refactor(cli): rewrite log configuration

close robocars/robocar-setup#7

build-docker.sh

@@ -26,11 +26,12 @@ image_build(){
 
 
   printf "\n\nBuild go binary %s\n\n" "${BINARY}.${binary_suffix}"
-  CGO_ENABLED=0 GOOS=${GOOS} GOARCH=${GOARCH} GOARM=${GOARM} go build -mod vendor -a ${GOTAGS} -o "${BINARY}.${binary_suffix}" ./cmd/${BINARY}/
+  mkdir -p build
+  CGO_ENABLED=0 GOOS=${GOOS} GOARCH=${GOARCH} GOARM=${GOARM} go build -mod vendor ${GOTAGS} -o "build/${BINARY}.${binary_suffix}" ./cmd/${BINARY}/
 
   buildah --os "$GOOS" --arch "$GOARCH" $VARIANT  --name "$containerName" from gcr.io/distroless/static
   buildah config --user 1234 "$containerName"
-  buildah copy "$containerName" "${BINARY}.${binary_suffix}" /go/bin/$BINARY
+  buildah copy "$containerName" "build/${BINARY}.${binary_suffix}" /go/bin/$BINARY
   buildah config --entrypoint '["/go/bin/'$BINARY'"]' "${containerName}"
 
   buildah commit --rm --manifest $IMAGE_NAME "${containerName}" "${containerName}"

cmd/rc-throttle/rc-throttle.go

@@ -18,7 +18,6 @@ func main() {
 	var mqttBroker, username, password, clientId string
 	var throttleTopic, driveModeTopic, rcThrottleTopic string
 	var minThrottle, maxThrottle float64
-	var debug bool
 
 	err := cli.SetFloat64DefaultValueFromEnv(&minThrottle, "THROTTLE_MIN", DefaultThrottleMin)
 	if err != nil {
@@ -39,7 +38,7 @@ func main() {
 	flag.StringVar(&rcThrottleTopic, "mqtt-topic-rc-throttle", os.Getenv("MQTT_TOPIC_RC_THROTTLE"), "Mqtt topic that contains RC Throttle value, use MQTT_TOPIC_RC_THROTTLE if args not set")
 	flag.Float64Var(&minThrottle, "throttle-min", minThrottle, "Minimum throttle value, use THROTTLE_MIN if args not set")
 	flag.Float64Var(&maxThrottle, "throttle-max", maxThrottle, "Minimum throttle value, use THROTTLE_MAX if args not set")
-	flag.BoolVar(&debug, "debug", false, "Display raw value to debug")
+	logLevel := zap.LevelFlag("log", zap.InfoLevel, "log level")
 
 	flag.Parse()
 	if len(os.Args) <= 1 {
@@ -48,11 +47,7 @@ func main() {
 	}
 
 	config := zap.NewDevelopmentConfig()
-	if debug {
-		config.Level = zap.NewAtomicLevelAt(zap.DebugLevel)
-	} else {
-		config.Level = zap.NewAtomicLevelAt(zap.InfoLevel)
-	}
+	config.Level = zap.NewAtomicLevelAt(*logLevel)
 	lgr, err := config.Build()
 	if err != nil {
 		log.Fatalf("unable to init logger: %v", err)

pkg/part/part.go

@@ -98,9 +98,26 @@ func (p *ThrottlePart) onRCThrottle(_ mqtt.Client, message mqtt.Message) {
 	p.muDriveMode.RLock()
 	defer p.muDriveMode.RUnlock()
 	if p.driveMode == events.DriveMode_USER {
-		zap.S().Debug("publish new throttle value from rc")
 		// Republish same content
 		payload := message.Payload()
+		var throttleMsg events.ThrottleMessage
+		err := proto.Unmarshal(payload, &throttleMsg)
+		if err != nil {
+			zap.S().Errorf("unable to unmarshall throttle msg to check throttle value: %v", err)
+			return
+		}
+		zap.S().Debugf("publish new throttle value from rc: %v", throttleMsg.GetThrottle())
+		if throttleMsg.GetThrottle() > p.maxThrottle {
+			zap.S().Debugf("throttle upper that max value allowed, patch value from %v to %v", throttleMsg.GetThrottle(), p.maxThrottle)
+			throttleMsg.Throttle = p.maxThrottle
+			payloadPatched, err := proto.Marshal(&throttleMsg)
+			if err != nil {
+				zap.S().Errorf("unable to marshall throttle msg: %v", err)
+				return
+			}
+			publish(p.client, p.throttleTopic, &payloadPatched)
+			return
+		}
 		publish(p.client, p.throttleTopic, &payload)
 	}
 }

pkg/part/part_test.go

@@ -38,47 +38,52 @@ func TestDefaultThrottle(t *testing.T) {
 	p := NewPart(nil, throttleTopic, driveModeTopic, rcThrottleTopic, minValue, 1., 200)
 
