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No commits in common. "c2b12f297c09062b682c7b811d5eb95df62d4ccb" and "623e80e429ee639f1f978c6da45674cb364b50a6" have entirely different histories.
c2b12f297c
...
623e80e429
@ -13,21 +13,16 @@ import (
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const (
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DefaultClientId = "robocar-throttle"
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DefaultThrottleMin = 0.1
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DefaultThrottleMin = 0.3
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)
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func main() {
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var mqttBroker, username, password, clientId string
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var throttleTopic, driveModeTopic, rcThrottleTopic, steeringTopic, throttleFeedbackTopic, speedZoneTopic string
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var throttleTopic, driveModeTopic, rcThrottleTopic, steeringTopic, throttleFeedbackTopic string
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var minThrottle, maxThrottle float64
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var publishPilotFrequency int
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var brakeConfig string
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var enableBrake bool
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var enableSpeedZone bool
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var enableCustomSteeringProcessor bool
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var configFileSteeringProcessor string
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var slowZoneThrottle, normalZoneThrottle, fastZoneThrottle float64
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var moderateSteering, fullSteering float64
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err := cli.SetFloat64DefaultValueFromEnv(&minThrottle, "THROTTLE_MIN", DefaultThrottleMin)
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if err != nil {
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@ -48,7 +43,6 @@ func main() {
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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")
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flag.StringVar(&steeringTopic, "mqtt-topic-steering", os.Getenv("MQTT_TOPIC_STEERING"), "Mqtt topic that contains steering value, use MQTT_TOPIC_STEERING if args not set")
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flag.StringVar(&throttleFeedbackTopic, "mqtt-topic-throttle-feedback", os.Getenv("MQTT_TOPIC_THROTTLE_FEEDBACK"), "Mqtt topic where to publish throttle feedback, use MQTT_TOPIC_THROTTLE_FEEDBACK if args not set")
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flag.StringVar(&speedZoneTopic, "mqtt-topic-speed-zone", os.Getenv("MQTT_TOPIC_SPEED_ZONE"), "Mqtt topic where to subscribe speed zone events, use MQTT_TOPIC_SPEED_ZONE if args not set")
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flag.Float64Var(&minThrottle, "throttle-min", minThrottle, "Minimum throttle value, use THROTTLE_MIN if args not set")
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flag.Float64Var(&maxThrottle, "throttle-max", maxThrottle, "Minimum throttle value, use THROTTLE_MAX if args not set")
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@ -56,17 +50,6 @@ func main() {
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flag.BoolVar(&enableBrake, "enable-brake-feature", false, "Enable brake to slow car on throttle changes")
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flag.StringVar(&brakeConfig, "brake-configuration", "", "Json file to use to configure brake adaptation when --enable-brake is `true`")
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flag.BoolVar(&enableCustomSteeringProcessor, "enable-custom-steering-processor", false, "Enable custom steering processor to estimate throttle")
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flag.StringVar(&configFileSteeringProcessor, "custom-steering-processor-config", "", "Path to json config to parameter custom steering processor")
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flag.BoolVar(&enableSpeedZone, "enable-speed-zone", false, "Enable speed zone information to estimate throttle")
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flag.Float64Var(&slowZoneThrottle, "slow-zone-throttle", 0.11, "Throttle target for slow speed zone")
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flag.Float64Var(&normalZoneThrottle, "normal-zone-throttle", 0.12, "Throttle target for normal speed zone")
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flag.Float64Var(&fastZoneThrottle, "fast-zone-throttle", 0.13, "Throttle target for fast speed zone")
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flag.Float64Var(&moderateSteering, "moderate-steering", 0.3, "Steering above is considered as moderate")
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flag.Float64Var(&fullSteering, "full-steering", 0.8, "Steering above is considered as full")
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logLevel := zap.LevelFlag("log", zap.InfoLevel, "log level")
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flag.Parse()
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@ -93,18 +76,10 @@ func main() {
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zap.S().Infof("Topic throttle feedback : %s", throttleFeedbackTopic)
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zap.S().Infof("Topic steering : %s", steeringTopic)
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zap.S().Infof("Topic drive mode : %s", driveModeTopic)
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zap.S().Infof("Topic speed zone : %s", speedZoneTopic)
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zap.S().Infof("Min throttle : %v", minThrottle)
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zap.S().Infof("Max throttle : %v", maxThrottle)
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zap.S().Infof("Publish frequency : %vHz", publishPilotFrequency)
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zap.S().Infof("Brake enabled : %v", enableBrake)
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zap.S().Infof("CustomSteeringProcessor enabled: %v", enableCustomSteeringProcessor)
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zap.S().Infof("SpeedZone enabled : %v", enableSpeedZone)
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zap.S().Infof("SpeedZone slow throttle : %v", slowZoneThrottle)
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zap.S().Infof("SpeedZone normal throttle : %v", normalZoneThrottle)
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zap.S().Infof("SpeedZone fast throttle : %v", fastZoneThrottle)
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zap.S().Infof("Steering moderate : %v", moderateSteering)
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zap.S().Infof("Steering full : %v", fullSteering)
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client, err := cli.Connect(mqttBroker, username, password, clientId)
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if err != nil {
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@ -118,33 +93,8 @@ func main() {
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} else {
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brakeCtrl = &brake.DisabledController{}
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}
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if enableSpeedZone && enableCustomSteeringProcessor {
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zap.S().Panicf("invalid flag, speedZone and customSteering processor can't be enabled at the same time")
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}
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var throttleProcessor throttle.Processor
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if enableSpeedZone {
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throttleProcessor = throttle.NewSpeedZoneProcessor(
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types.Throttle(slowZoneThrottle),
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types.Throttle(normalZoneThrottle),
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types.Throttle(fastZoneThrottle),
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moderateSteering,
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fullSteering,
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)
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} else if enableCustomSteeringProcessor {
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cfg, err := throttle.NewConfigFromJson(configFileSteeringProcessor)
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if err != nil {
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zap.S().Fatalf("unable to load config '%v': %v", configFileSteeringProcessor, err)
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}
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throttleProcessor = throttle.NewCustomSteeringProcessor(cfg)
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} else {
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throttleProcessor = throttle.NewSteeringProcessor(types.Throttle(minThrottle), types.Throttle(maxThrottle))
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}
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p := throttle.New(client, throttleTopic, driveModeTopic, rcThrottleTopic, steeringTopic, throttleFeedbackTopic,
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speedZoneTopic, types.Throttle(maxThrottle), 2,
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throttle.WithThrottleProcessor(throttleProcessor),
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throttle.WithBrakeController(brakeCtrl))
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types.Throttle(minThrottle), types.Throttle(maxThrottle), 2, throttle.WithBrakeController(brakeCtrl))
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defer p.Stop()
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cli.HandleExit(p)
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2
go.mod
2
go.mod
@ -4,7 +4,7 @@ go 1.19
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require (
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github.com/cyrilix/robocar-base v0.1.7
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github.com/cyrilix/robocar-protobuf/go v1.3.0
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github.com/cyrilix/robocar-protobuf/go v1.1.0
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github.com/eclipse/paho.mqtt.golang v1.4.1
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go.uber.org/zap v1.23.0
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google.golang.org/protobuf v1.28.1
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4
go.sum
4
go.sum
@ -1,8 +1,8 @@
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github.com/benbjohnson/clock v1.1.0 h1:Q92kusRqC1XV2MjkWETPvjJVqKetz1OzxZB7mHJLju8=
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github.com/cyrilix/robocar-base v0.1.7 h1:EVzZ0KjigSFpke5f3A/PybEH3WFUEIrYSc3z/dhOZ48=
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github.com/cyrilix/robocar-base v0.1.7/go.mod h1:4E11HQSNy2NT8e7MW188y6ST9C0RzarKyn7sK/3V/Lk=
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github.com/cyrilix/robocar-protobuf/go v1.3.0 h1:vLsoLQeIfXPnrJ+xYrPy/R/swjYiMBBR7wT2ILdLcQA=
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github.com/cyrilix/robocar-protobuf/go v1.3.0/go.mod h1:Y3AE28K5V7EZxMXp/6A8RhkRz15VOfFy4CjST35FbtQ=
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github.com/cyrilix/robocar-protobuf/go v1.1.0 h1:txIjGnnCF3UzedpsWu+sL7nMA+pNjSnX6HZlAmuReH4=
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github.com/cyrilix/robocar-protobuf/go v1.1.0/go.mod h1:Y3AE28K5V7EZxMXp/6A8RhkRz15VOfFy4CjST35FbtQ=
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github.com/davecgh/go-spew v1.1.0/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
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github.com/davecgh/go-spew v1.1.1 h1:vj9j/u1bqnvCEfJOwUhtlOARqs3+rkHYY13jYWTU97c=
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github.com/davecgh/go-spew v1.1.1/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
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@ -12,9 +12,8 @@ import (
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"time"
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)
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func New(client mqtt.Client, throttleTopic, driveModeTopic, rcThrottleTopic, steeringTopic, throttleFeedbackTopic,
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speedZoneTopic string,
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maxValue types.Throttle, publishPilotFrequency int, opts ...Option) *Controller {
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func New(client mqtt.Client, throttleTopic, driveModeTopic, rcThrottleTopic, steeringTopic, throttleFeedbackTopic string,
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minValue, maxValue types.Throttle, publishPilotFrequency int, opts ...Option) *Controller {
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c := &Controller{
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client: client,
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throttleTopic: throttleTopic,
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@ -22,11 +21,10 @@ func New(client mqtt.Client, throttleTopic, driveModeTopic, rcThrottleTopic, ste
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rcThrottleTopic: rcThrottleTopic,
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steeringTopic: steeringTopic,
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throttleFeedbackTopic: throttleFeedbackTopic,
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speedZoneTopic: speedZoneTopic,
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maxThrottle: maxValue,
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driveMode: events.DriveMode_USER,
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publishPilotFrequency: publishPilotFrequency,
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processor: &SteeringProcessor{minThrottle: 0.1, maxThrottle: maxValue},
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steeringProcessor: &SteeringProcessor{minThrottle: minValue, maxThrottle: maxValue},
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brakeCtrl: &brake.DisabledController{},
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}
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for _, o := range opts {
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@ -43,30 +41,23 @@ func WithBrakeController(bc brake.Controller) Option {
