+
+# Detect Linux distribution
+distro_deps=
+ifneq ($(shell which dnf 2>/dev/null),)
+	distro_deps=deps_fedora
+else
+ifneq ($(shell which apt-get 2>/dev/null),)
+	distro_deps=deps_debian
+else
+ifneq ($(shell which yum 2>/dev/null),)
+	distro_deps=deps_rh_centos
+endif
+endif
+endif
+
+# Install all necessary dependencies.
+deps: $(distro_deps)
+
+deps_rh_centos:
+	sudo yum -y install pkgconfig $(RPMS)
+
+deps_fedora:
+	sudo dnf -y install pkgconf-pkg-config $(RPMS)
+
+deps_debian:
+	sudo apt-get -y update
+	sudo apt-get -y install $(DEBS)
+
+deps_jetson:
+	sudo sh -c "echo '/usr/local/cuda/lib64' >> /etc/ld.so.conf.d/nvidia-tegra.conf"
+	sudo ldconfig
+	sudo apt-get -y update
+	sudo apt-get -y install $(JETSON)
+
+# Download OpenCV source tarballs.
+download:
+	rm -rf $(TMP_DIR)opencv
+	mkdir $(TMP_DIR)opencv
+	cd $(TMP_DIR)opencv
+	curl -Lo opencv.zip https://github.com/opencv/opencv/archive/$(OPENCV_VERSION).zip
+	unzip -q opencv.zip
+	curl -Lo opencv_contrib.zip https://github.com/opencv/opencv_contrib/archive/$(OPENCV_VERSION).zip
+	unzip -q opencv_contrib.zip
+	rm opencv.zip opencv_contrib.zip
+	cd -
+
+# Download openvino source tarballs.
+download_openvino:
+	sudo rm -rf /usr/local/dldt/
+	sudo rm -rf /usr/local/openvino/
+	sudo git clone https://github.com/openvinotoolkit/openvino -b 2019_R3.1 /usr/local/openvino/
+
+# Build openvino.
+build_openvino_package:
+	cd /usr/local/openvino/inference-engine
+	sudo git submodule init
+	sudo git submodule update --recursive
+	sudo ./install_dependencies.sh
+	sudo mv -f thirdparty/clDNN/common/intel_ocl_icd/6.3/linux/Release thirdparty/clDNN/common/intel_ocl_icd/6.3/linux/RELEASE
+	sudo mkdir build
+	cd build
+	sudo rm -rf *
+	sudo cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local -D BUILD_SHARED_LIBS=${BUILD_SHARED_LIBS} -D ENABLE_VPU=ON -D ENABLE_MKL_DNN=ON -D ENABLE_CLDNN=ON ..
+	sudo $(MAKE) -j $(shell nproc --all)
+	sudo touch VERSION
+	sudo mkdir -p src/ngraph
+	sudo cp thirdparty/ngraph/src/ngraph/version.hpp src/ngraph
+	cd -
+
+# Build OpenCV.
+build:
+	cd $(TMP_DIR)opencv/opencv-$(OPENCV_VERSION)
+	mkdir build
+	cd build
+	rm -rf *
+	cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local -D BUILD_SHARED_LIBS=${BUILD_SHARED_LIBS} -D OPENCV_EXTRA_MODULES_PATH=$(TMP_DIR)opencv/opencv_contrib-$(OPENCV_VERSION)/modules -D BUILD_DOCS=OFF -D BUILD_EXAMPLES=OFF -D BUILD_TESTS=OFF -D BUILD_PERF_TESTS=OFF -D BUILD_opencv_java=NO -D BUILD_opencv_python=NO -D BUILD_opencv_python2=NO -D BUILD_opencv_python3=NO -D WITH_JASPER=OFF -D WITH_TBB=ON -DOPENCV_GENERATE_PKGCONFIG=ON ..
+	$(MAKE) -j $(shell nproc --all)
+	$(MAKE) preinstall
+	cd -
+
+# Build OpenCV on Raspbian with ARM hardware optimizations.
+build_raspi:
+	cd $(TMP_DIR)opencv/opencv-$(OPENCV_VERSION)
+	mkdir build
+	cd build
+	rm -rf *
+	cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local -D BUILD_SHARED_LIBS=${BUILD_SHARED_LIBS} -D OPENCV_EXTRA_MODULES_PATH=$(TMP_DIR)opencv/opencv_contrib-$(OPENCV_VERSION)/modules -D BUILD_DOCS=OFF -D BUILD_EXAMPLES=OFF -D BUILD_TESTS=OFF -D BUILD_PERF_TESTS=OFF -D BUILD_opencv_java=OFF -D BUILD_opencv_python=NO -D BUILD_opencv_python2=NO -D BUILD_opencv_python3=NO -D ENABLE_NEON=ON -D ENABLE_VFPV3=ON -D WITH_JASPER=OFF -D OPENCV_GENERATE_PKGCONFIG=ON ..
+	$(MAKE) -j $(shell nproc --all)
+	$(MAKE) preinstall
+	cd -
+
+# Build OpenCV on Raspberry pi zero which has ARMv6.
+build_raspi_zero:
+	cd $(TMP_DIR)opencv/opencv-$(OPENCV_VERSION)
+	mkdir build
+	cd build
+	rm -rf *
+	cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local -D BUILD_SHARED_LIBS=${BUILD_SHARED_LIBS} -D OPENCV_EXTRA_MODULES_PATH=$(TMP_DIR)opencv/opencv_contrib-$(OPENCV_VERSION)/modules -D BUILD_DOCS=OFF -D BUILD_EXAMPLES=OFF -D BUILD_TESTS=OFF -D BUILD_PERF_TESTS=OFF -D BUILD_opencv_java=OFF -D BUILD_opencv_python=NO -D BUILD_opencv_python2=NO -D BUILD_opencv_python3=NO -D ENABLE_VFPV2=ON -D WITH_JASPER=OFF -D OPENCV_GENERATE_PKGCONFIG=ON ..
+	$(MAKE) -j $(shell nproc --all)
+	$(MAKE) preinstall
+	cd -
+
+# Build OpenCV for NVidia Jetson with CUDA.
+build_jetson:
+	cd $(TMP_DIR)opencv/opencv-$(OPENCV_VERSION)
+	mkdir build
+	cd build
+	rm -rf *
+	cmake -D CMAKE_BUILD_TYPE=RELEASE \
+		-D CMAKE_INSTALL_PREFIX=/usr/local \
+		-D EIGEN_INCLUDE_PATH=/usr/include/eigen3 \
+		-D BUILD_SHARED_LIBS=${BUILD_SHARED_LIBS} \
+		-D OPENCV_EXTRA_MODULES_PATH=$(TMP_DIR)opencv/opencv_contrib-$(OPENCV_VERSION)/modules \
+		-D BUILD_DOCS=OFF -D BUILD_EXAMPLES=OFF -D BUILD_TESTS=OFF -D BUILD_PERF_TESTS=OFF -D BUILD_opencv_java=OFF -D BUILD_opencv_python=NO -D BUILD_opencv_python2=NO -D BUILD_opencv_python3=NO \
+		-D WITH_OPENCL=OFF \
+		-D WITH_CUDA=ON \
+		-D CUDA_ARCH_BIN=5.3 \
+		-D CUDA_ARCH_PTX="" \
+		-D WITH_CUDNN=ON \
+		-D WITH_CUBLAS=ON \
+		-D ENABLE_FAST_MATH=ON \
+		-D CUDA_FAST_MATH=ON \
+		-D OPENCV_DNN_CUDA=ON \
+		-D ENABLE_NEON=ON \
+		-D WITH_QT=OFF \
+		-D WITH_OPENMP=ON \
+		-D WITH_OPENGL=ON \
+		-D BUILD_TIFF=ON \
+		-D WITH_FFMPEG=ON \
+		-D WITH_GSTREAMER=ON \
+		-D WITH_TBB=ON \
+		-D BUILD_TBB=ON \
+		-D BUILD_TESTS=OFF \
+		-D WITH_EIGEN=ON \
+		-D WITH_V4L=ON \
+		-D WITH_LIBV4L=ON \
+		-D OPENCV_GENERATE_PKGCONFIG=ON ..
+	$(MAKE) -j $(shell nproc --all)
+	$(MAKE) preinstall
+	cd -
+
+# Build OpenCV with non-free contrib modules.
+build_nonfree:
+	cd $(TMP_DIR)opencv/opencv-$(OPENCV_VERSION)
+	mkdir build
+	cd build
+	rm -rf *
+	cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local -D BUILD_SHARED_LIBS=${BUILD_SHARED_LIBS} -D OPENCV_EXTRA_MODULES_PATH=$(TMP_DIR)opencv/opencv_contrib-$(OPENCV_VERSION)/modules -D BUILD_DOCS=OFF -D BUILD_EXAMPLES=OFF -D BUILD_TESTS=OFF -D BUILD_PERF_TESTS=OFF -D BUILD_opencv_java=NO -D BUILD_opencv_python=NO -D BUILD_opencv_python2=NO -D BUILD_opencv_python3=NO -D WITH_JASPER=OFF -D WITH_TBB=ON -DOPENCV_GENERATE_PKGCONFIG=ON -DOPENCV_ENABLE_NONFREE=ON ..
+	$(MAKE) -j $(shell nproc --all)
+	$(MAKE) preinstall
+	cd -
+
+# Build OpenCV with openvino.
+build_openvino:
+	cd $(TMP_DIR)opencv/opencv-$(OPENCV_VERSION)
+	mkdir build
+	cd build
+	rm -rf *
+	cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local -D BUILD_SHARED_LIBS=${BUILD_SHARED_LIBS} -D ENABLE_CXX11=ON -D OPENCV_EXTRA_MODULES_PATH=$(TMP_DIR)opencv/opencv_contrib-$(OPENCV_VERSION)/modules -D WITH_INF_ENGINE=ON -D InferenceEngine_DIR=/usr/local/dldt/inference-engine/build -D BUILD_DOCS=OFF -D BUILD_EXAMPLES=OFF -D BUILD_TESTS=OFF -D BUILD_PERF_TESTS=OFF -D BUILD_opencv_java=NO -D BUILD_opencv_python=NO -D BUILD_opencv_python2=NO -D BUILD_opencv_python3=NO -D WITH_JASPER=OFF -D WITH_TBB=ON -DOPENCV_GENERATE_PKGCONFIG=ON -DOPENCV_ENABLE_NONFREE=ON ..
+	$(MAKE) -j $(shell nproc --all)
+	$(MAKE) preinstall
+	cd -
+
+# Build OpenCV with cuda.
+build_cuda:
+	cd $(TMP_DIR)opencv/opencv-$(OPENCV_VERSION)
+	mkdir build
+	cd build
+	rm -rf *
+	cmake -j $(shell nproc --all) -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local -D BUILD_SHARED_LIBS=${BUILD_SHARED_LIBS} -D OPENCV_EXTRA_MODULES_PATH=$(TMP_DIR)opencv/opencv_contrib-$(OPENCV_VERSION)/modules -D BUILD_DOCS=OFF -D BUILD_EXAMPLES=OFF -D BUILD_TESTS=OFF -D BUILD_PERF_TESTS=OFF -D BUILD_opencv_java=NO -D BUILD_opencv_python=NO -D BUILD_opencv_python2=NO -D BUILD_opencv_python3=NO -D WITH_JASPER=OFF -D WITH_TBB=ON -DOPENCV_GENERATE_PKGCONFIG=ON -DWITH_CUDA=ON -DENABLE_FAST_MATH=1 -DCUDA_FAST_MATH=1 -DWITH_CUBLAS=1 -DCUDA_TOOLKIT_ROOT_DIR=/usr/local/cuda/ -DBUILD_opencv_cudacodec=OFF -D WITH_CUDNN=ON -D OPENCV_DNN_CUDA=ON -D CUDA_GENERATION=Auto ..