 	cases := []struct {
+		name             string
+		maxThrottle      float32
 		driveMode        events.DriveModeMessage
 		rcThrottle       events.ThrottleMessage
 		expectedThrottle events.ThrottleMessage
 	}{
-		{events.DriveModeMessage{DriveMode: events.DriveMode_USER}, events.ThrottleMessage{Throttle: 0.3, Confidence: 1.0}, events.ThrottleMessage{Throttle: 0.3, Confidence: 1.0}},
-		{events.DriveModeMessage{DriveMode: events.DriveMode_PILOT}, events.ThrottleMessage{Throttle: 0.5, Confidence: 1.0}, events.ThrottleMessage{Throttle: minValue, Confidence: 1.0}},
-		{events.DriveModeMessage{DriveMode: events.DriveMode_PILOT}, events.ThrottleMessage{Throttle: 0.4, Confidence: 1.0}, events.ThrottleMessage{Throttle: minValue, Confidence: 1.0}},
-		{events.DriveModeMessage{DriveMode: events.DriveMode_USER}, events.ThrottleMessage{Throttle: 0.5, Confidence: 1.0}, events.ThrottleMessage{Throttle: 0.5, Confidence: 1.0}},
-		{events.DriveModeMessage{DriveMode: events.DriveMode_USER}, events.ThrottleMessage{Throttle: 0.4, Confidence: 1.0}, events.ThrottleMessage{Throttle: 0.4, Confidence: 1.0}},
-		{events.DriveModeMessage{DriveMode: events.DriveMode_USER}, events.ThrottleMessage{Throttle: 0.6, Confidence: 1.0}, events.ThrottleMessage{Throttle: 0.6, Confidence: 1.0}},
+		{"test1", 1., events.DriveModeMessage{DriveMode: events.DriveMode_USER}, events.ThrottleMessage{Throttle: 0.3, Confidence: 1.0}, events.ThrottleMessage{Throttle: 0.3, Confidence: 1.0}},
+		{"test2", 1., events.DriveModeMessage{DriveMode: events.DriveMode_PILOT}, events.ThrottleMessage{Throttle: 0.5, Confidence: 1.0}, events.ThrottleMessage{Throttle: minValue, Confidence: 1.0}},
+		{"test3", 1., events.DriveModeMessage{DriveMode: events.DriveMode_PILOT}, events.ThrottleMessage{Throttle: 0.4, Confidence: 1.0}, events.ThrottleMessage{Throttle: minValue, Confidence: 1.0}},
+		{"test4", 1., events.DriveModeMessage{DriveMode: events.DriveMode_USER}, events.ThrottleMessage{Throttle: 0.5, Confidence: 1.0}, events.ThrottleMessage{Throttle: 0.5, Confidence: 1.0}},
+		{"test5", 1., events.DriveModeMessage{DriveMode: events.DriveMode_USER}, events.ThrottleMessage{Throttle: 0.4, Confidence: 1.0}, events.ThrottleMessage{Throttle: 0.4, Confidence: 1.0}},
+		{"test6", 1., events.DriveModeMessage{DriveMode: events.DriveMode_USER}, events.ThrottleMessage{Throttle: 0.6, Confidence: 1.0}, events.ThrottleMessage{Throttle: 0.6, Confidence: 1.0}},
+		{"limit max throttle on user mode", 0.4, events.DriveModeMessage{DriveMode: events.DriveMode_USER}, events.ThrottleMessage{Throttle: 0.6, Confidence: 1.0}, events.ThrottleMessage{Throttle: 0.4, Confidence: 1.0}},
 	}
 
 	go p.Start()
 	defer func() { close(p.cancel) }()
 
 	for _, c := range cases {
+		t.Run(c.name, func(t *testing.T) {
+			p.maxThrottle = c.maxThrottle
+			p.onDriveMode(nil, testtools.NewFakeMessageFromProtobuf(driveModeTopic, &c.driveMode))
+			p.onRCThrottle(nil, testtools.NewFakeMessageFromProtobuf(rcThrottleTopic, &c.rcThrottle))
 
-		p.onDriveMode(nil, testtools.NewFakeMessageFromProtobuf(driveModeTopic, &c.driveMode))
-		p.onRCThrottle(nil, testtools.NewFakeMessageFromProtobuf(rcThrottleTopic, &c.rcThrottle))
+			time.Sleep(10 * time.Millisecond)
 
-		time.Sleep(10 * time.Millisecond)
+			for i := 3; i >= 0; i-- {
 
-		for i := 3; i >= 0; i-- {
+				var msg events.ThrottleMessage
+				muEventsPublished.Lock()
+				err := proto.Unmarshal(eventsPublished[throttleTopic], &msg)
+				if err != nil {
+					t.Errorf("unable to unmarshall response: %v", err)
+					t.Fail()
+				}
+				muEventsPublished.Unlock()
 
-			var msg events.ThrottleMessage
-			muEventsPublished.Lock()
-			err := proto.Unmarshal(eventsPublished[throttleTopic], &msg)
-			if err != nil {
-				t.Errorf("unable to unmarshall response: %v", err)
-				t.Fail()
+				if msg.GetThrottle() != c.expectedThrottle.GetThrottle() {
+					t.Errorf("bad msg value for mode %v: %v, wants %v", c.driveMode, msg.GetThrottle(), c.expectedThrottle.GetThrottle())
+				}
+				if msg.GetConfidence() != 1. {
+					t.Errorf("bad throtlle confidence: %v, wants %v", msg.GetConfidence(), 1.)
+				}
+
+				time.Sleep(1 * time.Millisecond)
 			}
-			muEventsPublished.Unlock()
-
-			if msg.GetThrottle() != c.expectedThrottle.GetThrottle() {
-				t.Errorf("bad msg value for mode %v: %v, wants %v", c.driveMode, msg.GetThrottle(), c.expectedThrottle.GetThrottle())
-			}
-			if msg.GetConfidence() != 1. {
-				t.Errorf("bad throtlle confidence: %v, wants %v", msg.GetConfidence(), 1.)
-			}
-
-			time.Sleep(1 * time.Millisecond)
-		}
+		})
 	}
 }