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}
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}
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func WithThrottleProcessor(p Processor) Option {
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return func(c *Controller) {
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c.processor = p
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}
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}
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type Controller struct {
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client mqtt.Client
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throttleTopic string
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maxThrottle types.Throttle
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processor Processor
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steeringProcessor *SteeringProcessor
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muDriveMode sync.RWMutex
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driveMode events.DriveMode
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muSteering sync.RWMutex
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steering types.Steering
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steering float32
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brakeCtrl brake.Controller
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cancel chan interface{}
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publishPilotFrequency int
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driveModeTopic, rcThrottleTopic, steeringTopic, throttleFeedbackTopic string
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speedZoneTopic string
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}
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func (c *Controller) Start() error {
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@ -95,7 +86,7 @@ func (c *Controller) onPublishPilotValue() {
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return
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}
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throttleFromSteering := c.processor.Process(c.readSteering())
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throttleFromSteering := c.steeringProcessor.Process(c.readSteering())
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throttleMsg := events.ThrottleMessage{
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Throttle: float32(c.brakeCtrl.AdjustThrottle(throttleFromSteering)),
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@ -111,7 +102,7 @@ func (c *Controller) onPublishPilotValue() {
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}
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func (c *Controller) readSteering() types.Steering {
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func (c *Controller) readSteering() float32 {
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c.muSteering.RLock()
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defer c.muSteering.RUnlock()
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return c.steering
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@ -119,8 +110,7 @@ func (c *Controller) readSteering() types.Steering {
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func (c *Controller) Stop() {
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close(c.cancel)
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service.StopService("throttle", c.client, c.driveModeTopic, c.rcThrottleTopic, c.steeringTopic,
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c.throttleFeedbackTopic, c.speedZoneTopic)
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service.StopService("throttle", c.client, c.driveModeTopic, c.rcThrottleTopic, c.steeringTopic, c.throttleFeedbackTopic)
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}
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func (c *Controller) onThrottleFeedback(_ mqtt.Client, message mqtt.Message) {
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@ -184,18 +174,7 @@ func (c *Controller) onSteering(_ mqtt.Client, message mqtt.Message) {
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}
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c.muSteering.Lock()
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defer c.muSteering.Unlock()
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c.steering = types.Steering(steeringMsg.GetSteering())
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}
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func (c *Controller) onSpeedZone(_ mqtt.Client, message mqtt.Message) {
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var szMsg events.SpeedZoneMessage
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payload := message.Payload()
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err := proto.Unmarshal(payload, &szMsg)
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if err != nil {
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zap.S().Errorf("unable to unmarshal speedZone message, skip value: %v", err)
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return
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}
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c.processor.SetSpeedZone(szMsg.GetSpeedZone())
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c.steering = steeringMsg.GetSteering()
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}
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var registerCallbacks = func(p *Controller) error {
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@ -217,10 +196,6 @@ var registerCallbacks = func(p *Controller) error {
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if err != nil {
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return err
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}
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err = service.RegisterCallback(p.client, p.speedZoneTopic, p.onSpeedZone)
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if err != nil {
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return err
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}
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return nil
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}
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|
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@ -36,9 +36,10 @@ func TestDefaultThrottle(t *testing.T) {
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rcThrottleTopic := "topic/rcThrottle"
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steeringTopic := "topic/rcThrottle"
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throttleFeedbackTopic := "topic/feedback/throttle"
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speedZoneTopic := "topic/speedZone"
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p := New(nil, throttleTopic, driveModeTopic, rcThrottleTopic, steeringTopic, throttleFeedbackTopic, speedZoneTopic, 1., 200)
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minValue := types.Throttle(0.56)
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p := New(nil, throttleTopic, driveModeTopic, rcThrottleTopic, steeringTopic, throttleFeedbackTopic, minValue, 1., 200)
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|
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cases := []*struct {
|
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name string
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@ -116,7 +117,6 @@ func TestController_Start(t *testing.T) {
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driveModeTopic := "topic/driveMode"
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rcThrottleTopic := "topic/rcThrottle"
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throttleFeedbackTopic := "topic/feedback/throttle"
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speedZoneTopic := "topic/speedZone"
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|
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type fields struct {
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driveMode events.DriveMode
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@ -263,12 +263,8 @@ func TestController_Start(t *testing.T) {
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t.Run(tt.name, func(t *testing.T) {
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c := New(nil,
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throttleTopic, driveModeTopic, rcThrottleTopic, steeringTopic, throttleFeedbackTopic,
|
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speedZoneTopic, tt.fields.max,
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tt.fields.min, tt.fields.max,
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tt.fields.publishPilotFrequency,
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WithThrottleProcessor(&SteeringProcessor{
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minThrottle: tt.fields.min,
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maxThrottle: tt.fields.max,
|
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}),
|
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WithBrakeController(tt.fields.brakeCtl),
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)
|
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|
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|
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@ -1,179 +1,16 @@
|
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package throttle
|
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|
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import (
|
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"encoding/json"
|
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"fmt"
|
||||
"github.com/cyrilix/robocar-protobuf/go/events"
|
||||
"github.com/cyrilix/robocar-throttle/pkg/types"
|
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"math"
|
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"os"
|
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"sync"
|
||||
)
|
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|
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type Processor interface {
|
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// Process compute throttle from steering value
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Process(steering types.Steering) types.Throttle
|
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|
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SetSpeedZone(sz events.SpeedZone)
|
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}
|
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|
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func NewSteeringProcessor(minThrottle, maxThrottle types.Throttle) *SteeringProcessor {
|
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return &SteeringProcessor{
|
||||
minThrottle: minThrottle,
|
||||
maxThrottle: maxThrottle,
|
||||
}
|
||||
}
|
||||
|
||||
type SteeringProcessor struct {
|
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minThrottle, maxThrottle types.Throttle
|
||||
}
|
||||
|
||||
func (sp *SteeringProcessor) SetSpeedZone(_ events.SpeedZone) {
|
||||
return
|
||||
}
|
||||
|
||||
// Process compute throttle from steering value
|
||||
func (sp *SteeringProcessor) Process(steering types.Steering) types.Throttle {
|
||||
func (sp *SteeringProcessor) Process(steering float32) types.Throttle {
|
||||
absSteering := math.Abs(float64(steering))
|
||||
return sp.minThrottle + types.Throttle(float64(sp.maxThrottle-sp.minThrottle)*(1-absSteering))
|
||||
}
|
||||
|
||||
func NewSpeedZoneProcessor(slowThrottle, normalThrottle, fastThrottle types.Throttle,
|
||||
moderateSteering, fullSteering float64) *SpeedZoneProcessor {
|
||||
return &SpeedZoneProcessor{
|
||||
muSz: sync.Mutex{},
|
||||
speedZone: events.SpeedZone_UNKNOWN,
|
||||
slowThrottle: slowThrottle,
|
||||
normalThrottle: normalThrottle,
|
||||
fastThrottle: fastThrottle,
|
||||
moderateSteering: moderateSteering,
|
||||
fullSteering: fullSteering,
|
||||
}
|
||||
}
|
||||
|
||||
type SpeedZoneProcessor struct {
|
||||
muSz sync.Mutex
|
||||
speedZone events.SpeedZone
|
||||
slowThrottle, normalThrottle, fastThrottle types.Throttle
|
||||
moderateSteering, fullSteering float64
|
||||
}
|
||||
|
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func (sp *SpeedZoneProcessor) SpeedZone() events.SpeedZone {
|
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sp.muSz.Lock()
|
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defer sp.muSz.Unlock()
|
||||
return sp.speedZone
|
||||
}
|
||||
|
||||
func (sp *SpeedZoneProcessor) SetSpeedZone(sz events.SpeedZone) {
|
||||
sp.muSz.Lock()
|
||||
defer sp.muSz.Unlock()
|
||||
sp.speedZone = sz
|
||||
}
|
||||
|
||||
// Process compute throttle from steering value
|
||||
func (sp *SpeedZoneProcessor) Process(steering types.Steering) types.Throttle {
|
||||
st := math.Abs(float64(steering))
|
||||
|
||||
switch sp.SpeedZone() {
|
||||
case events.SpeedZone_FAST:
|
||||
if st >= sp.fullSteering {
|
||||
return sp.slowThrottle
|
||||
} else if st >= sp.moderateSteering {
|
||||
return sp.normalThrottle
|
||||
}
|
||||
return sp.fastThrottle
|
||||
case events.SpeedZone_NORMAL:
|
||||
if st > sp.fullSteering {
|
||||
return sp.slowThrottle
|
||||
}
|
||||
return sp.normalThrottle
|
||||
case events.SpeedZone_SLOW:
|
||||
return sp.slowThrottle
|
||||
}
|
||||
return sp.slowThrottle
|
||||
}
|
||||
|
||||
func NewCustomSteeringProcessor(cfg *Config) *CustomSteeringProcessor {
|
||||
return &CustomSteeringProcessor{
|
||||
cfg: cfg,
|
||||
}
|
||||
}
|
||||
|
||||
type CustomSteeringProcessor struct {
|
||||
cfg *Config
|
||||
}
|
||||
|
||||
func (cp *CustomSteeringProcessor) Process(steering types.Steering) types.Throttle {
|
||||
return cp.cfg.ValueOf(steering)
|
||||
}
|
||||
|
||||
func (cp *CustomSteeringProcessor) SetSpeedZone(_ events.SpeedZone) {
|
||||
return
|
||||
}
|
||||
|
||||
var emptyConfig = Config{
|
||||
SteeringValues: []types.Steering{},
|
||||
ThrottleSteps: []types.Throttle{},
|
||||
}
|
||||
|
||||
func NewConfigFromJson(fileName string) (*Config, 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 Config
|
||||
err = json.Unmarshal(content, &ft)
|
||||
if err != nil {
|
||||
return &emptyConfig, fmt.Errorf("unable to unmarshal json content from %s file: %w", fileName, err)
|
||||
}
|
||||
if len(ft.SteeringValues) == 0 {
|
||||
return &emptyConfig, fmt.Errorf("invalid configuration, none steering value'")
|
||||
}
|
||||
if len(ft.SteeringValues) != len(ft.ThrottleSteps) {
|
||||
return &emptyConfig, fmt.Errorf("invalid config, steering value number must be equals "+
|
||||
"to throttle value number: %v/%v", len(ft.SteeringValues), len(ft.ThrottleSteps))
|
||||
}
|
||||
lastT := types.Throttle(1.)
