reformat code

README.md

@@ -65,3 +65,10 @@ Usage of record:
   -record-json-path string
         Path where to write json files, use RECORD_JSON_PATH if args not set
 ```
+
+## Useful
+
+Debug record:
+
+    go run ./cmd/rc-tools display record -mqtt-broker tcp://diabolo.local:1883 -mqtt-username satanas -mqtt-password satanas -mqtt-client-id display-record -mqtt-topic-records car/satanas/part/records
+

cmd/rc-tools/rc-tools.go

@@ -55,12 +55,11 @@ func main() {
 	cli.SetDefaultValueFromEnv(&ociImage, "TRAIN_OCI_IMAGE", "")
 	cli.SetDefaultValueFromEnv(&bucket, "TRAIN_BUCKET", "")
 
-
 	flag.BoolVar(&debug, "debug", false, "Display debug logs")
 
 	displayFlags := flag.NewFlagSet("display", flag.ExitOnError)
 
-	displayFlags.Usage = func(){
+	displayFlags.Usage = func() {
 		fmt.Printf("Usage of %s %s:\n", os.Args[0], displayFlags.Name())
 		fmt.Printf("  camera\n  \tLive from car camera\n")
 		fmt.Printf("  record\n  \tLive from published records\n")
@@ -87,15 +86,13 @@ func main() {
 	recordFlags.StringVar(&recordTopic, "mqtt-topic-records", os.Getenv("MQTT_TOPIC_RECORDS"), "Mqtt topic that contains record data for training, use MQTT_TOPIC_RECORDS if args not set")
 	recordFlags.StringVar(&recordsPath, "record-path", os.Getenv("RECORD_PATH"), "Path where to write records files, use RECORD_PATH if args not set")
 
-
 	var basedir, destdir string
 	impdkFlags := flag.NewFlagSet("import-donkey-records", flag.ExitOnError)
 	impdkFlags.StringVar(&basedir, "from", "", "source directory")
 	impdkFlags.StringVar(&destdir, "to", "", "destination directory")
 
-
 	trainingFlags := flag.NewFlagSet("training", flag.ExitOnError)
-	trainingFlags.Usage = func(){
+	trainingFlags.Usage = func() {
 		fmt.Printf("Usage of %s %s:\n", os.Args[0], trainingFlags.Name())
 		fmt.Printf("  list\n  \tList existing training jobs\n")
 		fmt.Printf("  archive\n  \tBuild tar.gz archive for training\n")
@@ -133,7 +130,6 @@ func main() {
 	trainArchiveFlags.IntVar(&horizon, "horizon", 0, "Upper zone image to crop (in pixels)")
 	trainArchiveFlags.BoolVar(&withFlipImage, "with-flip-image", withFlipImage, "Flip horiontal image and reverse steering to increase data into training archive")
 
-
 	modelsFlags := flag.NewFlagSet("models", flag.ExitOnError)
 	modelsFlags.Usage = func() {
 		fmt.Printf("Usage of %s %s:\n", os.Args[0], modelsFlags.Name())
@@ -228,7 +224,7 @@ func main() {
 		}
 		switch trainingFlags.Arg(0) {
 		case trainingListJobFlags.Name():
-			if err:= trainingListJobFlags.Parse(os.Args[3:]); err == flag.ErrHelp {
+			if err := trainingListJobFlags.Parse(os.Args[3:]); err == flag.ErrHelp {
 				trainingListJobFlags.PrintDefaults()
 				os.Exit(0)
 			}
@@ -249,7 +245,6 @@ func main() {
 			trainingFlags.PrintDefaults()
 			os.Exit(0)
 
-
 		}
 	case modelsFlags.Name():
 
@@ -259,13 +254,13 @@ func main() {
 		}
 		switch modelsFlags.Arg(0) {
 		case modelsListFlags.Name():
-			if err:= modelsListFlags.Parse(os.Args[3:]); err == flag.ErrHelp {
+			if err := modelsListFlags.Parse(os.Args[3:]); err == flag.ErrHelp {
 				modelsListFlags.PrintDefaults()
 				os.Exit(0)
 			}
 			runModelsList(bucket)
 		case modelsDownloadFlags.Name():
-			if err:= modelsDownloadFlags.Parse(os.Args[3:]); err == flag.ErrHelp {
+			if err := modelsDownloadFlags.Parse(os.Args[3:]); err == flag.ErrHelp {
 				modelsDownloadFlags.PrintDefaults()
 				os.Exit(0)
 			}
@@ -320,7 +315,7 @@ func runImportDonkeyRecords(basedir, destdir string) {
 		zap.S().Fatalf("unable to import files from %v to %v: %v", basedir, destdir, err)
 	}
 }
-func runDisplayRecord(client mqtt.Client, recordTopic string){
+func runDisplayRecord(client mqtt.Client, recordTopic string) {
 	r := display.NewRecordDisplay(client, recordTopic)
 	defer r.Stop()
 
@@ -407,4 +402,4 @@ func runModelsDownload(bucketName, modelPath, output string) {
 	if err != nil {
 		zap.S().Fatalf("unable to download model: %s", err)
 	}
-}
+}

pkg/data/data.go

@@ -203,7 +203,7 @@ func addJsonFiles(recordFiles []string, imgCam []string, flipImage bool, w *zip.
