robocars/robocar-tools
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reformat code

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This commit is contained in:
Cyrille Nofficial 2022-08-18 19:15:16 +02:00
parent 988abb715f
commit 653ee95311
7 changed files with 25 additions and 25 deletions
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7
README.md
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@ -65,3 +65,10 @@ Usage of record:
-record-json-path string -record-json-path string
Path where to write json files, use RECORD_JSON_PATH if args not set 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

5
cmd/rc-tools/rc-tools.go
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@ -55,7 +55,6 @@ func main() {
cli.SetDefaultValueFromEnv(&ociImage, "TRAIN_OCI_IMAGE", "") cli.SetDefaultValueFromEnv(&ociImage, "TRAIN_OCI_IMAGE", "")
cli.SetDefaultValueFromEnv(&bucket, "TRAIN_BUCKET", "") cli.SetDefaultValueFromEnv(&bucket, "TRAIN_BUCKET", "")
flag.BoolVar(&debug, "debug", false, "Display debug logs") flag.BoolVar(&debug, "debug", false, "Display debug logs")
displayFlags := flag.NewFlagSet("display", flag.ExitOnError) displayFlags := flag.NewFlagSet("display", flag.ExitOnError)
@ -87,13 +86,11 @@ 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(&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") 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 var basedir, destdir string
impdkFlags := flag.NewFlagSet("import-donkey-records", flag.ExitOnError) impdkFlags := flag.NewFlagSet("import-donkey-records", flag.ExitOnError)
impdkFlags.StringVar(&basedir, "from", "", "source directory") impdkFlags.StringVar(&basedir, "from", "", "source directory")
impdkFlags.StringVar(&destdir, "to", "", "destination directory") impdkFlags.StringVar(&destdir, "to", "", "destination directory")
trainingFlags := flag.NewFlagSet("training", flag.ExitOnError) 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("Usage of %s %s:\n", os.Args[0], trainingFlags.Name())
@ -133,7 +130,6 @@ func main() {
trainArchiveFlags.IntVar(&horizon, "horizon", 0, "Upper zone image to crop (in pixels)") 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") 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 := flag.NewFlagSet("models", flag.ExitOnError)
modelsFlags.Usage = func() { modelsFlags.Usage = func() {
fmt.Printf("Usage of %s %s:\n", os.Args[0], modelsFlags.Name()) fmt.Printf("Usage of %s %s:\n", os.Args[0], modelsFlags.Name())
@ -249,7 +245,6 @@ func main() {
trainingFlags.PrintDefaults() trainingFlags.PrintDefaults()
os.Exit(0) os.Exit(0)
} }
case modelsFlags.Name(): case modelsFlags.Name():

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

1
pkg/train/config.go
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@ -3,4 +3,3 @@ package train
const ( const (
prefixInput = "input/data/train/" prefixInput = "input/data/train/"
) )

4
run_training.sh
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@ -6,8 +6,8 @@ set +x
RECORDS_PATH=~/robocar/record-sim4-2 RECORDS_PATH=~/robocar/record-sim4-2
#TRAINING_OPTS="--horizon=20" #TRAINING_OPTS="--horizon=20"
TRAINING_OPTS="" TRAINING_OPTS=""
#MODEL_TYPE="categorical" MODEL_TYPE="categorical"
MODEL_TYPE="linear" #MODEL_TYPE="linear"
IMG_WIDTH=160 IMG_WIDTH=160
IMG_HEIGHT=120 IMG_HEIGHT=120
HORIZON=20 HORIZON=20