+	$(MAKE) -j $(shell nproc --all)
+	$(MAKE) preinstall
+	cd -
+
+# Build OpenCV staticly linked
+build_static:
+	cd $(TMP_DIR)opencv/opencv-$(OPENCV_VERSION)
+	mkdir build
+	cd build
+	rm -rf *
+	cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local -D BUILD_SHARED_LIBS=OFF -D OPENCV_EXTRA_MODULES_PATH=$(TMP_DIR)opencv/opencv_contrib-$(OPENCV_VERSION)/modules -D BUILD_DOCS=OFF -D BUILD_EXAMPLES=OFF -D BUILD_TESTS=OFF -D BUILD_PERF_TESTS=OFF -D BUILD_opencv_java=NO -D BUILD_opencv_python=NO -D BUILD_opencv_python2=NO -D BUILD_opencv_python3=NO -DWITH_JASPER=OFF -DWITH_QT=OFF -DWITH_GTK=OFF -DWITH_FFMPEG=OFF -DWITH_TIFF=OFF -DWITH_WEBP=OFF -DWITH_PNG=OFF -DWITH_1394=OFF -DWITH_OPENJPEG=OFF -DOPENCV_GENERATE_PKGCONFIG=ON ..
+	$(MAKE) -j $(shell nproc --all)
+	$(MAKE) preinstall
+	cd -
+
+# Build OpenCV with cuda.
+build_all:
+	cd $(TMP_DIR)opencv/opencv-$(OPENCV_VERSION)
+	mkdir build
+	cd build
+	rm -rf *
+	cmake -j $(shell nproc --all) -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local -D BUILD_SHARED_LIBS=${BUILD_SHARED_LIBS} -D ENABLE_CXX11=ON -D OPENCV_EXTRA_MODULES_PATH=$(TMP_DIR)opencv/opencv_contrib-$(OPENCV_VERSION)/modules -D WITH_INF_ENGINE=ON -D InferenceEngine_DIR=/usr/local/dldt/inference-engine/build -D BUILD_DOCS=OFF -D BUILD_EXAMPLES=OFF -D BUILD_TESTS=OFF -D BUILD_PERF_TESTS=OFF -D BUILD_opencv_java=NO -D BUILD_opencv_python=NO -D BUILD_opencv_python2=NO -D BUILD_opencv_python3=NO -D WITH_JASPER=OFF -D WITH_TBB=ON -DOPENCV_GENERATE_PKGCONFIG=ON -DWITH_CUDA=ON -DENABLE_FAST_MATH=1 -DCUDA_FAST_MATH=1 -DWITH_CUBLAS=1 -DCUDA_TOOLKIT_ROOT_DIR=/usr/local/cuda/ -DBUILD_opencv_cudacodec=OFF -D WITH_CUDNN=ON -D OPENCV_DNN_CUDA=ON -D CUDA_GENERATION=Auto ..
+	$(MAKE) -j $(shell nproc --all)
+	$(MAKE) preinstall
+	cd -
+
+# Cleanup temporary build files.
+clean:
+	go clean --cache
+	rm -rf $(TMP_DIR)opencv
+
+# Cleanup old library files.
+sudo_pre_install_clean:
+	sudo rm -rf /usr/local/lib/cmake/opencv4/
+	sudo rm -rf /usr/local/lib/libopencv*
+	sudo rm -rf /usr/local/lib/pkgconfig/opencv*
+	sudo rm -rf /usr/local/include/opencv*
+
+# Do everything.
+install: deps download sudo_pre_install_clean build sudo_install clean verify
+
+# Do everything on Raspbian.
+install_raspi: deps download build_raspi sudo_install clean verify
+
+# Do everything on the raspberry pi zero.
+install_raspi_zero: deps download build_raspi_zero sudo_install clean verify
+
+# Do everything on Jetson.
+install_jetson: deps download build_jetson sudo_install clean verify
+
+# Do everything with cuda.
+install_cuda: deps download sudo_pre_install_clean build_cuda sudo_install clean verify verify_cuda
+
+# Do everything with openvino.
+install_openvino: deps download download_openvino sudo_pre_install_clean build_openvino_package sudo_install_openvino build_openvino sudo_install clean verify_openvino
+
+# Do everything statically.
+install_static: deps download sudo_pre_install_clean build_static sudo_install clean verify_static
+
+# Do everything with non-free modules from cpencv_contrib.
+install_nonfree: deps download sudo_pre_install_clean build_nonfree sudo_install clean verify
+
+# Do everything with openvino and cuda.
+install_all: deps download download_openvino sudo_pre_install_clean build_openvino_package sudo_install_openvino build_all sudo_install clean verify_openvino verify_cuda
+
+# Install system wide.
+sudo_install:
+	cd $(TMP_DIR)opencv/opencv-$(OPENCV_VERSION)/build
+	sudo $(MAKE) install
+	sudo ldconfig
+	cd -
+
+# Install system wide.
+sudo_install_openvino:
+	cd /usr/local/openvino/inference-engine/build
+	sudo $(MAKE) install
+	sudo ldconfig
+	cd -
+
+# Build a minimal Go app to confirm gocv works.
+verify:
+	go run ./cmd/version/main.go
+
+# Build a minimal Go app to confirm gocv works with statically built OpenCV.
+verify_static:
+	go run -tags static ./cmd/version/main.go
+
+# Build a minimal Go app to confirm gocv cuda works.
+verify_cuda:
+	go run ./cmd/cuda/main.go
+
+# Build a minimal Go app to confirm gocv openvino works.
+verify_openvino:
+	go run -tags openvino ./cmd/version/main.go
+
+# Runs tests.
+# This assumes env.sh was already sourced.
+# pvt is not tested here since it requires additional depenedences.
+test:
+	go test -tags matprofile . ./contrib
+
+docker:
+	docker build --build-arg OPENCV_VERSION=$(OPENCV_VERSION) --build-arg GOVERSION=$(GOVERSION) .
+
+astyle:
+	astyle --project=.astylerc --recursive *.cpp,*.h
+
+
+releaselog:
+	git log --pretty=format:"%s" $(GOCV_VERSION)..HEAD
+
+CMDS=basic-drawing caffe-classifier captest capwindow counter dnn-detection dnn-pose-detection dnn-style-transfer faceblur facedetect facedetect-from-url feature-matching find-chessboard find-circles find-lines hand-gestures hello img-similarity mjpeg-streamer motion-detect saveimage savevideo showimage ssd-facedetect tf-classifier tracking version xphoto
+cmds:
+	for cmd in $(CMDS) ; do \
+		go build -o build/$$cmd cmd/$$cmd/main.go ;
+	done ; \

vendor/gocv.io/x/gocv/README.md

@@ -0,0 +1,593 @@
+# GoCV
+
+[![GoCV](https://raw.githubusercontent.com/hybridgroup/gocv/release/images/gocvlogo.jpg)](http://gocv.io/)
+
+[![Go Reference](https://pkg.go.dev/badge/gocv.io/x/gocv.svg)](https://pkg.go.dev/gocv.io/x/gocv)
+[![Linux](https://github.com/hybridgroup/gocv/actions/workflows/linux.yml/badge.svg?branch=dev)](https://github.com/hybridgroup/gocv/actions/workflows/linux.yml)
+[![Windows](https://ci.appveyor.com/api/projects/status/9asd5foet54ru69q/branch/dev?svg=true)](https://ci.appveyor.com/project/deadprogram/gocv/branch/dev)
+[![Go Report Card](https://goreportcard.com/badge/github.com/hybridgroup/gocv)](https://goreportcard.com/report/github.com/hybridgroup/gocv)
+[![License](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://github.com/hybridgroup/gocv/blob/release/LICENSE.txt)
+
+The GoCV package provides Go language bindings for the [OpenCV 4](http://opencv.org/) computer vision library.
+
+The GoCV package supports the latest releases of Go and OpenCV (v4.6.0) on Linux, macOS, and Windows. We intend to make the Go language a "first-class" client compatible with the latest developments in the OpenCV ecosystem.
+
+GoCV supports [CUDA](https://en.wikipedia.org/wiki/CUDA) for hardware acceleration using Nvidia GPUs. Check out the [CUDA README](./cuda/README.md) for more info on how to use GoCV with OpenCV/CUDA.
+
+GoCV also supports [Intel OpenVINO](https://software.intel.com/en-us/openvino-toolkit). Check out the [OpenVINO README](./openvino/README.md) for more info on how to use GoCV with the Intel OpenVINO toolkit.
+
+## How to use
+
+### Hello, video
+
+This example opens a video capture device using device "0", reads frames, and shows the video in a GUI window:
+
+```go
+package main
+
+import (
+	"gocv.io/x/gocv"
+)
+
+func main() {
+	webcam, _ := gocv.OpenVideoCapture(0)
+	window := gocv.NewWindow("Hello")
+	img := gocv.NewMat()
+
+	for {
+		webcam.Read(&img)
+		window.IMShow(img)
+		window.WaitKey(1)
+	}
+}
+```
+
+### Face detect
+
+![GoCV](https://raw.githubusercontent.com/hybridgroup/gocv/release/images/face-detect.jpg)
+
+This is a more complete example that opens a video capture device using device "0". It also uses the CascadeClassifier class to load an external data file containing the classifier data. The program grabs each frame from the video, then uses the classifier to detect faces. If any faces are found, it draws a green rectangle around each one, then displays the video in an output window:
+
+```go
+package main
+
+import (
+	"fmt"
+	"image/color"
+
+	"gocv.io/x/gocv"
+)
+
+func main() {
+    // set to use a video capture device 0
+    deviceID := 0
+
+	// open webcam
+	webcam, err := gocv.OpenVideoCapture(deviceID)
+	if err != nil {
+		fmt.Println(err)
+		return
+	}
+	defer webcam.Close()
+
+	// open display window
+	window := gocv.NewWindow("Face Detect")
+	defer window.Close()
+
+	// prepare image matrix
+	img := gocv.NewMat()
+	defer img.Close()
+
+	// color for the rect when faces detected
+	blue := color.RGBA{0, 0, 255, 0}
+
+	// load classifier to recognize faces
+	classifier := gocv.NewCascadeClassifier()
+	defer classifier.Close()
+
+	if !classifier.Load("data/haarcascade_frontalface_default.xml") {
+		fmt.Println("Error reading cascade file: data/haarcascade_frontalface_default.xml")
+		return
+	}
+
+	fmt.Printf("start reading camera device: %v\n", deviceID)
+	for {
+		if ok := webcam.Read(&img); !ok {
+			fmt.Printf("cannot read device %v\n", deviceID)
+			return
+		}
+		if img.Empty() {
+			continue
+		}
+
+		// detect faces
+		rects := classifier.DetectMultiScale(img)
+		fmt.Printf("found %d faces\n", len(rects))
+
+		// draw a rectangle around each face on the original image
+		for _, r := range rects {
+			gocv.Rectangle(&img, r, blue, 3)
+		}
+
+		// show the image in the window, and wait 1 millisecond
+		window.IMShow(img)
+		window.WaitKey(1)
+	}
+}
+```
+
+### More examples
+
+There are examples in the [cmd directory](./cmd) of this repo in the form of various useful command line utilities, such as [capturing an image file](./cmd/saveimage), [streaming mjpeg video](./cmd/mjpeg-streamer), [counting objects that cross a line](./cmd/counter), and [using OpenCV with Tensorflow for object classification](./cmd/tf-classifier).
