WIP

.gitignore

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

build-docker.sh

@@ -1,134 +1,50 @@
 #! /bin/bash
 
 IMAGE_NAME=robocar-steering
-BINARY_NAME=rc-steering
 TAG=$(git describe)
 FULL_IMAGE_NAME=docker.io/cyrilix/${IMAGE_NAME}:${TAG}
-OPENCV_VERSION=4.6.0
-SRC_CMD=./cmd/$BINARY_NAME
-GOLANG_VERSION=1.19
+BINARY=rc-steering
+
+GOTAGS="-tags netgo"
 
 image_build(){
-  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"
+  local platform=$1
 
 
-  buildah config --env PKG_CONFIG_PATH=/usr/local/lib/pkgconfig:/usr/local/lib64/pkgconfig "${containerName}"
-  buildah config --workingdir /src/ "${containerName}"
+  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 add "${containerName}" . .
+  local binary_suffix="$GOARCH$(echo $platform | cut -f3 -d/ )"
 
-  for platform in "linux/amd64" "linux/arm64" "linux/arm/v7"
-  do
+  local containerName="$IMAGE_NAME-$GOARCH$GOARM"
 
-    GOOS=$(echo "$platform" | cut -f1 -d/) && \
-    GOARCH=$(echo "$platform" | cut -f2 -d/) && \
-    GOARM=$(echo "$platform" | cut -f3 -d/ | sed "s/v//" )
 
-    case $GOARCH in
-      "amd64")
-        ARCH=amd64
-        ARCH_LIB_DIR=/usr/lib/x86_64-linux-gnu
-        EXTRA_LIBS=""
-        CC=gcc
-        CXX=g++
-      ;;
-      "arm64")
-        ARCH=arm64
-        ARCH_LIB_DIR=/usr/lib/aarch64-linux-gnu
-        EXTRA_LIBS="-ltbb"
-        CC=aarch64-linux-gnu-gcc
-        CXX=aarch64-linux-gnu-g++
-      ;;
-      "arm")
-        ARCH=armhf
-        ARCH_LIB_DIR=/usr/lib/arm-linux-gnueabihf
-        EXTRA_LIBS="-ltbb"
-        CC=arm-linux-gnueabihf-gcc
-        CXX=arm-linux-gnueabihf-g++
-      ;;
-    esac
+  printf "\n\nBuild go binary %s\n\n" "${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}/
 
-    printf "Build binary for %s\n\n" "${platform}"
+  buildah --os "$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}"
 
-    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 commit --rm --manifest $IMAGE_NAME "${containerName}" "${containerName}"
 }
 
 buildah rmi localhost/$IMAGE_NAME
 buildah manifest rm localhost/${IMAGE_NAME}
 
-image_build
+image_build linux/amd64
+image_build linux/arm64
+image_build linux/arm/v7
+
 
 # push image
-image_final
 printf "\n\nPush manifest to %s\n\n" ${FULL_IMAGE_NAME}
 buildah manifest push --rm -f v2s2 "localhost/$IMAGE_NAME" "docker://$FULL_IMAGE_NAME" --all

pkg/steering/controller.go

@@ -112,7 +112,6 @@ func (c *Controller) onObjects(_ mqtt.Client, message mqtt.Message) {
 	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) {
@@ -187,7 +186,6 @@ func (c *Controller) onTFSteering(_ mqtt.Client, message mqtt.Message) {
 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)
@@ -201,10 +199,7 @@ 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)
+	copy(res, c.objects)
 	return res
 }
 

pkg/steering/controller_test.go

@@ -160,7 +160,18 @@ func TestController_Start(t *testing.T) {
 	objectsTopic := "topic/objects"
 