|
||||
for _, t := range ft.ThrottleSteps {
|
||||
if t < 0. || t > 1. {
|
||||
return &emptyConfig, fmt.Errorf("invalid throttle value: 0.0 < %v <= 1.0", t)
|
||||
}
|
||||
if t >= lastT {
|
||||
return &emptyConfig, fmt.Errorf("invalid throttle value, all values must be decreasing: %v <= %v", lastT, t)
|
||||
}
|
||||
lastT = t
|
||||
}
|
||||
lastS := types.Steering(-0.001)
|
||||
for _, s := range ft.SteeringValues {
|
||||
if s < 0. || s > 1. {
|
||||
return &emptyConfig, fmt.Errorf("invalid steering value: 0.0 < %v <= 1.0", s)
|
||||
}
|
||||
if s <= lastS {
|
||||
return &emptyConfig, fmt.Errorf("invalid steering value, all values must be increasing: %v <= %v", lastS, s)
|
||||
}
|
||||
lastS = s
|
||||
}
|
||||
return &ft, nil
|
||||
}
|
||||
|
||||
type Config struct {
|
||||
SteeringValues []types.Steering `json:"steering_values"`
|
||||
ThrottleSteps []types.Throttle `json:"throttle_steps"`
|
||||
}
|
||||
|
||||
func (tc *Config) ValueOf(s types.Steering) types.Throttle {
|
||||
st := s
|
||||
if s < 0. {
|
||||
st = s * -1
|
||||
}
|
||||
if st < tc.SteeringValues[0] {
|
||||
return tc.ThrottleSteps[0]
|
||||
}
|
||||
|
||||
for i, steeringStep := range tc.SteeringValues {
|
||||
if st < steeringStep {
|
||||
return tc.ThrottleSteps[i-1]
|
||||
}
|
||||
}
|
||||
return tc.ThrottleSteps[len(tc.ThrottleSteps)-1]
|
||||
}
|
||||
|
||||
@ -1,11 +1,7 @@
|
||||
package throttle
|
||||
|
||||
import (
|
||||
"github.com/cyrilix/robocar-protobuf/go/events"
|
||||
"github.com/cyrilix/robocar-throttle/pkg/types"
|
||||
"os"
|
||||
"path"
|
||||
"reflect"
|
||||
"testing"
|
||||
)
|
||||
|
||||
@ -15,7 +11,7 @@ func TestSteeringProcessor_Process(t *testing.T) {
|
||||
maxThrottle types.Throttle
|
||||
}
|
||||
type args struct {
|
||||
steering types.Steering
|
||||
steering float32
|
||||
}
|
||||
tests := []struct {
|
||||
name string
|
||||
@ -91,324 +87,3 @@ func TestSteeringProcessor_Process(t *testing.T) {
|
||||
})
|
||||
}
|
||||
}
|
||||
|
||||
func TestSpeedZoneProcessor_Process(t *testing.T) {
|
||||
type fields struct {
|
||||
slowThrottle types.Throttle
|
||||
normalThrottle types.Throttle
|
||||
fastThrottle types.Throttle
|
||||
speedZone events.SpeedZone
|
||||
}
|
||||
type args struct {
|
||||
steering types.Steering
|
||||
}
|
||||
tests := []struct {
|
||||
name string
|
||||
fields fields
|
||||
args args
|
||||
want types.Throttle
|
||||
}{
|
||||
{
|
||||
name: "steering straight, undefined zone",
|
||||
fields: fields{slowThrottle: 0.2, normalThrottle: 0.5, fastThrottle: 0.8, speedZone: events.SpeedZone_SLOW},
|
||||
args: args{steering: 0.},
|
||||
want: 0.2,
|
||||
},
|
||||
{
|
||||
name: "steering straight, slow zone",
|
||||
fields: fields{slowThrottle: 0.2, normalThrottle: 0.5, fastThrottle: 0.8, speedZone: events.SpeedZone_SLOW},
|
||||
args: args{steering: 0.},
|
||||
want: 0.2,
|
||||
},
|
||||
{
|
||||
name: "moderate left, slow speed",
|
||||
fields: fields{slowThrottle: 0.2, normalThrottle: 0.5, fastThrottle: 0.8, speedZone: events.SpeedZone_SLOW},
|
||||
args: args{steering: -0.5},
|
||||
want: 0.2,
|
||||
},
|
||||
{
|
||||
name: "moderate right, slow speed",
|
||||
fields: fields{slowThrottle: 0.2, normalThrottle: 0.5, fastThrottle: 0.8, speedZone: events.SpeedZone_SLOW},
|
||||
args: args{steering: 0.5},
|
||||
want: 0.2,
|
||||
},
|
||||
{
|
||||
name: "full left, slow speed",
|
||||
fields: fields{slowThrottle: 0.2, normalThrottle: 0.5, fastThrottle: 0.8, speedZone: events.SpeedZone_SLOW},
|
||||
args: args{steering: -0.95},
|
||||
want: 0.2,
|
||||
},
|
||||
{
|
||||
name: "full right, slow speed",
|
||||
fields: fields{slowThrottle: 0.2, normalThrottle: 0.5, fastThrottle: 0.8, speedZone: events.SpeedZone_SLOW},
|
||||
args: args{steering: 0.95},
|
||||
want: 0.2,
|
||||
},
|
||||
{
|
||||
name: "steering straight, normal zone",
|
||||
fields: fields{slowThrottle: 0.2, normalThrottle: 0.5, fastThrottle: 0.8, speedZone: events.SpeedZone_NORMAL},
|
||||
args: args{steering: 0.},
|
||||
want: 0.5,
|
||||
},
|
||||
{
|
||||
name: "moderate left, normal speed",
|
||||
fields: fields{slowThrottle: 0.2, normalThrottle: 0.5, fastThrottle: 0.8, speedZone: events.SpeedZone_NORMAL},
|
||||
args: args{steering: -0.5},
|
||||
want: 0.5,
|
||||
},
|
||||
{
|
||||
name: "moderate right, normal speed",
|
||||
fields: fields{slowThrottle: 0.2, normalThrottle: 0.5, fastThrottle: 0.8, speedZone: events.SpeedZone_NORMAL},
|
||||
args: args{steering: 0.5},
|
||||
want: 0.5,
|
||||
},
|
||||
{
|
||||
name: "full left, normal speed",
|
||||
fields: fields{slowThrottle: 0.2, normalThrottle: 0.5, fastThrottle: 0.8, speedZone: events.SpeedZone_NORMAL},
|
||||
args: args{steering: -0.95},
|
||||
want: 0.2,
|
||||
},
|
||||
{
|
||||
name: "full right, normal speed",
|
||||
fields: fields{slowThrottle: 0.2, normalThrottle: 0.5, fastThrottle: 0.8, speedZone: events.SpeedZone_NORMAL},
|
||||
args: args{steering: 0.95},
|
||||
want: 0.2,
|
||||
},
|
||||
{
|
||||
name: "steering straight, fast zone",
|
||||
fields: fields{slowThrottle: 0.2, normalThrottle: 0.5, fastThrottle: 0.8, speedZone: events.SpeedZone_FAST},
|
||||
args: args{steering: 0.},
|
||||
want: 0.8,
|
||||
},
|
||||
{
|
||||
name: "moderate left, fast speed",
|
||||
fields: fields{slowThrottle: 0.2, normalThrottle: 0.5, fastThrottle: 0.8, speedZone: events.SpeedZone_FAST},
|
||||
args: args{steering: -0.5},
|
||||
want: 0.5,
|
||||
},
|
||||
{
|
||||
name: "moderate right, fast speed",
|
||||
fields: fields{slowThrottle: 0.2, normalThrottle: 0.5, fastThrottle: 0.8, speedZone: events.SpeedZone_FAST},
|
||||
args: args{steering: 0.5},
|
||||
want: 0.5,
|
||||
},
|
||||
{
|
||||
name: "full left, fast speed",
|
||||
fields: fields{slowThrottle: 0.2, normalThrottle: 0.5, fastThrottle: 0.8, speedZone: events.SpeedZone_FAST},
|
||||
args: args{steering: -0.95},
|
||||
want: 0.2,
|
||||
},
|
||||
{
|
||||
name: "full right, fast speed",
|
||||
fields: fields{slowThrottle: 0.2, normalThrottle: 0.5, fastThrottle: 0.8, speedZone: events.SpeedZone_FAST},
|
||||
args: args{steering: 0.95},
|
||||
want: 0.2,
|
||||
},
|
||||
}
|
||||
for _, tt := range tests {
|
||||
t.Run(tt.name, func(t *testing.T) {
|
||||
sp := &SpeedZoneProcessor{
