104 lines
2.7 KiB
Go
104 lines
2.7 KiB
Go
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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"go.uber.org/zap"
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"io/ioutil"
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"os"
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)
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func New(client mqtt.Client, recordsDir, recordTopic string) (*Recorder, error) {
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err := os.MkdirAll(recordsDir, os.FileMode(0755))
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if err != nil {
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return nil, fmt.Errorf("unable to create %v directory: %v", recordsDir, err)
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}
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return &Recorder{
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client: client,
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recordsDir: recordsDir,
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recordTopic: recordTopic,
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cancel: make(chan interface{}),
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}, nil
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}
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type Recorder struct {
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client mqtt.Client
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recordsDir string
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recordTopic string
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cancel chan interface{}
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}
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var FileNameFormat = "record_%s.json"
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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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l := zap.S()
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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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zap.S().Errorf("unable to unmarshal protobuf %T: %v", msg, err)
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return
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}
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fmt.Printf("record %s: %s\r", msg.GetRecordSet(), msg.GetFrame().GetId().GetId())
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recordDir := fmt.Sprintf("%s/%s", r.recordsDir, msg.GetRecordSet())
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imgDir := fmt.Sprintf("%s/cam", recordDir)
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imgName := fmt.Sprintf("%s/cam-image_array_%s.jpg", imgDir, msg.GetFrame().GetId().GetId())
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err = os.MkdirAll(imgDir, os.FileMode(0755))
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if err != nil {
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l.Errorf("unable to create %v directory: %v", imgDir, err)
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return
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}
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err = ioutil.WriteFile(imgName, msg.GetFrame().GetFrame(), os.FileMode(0755))
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if err != nil {
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l.Errorf("unable to write img file %v: %v", imgName, err)
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return
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}
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jsonDir := fmt.Sprintf("%s/", recordDir)
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recordName := fmt.Sprintf("%s/%s", jsonDir, fmt.Sprintf(FileNameFormat, msg.GetFrame().GetId().GetId()))
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err = os.MkdirAll(jsonDir, os.FileMode(0755))
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if err != nil {
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l.Errorf("unable to create %v directory: %v", jsonDir, err)
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return
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}
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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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l.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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l.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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