 	type fields struct {
+		client                 mqtt.Client
+		steeringTopic          string
+		muDriveMode            sync.RWMutex
 		driveMode              events.DriveMode
+		cancel                 chan interface{}
+		driveModeTopic         string
+		rcSteeringTopic        string
+		tfSteeringTopic        string
+		objectsTopic           string
+		muObjects              sync.RWMutex
+		objects                []*events.Object
+		corrector              *GridCorrector
 		enableCorrection       bool
 		enableCorrectionOnUser bool
 	}
@@ -182,10 +193,9 @@ func TestController_Start(t *testing.T) {
 	}{
 		{
 			name: "On user drive mode, none correction",
+
 			fields: fields{
-				driveMode:              events.DriveMode_USER,
-				enableCorrection:       false,
-				enableCorrectionOnUser: false,
+				driveMode: events.DriveMode_USER,
 			},
 			msgEvents: msgEvents{
 				driveMode:  events.DriveModeMessage{DriveMode: events.DriveMode_USER},
@@ -197,91 +207,6 @@ func TestController_Start(t *testing.T) {
 			// Get rc value without correction
 			want: events.SteeringMessage{Steering: 0.3, Confidence: 1.0},
 		},
-		{
-			name: "On pilot drive mode, none correction",
-			fields: fields{
-				driveMode:              events.DriveMode_PILOT,
-				enableCorrection:       false,
-				enableCorrectionOnUser: false,
-			},
-			msgEvents: msgEvents{
-				driveMode:  events.DriveModeMessage{DriveMode: events.DriveMode_PILOT},
-				rcSteering: events.SteeringMessage{Steering: 0.3, Confidence: 1.0},
-				tfSteering: events.SteeringMessage{Steering: 0.4, Confidence: 1.0},
-				objects:    events.ObjectsMessage{Objects: []*events.Object{&objectOnMiddleNear}},
-			},
-			correctionOnObject: 0.5,
-			// Get rc value without correction
-			want: events.SteeringMessage{Steering: 0.4, Confidence: 1.0},
-		},
-		{
-			name: "On pilot drive mode, correction enabled",
-			fields: fields{
-				driveMode:              events.DriveMode_PILOT,
-				enableCorrection:       true,
-				enableCorrectionOnUser: false,
-			},
-			msgEvents: msgEvents{
-				driveMode:  events.DriveModeMessage{DriveMode: events.DriveMode_PILOT},
-				rcSteering: events.SteeringMessage{Steering: 0.3, Confidence: 1.0},
-				tfSteering: events.SteeringMessage{Steering: 0.4, Confidence: 1.0},
-				objects:    events.ObjectsMessage{Objects: []*events.Object{&objectOnMiddleNear}},
-			},
-			correctionOnObject: 0.5,
-			// Get rc value without correction
-			want: events.SteeringMessage{Steering: 0.5, Confidence: 1.0},
-		},
-		{
-			name: "On pilot drive mode, all corrections enabled",
-			fields: fields{
-				driveMode:              events.DriveMode_PILOT,
-				enableCorrection:       true,
-				enableCorrectionOnUser: true,
-			},
-			msgEvents: msgEvents{
-				driveMode:  events.DriveModeMessage{DriveMode: events.DriveMode_PILOT},
-				rcSteering: events.SteeringMessage{Steering: 0.3, Confidence: 1.0},
-				tfSteering: events.SteeringMessage{Steering: 0.4, Confidence: 1.0},
-				objects:    events.ObjectsMessage{Objects: []*events.Object{&objectOnMiddleNear}},
-			},
-			correctionOnObject: 0.5,
-			// Get rc value without correction
-			want: events.SteeringMessage{Steering: 0.5, Confidence: 1.0},
-		},
-		{
-			name: "On user drive mode, only correction PILOT enabled",
-			fields: fields{
-				driveMode:              events.DriveMode_PILOT,
-				enableCorrection:       true,
-				enableCorrectionOnUser: false,
-			},
-			msgEvents: msgEvents{
-				driveMode:  events.DriveModeMessage{DriveMode: events.DriveMode_USER},
-				rcSteering: events.SteeringMessage{Steering: 0.3, Confidence: 1.0},
-				tfSteering: events.SteeringMessage{Steering: 0.4, Confidence: 1.0},
-				objects:    events.ObjectsMessage{Objects: []*events.Object{&objectOnMiddleNear}},
-			},
-			correctionOnObject: 0.5,
-			// Get rc value without correction
-			want: events.SteeringMessage{Steering: 0.3, Confidence: 1.0},
-		},
-		{
-			name: "On user drive mode, all corrections enabled",
-			fields: fields{
-				driveMode:              events.DriveMode_USER,
-				enableCorrection:       true,
-				enableCorrectionOnUser: true,
-			},
-			msgEvents: msgEvents{
-				driveMode:  events.DriveModeMessage{DriveMode: events.DriveMode_USER},
-				rcSteering: events.SteeringMessage{Steering: 0.3, Confidence: 1.0},
-				tfSteering: events.SteeringMessage{Steering: 0.4, Confidence: 1.0},
-				objects:    events.ObjectsMessage{Objects: []*events.Object{&objectOnMiddleNear}},
-			},
-			correctionOnObject: 0.5,
-			// Get rc value without correction
-			want: events.SteeringMessage{Steering: 0.5, Confidence: 1.0},
-		},
 	}
 
 	for _, tt := range tests {
@@ -292,7 +217,7 @@ func TestController_Start(t *testing.T) {
 				WithCorrector(&StaticCorrector{delta: tt.correctionOnObject}),
 			)
 			go c.Start()
-			time.Sleep(1 * time.Millisecond)
+			defer c.Stop()
 
 			// Publish events and wait generation of new steering message
 			waitPublish.Add(1)

pkg/steering/corrector.go

@@ -131,7 +131,6 @@ AdjustFromObjectPosition modify steering value according object positions
     :   | ... | ... | ... | ... | ... | ... |
 */
 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
 	}
@@ -140,7 +139,7 @@ func (c *GridCorrector) AdjustFromObjectPosition(currentSteering float64, object
 	// get nearest object
 	nearest, err := c.nearObject(grpObjs)
 	if err != nil {
-		zap.S().Warnf("unexpected error on nearest search object, ignore objects: %v", err)
+		zap.S().Warnf("unexpected error on nearest seach object, ignore objects: %v", err)
 		return currentSteering
 	}
 
@@ -178,7 +177,6 @@ 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))
 	}
@@ -191,7 +189,6 @@ func (c *GridCorrector) computeDeviation(nearest *events.Object) float64 {
 		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
 }