cmd/treatment: wrote driver to handle audio playback and recording for sound check

cmd/soundcheck/main.go

@@ -1,61 +0,0 @@
-/*
-AUTHORS
-  Trek Hopton <trek@ausocean.org>
-
-LICENSE
-  Copyright (C) 2020 the Australian Ocean Lab (AusOcean)
-
-  It is free software: you can redistribute it and/or modify them
-  under the terms of the GNU General Public License as published by the
-  Free Software Foundation, either version 3 of the License, or (at your
-  option) any later version.
-
-  It is distributed in the hope that it will be useful, but WITHOUT
-  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-  FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
-  for more details.
-
-  You should have received a copy of the GNU General Public License
-  in gpl.txt.  If not, see http://www.gnu.org/licenses.
-*/
-
-// Package soundcheck is a program for switching a transducer from playing to recording audio.
-package main
-
-import (
-	"flag"
-	"fmt"
-	"log"
-	"os/exec"
-	"time"
-)
-
-func main() {
-	var pTime time.Duration
-	var rTime time.Duration
-	var path string
-	flag.DurationVar(&pTime, "ptime", 60, "duration to play audio")
-	flag.DurationVar(&rTime, "rtime", 20, "duration to record audio")
-	flag.StringVar(&path, "path", "", "path to sound file we wish to play")
-	flag.Parse()
-
-	loopCmd := exec.Command("../looper/looper", path)
-	rvCmd := exec.Command("../rv/rv")
-	for {
-		if err := loopCmd.Start(); err != nil {
-			log.Fatal(err)
-		}
-		time.Sleep(pTime)
-		if err := loopCmd.Process.Kill(); err != nil {
-			fmt.Println("failed to kill process: ", err)
-		}
-
-		if err := rvCmd.Start(); err != nil {
-			log.Fatal(err)
-		}
-		time.Sleep(rTime)
-		if err := rvCmd.Process.Kill(); err != nil {
-			fmt.Println("failed to kill process: ", err)
-		}
-	}
-}

cmd/treatment/circleci.go

@@ -0,0 +1,34 @@
+// +build circleci
+
+/*
+DESCRIPTION
+  circleci.go defines a dummy initialisation command for running on circleci.
+
+AUTHORS
+  Ella Pietraroia <ella@ausocean.org>
+  Scott Barnard <scott@ausocean.org>
+
+LICENSE
+  Copyright (C) 2020 the Australian Ocean Lab (AusOcean)
+
+  It is free software: you can redistribute it and/or modify them
+  under the terms of the GNU General Public License as published by the
+  Free Software Foundation, either version 3 of the License, or (at your
+  option) any later version.
+
+  It is distributed in the hope that it will be useful, but WITHOUT
+  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+  FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+  for more details.
+
+  You should have received a copy of the GNU General Public License
+  in gpl.txt.  If not, see http://www.gnu.org/licenses.
+*/
+
+package main
+
+import "bitbucket.org/ausocean/utils/logger"
+
+const audioCmd = ""
+
+func initCommand(log *logger.Logger) {}

cmd/treatment/main.go

@@ -0,0 +1,312 @@
+/*
+DESCRIPTION
+  treatment is a netsender client intended to provide audio playback control,
+	and speaker health checking by reversing signal and recording using revid.
+
+AUTHORS
+  Saxon Nelson-Milton <saxon@ausocean.org>
+	Trek Hopton <trek@ausocean.org>
+
+LICENSE
+  Copyright (C) 2020 the Australian Ocean Lab (AusOcean)
+
+  It is free software: you can redistribute it and/or modify them
+  under the terms of the GNU General Public License as published by the
+  Free Software Foundation, either version 3 of the License, or (at your
+  option) any later version.
+
+  It is distributed in the hope that it will be useful, but WITHOUT
+  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+  FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+  for more details.
+
+  You should have received a copy of the GNU General Public License
+  in gpl.txt.  If not, see http://www.gnu.org/licenses.