+
+## How to install
+
+To install GoCV, you must first have the matching version of OpenCV installed on your system. The current release of GoCV requires OpenCV 4.6.0.
+
+Here are instructions for Ubuntu, Raspian, macOS, and Windows.
+
+## Ubuntu/Linux
+
+### Installation
+
+You can use `make` to install OpenCV 4.6.0 with the handy `Makefile` included with this repo. If you already have installed OpenCV, you do not need to do so again. The installation performed by the `Makefile` is minimal, so it may remove OpenCV options such as Python or Java wrappers if you have already installed OpenCV some other way.
+
+#### Quick Install
+
+First, change directories to where you want to install GoCV, and then use git to clone the repository to your local machine like this:
+
+	cd $HOME/folder/with/your/src/
+	git clone https://github.com/hybridgroup/gocv.git
+
+Make sure to change `$HOME/folder/with/your/src/` to where you actually want to save the code.
+
+Once you have cloned the repo, the following commands should do everything to download and install OpenCV 4.6.0 on Linux:
+
+	cd gocv
+	make install
+
+If you need static opencv libraries
+
+	make install BUILD_SHARED_LIBS=OFF
+
+If it works correctly, at the end of the entire process, the following message should be displayed:
+
+	gocv version: 0.31.0
+	opencv lib version: 4.6.0
+
+That's it, now you are ready to use GoCV.
+
+#### Using CUDA with GoCV
+
+See the [cuda directory](./cuda) for information.
+
+#### Using OpenVINO with GoCV
+
+See the [openvino directory](./openvino) for information.
+	
+#### Make Install for OpenVINO and Cuda
+
+The following commands should do everything to download and install OpenCV 4.6.0 with CUDA and OpenVINO on Linux. Make sure to change `$HOME/folder/with/your/src/` to the directory you used to clone GoCV:
+
+	cd $HOME/folder/with/gocv/
+	make install_all
+
+If you need static opencv libraries
+
+	make install_all BUILD_SHARED_LIBS=OFF
+
+If it works correctly, at the end of the entire process, the following message should be displayed:
+
+	gocv version: 0.31.0
+	opencv lib version: 4.6.0-openvino
+    cuda information:
+      Device 0:  "GeForce MX150"  2003Mb, sm_61, Driver/Runtime ver.10.0/10.0
+
+#### Complete Install
+
+If you have already done the "Quick Install" as described above, you do not need to run any further commands. For the curious, or for custom installations, here are the details for each of the steps that are performed when you run `make install`.
+
+First, change directories to where you want to install GoCV, and then use git to clone the repository to your local machine like this:
+
+	cd $HOME/folder/with/your/src/
+	git clone https://github.com/hybridgroup/gocv.git
+
+Make sure to change `$HOME/folder/with/your/src/` to where you actually want to save the code.
+
+##### Install required packages
+
+First, you need to change the current directory to the location where you cloned the GoCV repo, so you can access the `Makefile`:
+
+	cd $HOME/folder/with/your/src/gocv
+
+Next, you need to update the system, and install any required packages:
+
+	make deps
+
+#### Download source
+
+Now, download the OpenCV 4.6.0 and OpenCV Contrib source code:
+
+	make download
+
+#### Build
+
+Build everything. This will take quite a while:
+
+	make build
+
+If you need static opencv libraries
+
+	make build BUILD_SHARED_LIBS=OFF
+
+#### Install
+
+Once the code is built, you are ready to install:
+
+	make sudo_install
+
+### Verifying the installation
+
+To verify your installation you can run one of the included examples.
+
+First, change the current directory to the location of the GoCV repo:
+
+	cd $HOME/src/gocv.io/x/gocv
+
+Now you should be able to build or run any of the examples:
+
+	go run ./cmd/version/main.go
+
+The version program should output the following:
+
+	gocv version: 0.31.0
+	opencv lib version: 4.6.0
+
+#### Cleanup extra files
+
+After the installation is complete, you can remove the extra files and folders:
+
+	make clean
+
+### Custom Environment
+
+By default, pkg-config is used to determine the correct flags for compiling and linking OpenCV. This behavior can be disabled by supplying `-tags customenv` when building/running your application. When building with this tag you will need to supply the CGO environment variables yourself.
+
+For example:
+
+	export CGO_CPPFLAGS="-I/usr/local/include"
+	export CGO_LDFLAGS="-L/usr/local/lib -lopencv_core -lopencv_face -lopencv_videoio -lopencv_imgproc -lopencv_highgui -lopencv_imgcodecs -lopencv_objdetect -lopencv_features2d -lopencv_video -lopencv_dnn -lopencv_xfeatures2d"
+
+Please note that you will need to run these 2 lines of code one time in your current session in order to build or run the code, in order to setup the needed ENV variables. Once you have done so, you can execute code that uses GoCV with your custom environment like this:
+
+	go run -tags customenv ./cmd/version/main.go
+
+### Docker
+
+The project now provides `Dockerfile` which lets you build [GoCV](https://gocv.io/) Docker image which you can then use to build and run `GoCV` applications in Docker containers. The `Makefile` contains `docker` target which lets you build Docker image with a single command:
+
+```
+make docker
+```
+
+By default Docker image built by running the command above ships [Go](https://golang.org/) version `1.16.5`, but if you would like to build an image which uses different version of `Go` you can override the default value when running the target command:
+
+```
+make docker GOVERSION='1.15'
+```
+
+#### Running GUI programs in Docker on macOS
+
+Sometimes your `GoCV` programs create graphical interfaces like windows eg. when you use `gocv.Window` type when you display an image or video stream. Running the programs which create graphical interfaces in Docker container on macOS is unfortunately a bit elaborate, but not impossible. First you need to satisfy the following prerequisites:
+* install [xquartz](https://www.xquartz.org/). You can also install xquartz using [homebrew](https://brew.sh/) by running `brew cask install xquartz`
+* install [socat](https://linux.die.net/man/1/socat) `brew install socat`
+
+Note, you will have to log out and log back in to your machine once you have installed `xquartz`. This is so the X window system is reloaded.
+
+Once you have installed all the prerequisites you need to allow connections from network clients to `xquartz`. Here is how you do that. First run the following command to open `xquart` so you can configure it:
+
+```shell
+open -a xquartz
+```
+Click on *Security* tab in preferences and check the "Allow connections" box:
+
+![app image](./images/xquartz.png)
+
+Next, you need to create a TCP proxy using `socat` which will stream [X Window](https://en.wikipedia.org/wiki/X_Window_System) data into `xquart`. Before you start the proxy you need to make sure that there is no process listening in port `6000`. The following command should **not** return any results:
+
+```shell
+lsof -i TCP:6000
+```
+Now you can start a local proxy which will proxy the X Window traffic into xquartz which acts a your local X server:
+
+```shell
+socat TCP-LISTEN:6000,reuseaddr,fork UNIX-CLIENT:\"$DISPLAY\"
+```
+
+You are now finally ready to run your `GoCV` GUI programs in Docker containers. In order to make everything work you must set `DISPLAY` environment variables as shown in a sample command below:
+
+```shell
+docker run -it --rm -e DISPLAY=docker.for.mac.host.internal:0 your-gocv-app
+```
+
+**Note, since Docker for MacOS does not provide any video device support, you won't be able run GoCV apps which require camera.**
+
+### Alpine 3.7 Docker image
+
+There is a Docker image with Alpine 3.7 that has been created by project contributor [@denismakogon](https://github.com/denismakogon). You can find it located at [https://github.com/denismakogon/gocv-alpine](https://github.com/denismakogon/gocv-alpine).
+
+## Raspbian
+
+### Installation
+
+We have a special installation for the Raspberry Pi that includes some hardware optimizations. You use `make` to install OpenCV 4.6.0 with the handy `Makefile` included with this repo. If you already have installed OpenCV, you do not need to do so again. The installation performed by the `Makefile` is minimal, so it may remove OpenCV options such as Python or Java wrappers if you have already installed OpenCV some other way.
+
+#### Quick Install
+
+First, change directories to where you want to install GoCV, and then use git to clone the repository to your local machine like this:
+
+	cd $HOME/folder/with/your/src/
+	git clone https://github.com/hybridgroup/gocv.git
+
+Make sure to change `$HOME/folder/with/your/src/` to where you actually want to save the code.
+
+The following make command should do everything to download and install OpenCV 4.6.0 on Raspbian:
+
+	cd $HOME/folder/with/your/src/gocv
+	make install_raspi
+
+If it works correctly, at the end of the entire process, the following message should be displayed:
+
+	gocv version: 0.31.0
+	opencv lib version: 4.6.0
+
+That's it, now you are ready to use GoCV.
+
+## macOS
+
+### Installation
+
+You can install OpenCV 4.6.0 using Homebrew.
+
+If you already have an earlier version of OpenCV (3.4.x) installed, you should probably remove it before installing the new version:
+
+	brew uninstall opencv
+
+You can then install OpenCV 4.6.0:
+
+	brew install opencv
+
+### pkgconfig Installation
+pkg-config is used to determine the correct flags for compiling and linking OpenCV.
+You can install it by using Homebrew:
+
+    brew install pkgconfig
+
+### Verifying the installation
+
+To verify your installation you can run one of the included examples.
+
+First, change the current directory to the location of the GoCV repo:
+
+	cd $HOME/folder/with/your/src/gocv
+
+Now you should be able to build or run any of the examples:
+
+	go run ./cmd/version/main.go
+
+The version program should output the following:
+
+	gocv version: 0.31.0
+	opencv lib version: 4.6.0
+
+### Custom Environment
+
+By default, pkg-config is used to determine the correct flags for compiling and linking OpenCV. This behavior can be disabled by supplying `-tags customenv` when building/running your application. When building with this tag you will need to supply the CGO environment variables yourself.
+
+For example:
+
+	export CGO_CXXFLAGS="--std=c++11"
+	export CGO_CPPFLAGS="-I/usr/local/Cellar/opencv/4.6.0/include"
+	export CGO_LDFLAGS="-L/usr/local/Cellar/opencv/4.6.0/lib -lopencv_stitching -lopencv_superres -lopencv_videostab -lopencv_aruco -lopencv_bgsegm -lopencv_bioinspired -lopencv_ccalib -lopencv_dnn_objdetect -lopencv_dpm -lopencv_face -lopencv_photo -lopencv_fuzzy -lopencv_hfs -lopencv_img_hash -lopencv_line_descriptor -lopencv_optflow -lopencv_reg -lopencv_rgbd -lopencv_saliency -lopencv_stereo -lopencv_structured_light -lopencv_phase_unwrapping -lopencv_surface_matching -lopencv_tracking -lopencv_datasets -lopencv_dnn -lopencv_plot -lopencv_xfeatures2d -lopencv_shape -lopencv_video -lopencv_ml -lopencv_ximgproc -lopencv_calib3d -lopencv_features2d -lopencv_highgui -lopencv_videoio -lopencv_flann -lopencv_xobjdetect -lopencv_imgcodecs -lopencv_objdetect -lopencv_xphoto -lopencv_imgproc -lopencv_core"
+
+Please note that you will need to run these 3 lines of code one time in your current session in order to build or run the code, in order to setup the needed ENV variables. Once you have done so, you can execute code that uses GoCV with your custom environment like this:
+
+	go run -tags customenv ./cmd/version/main.go
+
+## Windows
+
+### Installation
+
+The following assumes that you are running a 64-bit version of Windows 10.