 		if flipImage {
 			rcd.UserAngle = rcd.UserAngle * -1
 			rcd.CamImageArray = fmt.Sprintf("flip_%s", camName)
-		}else {
+		} else {
 			rcd.CamImageArray = camName
 		}
 

pkg/display/record.go

@@ -96,7 +96,6 @@ func (r *Record) drawRecord(rec *events.RecordMessage, objects *events.ObjectsMe
 	r.window.WaitKey(1)
 }
 
-
 func (r *Record) drawSteering(img *gocv.Mat, steering float32) {
 	gocv.PutText(
 		img,

pkg/models/models.go

@@ -20,10 +20,10 @@ func ListModels(ctx context.Context, bucket string) error {
 	outputs, err := client.ListObjectsV2(
 		ctx,
 		&s3.ListObjectsV2Input{
-			Bucket:              aws.String(bucket),
-			Prefix:              aws.String("output"),
+			Bucket: aws.String(bucket),
+			Prefix: aws.String("output"),
 		},
-		)
+	)
 	if err != nil {
 		return fmt.Errorf("unable to list models in bucket %v: %w", bucket, err)
 	}
@@ -38,7 +38,7 @@ func DownloadArchive(ctx context.Context, bucketName, modelPath string) ([]byte,
 	l := zap.S().With(
 		"bucket", bucketName,
 		"model", modelPath,
-		)
+	)
 	client := s3.NewFromConfig(awsutils.MustLoadConfig())
 
 	l.Debug("download model")
@@ -46,8 +46,8 @@ func DownloadArchive(ctx context.Context, bucketName, modelPath string) ([]byte,
 		ctx,
 
 		&s3.GetObjectInput{
-			Bucket:                     aws.String(bucketName),
-			Key:                        aws.String(modelPath),
+			Bucket: aws.String(bucketName),
+			Key:    aws.String(modelPath),
 		})
 	if err != nil {
 		return nil, fmt.Errorf("unable to download model: %w", err)
@@ -70,4 +70,4 @@ func DownloadArchiveToFile(ctx context.Context, bucketName, modelPath, outputFil
 		return fmt.Errorf("unable to write model '%s' to file '%s': %v", modelPath, outputFile, err)
 	}
 	return nil
-}
+}

pkg/train/config.go

@@ -1,6 +1,5 @@
 package train
 
 const (
-	prefixInput  = "input/data/train/"
+	prefixInput = "input/data/train/"
 )
-

run_training.sh

@@ -6,8 +6,8 @@ set +x
 RECORDS_PATH=~/robocar/record-sim4-2
 #TRAINING_OPTS="--horizon=20"
 TRAINING_OPTS=""
-#MODEL_TYPE="categorical"
-MODEL_TYPE="linear"
+MODEL_TYPE="categorical"
+#MODEL_TYPE="linear"
 IMG_WIDTH=160
 IMG_HEIGHT=120
 HORIZON=20