+*/
+
+// Package treatment is a program for playing and recording audio through a common
+// speaker unit.
+package main
+
+import (
+	"bytes"
+	"flag"
+	"fmt"
+	"io"
+	"os/exec"
+	"strconv"
+	"sync"
+	"time"
+
+	"bitbucket.org/ausocean/av/container/mts"
+	"bitbucket.org/ausocean/av/container/mts/meta"
+	"bitbucket.org/ausocean/av/revid"
+	"bitbucket.org/ausocean/av/revid/config"
+	"bitbucket.org/ausocean/iot/pi/gpio"
+	"bitbucket.org/ausocean/iot/pi/netlogger"
+	"bitbucket.org/ausocean/iot/pi/netsender"
+	"bitbucket.org/ausocean/utils/logger"
+	lumberjack "gopkg.in/natefinch/lumberjack.v2"
+)
+
+// Copyright information prefixed to all metadata.
+const (
+	metaPreambleKey  = "copyright"
+	metaPreambleData = "ausocean.org/license/content2020"
+)
+
+// Logging configuration.
+const (
+	logPath      = "/var/log/netsender/netsender.log"
+	logMaxSize   = 500 // MB
+	logMaxBackup = 10
+	logMaxAge    = 28 // days
+	logVerbosity = logger.Info
+	logSuppress  = true
+)
+
+// Misc constants.
+const (
+	netSendRetryTime = 5 * time.Second
+	defaultSleepTime = 60 // Seconds
+	profilePath      = "rv.prof"
+	pkg              = "rv: "
+	runPreDelay      = 20 * time.Second
+)
+
+// Treatment modes.
+const (
+	modePaused    = "Paused"
+	modeTreatment = "Play"
+	modeCheck     = "Check"
+)
+
+// Variable map to send to netreceiver/vidgrind.
+var varMap = map[string]string{
+	"mode": "enum:Paused,Play,Check",
+}
+
+func main() {
+	mts.Meta = meta.NewWith([][2]string{{metaPreambleKey, metaPreambleData}})
+
+	// Set up the player command with audio file path.
+	filePtr := flag.String("path", "", "Path to sound file we wish to play.")
+	flag.Parse()
+	cmd := exec.Command(audioCmd, *filePtr)
+
+	// Create lumberjack logger to handle logging to file.
+	fileLog := &lumberjack.Logger{
+		Filename:   logPath,
+		MaxSize:    logMaxSize,
+		MaxBackups: logMaxBackup,
+		MaxAge:     logMaxAge,
+	}
+
+	// Create netlogger to handle logging to cloud.
+	netLog := netlogger.New()
+
+	// Create logger that we call methods on to log, which in turn writes to the
+	// lumberjack and netloggers.
+	log := logger.New(logVerbosity, io.MultiWriter(fileLog, netLog), logSuppress)
+
+	// The netsender client will handle communication with netreceiver and GPIO stuff.
+	log.Log(logger.Debug, "initialising netsender client")
+	ns, err := netsender.New(log, gpio.InitPin, gpio.ReadPin, gpio.WritePin, varMap)
+	if err != nil {
+		log.Log(logger.Fatal, "could not initialise netsender client", "error", err.Error())
+	}
+
+	// Revid will handle the recording and sending of audio for sound checking.
+	log.Log(logger.Debug, "initialising revid")
+	rv, err := revid.New(config.Config{Logger: log}, ns)
+	if err != nil {
+		log.Log(logger.Fatal, "could not initialise revid", "error", err.Error())
+	}
+
+	// Start the control loop.