+
+In order to build and install OpenCV 4.6.0 on Windows, you must first download and install MinGW-W64 and CMake, as follows.
+
+#### MinGW-W64
+
+Download and run the MinGW-W64 compiler installer from [https://sourceforge.net/projects/mingw-w64/files/Toolchains%20targetting%20Win32/Personal%20Builds/mingw-builds/8.1.0/](https://sourceforge.net/projects/mingw-w64/files/Toolchains%20targetting%20Win32/Personal%20Builds/mingw-builds/8.1.0/).
+
+The latest version of the MinGW-W64 toolchain is `8.1.0`, but any version from `8.X` on should work.
+
+Choose the options for "posix" threads, and for "seh" exceptions handling, then install to the default location `c:\Program Files\mingw-w64\x86_64-8.1.0-posix-seh-rt_v6-rev0`.
+
+Add the `C:\Program Files\mingw-w64\x86_64-8.1.0-posix-seh-rt_v6-rev0\mingw64\bin` path to your System Path.
+
+#### CMake
+
+Download and install CMake [https://cmake.org/download/](https://cmake.org/download/) to the default location. CMake installer will add CMake to your system path.
+
+#### OpenCV 4.6.0 and OpenCV Contrib Modules
+
+The following commands should do everything to download and install OpenCV 4.6.0 on Windows:
+
+	chdir %GOPATH%\src\gocv.io\x\gocv
+	win_build_opencv.cmd
+
+It might take up to one hour.
+
+Last, add `C:\opencv\build\install\x64\mingw\bin` to your System Path.
+
+### Verifying the installation
+
+Change the current directory to the location of the GoCV repo:
+
+	chdir %GOPATH%\src\gocv.io\x\gocv
+
+Now you should be able to build or run any of the command examples:
+
+	go run cmd\version\main.go
+
+The version program should output the following:
+
+	gocv version: 0.31.0
+	opencv lib version: 4.6.0
+
+That's it, now you are ready to use GoCV.
+
+### Custom Environment
+
+By default, OpenCV is expected to be in `C:\opencv\build\install\include`. This behavior can be disabled by supplying `-tags customenv` when building/running your application. When building with this tag you will need to supply the CGO environment variables yourself.
+
+Due to the way OpenCV produces DLLs, including the version in the name, using this method is required if you're using a different version of OpenCV.
+
+For example:
+
+	set CGO_CXXFLAGS="--std=c++11"
+	set CGO_CPPFLAGS=-IC:\opencv\build\install\include
+	set CGO_LDFLAGS=-LC:\opencv\build\install\x64\mingw\lib -lopencv_core460 -lopencv_face460 -lopencv_videoio460 -lopencv_imgproc460 -lopencv_highgui460 -lopencv_imgcodecs460 -lopencv_objdetect460 -lopencv_features2d460 -lopencv_video460 -lopencv_dnn460 -lopencv_xfeatures2d460 -lopencv_plot460 -lopencv_tracking460 -lopencv_img_hash460
+
+Please note that you will need to run these 3 lines of code one time in your current session in order to build or run the code, in order to setup the needed ENV variables. Once you have done so, you can execute code that uses GoCV with your custom environment like this:
+
+	go run -tags customenv cmd\version\main.go
+
+## Android
+
+There is some work in progress for running GoCV on Android using Gomobile. For information on how to install OpenCV/GoCV for Android, please see:
+https://gist.github.com/ogero/c19458cf64bd3e91faae85c3ac887481
+
+See original discussion here:
+https://github.com/hybridgroup/gocv/issues/235
+
+## Profiling
+
+Since memory allocations for images in GoCV are done through C based code, the go garbage collector will not clean all resources associated with a `Mat`.  As a result, any `Mat` created *must* be closed to avoid memory leaks.
+
+To ease the detection and repair of the resource leaks, GoCV provides a `Mat` profiler that records when each `Mat` is created and closed.  Each time a `Mat` is allocated, the stack trace is added to the profile.  When it is closed, the stack trace is removed. See the [runtime/pprof documentation](https://golang.org/pkg/runtime/pprof/#Profile).
+
+In order to include the MatProfile custom profiler, you MUST build or run your application or tests using the `-tags matprofile` build tag. For example:
+
+	go run -tags matprofile cmd/version/main.go
+
+You can get the profile's count at any time using:
+
+```go
+gocv.MatProfile.Count()
+```
+
+You can display the current entries (the stack traces) with:
+
+```go
+var b bytes.Buffer
+gocv.MatProfile.WriteTo(&b, 1)
+fmt.Print(b.String())
+```
+
+This can be very helpful to track down a leak.  For example, suppose you have
+the following nonsense program:
+
+```go
+package main
+
+import (
+	"bytes"
+	"fmt"
+
+	"gocv.io/x/gocv"
+)
+
+func leak() {
+	gocv.NewMat()
+}
+
+func main() {
+	fmt.Printf("initial MatProfile count: %v\n", gocv.MatProfile.Count())
+	leak()
+
+	fmt.Printf("final MatProfile count: %v\n", gocv.MatProfile.Count())
+	var b bytes.Buffer
+	gocv.MatProfile.WriteTo(&b, 1)
+	fmt.Print(b.String())
+}
+```
+
+Running this program produces the following output:
+
+```
+initial MatProfile count: 0
+final MatProfile count: 1
+gocv.io/x/gocv.Mat profile: total 1
+1 @ 0x40b936c 0x40b93b7 0x40b94e2 0x40b95af 0x402cd87 0x40558e1
+#	0x40b936b	gocv.io/x/gocv.newMat+0x4b	/go/src/gocv.io/x/gocv/core.go:153
+#	0x40b93b6	gocv.io/x/gocv.NewMat+0x26	/go/src/gocv.io/x/gocv/core.go:159
+#	0x40b94e1	main.leak+0x21			/go/src/github.com/dougnd/gocvprofexample/main.go:11
+#	0x40b95ae	main.main+0xae			/go/src/github.com/dougnd/gocvprofexample/main.go:16
+#	0x402cd86	runtime.main+0x206		/usr/local/Cellar/go/1.11.1/libexec/src/runtime/proc.go:201
+```
+
+We can see that this program would leak memory.  As it exited, it had one `Mat` that was never closed.  The stack trace points to exactly which line the allocation happened on (line 11, the `gocv.NewMat()`).
+
+Furthermore, if the program is a long running process or if GoCV is being used on a web server, it may be helpful to install the HTTP interface )). For example:
+
+```go
+package main
+
+import (
+	"net/http"
+	_ "net/http/pprof"
+	"time"
+
+	"gocv.io/x/gocv"
+)
+
+func leak() {
+	gocv.NewMat()
+}
+
+func main() {
+	go func() {
+		ticker := time.NewTicker(time.Second)
+		for {
+			<-ticker.C
+			leak()
+		}
+	}()
+
+	http.ListenAndServe("localhost:6060", nil)
+}
+
+```
+
+This will leak a `Mat` once per second.  You can see the current profile count and stack traces by going to the installed HTTP debug interface: [http://localhost:6060/debug/pprof/gocv.io/x/gocv.Mat](http://localhost:6060/debug/pprof/gocv.io/x/gocv.Mat?debug=1).
+
+
+## How to contribute
+
+Please take a look at our [CONTRIBUTING.md](./CONTRIBUTING.md) document to understand our contribution guidelines.
+
+Then check out our [ROADMAP.md](./ROADMAP.md) document to know what to work on next.
+
+## Why this project exists
+
+The [https://github.com/go-opencv/go-opencv](https://github.com/go-opencv/go-opencv) package for Go and OpenCV does not support any version above OpenCV 2.x, and work on adding support for OpenCV 3 had stalled for over a year, mostly due to the complexity of [SWIG](http://swig.org/). That is why we started this project.
+
+The GoCV package uses a C-style wrapper around the OpenCV 4 C++ classes to avoid having to deal with applying SWIG to a huge existing codebase. The mappings are intended to match as closely as possible to the original OpenCV project structure, to make it easier to find things, and to be able to figure out where to add support to GoCV for additional OpenCV image filters, algorithms, and other features.
+
+For example, the [OpenCV `videoio` module](https://github.com/opencv/opencv/tree/master/modules/videoio) wrappers can be found in the GoCV package in the `videoio.*` files.
+
+This package was inspired by the original https://github.com/go-opencv/go-opencv project, the blog post https://medium.com/@peterleyssens/using-opencv-3-from-golang-5510c312a3c and the repo at https://github.com/sensorbee/opencv thank you all!
+
+## License
+
+Licensed under the Apache 2.0 license. Copyright (c) 2017-2021 The Hybrid Group.
+
+Logo generated by GopherizeMe - https://gopherize.me

vendor/gocv.io/x/gocv/ROADMAP.md

@@ -0,0 +1,400 @@
+# Roadmap
+
+This is a list of all of the functionality areas within OpenCV, and OpenCV Contrib.
+
+Any section listed with an "X" means that all of the relevant OpenCV functionality has been wrapped for use within GoCV.
+
+Any section listed with **WORK STARTED** indicates that some work has been done, but not all functionality in that module has been completed. If there are any functions listed under a section marked **WORK STARTED**, it indicates that that function still requires a wrapper implemented.
+
+And any section that is simply listed, indicates that so far, no work has been done on that module.
+
+Your pull requests will be greatly appreciated!
