robocars/robocar-tools
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Use protobuf to decode mqtt msg

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This commit is contained in:
Cyrille Nofficial
2020-01-04 14:36:39 +01:00
parent 310b2850c0
commit c724e9e8af
131 changed files with 6116 additions and 10699 deletions
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31
part/part.go
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@ -1,10 +1,8 @@
package part
import (
"encoding/json"
"fmt"
"github.com/cyrilix/robocar-base/service"
"github.com/cyrilix/robocar-base/types"
"github.com/cyrilix/robocar-protobuf/go/events"
mqtt "github.com/eclipse/paho.mqtt.golang"
"github.com/golang/protobuf/proto"
@ -22,7 +20,7 @@ func NewPart(client mqtt.Client, frameTopic, objectsTopic string, withObjects bo
window: gocv.NewWindow(frameTopic),
withObjects: withObjects,
imgChan: make(chan gocv.Mat),
objectsChan: make(chan []types.BoundingBox),
objectsChan: make(chan events.ObjectsMessage),
cancel: make(chan interface{}),
}
@ -36,7 +34,7 @@ type FramePart struct {
withObjects bool
imgChan chan gocv.Mat
objectsChan chan []types.BoundingBox
objectsChan chan events.ObjectsMessage
cancel chan interface{}
}
@ -46,18 +44,19 @@ func (p *FramePart) Start() error {
}
var img = gocv.NewMat()
var objects = make([]types.BoundingBox, 0, 5)
var objectsMsg events.ObjectsMessage
for {
select {
case newImg := <-p.imgChan:
img.Close()
img = newImg
case objects = <-p.objectsChan:
case objects := <-p.objectsChan:
objectsMsg = objects
case <-p.cancel:
img.Close()
return nil
}
p.drawFrame(&img, &objects)
p.drawFrame(&img, &objectsMsg)
}
}
@ -87,15 +86,15 @@ func (p *FramePart) onFrame(_ mqtt.Client, message mqtt.Message) {
}
func (p *FramePart) onObjects(_ mqtt.Client, message mqtt.Message) {
var objects []types.BoundingBox
var objectsMsg events.ObjectsMessage
err := json.Unmarshal(message.Payload(), &objects)
err := proto.Unmarshal(message.Payload(), &objectsMsg)
if err != nil {
log.Errorf("unable to unmarshal detected objects: %v", err)
return
}
p.objectsChan <- objects
p.objectsChan <- objectsMsg
}
func (p *FramePart) registerCallbacks() error {
@ -114,7 +113,7 @@ func (p *FramePart) registerCallbacks() error {
return nil
}
func (p *FramePart) drawFrame(img *gocv.Mat, objects *[]types.BoundingBox) {
func (p *FramePart) drawFrame(img *gocv.Mat, objects *events.ObjectsMessage) {
if p.withObjects {
p.drawObjects(img, objects)
@ -124,9 +123,13 @@ func (p *FramePart) drawFrame(img *gocv.Mat, objects *[]types.BoundingBox) {
p.window.WaitKey(1)
}
func (p *FramePart) drawObjects(img *gocv.Mat, objects *[]types.BoundingBox) {
for _, bb := range *objects {
gocv.Rectangle(img, image.Rect(bb.Left, bb.Top, bb.Right, bb.Bottom), color.RGBA{0, 255, 0, 0}, 2)
func (p *FramePart) drawObjects(img *gocv.Mat, objects *events.ObjectsMessage) {
for _, obj := range objects.GetObjects() {
gocv.Rectangle(
img,
image.Rect(int(obj.GetLeft()), int(obj.GetTop()), int(obj.GetRight()), int(obj.GetBottom())),
color.RGBA{0, 255, 0, 0},
2)
}
}