+	log.Log(logger.Debug, "starting control loop")
+	run(rv, ns, cmd, log, netLog)
+}
+
+// run starts a control loop that runs netsender, sends logs, checks for var changes, and
+// if var changes, changes current mode (paused,audio playback or soundcheck)
+func run(rv *revid.Revid, ns *netsender.Sender, cmd *exec.Cmd, l *logger.Logger, nl *netlogger.Logger) {
+	var (
+		wg        sync.WaitGroup
+		audioQuit chan struct{}
+		treating  bool
+		vs        int
+	)
+
+	for {
+		l.Log(logger.Debug, "running netsender")
+		err := ns.Run()
+		if err != nil {
+			l.Log(logger.Warning, "run failed. Retrying...", "error", err.Error())
+			time.Sleep(netSendRetryTime)
+			continue
+		}
+
+		l.Log(logger.Debug, "sending logs")
+		err = nl.Send(ns)
+		if err != nil {
+			l.Log(logger.Warning, pkg+"Logs could not be sent", "error", err.Error())
+		}
+
+		l.Log(logger.Debug, "checking varsum")
+		newVs := ns.VarSum()
+		if vs == newVs {
+			sleep(ns, l)
+			continue
+		}
+		vs = newVs
+		l.Log(logger.Info, "varsum changed", "vs", vs)
+
+		l.Log(logger.Debug, "getting new vars")
+		vars, err := ns.Vars()
+		if err != nil {
+			l.Log(logger.Error, pkg+"netSender failed to get vars", "error", err.Error())
+			time.Sleep(netSendRetryTime)
+			continue
+		}
+		l.Log(logger.Info, "got new vars", "vars", vars)
+
+		// Configure revid based on the vars.
+		l.Log(logger.Debug, "updating revid configuration")
+		err = rv.Update(vars)
+		if err != nil {
+			l.Log(logger.Warning, pkg+"couldn't update revid", "error", err.Error())
+			sleep(ns, l)
+			continue
+		}
+		l.Log(logger.Info, "revid successfully reconfigured")
+
+		l.Log(logger.Debug, "checking mode")
+		switch ns.Mode() {
+		case modePaused:
+			stopAudio(&wg, &treating, audioQuit)
+			l.Log(logger.Info, "mode is Paused, stopping revid")
+			rv.Stop()
+		case modeTreatment:
+			if !treating {
+				l.Log(logger.Info, "starting audio treatment")
+				rv.Stop()
+				audioQuit = make(chan struct{})
+				treating = true
+				wg.Add(1)
+				go playAudio(cmd, audioQuit, &wg, l)
+			}
+		case modeCheck:
+			stopAudio(&wg, &treating, audioQuit)
+			l.Log(logger.Info, "sound checking")
+			err = rv.Start()
+			if err != nil {
+				l.Log(logger.Error, "could not start revid", "error", err.Error())
+				ns.SetMode(modePaused, &vs)
+				sleep(ns, l)
+				continue
+			}
+		}
+		l.Log(logger.Info, "revid updated with new mode")
+		sleep(ns, l)
+	}
+}
+
+// playAudio is intended to be run as a routine. It will repeatedly play an audio file until
+// a signal is received to return. The entire audio file is played before the termination
+// signal chan is checked.
+func playAudio(cmd *exec.Cmd, quit chan struct{}, wg *sync.WaitGroup, l *logger.Logger) {
+	var numPlays int
+	for {
+		// We'd like to see what the playback software is outputting, so pipe
+		// stdout and stderr.
+		outPipe, err := cmd.StdoutPipe()
+		if err != nil {
+			l.Log(logger.Error, "failed to pipe stdout", "error", err)
+		}
+		errPipe, err := cmd.StderrPipe()
+		if err != nil {
+			l.Log(logger.Error, "failed to pipe stderr", "error", err)
+		}
+
+		// Start playback of the audio file.
+		err = cmd.Start()
+		if err != nil {
+			l.Log(logger.Error, "start failed", "error", err.Error())
+			continue
+		}
+		numPlays++
+		l.Log(logger.Debug, "playing audio", "numPlays", numPlays)
+
+		// Copy any std out to a buffer for logging.