+
+## Modules list
+
+- [ ] **core. Core functionality - WORK STARTED**
+    - [X] **Basic structures**
+    - [ ] **Operations on arrays - WORK STARTED**. The following functions still need implementation:
+        - [ ] [Mahalanobis](https://docs.opencv.org/master/d2/de8/group__core__array.html#ga4493aee129179459cbfc6064f051aa7d)
+        - [ ] [mulTransposed](https://docs.opencv.org/master/d2/de8/group__core__array.html#gadc4e49f8f7a155044e3be1b9e3b270ab)
+        - [ ] [PCABackProject](https://docs.opencv.org/master/d2/de8/group__core__array.html#gab26049f30ee8e94f7d69d82c124faafc)
+        - [ ] [PCACompute](https://docs.opencv.org/master/d2/de8/group__core__array.html#ga4e2073c7311f292a0648f04c37b73781)
+        - [ ] [PCAProject](https://docs.opencv.org/master/d2/de8/group__core__array.html#ga6b9fbc7b3a99ebfd441bbec0a6bc4f88)
+        - [ ] [PSNR](https://docs.opencv.org/master/d2/de8/group__core__array.html#ga07aaf34ae31d226b1b847d8bcff3698f)
+        - [ ] [randn](https://docs.opencv.org/master/d2/de8/group__core__array.html#gaeff1f61e972d133a04ce3a5f81cf6808)
+        - [ ] [randShuffle](https://docs.opencv.org/master/d2/de8/group__core__array.html#ga6a789c8a5cb56c6dd62506179808f763)
+        - [ ] [randu](https://docs.opencv.org/master/d2/de8/group__core__array.html#ga1ba1026dca0807b27057ba6a49d258c0)
+        - [ ] [setRNGSeed](https://docs.opencv.org/master/d2/de8/group__core__array.html#ga757e657c037410d9e19e819569e7de0f)
+        - [ ] [SVBackSubst](https://docs.opencv.org/master/d2/de8/group__core__array.html#gab4e620e6fc6c8a27bb2be3d50a840c0b)
+        - [ ] [SVDecomp](https://docs.opencv.org/master/d2/de8/group__core__array.html#gab477b5b7b39b370bb03e75b19d2d5109)
+        - [ ] [theRNG](https://docs.opencv.org/master/d2/de8/group__core__array.html#ga75843061d150ad6564b5447e38e57722)
+
+    - [ ] XML/YAML Persistence
+        - [ ] [FileStorage](https://docs.opencv.org/master/da/d56/classcv_1_1FileStorage.html)
+
+    - [ ] **Clustering - WORK STARTED**. The following functions still need implementation:
+        - [ ] [partition](https://docs.opencv.org/master/d5/d38/group__core__cluster.html#ga2037c989e69b499c1aa271419f3a9b34)
+
+    - [ ] Optimization Algorithms
+        - [ ] [ConjGradSolver](https://docs.opencv.org/master/d0/d21/classcv_1_1ConjGradSolver.html)
+        - [ ] [DownhillSolver](https://docs.opencv.org/master/d4/d43/classcv_1_1DownhillSolver.html)
+        - [ ] [solveLP](https://docs.opencv.org/master/da/d01/group__core__optim.html#ga9a06d237a9d38ace891efa1ca1b5d00a)
+
+- [ ] **imgproc. Image processing - WORK STARTED**
+    - [ ] **Image Filtering - WORK STARTED** The following functions still need implementation:
+        - [ ] [buildPyramid](https://docs.opencv.org/master/d4/d86/group__imgproc__filter.html#gacfdda2bc1ac55e96de7e9f0bce7238c0)
+        - [ ] [getDerivKernels](https://docs.opencv.org/master/d4/d86/group__imgproc__filter.html#ga6d6c23f7bd3f5836c31cfae994fc4aea)
+        - [ ] [getGaborKernel](https://docs.opencv.org/master/d4/d86/group__imgproc__filter.html#gae84c92d248183bd92fa713ce51cc3599)
+        - [ ] [morphologyExWithParams](https://docs.opencv.org/master/d4/d86/group__imgproc__filter.html#ga67493776e3ad1a3df63883829375201f)
+        - [ ] [pyrMeanShiftFiltering](https://docs.opencv.org/master/d4/d86/group__imgproc__filter.html#ga9fabdce9543bd602445f5db3827e4cc0)
+    
+    - [ ] **Geometric Image Transformations - WORK STARTED** The following functions still need implementation:
+        - [ ] [convertMaps](https://docs.opencv.org/master/da/d54/group__imgproc__transform.html#ga9156732fa8f01be9ebd1a194f2728b7f)
+        - [ ] [getDefaultNewCameraMatrix](https://docs.opencv.org/master/da/d54/group__imgproc__transform.html#ga744529385e88ef7bc841cbe04b35bfbf)
+        - [ ] [initUndistortRectifyMap](https://docs.opencv.org/master/da/d54/group__imgproc__transform.html#ga7dfb72c9cf9780a347fbe3d1c47e5d5a)
+        - [ ] [initWideAngleProjMap](https://docs.opencv.org/master/da/d54/group__imgproc__transform.html#gaceb049ec48898d1dadd5b50c604429c8)
+        - [ ] [undistort](https://docs.opencv.org/master/da/d54/group__imgproc__transform.html#ga69f2545a8b62a6b0fc2ee060dc30559d)
+
+    - [ ] **Miscellaneous Image Transformations - WORK STARTED** The following functions still need implementation:
+        - [ ] [cvtColorTwoPlane](https://docs.opencv.org/master/d7/d1b/group__imgproc__misc.html#ga8e873314e72a1a6c0252375538fbf753)
+        - [ ] [floodFill](https://docs.opencv.org/master/d7/d1b/group__imgproc__misc.html#gaf1f55a048f8a45bc3383586e80b1f0d0)
+
+    - [ ] **Drawing Functions - WORK STARTED** The following functions still need implementation:
+        - [ ] [drawMarker](https://docs.opencv.org/master/d6/d6e/group__imgproc__draw.html#ga482fa7b0f578fcdd8a174904592a6250)
+        - [ ] [ellipse2Poly](https://docs.opencv.org/master/d6/d6e/group__imgproc__draw.html#ga727a72a3f6a625a2ae035f957c61051f)
+        - [ ] [fillConvexPoly](https://docs.opencv.org/master/d6/d6e/group__imgproc__draw.html#ga906aae1606ea4ed2f27bec1537f6c5c2)
+        - [ ] [getFontScaleFromHeight](https://docs.opencv.org/master/d6/d6e/group__imgproc__draw.html#ga442ff925c1a957794a1309e0ed3ba2c3)
+    
+    - [ ] ColorMaps in OpenCV
+    - [ ] Planar Subdivision
+    - [ ] **Histograms  - WORK STARTED** The following functions still need implementation:
+        - [ ] [EMD](https://docs.opencv.org/master/d6/dc7/group__imgproc__hist.html#ga902b8e60cc7075c8947345489221e0e0)
+        - [ ] [wrapperEMD](https://docs.opencv.org/master/d6/dc7/group__imgproc__hist.html#ga31fdda0864e64ca6b9de252a2611758b)
+
+    - [ ] **Structural Analysis and Shape Descriptors - WORK STARTED** The following functions still need implementation:
+        - [ ] [fitEllipse](https://docs.opencv.org/master/d3/dc0/group__imgproc__shape.html#gaf259efaad93098103d6c27b9e4900ffa)
+        - [ ] [fitEllipseAMS](https://docs.opencv.org/master/d3/dc0/group__imgproc__shape.html#ga69e90cda55c4e192a8caa0b99c3e4550)
+        - [ ] [fitEllipseDirect](https://docs.opencv.org/master/d3/dc0/group__imgproc__shape.html#ga6421884fd411923a74891998bbe9e813)
+        - [ ] [HuMoments](https://docs.opencv.org/master/d3/dc0/group__imgproc__shape.html#gab001db45c1f1af6cbdbe64df04c4e944)
+        - [ ] [intersectConvexConvex](https://docs.opencv.org/master/d3/dc0/group__imgproc__shape.html#ga8e840f3f3695613d32c052bec89e782c)
+        - [ ] [isContourConvex](https://docs.opencv.org/master/d3/dc0/group__imgproc__shape.html#ga8abf8010377b58cbc16db6734d92941b)
+        - [ ] [matchShapes](https://docs.opencv.org/master/d3/dc0/group__imgproc__shape.html#gaadc90cb16e2362c9bd6e7363e6e4c317)
+        - [ ] [minEnclosingTriangle](https://docs.opencv.org/master/d3/dc0/group__imgproc__shape.html#ga1513e72f6bbdfc370563664f71e0542f)
+        - [ ] [rotatedRectangleIntersection](https://docs.opencv.org/master/d3/dc0/group__imgproc__shape.html#ga8740e7645628c59d238b0b22c2abe2d4)
+
+    - [ ] **Motion Analysis and Object Tracking - WORK STARTED** The following functions still need implementation:
+        - [ ] [createHanningWindow](https://docs.opencv.org/master/d7/df3/group__imgproc__motion.html#ga80e5c3de52f6bab3a7c1e60e89308e1b)
+        - [ ] [phaseCorrelate](https://docs.opencv.org/master/d7/df3/group__imgproc__motion.html#ga552420a2ace9ef3fb053cd630fdb4952)
+
+    - [ ] **Feature Detection - WORK STARTED** The following functions still need implementation:
+        - [ ] [cornerEigenValsAndVecs](https://docs.opencv.org/master/dd/d1a/group__imgproc__feature.html#ga4055896d9ef77dd3cacf2c5f60e13f1c)
+        - [ ] [cornerHarris](https://docs.opencv.org/master/dd/d1a/group__imgproc__feature.html#gac1fc3598018010880e370e2f709b4345)
+        - [ ] [cornerMinEigenVal](https://docs.opencv.org/master/dd/d1a/group__imgproc__feature.html#ga3dbce297c1feb859ee36707e1003e0a8)
+        - [ ] [createLineSegmentDetector](https://docs.opencv.org/master/dd/d1a/group__imgproc__feature.html#ga6b2ad2353c337c42551b521a73eeae7d)
+        - [ ] [preCornerDetect](https://docs.opencv.org/master/dd/d1a/group__imgproc__feature.html#gaa819f39b5c994871774081803ae22586)
+
+    - [X] **Object Detection**
+
+- [X] **imgcodecs. Image file reading and writing.**
+- [X] **videoio. Video I/O**
+- [X] **highgui. High-level GUI**
+- [ ] **video. Video Analysis - WORK STARTED**
+    - [X] **Motion Analysis**
+    - [ ] **Object Tracking - WORK STARTED** The following functions still need implementation:
+        - [ ] [buildOpticalFlowPyramid](https://docs.opencv.org/master/dc/d6b/group__video__track.html#ga86640c1c470f87b2660c096d2b22b2ce)
+        - [ ] [estimateRigidTransform](https://docs.opencv.org/master/dc/d6b/group__video__track.html#ga762cbe5efd52cf078950196f3c616d48)
+        - [ ] [findTransformECC](https://docs.opencv.org/master/dc/d6b/group__video__track.html#ga7ded46f9a55c0364c92ccd2019d43e3a)
+        - [ ] [meanShift](https://docs.opencv.org/master/dc/d6b/group__video__track.html#ga7ded46f9a55c0364c92ccd2019d43e3a)
+        - [ ] [CamShift](https://docs.opencv.org/master/dc/d6b/group__video__track.html#gaef2bd39c8356f423124f1fe7c44d54a1)
+        - [ ] [DualTVL1OpticalFlow](https://docs.opencv.org/master/dc/d47/classcv_1_1DualTVL1OpticalFlow.html)
+        - [ ] [FarnebackOpticalFlow](https://docs.opencv.org/master/de/d9e/classcv_1_1FarnebackOpticalFlow.html)
+        - [ ] [KalmanFilter](https://docs.opencv.org/master/dd/d6a/classcv_1_1KalmanFilter.html)
+        - [ ] [SparsePyrLKOpticalFlow](https://docs.opencv.org/master/d7/d08/classcv_1_1SparsePyrLKOpticalFlow.html)
+        - [ ] [GOTURN](https://docs.opencv.org/master/d7/d4c/classcv_1_1TrackerGOTURN.html)
+