|
||||
slowThrottle: tt.fields.slowThrottle,
|
||||
normalThrottle: tt.fields.normalThrottle,
|
||||
fastThrottle: tt.fields.fastThrottle,
|
||||
moderateSteering: 0.4,
|
||||
fullSteering: 0.8,
|
||||
}
|
||||
sp.SetSpeedZone(tt.fields.speedZone)
|
||||
if got := sp.Process(tt.args.steering); got != tt.want {
|
||||
t.Errorf("Process() = %v, want %v", got, tt.want)
|
||||
}
|
||||
})
|
||||
}
|
||||
}
|
||||
|
||||
func TestConfig_ValueOf(t *testing.T) {
|
||||
type fields struct {
|
||||
SteeringValue []types.Steering
|
||||
Data []types.Throttle
|
||||
}
|
||||
type args struct {
|
||||
s types.Steering
|
||||
}
|
||||
tests := []struct {
|
||||
name string
|
||||
fields fields
|
||||
args args
|
||||
want types.Throttle
|
||||
}{
|
||||
{
|
||||
name: "Nil steering",
|
||||
fields: fields{[]types.Steering{0.0, 0.5, 1.0}, []types.Throttle{0.9, 0.6, 0.1}},
|
||||
args: args{0.0},
|
||||
want: 0.9,
|
||||
},
|
||||
{
|
||||
name: "Nil steering < min config",
|
||||
fields: fields{[]types.Steering{0.2, 0.5, 1.0}, []types.Throttle{0.9, 0.6, 0.3}},
|
||||
args: args{0.1},
|
||||
want: 0.9,
|
||||
},
|
||||
{
|
||||
name: "No nil steering",
|
||||
fields: fields{[]types.Steering{0.0, 0.5, 1.0}, []types.Throttle{0.9, 0.6, 0.1}},
|
||||
args: args{0.2},
|
||||
want: 0.9,
|
||||
},
|
||||
{
|
||||
name: "Intermediate steering",
|
||||
fields: fields{[]types.Steering{0.0, 0.5, 1.0}, []types.Throttle{0.9, 0.6, 0.1}},
|
||||
args: args{0.5},
|
||||
want: 0.6,
|
||||
},
|
||||
{
|
||||
name: "Max steering",
|
||||
fields: fields{[]types.Steering{0.0, 0.5, 1.0}, []types.Throttle{0.9, 0.6, 0.1}},
|
||||
args: args{1.0},
|
||||
want: 0.1,
|
||||
},
|
||||
{
|
||||
name: "Over steering",
|
||||
fields: fields{[]types.Steering{0.0, 0.5, 1.0}, []types.Throttle{0.9, 0.6, 0.1}},
|
||||
args: args{1.1},
|
||||
want: 0.1,
|
||||
},
|
||||
{
|
||||
name: "Negative steering < min config",
|
||||
fields: fields{[]types.Steering{0.2, 0.5, 1.0}, []types.Throttle{0.9, 0.6, 0.3}},
|
||||
args: args{-0.1},
|
||||
want: 0.9,
|
||||
},
|
||||
{
|
||||
name: "Negative steering",
|
||||
fields: fields{[]types.Steering{0.0, 0.5, 1.0}, []types.Throttle{0.9, 0.6, 0.1}},
|
||||
args: args{-0.2},
|
||||
want: 0.9,
|
||||
},
|
||||
{
|
||||
name: "Negative Intermediate steering",
|
||||
fields: fields{[]types.Steering{0.0, 0.5, 1.0}, []types.Throttle{0.9, 0.6, 0.1}},
|
||||
args: args{-0.5},
|
||||
want: 0.6,
|
||||
},
|
||||
{
|
||||
name: "Minimum steering",
|
||||
fields: fields{[]types.Steering{0.0, 0.5, 1.0}, []types.Throttle{0.9, 0.6, 0.1}},
|
||||
args: args{-1.0},
|
||||
want: 0.1,
|
||||
},
|
||||
{
|
||||
name: "Negative Over steering",
|
||||
fields: fields{[]types.Steering{0.0, 0.5, 1.0}, []types.Throttle{0.9, 0.6, 0.1}},
|
||||
args: args{-1.1},
|
||||
want: 0.1,
|
||||
},
|
||||
}
|
||||
for _, tt := range tests {
|
||||
t.Run(tt.name, func(t *testing.T) {
|
||||
tc := &Config{
|
||||
SteeringValues: tt.fields.SteeringValue,
|
||||
ThrottleSteps: tt.fields.Data,
|
||||
}
|
||||
if got := tc.ValueOf(tt.args.s); got != tt.want {
|
||||
t.Errorf("ValueOf() = %v, want %v", got, tt.want)
|
||||
}
|
||||
})
|
||||
}
|
||||
}
|
||||
|
||||
func TestNewConfigFromJson(t *testing.T) {
|
||||
type args struct {
|
||||
configContent string
|
||||
}
|
||||
|
||||
tests := []struct {
|
||||
name string
|
||||
args args
|
||||
want *Config
|
||||
wantErr bool
|
||||
}{
|
||||
{
|
||||
name: "default",
|
||||
args: args{
|
||||
configContent: `{
|
||||
"steering_values": [0.0, 0.5, 1.0],
|
||||
"throttle_steps": [0.9, 0.6, 0.1]
|
||||
}
|
||||
`,
|
||||
},
|
||||
want: &Config{
|
||||
SteeringValues: []types.Steering{0., 0.5, 1.},
|
||||
ThrottleSteps: []types.Throttle{0.9, 0.6, 0.1},
|
||||
},
|
||||
},
|
||||
{
|
||||
name: "invalid config",
|
||||
args: args{
|
||||
configContent: `{ "steering_values" }`,
|
||||
},
|
||||
want: &emptyConfig,
|
||||
wantErr: true,
|
||||
},
|
||||
{
|
||||
name: "empty config",
|
||||
args: args{
|
||||
configContent: `{
|
||||
"steering_values": [],
|
||||
"throttle_steps": []
|
||||
}`,
|
||||
},
|
||||
want: &emptyConfig,
|
||||
wantErr: true,
|
||||
},
|
||||
{
|
||||
name: "incoherent config",
|
||||
args: args{
|
||||
configContent: `{
|
||||
"steering_values": [0.0, 0.5, 1.0],
|
||||
"throttle_steps": [0.9, 0.1]
|
||||
}`,
|
||||
},
|
||||
want: &emptyConfig,
|
||||
wantErr: true,
|
||||
},
|
||||
{
|
||||
name: "steering in bad order",
|
||||
args: args{
|
||||
configContent: `{
|
||||
"steering_values": [0.0, 0.6, 0.5],
|
||||
"throttle_steps": [0.9, 0.5, 0.1]
|
||||
}`,
|
||||
},
|
||||
want: &emptyConfig,
|
||||
wantErr: true,
|
||||
},
|
||||
{
|
||||
name: "throttle in bad order",
|
||||
args: args{
|
||||
configContent: `{
|
||||
"steering_values": [0.0, 0.5, 0.9],
|
||||
"throttle_steps": [0.4, 0.5, 0.1]
|
||||
}`,
|
||||
},
|
||||
want: &emptyConfig,
|
||||
wantErr: true,
|
||||
},
|
||||
}
|
||||
for _, tt := range tests {
|
||||
t.Run(tt.name, func(t *testing.T) {
|
||||
configName := path.Join(t.TempDir(), "config.json")
|
||||
err := os.WriteFile(configName, []byte(tt.args.configContent), 0644)
|
||||
if err != nil {
|
||||
t.Errorf("unable to create test config: %v", err)
|
||||
}
|
||||
got, err := NewConfigFromJson(configName)
|
||||
if (err != nil) != tt.wantErr {
|
||||
t.Errorf("NewConfigFromJson() error = %v, wantErr %v", err, tt.wantErr)
|
||||
return
|
||||
}
|
||||
if !reflect.DeepEqual(got, tt.want) {
|
||||
t.Errorf("NewConfigFromJson() got = %v, want %v", got, tt.want)
|
||||
}
|
||||
})
|
||||
}
|
||||
}
|
||||
|
||||
@ -1,5 +1,3 @@
|
||||
package types
|
||||
|
||||
type Throttle float32
|
||||
|
||||
type Steering float32
|
||||
|
||||
456
vendor/github.com/cyrilix/robocar-protobuf/go/events/events.pb.go
generated
vendored
456
vendor/github.com/cyrilix/robocar-protobuf/go/events/events.pb.go
generated
vendored
@ -21,58 +21,6 @@ const (
|
||||
_ = protoimpl.EnforceVersion(protoimpl.MaxVersion - 20)
|
||||
)
|
||||
|
||||
type SpeedZone int32
|
||||
|
||||
const (
|
||||
SpeedZone_UNKNOWN SpeedZone = 0
|
||||
SpeedZone_SLOW SpeedZone = 1
|
||||
SpeedZone_NORMAL SpeedZone = 2
|
||||
SpeedZone_FAST SpeedZone = 3
|
||||
)
|
||||
|
||||
// Enum value maps for SpeedZone.