+		var outBuff bytes.Buffer
+		go func() {
+			_, err = io.Copy(&outBuff, outPipe)
+			if err != nil {
+				l.Log(logger.Error, "failed to copy out pipe", "error", err)
+			}
+		}()
+
+		// Copy any std error to a buffer for logging.
+		var errBuff bytes.Buffer
+		go func() {
+			_, err = io.Copy(&errBuff, errPipe)
+			if err != nil {
+				l.Log(logger.Error, "failed to copy error pipe", "error", err)
+			}
+		}()
+
+		// Wait for playback to complete.
+		err = cmd.Wait()
+		if err != nil {
+			l.Log(logger.Error, "failed to wait for execution finish", "error", err.Error())
+		}
+		l.Log(logger.Debug, "stdout received", "stdout", string(outBuff.Bytes()))
+
+		// If there was any errors on stderr, log them.
+		if errBuff.Len() != 0 {
+			l.Log(logger.Error, "errors from stderr", "stderr", string(errBuff.Bytes()))
+		}
+
+		// Check for audio signal halt.
+		// TODO: work out better way to do this. Doing it this way means we have to wait for
+		// the audio file to finish playing.
+		select {
+		case <-quit:
+			wg.Done()
+			return
+		default:
+		}
+	}
+}
+
+// stopAudio signals to the playAudio routine to terminate and then waits for it to
+// do so.
+func stopAudio(wg *sync.WaitGroup, treating *bool, signal chan struct{}) {
+	close(signal)
+	wg.Wait()
+	*treating = false
+}
+
+// sleep uses a delay to halt the program based on the monitoring period
+// netsender parameter (mp) defined in the netsender.conf config.
+func sleep(ns *netsender.Sender, l *logger.Logger) {
+	l.Log(logger.Debug, "sleeping")
+	t, err := strconv.Atoi(ns.Param("mp"))
+	if err != nil {
+		l.Log(logger.Error, pkg+"could not get sleep time, using default", "error", err)
+		t = defaultSleepTime
+	}
+	time.Sleep(time.Duration(t) * time.Second)
+	l.Log(logger.Debug, "finished sleeping")
+}
+
+// checkPath wraps the use of lookPath to check the existence of executables
+// that will be used by the audio looper.
+func checkPath(cmd string, l *logger.Logger) {
+	path, err := exec.LookPath(cmd)
+	if err != nil {
+		l.Log(logger.Fatal, fmt.Sprintf("couldn't find %s", cmd), "error", err)
+	}
+	l.Log(logger.Debug, fmt.Sprintf("found %s", cmd), "path", path)
+}

cmd/treatment/pi3.go

@@ -0,0 +1,38 @@
+// +build !circleci
+
+/*
+DESCRIPTION
+  pi3.go defines an initialisation function for use when running on the
+  Raspberry Pi 3.
+
+AUTHORS
+  Ella Pietraroia <ella@ausocean.org>
+  Scott Barnard <scott@ausocean.org>
+  Saxon Nelson-Milton <saxon@ausocean.org>
+
+LICENSE
+  Copyright (C) 2020 the Australian Ocean Lab (AusOcean)
+
+  It is free software: you can redistribute it and/or modify them
+  under the terms of the GNU General Public License as published by the
+  Free Software Foundation, either version 3 of the License, or (at your
+  option) any later version.
+
+  It is distributed in the hope that it will be useful, but WITHOUT
+  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+  FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+  for more details.
+
+  You should have received a copy of the GNU General Public License
+  in gpl.txt.  If not, see http://www.gnu.org/licenses.
