83 lines
2.0 KiB
Go
83 lines
2.0 KiB
Go
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package record
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import (
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"encoding/json"
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"fmt"
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"github.com/cyrilix/robocar-base/service"
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"github.com/cyrilix/robocar-protobuf/go/events"
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mqtt "github.com/eclipse/paho.mqtt.golang"
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"github.com/golang/protobuf/proto"
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log "github.com/sirupsen/logrus"
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"io/ioutil"
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)
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func New(client mqtt.Client, jsonDir, imgDir string, recordTopic string) *Recorder {
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return &Recorder{
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client: client,
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jsonDir: jsonDir,
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imgDir: imgDir,
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recordTopic: recordTopic,
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cancel: make(chan interface{}),
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}
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}
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type Recorder struct {
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client mqtt.Client
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jsonDir, imgDir string
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recordTopic string
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cancel chan interface{}
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}
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func (r *Recorder) Start() error {
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err := service.RegisterCallback(r.client, r.recordTopic, r.onRecordMsg)
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if err != nil {
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return fmt.Errorf("unable to start recorder part: %v", err)
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}
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<-r.cancel
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return nil
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}
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func (r *Recorder) Stop() {
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service.StopService("record", r.client, r.recordTopic)
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close(r.cancel)
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}
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func (r *Recorder) onRecordMsg(_ mqtt.Client, message mqtt.Message) {
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var msg events.RecordMessage
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err := proto.Unmarshal(message.Payload(), &msg)
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if err != nil {
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log.Errorf("unable to unmarshal protobuf %T: %v", msg, err)
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return
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}
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imgName := fmt.Sprintf("cam-image_array_%s.jpg", msg.GetFrame().GetId().GetId())
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err = ioutil.WriteFile(imgName, msg.GetFrame().GetFrame(), 0755)
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if err != nil {
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log.Errorf("unable to write json file %v: %v", imgName, err)
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return
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}
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recordName := fmt.Sprintf("record_%s.jpg", msg.GetFrame().GetId().GetId())
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record := Record{
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UserAngle: msg.GetSteering().GetSteering(),
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CamImageArray: imgName,
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}
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jsonBytes, err := json.Marshal(&record)
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if err != nil {
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log.Errorf("unable to marshal json content: %v", err)
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return
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}
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err = ioutil.WriteFile(recordName, jsonBytes, 0755)
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if err != nil {
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log.Errorf("unable to write json file %v: %v", recordName, err)
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}
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}
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type Record struct {
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UserAngle float32 `json:"user/angle,"`
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CamImageArray string `json:"cam/image_array,"`
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}
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