|
||||
var (
|
||||
SpeedZone_name = map[int32]string{
|
||||
0: "UNKNOWN",
|
||||
1: "SLOW",
|
||||
2: "NORMAL",
|
||||
3: "FAST",
|
||||
}
|
||||
SpeedZone_value = map[string]int32{
|
||||
"UNKNOWN": 0,
|
||||
"SLOW": 1,
|
||||
"NORMAL": 2,
|
||||
"FAST": 3,
|
||||
}
|
||||
)
|
||||
|
||||
func (x SpeedZone) Enum() *SpeedZone {
|
||||
p := new(SpeedZone)
|
||||
*p = x
|
||||
return p
|
||||
}
|
||||
|
||||
func (x SpeedZone) String() string {
|
||||
return protoimpl.X.EnumStringOf(x.Descriptor(), protoreflect.EnumNumber(x))
|
||||
}
|
||||
|
||||
func (SpeedZone) Descriptor() protoreflect.EnumDescriptor {
|
||||
return file_events_events_proto_enumTypes[0].Descriptor()
|
||||
}
|
||||
|
||||
func (SpeedZone) Type() protoreflect.EnumType {
|
||||
return &file_events_events_proto_enumTypes[0]
|
||||
}
|
||||
|
||||
func (x SpeedZone) Number() protoreflect.EnumNumber {
|
||||
return protoreflect.EnumNumber(x)
|
||||
}
|
||||
|
||||
// Deprecated: Use SpeedZone.Descriptor instead.
|
||||
func (SpeedZone) EnumDescriptor() ([]byte, []int) {
|
||||
return file_events_events_proto_rawDescGZIP(), []int{0}
|
||||
}
|
||||
|
||||
type DriveMode int32
|
||||
|
||||
const (
|
||||
@ -106,11 +54,11 @@ func (x DriveMode) String() string {
|
||||
}
|
||||
|
||||
func (DriveMode) Descriptor() protoreflect.EnumDescriptor {
|
||||
return file_events_events_proto_enumTypes[1].Descriptor()
|
||||
return file_events_events_proto_enumTypes[0].Descriptor()
|
||||
}
|
||||
|
||||
func (DriveMode) Type() protoreflect.EnumType {
|
||||
return &file_events_events_proto_enumTypes[1]
|
||||
return &file_events_events_proto_enumTypes[0]
|
||||
}
|
||||
|
||||
func (x DriveMode) Number() protoreflect.EnumNumber {
|
||||
@ -119,7 +67,7 @@ func (x DriveMode) Number() protoreflect.EnumNumber {
|
||||
|
||||
// Deprecated: Use DriveMode.Descriptor instead.
|
||||
func (DriveMode) EnumDescriptor() ([]byte, []int) {
|
||||
return file_events_events_proto_rawDescGZIP(), []int{1}
|
||||
return file_events_events_proto_rawDescGZIP(), []int{0}
|
||||
}
|
||||
|
||||
type TypeObject int32
|
||||
@ -158,11 +106,11 @@ func (x TypeObject) String() string {
|
||||
}
|
||||
|
||||
func (TypeObject) Descriptor() protoreflect.EnumDescriptor {
|
||||
return file_events_events_proto_enumTypes[2].Descriptor()
|
||||
return file_events_events_proto_enumTypes[1].Descriptor()
|
||||
}
|
||||
|
||||
func (TypeObject) Type() protoreflect.EnumType {
|
||||
return &file_events_events_proto_enumTypes[2]
|
||||
return &file_events_events_proto_enumTypes[1]
|
||||
}
|
||||
|
||||
func (x TypeObject) Number() protoreflect.EnumNumber {
|
||||
@ -171,7 +119,7 @@ func (x TypeObject) Number() protoreflect.EnumNumber {
|
||||
|
||||
// Deprecated: Use TypeObject.Descriptor instead.
|
||||
func (TypeObject) EnumDescriptor() ([]byte, []int) {
|
||||
return file_events_events_proto_rawDescGZIP(), []int{2}
|
||||
return file_events_events_proto_rawDescGZIP(), []int{1}
|
||||
}
|
||||
|
||||
type FrameRef struct {
|
||||
@ -418,69 +366,6 @@ func (x *ThrottleMessage) GetFrameRef() *FrameRef {
|
||||
return nil
|
||||
}
|
||||
|
||||
type SpeedZoneMessage struct {
|
||||
state protoimpl.MessageState
|
||||
sizeCache protoimpl.SizeCache
|
||||
unknownFields protoimpl.UnknownFields
|
||||
|
||||
SpeedZone SpeedZone `protobuf:"varint,1,opt,name=speed_zone,json=speedZone,proto3,enum=robocar.events.SpeedZone" json:"speed_zone,omitempty"`
|
||||
Confidence float32 `protobuf:"fixed32,2,opt,name=confidence,proto3" json:"confidence,omitempty"`
|
||||
FrameRef *FrameRef `protobuf:"bytes,3,opt,name=frame_ref,json=frameRef,proto3" json:"frame_ref,omitempty"`
|
||||
}
|
||||
|
||||
func (x *SpeedZoneMessage) Reset() {
|
||||
*x = SpeedZoneMessage{}
|
||||
if protoimpl.UnsafeEnabled {
|
||||
mi := &file_events_events_proto_msgTypes[4]
|
||||
ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
|
||||
ms.StoreMessageInfo(mi)
|
||||
}
|
||||
}
|
||||
|
||||
func (x *SpeedZoneMessage) String() string {
|
||||
return protoimpl.X.MessageStringOf(x)
|
||||
}
|
||||
|
||||
func (*SpeedZoneMessage) ProtoMessage() {}
|
||||
|
||||
func (x *SpeedZoneMessage) ProtoReflect() protoreflect.Message {
|
||||
mi := &file_events_events_proto_msgTypes[4]
|
||||
if protoimpl.UnsafeEnabled && x != nil {
|
||||
ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
|
||||
if ms.LoadMessageInfo() == nil {
|
||||
ms.StoreMessageInfo(mi)
|
||||
}
|
||||
return ms
|
||||
}
|
||||
return mi.MessageOf(x)
|
||||
}
|
||||
|
||||
// Deprecated: Use SpeedZoneMessage.ProtoReflect.Descriptor instead.
|
||||
func (*SpeedZoneMessage) Descriptor() ([]byte, []int) {
|
||||
return file_events_events_proto_rawDescGZIP(), []int{4}
|
||||
}
|
||||
|
||||
func (x *SpeedZoneMessage) GetSpeedZone() SpeedZone {
|
||||
if x != nil {
|
||||
return x.SpeedZone
|
||||
}
|
||||
return SpeedZone_UNKNOWN
|
||||
}
|
||||
|
||||
func (x *SpeedZoneMessage) GetConfidence() float32 {
|
||||
if x != nil {
|
||||
return x.Confidence
|
||||
}
|
||||
return 0
|
||||
}
|
||||
|
||||
func (x *SpeedZoneMessage) GetFrameRef() *FrameRef {
|
||||
if x != nil {
|
||||
return x.FrameRef
|
||||
}
|
||||
return nil
|
||||
}
|
||||
|
||||
type DriveModeMessage struct {
|
||||
state protoimpl.MessageState
|
||||
sizeCache protoimpl.SizeCache
|
||||
@ -492,7 +377,7 @@ type DriveModeMessage struct {
|
||||
func (x *DriveModeMessage) Reset() {
|
||||
*x = DriveModeMessage{}
|
||||
if protoimpl.UnsafeEnabled {
|
||||
mi := &file_events_events_proto_msgTypes[5]
|
||||
mi := &file_events_events_proto_msgTypes[4]
|
||||
ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
|
||||
ms.StoreMessageInfo(mi)
|
||||
}
|
||||
@ -505,7 +390,7 @@ func (x *DriveModeMessage) String() string {
|
||||
func (*DriveModeMessage) ProtoMessage() {}
|
||||
|
||||
func (x *DriveModeMessage) ProtoReflect() protoreflect.Message {
|
||||
mi := &file_events_events_proto_msgTypes[5]
|
||||
mi := &file_events_events_proto_msgTypes[4]
|
||||
if protoimpl.UnsafeEnabled && x != nil {
|
||||
ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
|
||||
if ms.LoadMessageInfo() == nil {
|
||||
@ -518,7 +403,7 @@ func (x *DriveModeMessage) ProtoReflect() protoreflect.Message {
|
||||
|
||||
// Deprecated: Use DriveModeMessage.ProtoReflect.Descriptor instead.