+*/
+
+package main
+
+import (
+	"bitbucket.org/ausocean/utils/logger"
+)
+
+const audioCmd = "omxplayer"
+
+func initCommand(l *logger.Logger) { checkPath(audioCmd, l) }

go.mod

@@ -3,11 +3,12 @@ module bitbucket.org/ausocean/av
 go 1.13
 
 require (
-	bitbucket.org/ausocean/iot v1.2.14
+	bitbucket.org/ausocean/iot v1.2.15
 	bitbucket.org/ausocean/utils v1.2.14
 	github.com/Comcast/gots v0.0.0-20190305015453-8d56e473f0f7
 	github.com/go-audio/audio v0.0.0-20181013203223-7b2a6ca21480
 	github.com/go-audio/wav v0.0.0-20181013172942-de841e69b884
+	github.com/go-delve/delve v1.5.0
 	github.com/google/go-cmp v0.4.1
 	github.com/mewkiz/flac v1.0.5
 	github.com/pkg/errors v0.8.1

go.sum

@@ -2,6 +2,8 @@ bitbucket.org/ausocean/iot v1.2.13 h1:E9LcW3HYqRgJqxNhPJUCfVRvoV2IAU4B7JSDNxB/x2
 bitbucket.org/ausocean/iot v1.2.13/go.mod h1:Q5FwaOKnCty3dVeVtki6DLwYa5vhNpOaeu1lwLyPCg8=
 bitbucket.org/ausocean/iot v1.2.14 h1:+2up1G1g28RnXFw+1tpobdpZxzZDYEXgsXwmpNZDCWA=
 bitbucket.org/ausocean/iot v1.2.14/go.mod h1:Q5FwaOKnCty3dVeVtki6DLwYa5vhNpOaeu1lwLyPCg8=
+bitbucket.org/ausocean/iot v1.2.15 h1:fJ3hP/jZ/5irLn74bMIlztKrKAqpdhbNR/QiNz5ZgPE=
+bitbucket.org/ausocean/iot v1.2.15/go.mod h1:rRcWt6SoM/jgIZpP1zrpnKb5BhxIMulAJ+q1xTvLh94=
 bitbucket.org/ausocean/utils v1.2.11 h1:zA0FOaPjN960ryp8PKCkV5y50uWBYrIxCVnXjwbvPqg=
 bitbucket.org/ausocean/utils v1.2.11/go.mod h1:uXzX9z3PLemyURTMWRhVI8uLhPX4uuvaaO85v2hcob8=
 bitbucket.org/ausocean/utils v1.2.13 h1:tUaIywtoMc1+zl1GCVQokX4mL5X7LNHX5O51AgAPrWA=
@@ -17,6 +19,9 @@ github.com/Shopify/toxiproxy v2.1.4+incompatible/go.mod h1:OXgGpZ6Cli1/URJOF1DMx
 github.com/adrianmo/go-nmea v1.1.1-0.20190109062325-c448653979f7/go.mod h1:HHPxPAm2kmev+61qmkZh7xgZF/7qHtSpsWppip2Ipv8=
 github.com/andreyvit/diff v0.0.0-20170406064948-c7f18ee00883 h1:bvNMNQO63//z+xNgfBlViaCIJKLlCJ6/fmUseuG0wVQ=
 github.com/andreyvit/diff v0.0.0-20170406064948-c7f18ee00883/go.mod h1:rCTlJbsFo29Kk6CurOXKm700vrz8f0KW0JNfpkRJY/8=
+github.com/cosiner/argv v0.1.0/go.mod h1:EusR6TucWKX+zFgtdUsKT2Cvg45K5rtpCcWz4hK06d8=
+github.com/cpuguy83/go-md2man v1.0.10/go.mod h1:SmD6nW6nTyfqj6ABTjUi3V3JVMnlJmwcJI5acqYI6dE=
+github.com/creack/pty v1.1.9/go.mod h1:oKZEueFk5CKHvIhNR5MUki03XCEU+Q6VDXinZuGJ33E=