+- [ ] **calib3d. Camera Calibration and 3D Reconstruction - WORK STARTED**. The following functions still need implementation:
+    - [ ] **Camera Calibration - WORK STARTED** The following functions still need implementation:
+        - [X] [calibrateCamera](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+        - [ ] [calibrateCameraRO](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+        - [ ] [calibrateHandEye](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+        - [ ] [calibrationMatrixValues](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+        - [ ] [checkChessboard](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+        - [ ] [composeRT](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+        - [ ] [computeCorrespondEpilines](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+        - [ ] [convertPointsFromHomogeneous](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+        - [ ] [convertPointsHomogeneous](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+        - [ ] [convertPointsToHomogeneous](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+        - [ ] [correctMatches](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+        - [ ] [decomposeEssentialMat](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+        - [ ] [decomposeHomographyMat](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+        - [ ] [decomposeProjectionMatrix](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+        - [ ] [drawChessboardCorners](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+        - [ ] [drawFrameAxes](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+        - [X] [estimateAffine2D](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+        - [ ] [estimateAffine3D](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+        - [ ] [filterHomographyDecompByVisibleRefpoints](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+        - [ ] [filterSpeckles](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+        - [ ] [find4QuadCornerSubpix](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+        - [X] [findChessboardCorners](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+        - [X] [findChessboardCornersSB](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+        - [ ] [findCirclesGrid](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+        - [ ] [findEssentialMat](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+        - [ ] [findFundamentalMat](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+        - [ ] [getDefaultNewCameraMatrix](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+        - [ ] [getOptimalNewCameraMatrix](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+        - [ ] [getValidDisparityROI](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+        - [ ] [initCameraMatrix2D](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+        - [ ] [initUndistortRectifyMap](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+        - [ ] [initWideAngleProjMap](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+        - [ ] [matMulDeriv](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+        - [ ] [projectPoints](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+        - [ ] [recoverPose](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+        - [ ] [rectify3Collinear](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+        - [ ] [reprojectImageTo3D](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+        - [ ] [Rodrigues](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+        - [ ] [RQDecomp3x3](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+        - [ ] [sampsonDistance](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+        - [ ] [solveP3P](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+        - [ ] [solvePnP](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+        - [ ] [solvePnPGeneric](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+        - [ ] [solvePnPRansac](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+        - [ ] [solvePnPRefineLM](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+        - [ ] [solvePnPRefineVVS](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+        - [ ] [stereoCalibrate](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+        - [ ] [stereoRectify](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+        - [ ] [stereoRectifyUncalibrated](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+        - [ ] [triangulatePoints](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+        - [ ] [validateDisparity](https://docs.opencv.org/master/d9/d0c/group__calib3d.html)
+
+    - [ ] **Fisheye - WORK STARTED** The following functions still need implementation:
+        - [ ] [calibrate](https://docs.opencv.org/master/db/d58/group__calib3d__fisheye.html#gad626a78de2b1dae7489e152a5a5a89e1)
+        - [ ] [distortPoints](https://docs.opencv.org/master/db/d58/group__calib3d__fisheye.html#ga75d8877a98e38d0b29b6892c5f8d7765)
+        - [ ] [projectPoints](https://docs.opencv.org/master/db/d58/group__calib3d__fisheye.html#gab1ad1dc30c42ee1a50ce570019baf2c4)
+        - [ ] [stereoCalibrate](https://docs.opencv.org/master/db/d58/group__calib3d__fisheye.html#gadbb3a6ca6429528ef302c784df47949b)
+        - [ ] [stereoRectify](https://docs.opencv.org/master/db/d58/group__calib3d__fisheye.html#gac1af58774006689056b0f2ef1db55ecc)
+
+- [ ] **features2d. 2D Features Framework - WORK STARTED**
+    - [X] **Feature Detection and Description**
+    - [X] **Descriptor Matchers**
+    - [X] **Drawing Function of Keypoints and Matches**
+    - [ ] Object Categorization
+        - [ ] [BOWImgDescriptorExtractor](https://docs.opencv.org/master/d2/d6b/classcv_1_1BOWImgDescriptorExtractor.html)
+        - [ ] [BOWKMeansTrainer](https://docs.opencv.org/master/d4/d72/classcv_1_1BOWKMeansTrainer.html)
+
+- [X] **objdetect. Object Detection**
+- [X] **dnn. Deep Neural Network module**
+- [ ] ml. Machine Learning
+- [ ] flann. Clustering and Search in Multi-Dimensional Spaces
+- [ ] **photo. Computational Photography - WORK STARTED** The following functions still need implementation:
+    - [ ] [inpaint](https://docs.opencv.org/master/d7/d8b/group__photo__inpaint.html#gaedd30dfa0214fec4c88138b51d678085)
+    - [ ] [denoise_TVL1](https://docs.opencv.org/master/d1/d79/group__photo__denoise.html#ga7602ed5ae17b7de40152b922227c4e4f)
+    - [X] [fastNlMeansDenoising](https://docs.opencv.org/master/d1/d79/group__photo__denoise.html#ga4c6b0031f56ea3f98f768881279ffe93)
+    - [X] [fastNlMeansDenoisingColored](https://docs.opencv.org/master/d1/d79/group__photo__denoise.html#ga03aa4189fc3e31dafd638d90de335617)
+    - [X] [fastNlMeansDenoisingMulti](https://docs.opencv.org/master/d1/d79/group__photo__denoise.html#gaf4421bf068c4d632ea7f0aa38e0bf172)
+    - [ ] [createCalibrateDebevec](https://docs.opencv.org/master/d6/df5/group__photo__hdr.html#ga7fed9707ad5f2cc0e633888867109f90)
+    - [ ] [createCalibrateRobertson](https://docs.opencv.org/master/d6/df5/group__photo__hdr.html#gae77813a21cd351a596619e5ff013be5d)
+    - [ ] [createMergeDebevec](https://docs.opencv.org/master/d6/df5/group__photo__hdr.html#gaa8eab36bc764abb2a225db7c945f87f9)
+    - [ ] [createMergeRobertson](https://docs.opencv.org/master/d6/df5/group__photo__hdr.html#ga460d4a1df1a7e8cdcf7445bb87a8fb78)
+    - [ ] [createTonemap](https://docs.opencv.org/master/d6/df5/group__photo__hdr.html#gabcbd653140b93a1fa87ccce94548cd0d)
+    - [ ] [createTonemapDrago](https://docs.opencv.org/master/d6/df5/group__photo__hdr.html#ga72bf92bb6b8653ee4be650ac01cf50b6)
+    - [ ] [createTonemapMantiuk](https://docs.opencv.org/master/d6/df5/group__photo__hdr.html#ga3b3f3bf083b7515802f039a6a70f2d21)
+    - [ ] [createTonemapReinhard](https://docs.opencv.org/master/d6/df5/group__photo__hdr.html#gadabe7f6bf1fa96ad0fd644df9182c2fb)
+    - [ ] [decolor](https://docs.opencv.org/master/d4/d32/group__photo__decolor.html#ga4864d4c007bda5dacdc5e9d4ed7e222c)
+    - [X] [detailEnhance](https://docs.opencv.org/master/df/dac/group__photo__render.html#ga0de660cb6f371a464a74c7b651415975)
+    - [X] [edgePreservingFilter](https://docs.opencv.org/master/df/dac/group__photo__render.html#gafaee2977597029bc8e35da6e67bd31f7)
+    - [X] [pencilSketch](https://docs.opencv.org/master/df/dac/group__photo__render.html#gae5930dd822c713b36f8529b21ddebd0c)
+    - [X] [stylization](https://docs.opencv.org/master/df/dac/group__photo__render.html#gacb0f7324017df153d7b5d095aed53206)
+
+- [ ] stitching. Images stitching
+
+## CUDA
+
+- [ ] **core. - WORK STARTED** The following functions still need implementation:
+    - [ ] [cv::cuda::convertFp16](https://docs.opencv.org/master/d8/d40/group__cudacore__init.html#gaa1c52258763197958eb9e6681917f723)
+    - [ ] [cv::cuda::deviceSupports](https://docs.opencv.org/master/d8/d40/group__cudacore__init.html#ga170b10cc9af4aa8cce8c0afdb4b1d08c)
+    - [X] [cv::cuda::getDevice](https://docs.opencv.org/master/d8/d40/group__cudacore__init.html#ga6ded4ed8e4fc483a9863d31f34ec9c0e)
+    - [X] [cv::cuda::resetDevice](https://docs.opencv.org/master/d8/d40/group__cudacore__init.html#ga6153b6f461101374e655a54fc77e725e)
+    - [X] [cv::cuda::setDevice](https://docs.opencv.org/master/d8/d40/group__cudacore__init.html#gaefa34186b185de47851836dba537828b)
+
+- [ ] **cudaarithm. Operations on Matrices - WORK STARTED** The following functions still need implementation:
+    - [ ] **core** The following functions still need implementation:
+        - [ ] [cv::cuda::copyMakeBorder](https://docs.opencv.org/master/de/d09/group__cudaarithm__core.html#ga5368db7656eacf846b40089c98053a49)