|
||||
func (*DriveModeMessage) Descriptor() ([]byte, []int) {
|
||||
return file_events_events_proto_rawDescGZIP(), []int{5}
|
||||
return file_events_events_proto_rawDescGZIP(), []int{4}
|
||||
}
|
||||
|
||||
func (x *DriveModeMessage) GetDriveMode() DriveMode {
|
||||
@ -540,7 +425,7 @@ type ObjectsMessage struct {
|
||||
func (x *ObjectsMessage) Reset() {
|
||||
*x = ObjectsMessage{}
|
||||
if protoimpl.UnsafeEnabled {
|
||||
mi := &file_events_events_proto_msgTypes[6]
|
||||
mi := &file_events_events_proto_msgTypes[5]
|
||||
ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
|
||||
ms.StoreMessageInfo(mi)
|
||||
}
|
||||
@ -553,7 +438,7 @@ func (x *ObjectsMessage) String() string {
|
||||
func (*ObjectsMessage) ProtoMessage() {}
|
||||
|
||||
func (x *ObjectsMessage) ProtoReflect() protoreflect.Message {
|
||||
mi := &file_events_events_proto_msgTypes[6]
|
||||
mi := &file_events_events_proto_msgTypes[5]
|
||||
if protoimpl.UnsafeEnabled && x != nil {
|
||||
ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
|
||||
if ms.LoadMessageInfo() == nil {
|
||||
@ -566,7 +451,7 @@ func (x *ObjectsMessage) ProtoReflect() protoreflect.Message {
|
||||
|
||||
// Deprecated: Use ObjectsMessage.ProtoReflect.Descriptor instead.
|
||||
func (*ObjectsMessage) Descriptor() ([]byte, []int) {
|
||||
return file_events_events_proto_rawDescGZIP(), []int{6}
|
||||
return file_events_events_proto_rawDescGZIP(), []int{5}
|
||||
}
|
||||
|
||||
func (x *ObjectsMessage) GetObjects() []*Object {
|
||||
@ -600,7 +485,7 @@ type Object struct {
|
||||
func (x *Object) Reset() {
|
||||
*x = Object{}
|
||||
if protoimpl.UnsafeEnabled {
|
||||
mi := &file_events_events_proto_msgTypes[7]
|
||||
mi := &file_events_events_proto_msgTypes[6]
|
||||
ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
|
||||
ms.StoreMessageInfo(mi)
|
||||
}
|
||||
@ -613,7 +498,7 @@ func (x *Object) String() string {
|
||||
func (*Object) ProtoMessage() {}
|
||||
|
||||
func (x *Object) ProtoReflect() protoreflect.Message {
|
||||
mi := &file_events_events_proto_msgTypes[7]
|
||||
mi := &file_events_events_proto_msgTypes[6]
|
||||
if protoimpl.UnsafeEnabled && x != nil {
|
||||
ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
|
||||
if ms.LoadMessageInfo() == nil {
|
||||
@ -626,7 +511,7 @@ func (x *Object) ProtoReflect() protoreflect.Message {
|
||||
|
||||
// Deprecated: Use Object.ProtoReflect.Descriptor instead.
|
||||
func (*Object) Descriptor() ([]byte, []int) {
|
||||
return file_events_events_proto_rawDescGZIP(), []int{7}
|
||||
return file_events_events_proto_rawDescGZIP(), []int{6}
|
||||
}
|
||||
|
||||
func (x *Object) GetType() TypeObject {
|
||||
@ -682,7 +567,7 @@ type SwitchRecordMessage struct {
|
||||
func (x *SwitchRecordMessage) Reset() {
|
||||
*x = SwitchRecordMessage{}
|
||||
if protoimpl.UnsafeEnabled {
|
||||
mi := &file_events_events_proto_msgTypes[8]
|
||||
mi := &file_events_events_proto_msgTypes[7]
|
||||
ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
|
||||
ms.StoreMessageInfo(mi)
|
||||
}
|
||||
@ -695,7 +580,7 @@ func (x *SwitchRecordMessage) String() string {
|
||||
func (*SwitchRecordMessage) ProtoMessage() {}
|
||||
|
||||
func (x *SwitchRecordMessage) ProtoReflect() protoreflect.Message {
|
||||
mi := &file_events_events_proto_msgTypes[8]
|
||||
mi := &file_events_events_proto_msgTypes[7]
|
||||
if protoimpl.UnsafeEnabled && x != nil {
|
||||
ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
|
||||
if ms.LoadMessageInfo() == nil {
|
||||
@ -708,7 +593,7 @@ func (x *SwitchRecordMessage) ProtoReflect() protoreflect.Message {
|
||||
|
||||
// Deprecated: Use SwitchRecordMessage.ProtoReflect.Descriptor instead.
|
||||
func (*SwitchRecordMessage) Descriptor() ([]byte, []int) {
|
||||
return file_events_events_proto_rawDescGZIP(), []int{8}
|
||||
return file_events_events_proto_rawDescGZIP(), []int{7}
|
||||
}
|
||||
|
||||
func (x *SwitchRecordMessage) GetEnabled() bool {
|
||||
@ -732,7 +617,7 @@ type RoadMessage struct {
|
||||
func (x *RoadMessage) Reset() {
|
||||
*x = RoadMessage{}
|
||||
if protoimpl.UnsafeEnabled {
|
||||
mi := &file_events_events_proto_msgTypes[9]
|
||||
mi := &file_events_events_proto_msgTypes[8]
|
||||
ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
|
||||
ms.StoreMessageInfo(mi)
|
||||
}
|
||||
@ -745,7 +630,7 @@ func (x *RoadMessage) String() string {
|
||||
func (*RoadMessage) ProtoMessage() {}
|
||||
|
||||
func (x *RoadMessage) ProtoReflect() protoreflect.Message {
|
||||
mi := &file_events_events_proto_msgTypes[9]
|
||||
mi := &file_events_events_proto_msgTypes[8]
|
||||
if protoimpl.UnsafeEnabled && x != nil {
|
||||
ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
|
||||
if ms.LoadMessageInfo() == nil {
|
||||
@ -758,7 +643,7 @@ func (x *RoadMessage) ProtoReflect() protoreflect.Message {
|
||||
|
||||
// Deprecated: Use RoadMessage.ProtoReflect.Descriptor instead.
|
||||
func (*RoadMessage) Descriptor() ([]byte, []int) {
|
||||
return file_events_events_proto_rawDescGZIP(), []int{9}
|
||||
return file_events_events_proto_rawDescGZIP(), []int{8}
|
||||
}
|
||||
|
||||
func (x *RoadMessage) GetContour() []*Point {
|
||||
@ -794,7 +679,7 @@ type Point struct {
|
||||
func (x *Point) Reset() {
|
||||
*x = Point{}
|
||||
if protoimpl.UnsafeEnabled {
|
||||
mi := &file_events_events_proto_msgTypes[10]
|
||||
mi := &file_events_events_proto_msgTypes[9]
|
||||
ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
|
||||
ms.StoreMessageInfo(mi)
|
||||
}
|
||||
@ -807,7 +692,7 @@ func (x *Point) String() string {
|
||||
func (*Point) ProtoMessage() {}
|
||||
|
||||
func (x *Point) ProtoReflect() protoreflect.Message {
|
||||
mi := &file_events_events_proto_msgTypes[10]
|
||||
mi := &file_events_events_proto_msgTypes[9]
|
||||
if protoimpl.UnsafeEnabled && x != nil {
|
||||
ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
|
||||
if ms.LoadMessageInfo() == nil {
|
||||
@ -820,7 +705,7 @@ func (x *Point) ProtoReflect() protoreflect.Message {
|
||||
|
||||
// Deprecated: Use Point.ProtoReflect.Descriptor instead.
|
||||
func (*Point) Descriptor() ([]byte, []int) {
|
||||
return file_events_events_proto_rawDescGZIP(), []int{10}
|
||||
return file_events_events_proto_rawDescGZIP(), []int{9}
|
||||
}
|
||||
|
||||
func (x *Point) GetX() int32 {
|
||||
@ -852,7 +737,7 @@ type Ellipse struct {
|
||||
func (x *Ellipse) Reset() {
|
||||
*x = Ellipse{}
|
||||
if protoimpl.UnsafeEnabled {
|
||||
mi := &file_events_events_proto_msgTypes[11]
|
||||
mi := &file_events_events_proto_msgTypes[10]
|
||||
ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
|
||||
ms.StoreMessageInfo(mi)
|
||||
}
|
||||
@ -865,7 +750,7 @@ func (x *Ellipse) String() string {
|
||||
func (*Ellipse) ProtoMessage() {}
|
||||
|
||||
func (x *Ellipse) ProtoReflect() protoreflect.Message {
|
||||
mi := &file_events_events_proto_msgTypes[11]
|
||||
mi := &file_events_events_proto_msgTypes[10]
|
||||
if protoimpl.UnsafeEnabled && x != nil {
|
||||
ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
|
||||
if ms.LoadMessageInfo() == nil {
|
||||
@ -878,7 +763,7 @@ func (x *Ellipse) ProtoReflect() protoreflect.Message {
|
||||
|
||||
// Deprecated: Use Ellipse.ProtoReflect.Descriptor instead.