 github.com/davecgh/go-spew v1.1.0/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
 github.com/davecgh/go-spew v1.1.1 h1:vj9j/u1bqnvCEfJOwUhtlOARqs3+rkHYY13jYWTU97c=
 github.com/davecgh/go-spew v1.1.1/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
@@ -26,11 +31,19 @@ github.com/go-audio/audio v0.0.0-20181013203223-7b2a6ca21480 h1:4sGU+UABMMsRJyD+
 github.com/go-audio/audio v0.0.0-20181013203223-7b2a6ca21480/go.mod h1:6uAu0+H2lHkwdGsAY+j2wHPNPpPoeg5AaEFh9FlA+Zs=
 github.com/go-audio/wav v0.0.0-20181013172942-de841e69b884 h1:2TaXIaVA4ff/MHHezOj83tCypALTFAcXOImcFWNa3jw=
 github.com/go-audio/wav v0.0.0-20181013172942-de841e69b884/go.mod h1:UiqzUyfX0zs3pJ/DPyvS5v8sN6s5bXPUDDIVA5v8dks=
+github.com/go-delve/delve v1.5.0 h1:gQsRvFdR0BGk19NROQZsAv6iG4w5QIZoJlxJeEUBb0c=
+github.com/go-delve/delve v1.5.0/go.mod h1:c6b3a1Gry6x8a4LGCe/CWzrocrfaHvkUxCj3k4bvSUQ=
+github.com/golang/glog v0.0.0-20160126235308-23def4e6c14b h1:VKtxabqXZkF25pY9ekfRL6a582T4P37/31XEstQ5p58=
 github.com/golang/glog v0.0.0-20160126235308-23def4e6c14b/go.mod h1:SBH7ygxi8pfUlaOkMMuAQtPIUF8ecWP5IEl/CR7VP2Q=
 github.com/google/go-cmp v0.4.1 h1:/exdXoGamhu5ONeUJH0deniYLWYvQwW66yvlfiiKTu0=
 github.com/google/go-cmp v0.4.1/go.mod h1:v8dTdLbMG2kIc/vJvl+f65V22dbkXbowE6jgT/gNBxE=
+github.com/google/go-dap v0.2.0/go.mod h1:5q8aYQFnHOAZEMP+6vmq25HKYAEwE+LF5yh7JKrrhSQ=
+github.com/hashicorp/golang-lru v0.5.4/go.mod h1:iADmTwqILo4mZ8BN3D2Q6+9jd8WM5uGBxy+E8yxSoD4=
+github.com/inconshreveable/mousetrap v1.0.0/go.mod h1:PxqpIevigyE2G7u3NXJIT2ANytuPF1OarO4DADm73n8=
 github.com/jacobsa/go-serial v0.0.0-20180131005756-15cf729a72d4/go.mod h1:2RvX5ZjVtsznNZPEt4xwJXNJrM3VTZoQf7V6gk0ysvs=
+github.com/kidoman/embd v0.0.0-20170508013040-d3d8c0c5c68d h1:dPUSr0RGzXAdsUTMtiyQ/2RBLIIwkv6jGnhxrufitvQ=
 github.com/kidoman/embd v0.0.0-20170508013040-d3d8c0c5c68d/go.mod h1:ACKj9jnzOzj1lw2ETilpFGK7L9dtJhAzT7T1OhAGtRQ=
+github.com/konsorten/go-windows-terminal-sequences v1.0.3/go.mod h1:T0+1ngSBFLxvqU3pZ+m/2kptfBszLMUkC4ZK/EgS/cQ=
 github.com/kr/pretty v0.1.0 h1:L/CwN0zerZDmRFUapSPitk6f+Q3+0za1rQkzVuMiMFI=
 github.com/kr/pretty v0.1.0/go.mod h1:dAy3ld7l9f0ibDNOQOHHMYYIIbhfbHSm3C4ZsoJORNo=
 github.com/kr/pty v1.1.1/go.mod h1:pFQYn66WHrOpPYNljwOMqo10TkYh1fy3cYio2l3bCsQ=