+        - [ ] [cv::cuda::createLookUpTable](https://docs.opencv.org/master/de/d09/group__cudaarithm__core.html#ga2d9d9780dea8c5cd85d3c19b7e01979c)
+        - [ ] [cv::cuda::merge](https://docs.opencv.org/master/de/d09/group__cudaarithm__core.html#gaac939dc3b178ee92fb6e7078f342622c)
+        - [ ] [cv::cuda::split](https://docs.opencv.org/master/de/d09/group__cudaarithm__core.html#gabe5013d55d4ff586b20393913726179e)
+        - [ ] [cv::cuda::transpose](https://docs.opencv.org/master/de/d09/group__cudaarithm__core.html#ga327b71c3cb811a904ccf5fba37fc29f2)
+
+    - [ ] **per-element operations - WORK STARTED** The following functions still need implementation:
+        - [X] [cv::cuda::absdiff](https://docs.opencv.org/master/d8/d34/group__cudaarithm__elem.html#gac062b283cf46ee90f74a773d3382ab54)
+        - [X] [cv::cuda::add](https://docs.opencv.org/master/d8/d34/group__cudaarithm__elem.html#ga5d9794bde97ed23d1c1485249074a8b1)
+        - [ ] [cv::cuda::addWeighted](https://docs.opencv.org/master/d8/d34/group__cudaarithm__elem.html#ga2cd14a684ea70c6ab2a63ee90ffe6201)
+        - [X] [cv::cuda::bitwise_and](https://docs.opencv.org/master/d8/d34/group__cudaarithm__elem.html#ga78d7c1a013877abd4237fbfc4e13bd76)
+        - [X] [cv::cuda::bitwise_not](https://docs.opencv.org/master/d8/d34/group__cudaarithm__elem.html#gae58159a2259ae1acc76b531c171cf06a)
+        - [X] [cv::cuda::bitwise_or](https://docs.opencv.org/master/d8/d34/group__cudaarithm__elem.html#gafd098ee3e51c68daa793999c1da3dfb7)
+        - [X] [cv::cuda::bitwise_xor](https://docs.opencv.org/master/d8/d34/group__cudaarithm__elem.html#ga3d95d4faafb099aacf18e8b915a4ad8d)
+        - [ ] [cv::cuda::cartToPolar](https://docs.opencv.org/master/d8/d34/group__cudaarithm__elem.html#ga82210c7d1c1d42e616e554bf75a53480)
+        - [ ] [cv::cuda::compare](https://docs.opencv.org/master/d8/d34/group__cudaarithm__elem.html#ga4d41cd679f4a83862a3de71a6057db54)
+        - [X] [cv::cuda::divide](https://docs.opencv.org/master/d8/d34/group__cudaarithm__elem.html#ga124315aa226260841e25cc0b9ea99dc3)
+        - [X] [cv::cuda::exp](https://docs.opencv.org/master/d8/d34/group__cudaarithm__elem.html#gac6e51541d3bb0a7a396128e4d5919b61)
+        - [ ] [cv::cuda::inRange](https://docs.opencv.org/master/d8/d34/group__cudaarithm__elem.html#gaf611ab6b1d85e951feb6f485b1ed9672)
+        - [X] [cv::cuda::log](https://docs.opencv.org/master/d8/d34/group__cudaarithm__elem.html#gaae9c60739e2d1a977b4d3250a0be42ca)
+        - [ ] [cv::cuda::lshift](https://docs.opencv.org/master/d8/d34/group__cudaarithm__elem.html#gafd072accecb14c9adccdad45e3bf2300)
+        - [ ] [cv::cuda::magnitude](https://docs.opencv.org/master/d8/d34/group__cudaarithm__elem.html#ga3d17f4fcd79d7c01fadd217969009463)
+        - [ ] [cv::cuda::magnitudeSqr](https://docs.opencv.org/master/d8/d34/group__cudaarithm__elem.html#ga7613e382d257e150033d0ce4d6098f6a)
+        - [X] [cv::cuda::max](https://docs.opencv.org/master/d8/d34/group__cudaarithm__elem.html#gadb5dd3d870f10c0866035755b929b1e7)
+        - [X] [cv::cuda::min](https://docs.opencv.org/master/d8/d34/group__cudaarithm__elem.html#ga74f0b05a65b3d949c237abb5e6c60867)
+        - [X] [cv::cuda::multiply](https://docs.opencv.org/master/d8/d34/group__cudaarithm__elem.html#ga497cc0615bf717e1e615143b56f00591)
+        - [ ] [cv::cuda::phase](https://docs.opencv.org/master/d8/d34/group__cudaarithm__elem.html#ga5b75ec01be06dcd6e27ada09a0d4656a)
+        - [ ] [cv::cuda::polarToCart](https://docs.opencv.org/master/d8/d34/group__cudaarithm__elem.html#ga01516a286a329c303c2db746513dd9df)
+        - [ ] [cv::cuda::pow](https://docs.opencv.org/master/d8/d34/group__cudaarithm__elem.html#ga82d04ef4bcc4dfa9bfbe76488007c6c4)
+        - [ ] [cv::cuda::rshift](https://docs.opencv.org/master/d8/d34/group__cudaarithm__elem.html#ga87af0b66358cc302676f35c1fd56c2ed)
+        - [X] [cv::cuda::sqr](https://docs.opencv.org/master/d8/d34/group__cudaarithm__elem.html#ga8aae233da90ce0ffe309ab8004342acb)
+        - [X] [cv::cuda::sqrt](https://docs.opencv.org/master/d8/d34/group__cudaarithm__elem.html#ga09303680cb1a5521a922b6d392028d8c)
+        - [X] [cv::cuda::subtract](https://docs.opencv.org/master/d8/d34/group__cudaarithm__elem.html#ga6eab60fc250059e2fda79c5636bd067f)
+
+    - [ ] **matrix reductions** The following functions still need implementation:
+        - [ ] [cv::cuda::absSum](https://docs.opencv.org/master/d5/de6/group__cudaarithm__reduce.html#ga690fa79ba4426c53f7d2bebf3d37a32a)
+        - [ ] [cv::cuda::calcAbsSum](https://docs.opencv.org/master/d5/de6/group__cudaarithm__reduce.html#ga15c403b76ab2c4d7ed0f5edc09891b7e)
+        - [ ] [cv::cuda::calcNorm](https://docs.opencv.org/master/d5/de6/group__cudaarithm__reduce.html#ga39d2826990d29b7e4b69dbe02bdae2e1)
+        - [ ] [cv::cuda::calcNormDiff](https://docs.opencv.org/master/d5/de6/group__cudaarithm__reduce.html#ga9be3d9a7b6c5760955f37d1039d01265)
+        - [ ] [cv::cuda::calcSqrSum](https://docs.opencv.org/master/d5/de6/group__cudaarithm__reduce.html#gac998c83597f6c206c78cee16aa87946f)
+        - [ ] [cv::cuda::calcSum](https://docs.opencv.org/master/d5/de6/group__cudaarithm__reduce.html#ga98a09144047f09f5cb1d6b6ea8e0856f)
+        - [ ] [cv::cuda::countNonZero](https://docs.opencv.org/master/d5/de6/group__cudaarithm__reduce.html#ga98a09144047f09f5cb1d6b6ea8e0856f)
+        - [ ] [cv::cuda::findMinMax](https://docs.opencv.org/master/d5/de6/group__cudaarithm__reduce.html#gae7f5f2aa9f65314470a76fccdff887f2)
+        - [ ] [cv::cuda::findMinMaxLoc](https://docs.opencv.org/master/d5/de6/group__cudaarithm__reduce.html#ga93916bc473a62d215d1130fab84d090a)
+        - [ ] [cv::cuda::integral](https://docs.opencv.org/master/d5/de6/group__cudaarithm__reduce.html#ga07e5104eba4bf45212ac9dbc5bf72ba6)
+        - [ ] [cv::cuda::meanStdDev](https://docs.opencv.org/master/d5/de6/group__cudaarithm__reduce.html#ga990a4db4c6d7e8f0f3a6685ba48fbddc)
+        - [ ] [cv::cuda::minMax](https://docs.opencv.org/master/d5/de6/group__cudaarithm__reduce.html#ga8d7de68c10717cf25e787e3c20d2dfee)
+        - [ ] [cv::cuda::minMaxLoc](https://docs.opencv.org/master/d5/de6/group__cudaarithm__reduce.html#ga5cacbc2a2323c4eaa81e7390c5d9f530)
+        - [ ] [cv::cuda::norm](https://docs.opencv.org/master/d5/de6/group__cudaarithm__reduce.html#ga6c01988a58d92126a7c60a4ab76d8324)
+        - [ ] [cv::cuda::normalize](https://docs.opencv.org/master/d5/de6/group__cudaarithm__reduce.html#ga4da4738b9956a5baaa2f5f8c2fba438a)
+        - [ ] [cv::cuda::rectStdDev](https://docs.opencv.org/master/d5/de6/group__cudaarithm__reduce.html#gac311484a4e57cab2ce2cfdc195fda7ee)
+        - [ ] [cv::cuda::reduce](https://docs.opencv.org/master/d5/de6/group__cudaarithm__reduce.html#ga21d57f661db7be093caf2c4378be2007)
+        - [ ] [cv::cuda::sqrIntegral](https://docs.opencv.org/master/d5/de6/group__cudaarithm__reduce.html#ga40c75196202706399a60bf6ba7a052ac)
+        - [ ] [cv::cuda::sqlSum](https://docs.opencv.org/master/d5/de6/group__cudaarithm__reduce.html#ga056c804ebf5d2eb9f6f35e3dcb01524c)
+        - [ ] [cv::cuda::sum](https://docs.opencv.org/master/d5/de6/group__cudaarithm__reduce.html#ga1f582844670199281e8012733b50c582)
+
+    - [ ] **Operations on matrices** The following functions still need implementation:
+        - [ ] [cv::cuda::createConvolution](https://docs.opencv.org/4.5.0/d9/d88/group__cudaarithm__arithm.html#ga2695e05ef624bf3ce03cfbda383a821d)
+        - [ ] [cv::cuda::createDFT](https://docs.opencv.org/4.5.0/d9/d88/group__cudaarithm__arithm.html#ga0f72d063b73c8bb995678525eb076f10)
+        - [ ] [cv::cuda::dft](https://docs.opencv.org/4.5.0/d9/d88/group__cudaarithm__arithm.html#gadea99cb15a715c983bcc2870d65a2e78)
+        - [ ] [cv::cuda::gemm](https://docs.opencv.org/4.5.0/d9/d88/group__cudaarithm__arithm.html#ga42efe211d7a43bbc922da044c4f17130)
+        - [ ] [cv::cuda::mulAndScaleSpectrums](https://docs.opencv.org/4.5.0/d9/d88/group__cudaarithm__arithm.html#ga5704c25b8be4f19da812e6d98c8ee464)
+        - [ ] [cv::cuda::mulSpectrums](https://docs.opencv.org/4.5.0/d9/d88/group__cudaarithm__arithm.html#gab3e8900d67c4f59bdc137a0495206cd8)
+
+- [X] **cudabgsegm. Background Segmentation**
+
+- [ ] **cudacodec** Video Encoding/Decoding. The following functions still need implementation:
+    - [ ] [cv::cuda::VideoReader](https://docs.opencv.org/master/db/ded/classcv_1_1cudacodec_1_1VideoReader.html)
+    - [ ] [cv::cuda::VideoWriter](https://docs.opencv.org/master/df/dde/classcv_1_1cudacodec_1_1VideoWriter.html)
+
+- [ ] **cudafeatures2d** Feature Detection and Description. The following functions still need implementation:
+    - [ ] [cv::cuda::FastFeatureDetector](https://docs.opencv.org/master/d4/d6a/classcv_1_1cuda_1_1FastFeatureDetector.html)
+    - [ ] [cv::cuda::ORB](https://docs.opencv.org/master/da/d44/classcv_1_1cuda_1_1ORB.html)
+
+- [ ] **cudafilters. Image Filtering - WORK STARTED** The following functions still need implementation:
+    - [ ] [cv::cuda::createBoxFilter](https://docs.opencv.org/master/dc/d66/group__cudafilters.html#ga3113b66e289bad7caef412e6e13ec2be)
+    - [ ] [cv::cuda::createBoxMaxFilter](https://docs.opencv.org/master/dc/d66/group__cudafilters.html#gaaf4740c51128d23a37f6f1b22cee49e8)
+    - [ ] [cv::cuda::createBoxMinFilter](https://docs.opencv.org/master/dc/d66/group__cudafilters.html#ga77fd36949bc8d92aabc120b4b1cfaafa)
+    - [ ] [cv::cuda::createColumnSumFilter](https://docs.opencv.org/master/dc/d66/group__cudafilters.html#gac13bf7c41a34bfde2a7f33ad8caacfdf)
+    - [ ] [cv::cuda::createDerivFilter](https://docs.opencv.org/master/dc/d66/group__cudafilters.html#ga14d76dc6982ce739c67198f52bc16ee1)
+    - [ ] [cv::cuda::createLaplacianFilter](https://docs.opencv.org/master/dc/d66/group__cudafilters.html#ga53126e88bb7e6185dcd5628e28e42cd2)