|
||||
func (*Ellipse) Descriptor() ([]byte, []int) {
|
||||
return file_events_events_proto_rawDescGZIP(), []int{11}
|
||||
return file_events_events_proto_rawDescGZIP(), []int{10}
|
||||
}
|
||||
|
||||
func (x *Ellipse) GetCenter() *Point {
|
||||
@ -924,15 +809,13 @@ type RecordMessage struct {
|
||||
|
||||
Frame *FrameMessage `protobuf:"bytes,1,opt,name=frame,proto3" json:"frame,omitempty"`
|
||||
Steering *SteeringMessage `protobuf:"bytes,2,opt,name=steering,proto3" json:"steering,omitempty"`
|
||||
AutopilotSteering *SteeringMessage `protobuf:"bytes,4,opt,name=autopilot_steering,json=autopilotSteering,proto3" json:"autopilot_steering,omitempty"`
|
||||
DriveMode *DriveModeMessage `protobuf:"bytes,5,opt,name=drive_mode,json=driveMode,proto3" json:"drive_mode,omitempty"`
|
||||
RecordSet string `protobuf:"bytes,3,opt,name=recordSet,proto3" json:"recordSet,omitempty"` // Record set name
|
||||
}
|
||||
|
||||
func (x *RecordMessage) Reset() {
|
||||
*x = RecordMessage{}
|
||||
if protoimpl.UnsafeEnabled {
|
||||
mi := &file_events_events_proto_msgTypes[12]
|
||||
mi := &file_events_events_proto_msgTypes[11]
|
||||
ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
|
||||
ms.StoreMessageInfo(mi)
|
||||
}
|
||||
@ -945,7 +828,7 @@ func (x *RecordMessage) String() string {
|
||||
func (*RecordMessage) ProtoMessage() {}
|
||||
|
||||
func (x *RecordMessage) ProtoReflect() protoreflect.Message {
|
||||
mi := &file_events_events_proto_msgTypes[12]
|
||||
mi := &file_events_events_proto_msgTypes[11]
|
||||
if protoimpl.UnsafeEnabled && x != nil {
|
||||
ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
|
||||
if ms.LoadMessageInfo() == nil {
|
||||
@ -958,7 +841,7 @@ func (x *RecordMessage) ProtoReflect() protoreflect.Message {
|
||||
|
||||
// Deprecated: Use RecordMessage.ProtoReflect.Descriptor instead.
|
||||
func (*RecordMessage) Descriptor() ([]byte, []int) {
|
||||
return file_events_events_proto_rawDescGZIP(), []int{12}
|
||||
return file_events_events_proto_rawDescGZIP(), []int{11}
|
||||
}
|
||||
|
||||
func (x *RecordMessage) GetFrame() *FrameMessage {
|
||||
@ -975,20 +858,6 @@ func (x *RecordMessage) GetSteering() *SteeringMessage {
|
||||
return nil
|
||||
}
|
||||
|
||||
func (x *RecordMessage) GetAutopilotSteering() *SteeringMessage {
|
||||
if x != nil {
|
||||
return x.AutopilotSteering
|
||||
}
|
||||
return nil
|
||||
}
|
||||
|
||||
func (x *RecordMessage) GetDriveMode() *DriveModeMessage {
|
||||
if x != nil {
|
||||
return x.DriveMode
|
||||
}
|
||||
return nil
|
||||
}
|
||||
|
||||
func (x *RecordMessage) GetRecordSet() string {
|
||||
if x != nil {
|
||||
return x.RecordSet
|
||||
@ -1032,96 +901,73 @@ var file_events_events_proto_rawDesc = []byte{
|
||||
0x65, 0x5f, 0x72, 0x65, 0x66, 0x18, 0x03, 0x20, 0x01, 0x28, 0x0b, 0x32, 0x18, 0x2e, 0x72, 0x6f,
|
||||
0x62, 0x6f, 0x63, 0x61, 0x72, 0x2e, 0x65, 0x76, 0x65, 0x6e, 0x74, 0x73, 0x2e, 0x46, 0x72, 0x61,
|
||||
0x6d, 0x65, 0x52, 0x65, 0x66, 0x52, 0x08, 0x66, 0x72, 0x61, 0x6d, 0x65, 0x52, 0x65, 0x66, 0x22,
|
||||
0xa3, 0x01, 0x0a, 0x10, 0x53, 0x70, 0x65, 0x65, 0x64, 0x5a, 0x6f, 0x6e, 0x65, 0x4d, 0x65, 0x73,
|
||||
0x73, 0x61, 0x67, 0x65, 0x12, 0x38, 0x0a, 0x0a, 0x73, 0x70, 0x65, 0x65, 0x64, 0x5f, 0x7a, 0x6f,
|
||||
0x6e, 0x65, 0x18, 0x01, 0x20, 0x01, 0x28, 0x0e, 0x32, 0x19, 0x2e, 0x72, 0x6f, 0x62, 0x6f, 0x63,
|
||||
0x61, 0x72, 0x2e, 0x65, 0x76, 0x65, 0x6e, 0x74, 0x73, 0x2e, 0x53, 0x70, 0x65, 0x65, 0x64, 0x5a,
|
||||
0x6f, 0x6e, 0x65, 0x52, 0x09, 0x73, 0x70, 0x65, 0x65, 0x64, 0x5a, 0x6f, 0x6e, 0x65, 0x12, 0x1e,
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|
||||
}
|
||||
|
||||
var (
|
||||
@ -1136,51 +982,45 @@ func file_events_events_proto_rawDescGZIP() []byte {
|
||||
return file_events_events_proto_rawDescData
|
||||
}
|
||||
|
||||
var file_events_events_proto_enumTypes = make([]protoimpl.EnumInfo, 3)
|
||||
var file_events_events_proto_msgTypes = make([]protoimpl.MessageInfo, 13)
|
||||
var file_events_events_proto_enumTypes = make([]protoimpl.EnumInfo, 2)
|
||||
var file_events_events_proto_msgTypes = make([]protoimpl.MessageInfo, 12)
|
||||
var file_events_events_proto_goTypes = []interface{}{
|
||||
(SpeedZone)(0), // 0: robocar.events.SpeedZone
|
||||
(DriveMode)(0), // 1: robocar.events.DriveMode
|
||||
(TypeObject)(0), // 2: robocar.events.TypeObject
|
||||
(*FrameRef)(nil), // 3: robocar.events.FrameRef
|
||||
(*FrameMessage)(nil), // 4: robocar.events.FrameMessage
|
||||
(*SteeringMessage)(nil), // 5: robocar.events.SteeringMessage
|
||||
(*ThrottleMessage)(nil), // 6: robocar.events.ThrottleMessage
|
||||
(*SpeedZoneMessage)(nil), // 7: robocar.events.SpeedZoneMessage
|
||||
(*DriveModeMessage)(nil), // 8: robocar.events.DriveModeMessage
|
||||
(*ObjectsMessage)(nil), // 9: robocar.events.ObjectsMessage
|
||||
(*Object)(nil), // 10: robocar.events.Object
|
||||
(*SwitchRecordMessage)(nil), // 11: robocar.events.SwitchRecordMessage
|
||||
(*RoadMessage)(nil), // 12: robocar.events.RoadMessage
|
||||
(*Point)(nil), // 13: robocar.events.Point
|
||||
(*Ellipse)(nil), // 14: robocar.events.Ellipse
|
||||
(*RecordMessage)(nil), // 15: robocar.events.RecordMessage
|
||||
(*timestamp.Timestamp)(nil), // 16: google.protobuf.Timestamp
|
||||
(DriveMode)(0), // 0: robocar.events.DriveMode
|
||||
(TypeObject)(0), // 1: robocar.events.TypeObject
|
||||
(*FrameRef)(nil), // 2: robocar.events.FrameRef
|
||||
(*FrameMessage)(nil), // 3: robocar.events.FrameMessage
|
||||
(*SteeringMessage)(nil), // 4: robocar.events.SteeringMessage
|
||||
(*ThrottleMessage)(nil), // 5: robocar.events.ThrottleMessage
|
||||
(*DriveModeMessage)(nil), // 6: robocar.events.DriveModeMessage
|
||||
(*ObjectsMessage)(nil), // 7: robocar.events.ObjectsMessage
|
||||
(*Object)(nil), // 8: robocar.events.Object
|
||||
(*SwitchRecordMessage)(nil), // 9: robocar.events.SwitchRecordMessage
|
||||
(*RoadMessage)(nil), // 10: robocar.events.RoadMessage
|
||||
(*Point)(nil), // 11: robocar.events.Point
|
||||
(*Ellipse)(nil), // 12: robocar.events.Ellipse
|
||||
(*RecordMessage)(nil), // 13: robocar.events.RecordMessage
|
||||
(*timestamp.Timestamp)(nil), // 14: google.protobuf.Timestamp
|
||||
}
|
||||
var file_events_events_proto_depIdxs = []int32{
|
||||
16, // 0: robocar.events.FrameRef.created_at:type_name -> google.protobuf.Timestamp
|
||||
3, // 1: robocar.events.FrameMessage.id:type_name -> robocar.events.FrameRef
|
||||
3, // 2: robocar.events.SteeringMessage.frame_ref:type_name -> robocar.events.FrameRef
|
||||
3, // 3: robocar.events.ThrottleMessage.frame_ref:type_name -> robocar.events.FrameRef
|
||||
0, // 4: robocar.events.SpeedZoneMessage.speed_zone:type_name -> robocar.events.SpeedZone
|
||||
3, // 5: robocar.events.SpeedZoneMessage.frame_ref:type_name -> robocar.events.FrameRef
|
||||
1, // 6: robocar.events.DriveModeMessage.drive_mode:type_name -> robocar.events.DriveMode
|
||||
10, // 7: robocar.events.ObjectsMessage.objects:type_name -> robocar.events.Object