@@ -38,21 +51,30 @@ github.com/kr/text v0.1.0 h1:45sCR5RtlFHMR4UwH9sdQ5TC8v0qDQCHnXt+kaKSTVE=
 github.com/kr/text v0.1.0/go.mod h1:4Jbv+DJW3UT/LiOwJeYQe1efqtUx/iVham/4vfdArNI=
 github.com/mattetti/audio v0.0.0-20180912171649-01576cde1f21 h1:Hc1iKlyxNHp3CV59G2E/qabUkHvEwOIJxDK0CJ7CRjA=
 github.com/mattetti/audio v0.0.0-20180912171649-01576cde1f21/go.mod h1:LlQmBGkOuV/SKzEDXBPKauvN2UqCgzXO2XjecTGj40s=
+github.com/mattn/go-colorable v0.0.0-20170327083344-ded68f7a9561/go.mod h1:9vuHe8Xs5qXnSaW/c/ABM9alt+Vo+STaOChaDxuIBZU=
+github.com/mattn/go-isatty v0.0.3/go.mod h1:M+lRXTBqGeGNdLjl/ufCoiOlB5xdOkqRJdNxMWT7Zi4=
 github.com/mewkiz/flac v1.0.5 h1:dHGW/2kf+/KZ2GGqSVayNEhL9pluKn/rr/h/QqD9Ogc=
 github.com/mewkiz/flac v1.0.5/go.mod h1:EHZNU32dMF6alpurYyKHDLYpW1lYpBZ5WrXi/VuNIGs=
+github.com/peterh/liner v0.0.0-20170317030525-88609521dc4b/go.mod h1:xIteQHvHuaLYG9IFj6mSxM0fCKrs34IrEQUhOYuGPHc=
 github.com/pkg/errors v0.8.1 h1:iURUrRGxPUNPdy5/HRSm+Yj6okJ6UtLINN0Q9M4+h3I=
 github.com/pkg/errors v0.8.1/go.mod h1:bwawxfHBFNV+L2hUp1rHADufV3IMtnDRdf1r5NINEl0=
 github.com/pmezard/go-difflib v1.0.0 h1:4DBwDE0NGyQoBHbLQYPwSUPoCMWR5BEzIk/f1lZbAQM=
 github.com/pmezard/go-difflib v1.0.0/go.mod h1:iKH77koFhYxTK1pcRnkKkqfTogsbg7gZNVY4sRDYZ/4=
+github.com/russross/blackfriday v1.5.2/go.mod h1:JO/DiYxRf+HjHt06OyowR9PTA263kcR/rfWxYHBV53g=
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 github.com/sergi/go-diff v1.0.0/go.mod h1:0CfEIISq7TuYL3j771MWULgwwjU+GofnZX9QAmXWZgo=
+github.com/sirupsen/logrus v1.6.0/go.mod h1:7uNnSEd1DgxDLC74fIahvMZmmYsHGZGEOFrfsX/uA88=
+github.com/spf13/cobra v0.0.0-20170417170307-b6cb39589372/go.mod h1:1l0Ry5zgKvJasoi3XT1TypsSe7PqH0Sj9dhYf7v3XqQ=
+github.com/spf13/pflag v0.0.0-20170417173400-9e4c21054fa1/go.mod h1:DYY7MBk1bdzusC3SYhjObp+wFpr4gzcvqqNjLnInEg4=
 github.com/stretchr/objx v0.1.0/go.mod h1:HFkY916IF+rwdDfMAkV7OtwuqBVzrE8GR6GFx+wExME=
 github.com/stretchr/testify v1.2.1/go.mod h1:a8OnRcib4nhh0OaRAV+Yts87kKdq0PP7pXfy6kDkUVs=
+github.com/stretchr/testify v1.2.2/go.mod h1:a8OnRcib4nhh0OaRAV+Yts87kKdq0PP7pXfy6kDkUVs=
 github.com/stretchr/testify v1.3.0 h1:TivCn/peBQ7UY8ooIcPgZFpTNSz0Q2U6UrFlUfqbe0Q=
 github.com/stretchr/testify v1.3.0/go.mod h1:M5WIy9Dh21IEIfnGCwXGc5bZfKNJtfHm1UVUgZn+9EI=