+    - [ ] [cv::cuda::createLinearFilter](https://docs.opencv.org/master/dc/d66/group__cudafilters.html#ga57cb1804ad9d1280bf86433858daabf9)
+    - [ ] [cv::cuda::createMorphologyFilter](https://docs.opencv.org/master/dc/d66/group__cudafilters.html#gae58694e07be6bdbae126f36c75c08ee6)
+    - [ ] [cv::cuda::createRowSumFilter](https://docs.opencv.org/master/dc/d66/group__cudafilters.html#gaf735de273ccb5072f3c27816fb97a53a)
+    - [ ] [cv::cuda::createScharrFilter](https://docs.opencv.org/master/dc/d66/group__cudafilters.html#ga4ac8df158e5771ddb0bd5c9091188ce6)
+    - [ ] [cv::cuda::createSeparableLinearFilter](https://docs.opencv.org/master/dc/d66/group__cudafilters.html#gaf7b79a9a92992044f328dad07a52c4bf)
+
+- [ ] **cudaimgproc. Image Processing - WORK STARTED** The following functions still need implementation:
+    - [ ] [cv::cuda::TemplateMatching](https://docs.opencv.org/master/d2/d58/classcv_1_1cuda_1_1TemplateMatching.html)
+    - [ ] [cv::cuda::alphaComp](https://docs.opencv.org/master/db/d8c/group__cudaimgproc__color.html#ga08a698700458d9311390997b57fbf8dc)
+    - [ ] [cv::cuda::demosaicing](https://docs.opencv.org/master/db/d8c/group__cudaimgproc__color.html#ga7fb153572b573ebd2d7610fcbe64166e)
+    - [ ] [cv::cuda::gammaCorrection](https://docs.opencv.org/master/db/d8c/group__cudaimgproc__color.html#gaf4195a8409c3b8fbfa37295c2b2c4729)
+    - [ ] [cv::cuda::swapChannels](https://docs.opencv.org/master/db/d8c/group__cudaimgproc__color.html#ga75a29cc4a97cde0d43ea066b01de927e)
+    - [ ] [cv::cuda::calcHist](https://docs.opencv.org/master/d8/d0e/group__cudaimgproc__hist.html#gaaf3944106890947020bb4522a7619c26)
+    - [ ] [cv::cuda::CLAHE](https://docs.opencv.org/master/db/d79/classcv_1_1cuda_1_1CLAHE.html)
+    - [ ] [cv::cuda::equalizeHist](https://docs.opencv.org/master/d8/d0e/group__cudaimgproc__hist.html#ga2384be74bd2feba7e6c46815513f0060)
+    - [ ] [cv::cuda::evenLevels](https://docs.opencv.org/master/d8/d0e/group__cudaimgproc__hist.html#ga2f2cbd21dc6d7367a7c4ee1a826f389d)
+    - [ ] [cv::cuda::histEven](https://docs.opencv.org/master/d8/d0e/group__cudaimgproc__hist.html#gacd3b14279fb77a57a510cb8c89a1856f)
+    - [ ] [cv::cuda::histRange](https://docs.opencv.org/master/d8/d0e/group__cudaimgproc__hist.html#ga87819085c1059186d9cdeacd92cea783)
+    - [ ] [cv::cuda::HoughCirclesDetector](https://docs.opencv.org/master/da/d80/classcv_1_1cuda_1_1HoughCirclesDetector.html)
+    - [ ] [cv::cuda::createGoodFeaturesToTrackDetector](https://docs.opencv.org/master/dc/d6d/group__cudaimgproc__feature.html#ga478b474a598ece101f7e706fee2c8e91)
+    - [ ] [cv::cuda::createHarrisCorner](https://docs.opencv.org/master/dc/d6d/group__cudaimgproc__feature.html#ga3e5878a803e9bba51added0c10101979)
+    - [ ] [cv::cuda::createMinEigenValCorner](https://docs.opencv.org/master/dc/d6d/group__cudaimgproc__feature.html#ga7457fd4b53b025f990b1c1dd1b749915)
+    - [ ] [cv::cuda::bilateralFilter](https://docs.opencv.org/master/d0/d05/group__cudaimgproc.html#ga6abeaecdd4e7edc0bd1393a04f4f20bd)
+    - [ ] [cv::cuda::blendLinear](https://docs.opencv.org/master/d0/d05/group__cudaimgproc.html#ga4793607e5729bcc15b27ea33d9fe335e)
+    - [ ] [cv::cuda::meanShiftFiltering](https://docs.opencv.org/master/d0/d05/group__cudaimgproc.html#gae13b3035bc6df0e512d876dbb8c00555)
+    - [ ] [cv::cuda::meanShiftProc](https://docs.opencv.org/master/d0/d05/group__cudaimgproc.html#ga6039dc8ecbe2f912bc83fcc9b3bcca39)
+    - [ ] [cv::cuda::meanShiftSegmentation](https://docs.opencv.org/master/d0/d05/group__cudaimgproc.html#ga70ed80533a448829dc48cf22b1845c16)
+
+- [X] **cudaobjdetect. Object Detection**
+
+- [ ] **cudaoptflow. Optical Flow - WORK STARTED** The following functions still need implementation:
+    - [ ] [BroxOpticalFlow](https://docs.opencv.org/master/d7/d18/classcv_1_1cuda_1_1BroxOpticalFlow.html)
+    - [ ] [DenseOpticalFlow](https://docs.opencv.org/master/d6/d4a/classcv_1_1cuda_1_1DenseOpticalFlow.html)
+    - [ ] [DensePyrLKOpticalFlow](https://docs.opencv.org/master/d0/da4/classcv_1_1cuda_1_1DensePyrLKOpticalFlow.html)
+    - [ ] [FarnebackOpticalFlow](https://docs.opencv.org/master/d9/d30/classcv_1_1cuda_1_1FarnebackOpticalFlow.html)
+    - [ ] [NvidiaHWOpticalFlow](https://docs.opencv.org/master/d5/d26/classcv_1_1cuda_1_1NvidiaHWOpticalFlow.html)
+    - [ ] [NvidiaOpticalFlow_1_0](https://docs.opencv.org/master/dc/d9d/classcv_1_1cuda_1_1NvidiaOpticalFlow__1__0.html)
+    - [ ] [SparseOpticalFlow](https://docs.opencv.org/master/d5/dcf/classcv_1_1cuda_1_1SparseOpticalFlow.html)
+    - [ ] **[SparsePyrLKOpticalFlow](https://docs.opencv.org/master/d7/d05/classcv_1_1cuda_1_1SparsePyrLKOpticalFlow.html) - WORK STARTED**
+
+- [ ] **cudastereo** Stereo Correspondence
+    - [ ] [cv::cuda::createDisparityBilateralFilter](https://docs.opencv.org/master/dd/d47/group__cudastereo.html#gaafb5f9902f7a9e74cb2cd4e680569590)
+    - [ ] [cv::cuda::createStereoBeliefPropagation](https://docs.opencv.org/master/dd/d47/group__cudastereo.html#ga8d22dd80bdfb4e3d7d2ac09e8a07c22b)
+    - [ ] [cv::cuda::createStereoBM](https://docs.opencv.org/master/dd/d47/group__cudastereo.html#ga77edc901350dd0a7f46ec5aca4138039)
+    - [ ] [cv::cuda::createStereoConstantSpaceBP](https://docs.opencv.org/master/dd/d47/group__cudastereo.html#gaec3b49c7cf9f7701a6f549a227be4df2)
+    - [ ] [cv::cuda::createStereoSGM](https://docs.opencv.org/master/dd/d47/group__cudastereo.html#gafb7e5284de5f488d664c3155acb12c93)
+    - [ ] [cv::cuda::drawColorDisp](https://docs.opencv.org/master/dd/d47/group__cudastereo.html#ga469b23a77938dd7c06861e59cecc08c5)
+    - [ ] [cv::cuda::reprojectImageTo3D](https://docs.opencv.org/master/dd/d47/group__cudastereo.html#gaff851e3932da0f3e74d1be1d8855f094)
+
+- [X] **cudawarping. Image Warping**
+
+## Contrib modules list
+
+- [ ] alphamat. Alpha Matting
+- [X] **aruco. ArUco Marker Detection - WORK STARTED**
+- [ ] barcode. Barcode detecting and decoding methods
+- [X] **bgsegm. Improved Background-Foreground Segmentation Methods - WORK STARTED**
+- [ ] bioinspired. Biologically inspired vision models and derivated tools
+- [ ] ccalib. Custom Calibration Pattern for 3D reconstruction
+- [ ] cnn_3dobj. 3D object recognition and pose estimation API
+- [ ] cvv. GUI for Interactive Visual Debugging of Computer Vision Programs
+- [ ] datasets. Framework for working with different datasets
+- [ ] dnn_modern. Deep Learning Modern Module
+- [ ] dnn_objdetect. DNN used for object detection
+- [ ] dnn_superres. DNN used for super resolution
+- [ ] dpm. Deformable Part-based Models
+- [ ] **face. Face Recognition - WORK STARTED**
+- [ ] freetype. Drawing UTF-8 strings with freetype/harfbuzz
+- [ ] fuzzy. Image processing based on fuzzy mathematics
+- [ ] hdf. Hierarchical Data Format I/O routines
+- [ ] hfs. Hierarchical Feature Selection for Efficient Image Segmentation
+- [X] **img_hash. The module brings implementations of different image hashing algorithms.**
+- [ ] intensity_transform. The module brings implementations of intensity transformation algorithms to adjust image contrast.
+- [ ] line_descriptor. Binary descriptors for lines extracted from an image
+- [ ] mcc. Macbeth Chart module
+- [ ] optflow. Optical Flow Algorithms
+- [ ] ovis. OGRE 3D Visualiser
+- [ ] phase_unwrapping. Phase Unwrapping API
+- [ ] plot. Plot function for Mat data
+- [ ] quality. Image Quality Analysis (IQA) API
+- [ ] rapid. silhouette based 3D object tracking
+- [ ] reg. Image Registration
+- [ ] rgbd. RGB-Depth Processing
+- [ ] saliency. Saliency API
+- [ ] sfm. Structure From Motion
+- [ ] shape. Shape Distance and Matching
+- [ ] stereo. Stereo Correspondance Algorithms
+- [ ] structured_light. Structured Light API
+- [ ] superres. Super Resolution
+- [ ] surface_matching. Surface Matching
+- [ ] text. Scene Text Detection and Recognition
+- [ ] **tracking. Tracking API - WORK STARTED**
+- [ ] videostab. Video Stabilization
+- [ ] viz. 3D Visualizer
+- [X] **wechat_qrcode. WeChat QR code detector for detecting and parsing QR code**
+- [ ] **xfeatures2d. Extra 2D Features Framework - WORK STARTED**
+- [ ] **ximgproc. Extended Image Processing - WORK STARTED**
+- [ ] xobjdetect. Extended object detection
+- [X] **xphoto. Additional photo processing algorithms**

vendor/gocv.io/x/gocv/appveyor.yml

@@ -0,0 +1,36 @@
+version: "{build}"
+
+clone_folder: c:\gopath\src\gocv.io\x\gocv
+
+platform:
+  - MinGW_x64
+
+environment:
+  GOPATH: c:\gopath
+  GOROOT: c:\go
+  GOVERSION: 1.16
+  TEST_EXTERNAL: 1
+  APPVEYOR_SAVE_CACHE_ON_ERROR: true
+
+cache:
+  - C:\opencv -> appveyor_build_opencv.cmd
+
+install:
+  - if not exist "C:\opencv" appveyor_build_opencv.cmd
+  - set PATH=C:\Perl\site\bin;C:\Perl\bin;C:\Windows\system32;C:\Windows;C:\Windows\System32\Wbem;C:\Windows\System32\WindowsPowerShell\v1.0\;C:\Program Files\7-Zip;C:\Program Files\Microsoft\Web Platform Installer\;C:\Tools\PsTools;C:\Program Files (x86)\CMake\bin;C:\go\bin;C:\Tools\NuGet;C:\Program Files\LLVM\bin;C:\Tools\curl\bin;C:\ProgramData\chocolatey\bin;C:\Program Files (x86)\Yarn\bin;C:\Users\appveyor\AppData\Local\Yarn\bin;C:\Program Files\AppVeyor\BuildAgent\
+  - set PATH=%PATH%;C:\mingw-w64\x86_64-7.3.0-posix-seh-rt_v5-rev0\mingw64\bin
+  - set PATH=%PATH%;C:\Tools\GitVersion;C:\Program Files\Git LFS;C:\Program Files\Git\cmd;C:\Program Files\Git\usr\bin;C:\opencv\build\install\x64\mingw\bin;
+  - echo %PATH%
+  - echo %GOPATH%
+  - go version
+  - cd c:\gopath\src\gocv.io\x\gocv
+  - go get -d .
+  - set GOCV_CAFFE_TEST_FILES=C:\opencv\testdata
+  - set GOCV_TENSORFLOW_TEST_FILES=C:\opencv\testdata
+  - set GOCV_ONNX_TEST_FILES=C:\opencv\testdata
+  - set OPENCV_ENABLE_NONFREE=ON
+  - go env
+
+build_script:
+  - go test -tags matprofile -v .
+  - go test -tags matprofile -v ./contrib