|
||||
3, // 8: robocar.events.ObjectsMessage.frame_ref:type_name -> robocar.events.FrameRef
|
||||
2, // 9: robocar.events.Object.type:type_name -> robocar.events.TypeObject
|
||||
13, // 10: robocar.events.RoadMessage.contour:type_name -> robocar.events.Point
|
||||
14, // 11: robocar.events.RoadMessage.ellipse:type_name -> robocar.events.Ellipse
|
||||
3, // 12: robocar.events.RoadMessage.frame_ref:type_name -> robocar.events.FrameRef
|
||||
13, // 13: robocar.events.Ellipse.center:type_name -> robocar.events.Point
|
||||
4, // 14: robocar.events.RecordMessage.frame:type_name -> robocar.events.FrameMessage
|
||||
5, // 15: robocar.events.RecordMessage.steering:type_name -> robocar.events.SteeringMessage
|
||||
5, // 16: robocar.events.RecordMessage.autopilot_steering:type_name -> robocar.events.SteeringMessage
|
||||
8, // 17: robocar.events.RecordMessage.drive_mode:type_name -> robocar.events.DriveModeMessage
|
||||
18, // [18:18] is the sub-list for method output_type
|
||||
18, // [18:18] is the sub-list for method input_type
|
||||
18, // [18:18] is the sub-list for extension type_name
|
||||
18, // [18:18] is the sub-list for extension extendee
|
||||
0, // [0:18] is the sub-list for field type_name
|
||||
14, // 0: robocar.events.FrameRef.created_at:type_name -> google.protobuf.Timestamp
|
||||
2, // 1: robocar.events.FrameMessage.id:type_name -> robocar.events.FrameRef
|
||||
2, // 2: robocar.events.SteeringMessage.frame_ref:type_name -> robocar.events.FrameRef
|
||||
2, // 3: robocar.events.ThrottleMessage.frame_ref:type_name -> robocar.events.FrameRef
|
||||
0, // 4: robocar.events.DriveModeMessage.drive_mode:type_name -> robocar.events.DriveMode
|
||||
8, // 5: robocar.events.ObjectsMessage.objects:type_name -> robocar.events.Object
|
||||
2, // 6: robocar.events.ObjectsMessage.frame_ref:type_name -> robocar.events.FrameRef
|
||||
1, // 7: robocar.events.Object.type:type_name -> robocar.events.TypeObject
|
||||
11, // 8: robocar.events.RoadMessage.contour:type_name -> robocar.events.Point
|
||||
12, // 9: robocar.events.RoadMessage.ellipse:type_name -> robocar.events.Ellipse
|
||||
2, // 10: robocar.events.RoadMessage.frame_ref:type_name -> robocar.events.FrameRef
|
||||
11, // 11: robocar.events.Ellipse.center:type_name -> robocar.events.Point
|
||||
3, // 12: robocar.events.RecordMessage.frame:type_name -> robocar.events.FrameMessage
|
||||
4, // 13: robocar.events.RecordMessage.steering:type_name -> robocar.events.SteeringMessage
|
||||
14, // [14:14] is the sub-list for method output_type
|
||||
14, // [14:14] is the sub-list for method input_type
|
||||
14, // [14:14] is the sub-list for extension type_name
|
||||
14, // [14:14] is the sub-list for extension extendee
|
||||
0, // [0:14] is the sub-list for field type_name
|
||||
}
|
||||
|
||||
func init() { file_events_events_proto_init() }
|
||||
@ -1238,18 +1078,6 @@ func file_events_events_proto_init() {
|
||||
}
|
||||
}
|
||||
file_events_events_proto_msgTypes[4].Exporter = func(v interface{}, i int) interface{} {
|
||||
switch v := v.(*SpeedZoneMessage); i {
|
||||
case 0:
|
||||
return &v.state
|
||||
case 1:
|
||||
return &v.sizeCache
|
||||
case 2:
|
||||
return &v.unknownFields
|
||||
default:
|
||||
return nil
|
||||
}
|
||||
}
|
||||
file_events_events_proto_msgTypes[5].Exporter = func(v interface{}, i int) interface{} {
|
||||
switch v := v.(*DriveModeMessage); i {
|
||||
case 0:
|
||||
return &v.state
|
||||
@ -1261,7 +1089,7 @@ func file_events_events_proto_init() {
|
||||
return nil
|
||||
}
|
||||
}
|
||||
file_events_events_proto_msgTypes[6].Exporter = func(v interface{}, i int) interface{} {
|
||||
file_events_events_proto_msgTypes[5].Exporter = func(v interface{}, i int) interface{} {
|
||||
switch v := v.(*ObjectsMessage); i {
|
||||
case 0:
|
||||
return &v.state
|
||||
@ -1273,7 +1101,7 @@ func file_events_events_proto_init() {
|
||||
return nil
|
||||
}
|
||||
}
|
||||
file_events_events_proto_msgTypes[7].Exporter = func(v interface{}, i int) interface{} {
|
||||
file_events_events_proto_msgTypes[6].Exporter = func(v interface{}, i int) interface{} {
|
||||
switch v := v.(*Object); i {
|
||||
case 0:
|
||||
return &v.state
|
||||
@ -1285,7 +1113,7 @@ func file_events_events_proto_init() {
|
||||
return nil
|
||||
}
|
||||
}
|
||||
file_events_events_proto_msgTypes[8].Exporter = func(v interface{}, i int) interface{} {
|
||||
file_events_events_proto_msgTypes[7].Exporter = func(v interface{}, i int) interface{} {
|
||||
switch v := v.(*SwitchRecordMessage); i {
|
||||
case 0:
|
||||
return &v.state
|
||||
@ -1297,7 +1125,7 @@ func file_events_events_proto_init() {
|
||||
return nil
|
||||
}
|
||||
}
|
||||
file_events_events_proto_msgTypes[9].Exporter = func(v interface{}, i int) interface{} {
|
||||
file_events_events_proto_msgTypes[8].Exporter = func(v interface{}, i int) interface{} {
|
||||
switch v := v.(*RoadMessage); i {
|
||||
case 0:
|
||||
return &v.state
|
||||
@ -1309,7 +1137,7 @@ func file_events_events_proto_init() {
|
||||
return nil
|
||||
}
|
||||
}
|
||||
file_events_events_proto_msgTypes[10].Exporter = func(v interface{}, i int) interface{} {
|
||||
file_events_events_proto_msgTypes[9].Exporter = func(v interface{}, i int) interface{} {
|
||||
switch v := v.(*Point); i {
|
||||
case 0:
|
||||
return &v.state
|
||||
@ -1321,7 +1149,7 @@ func file_events_events_proto_init() {
|
||||
return nil
|
||||
}
|
||||
}
|
||||
file_events_events_proto_msgTypes[11].Exporter = func(v interface{}, i int) interface{} {
|
||||
file_events_events_proto_msgTypes[10].Exporter = func(v interface{}, i int) interface{} {
|
||||
switch v := v.(*Ellipse); i {
|
||||
case 0:
|
||||
return &v.state
|
||||
@ -1333,7 +1161,7 @@ func file_events_events_proto_init() {
|
||||
return nil
|
||||
}
|
||||
}
|
||||
file_events_events_proto_msgTypes[12].Exporter = func(v interface{}, i int) interface{} {
|
||||
file_events_events_proto_msgTypes[11].Exporter = func(v interface{}, i int) interface{} {
|
||||
switch v := v.(*RecordMessage); i {
|
||||
case 0:
|
||||
return &v.state
|
||||
@ -1351,8 +1179,8 @@ func file_events_events_proto_init() {
|
||||
File: protoimpl.DescBuilder{
|
||||
GoPackagePath: reflect.TypeOf(x{}).PkgPath(),
|
||||
RawDescriptor: file_events_events_proto_rawDesc,
|
||||
NumEnums: 3,
|
||||
NumMessages: 13,
|
||||
NumEnums: 2,
|
||||
NumMessages: 12,
|
||||
NumExtensions: 0,
|
||||
NumServices: 0,
|
||||
},
|
||||
|
||||
2
vendor/modules.txt
vendored
2
vendor/modules.txt
vendored
@ -3,7 +3,7 @@
|
||||
github.com/cyrilix/robocar-base/cli
|
||||
github.com/cyrilix/robocar-base/service
|
||||
github.com/cyrilix/robocar-base/testtools
|
||||
# github.com/cyrilix/robocar-protobuf/go v1.3.0
|
||||
# github.com/cyrilix/robocar-protobuf/go v1.1.0
|
||||
## explicit; go 1.18
|
||||
github.com/cyrilix/robocar-protobuf/go/events
|
||||
# github.com/eclipse/paho.mqtt.golang v1.4.1
|
||||
|
||||
Loading…
Reference in New Issue
Block a user