 github.com/yobert/alsa v0.0.0-20180630182551-d38d89fa843e h1:3NIzz7weXhh3NToPgbtlQtKiVgerEaG4/nY2skGoGG0=
 github.com/yobert/alsa v0.0.0-20180630182551-d38d89fa843e/go.mod h1:CaowXBWOiSGWEpBBV8LoVnQTVPV4ycyviC9IBLj8dRw=
 github.com/yryz/ds18b20 v0.0.0-20180211073435-3cf383a40624/go.mod h1:MqFju5qeLDFh+S9PqxYT7TEla8xeW7bgGr/69q3oki0=
+go.starlark.net v0.0.0-20190702223751-32f345186213/go.mod h1:c1/X6cHgvdXj6pUlmWKMkuqRnW4K8x2vwt6JAaaircg=
 go.uber.org/atomic v1.3.2 h1:2Oa65PReHzfn29GpvgsYwloV9AVFHPDk8tYxt2c2tr4=
 go.uber.org/atomic v1.3.2/go.mod h1:gD2HeocX3+yG+ygLZcrzQJaqmWj9AIm7n08wl/qW/PE=
 go.uber.org/multierr v1.1.0 h1:HoEmRHQPVSqub6w2z2d2EOVs2fjyFRGyofhKuyDq0QI=
@@ -62,10 +84,19 @@ go.uber.org/zap v1.10.0 h1:ORx85nbTijNz8ljznvCMR1ZBIPKFn3jQrag10X2AsuM=
 go.uber.org/zap v1.10.0/go.mod h1:vwi/ZaCAaUcBkycHslxD9B2zi4UTXhF60s6SWpuDF0Q=
 gocv.io/x/gocv v0.21.0 h1:dVjagrupZrfCRY0qPEaYWgoNMRpBel6GYDH4mvQOK8Y=
 gocv.io/x/gocv v0.21.0/go.mod h1:Rar2PS6DV+T4FL+PM535EImD/h13hGVaHhnCu1xarBs=
+golang.org/x/arch v0.0.0-20190927153633-4e8777c89be4/go.mod h1:flIaEI6LNU6xOCD5PaJvn9wGP0agmIOqjrtsKGRguv4=
+golang.org/x/crypto v0.0.0-20190308221718-c2843e01d9a2/go.mod h1:djNgcEr1/C05ACkg1iLfiJU5Ep61QUkGW8qpdssI0+w=
 golang.org/x/image v0.0.0-20200119044424-58c23975cae1 h1:5h3ngYt7+vXCDZCup/HkCQgW5XwmSvR/nA2JmJ0RErg=
 golang.org/x/image v0.0.0-20200119044424-58c23975cae1/go.mod h1:FeLwcggjj3mMvU+oOTbSwawSJRM1uh48EjtB4UJZlP0=
+golang.org/x/net v0.0.0-20190620200207-3b0461eec859/go.mod h1:z5CRVTTTmAJ677TzLLGU+0bjPO0LkuOLi4/5GtJWs/s=
+golang.org/x/sync v0.0.0-20190423024810-112230192c58/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM=
+golang.org/x/sys v0.0.0-20190215142949-d0b11bdaac8a/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY=
+golang.org/x/sys v0.0.0-20190422165155-953cdadca894/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
+golang.org/x/sys v0.0.0-20190626221950-04f50cda93cb/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
 golang.org/x/sys v0.0.0-20190913121621-c3b328c6e5a7/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
 golang.org/x/text v0.3.0/go.mod h1:NqM8EUOU14njkJ3fqMW+pc6Ldnwhi/IjpwHt7yyuwOQ=
+golang.org/x/tools v0.0.0-20191127201027-ecd32218bd7f/go.mod h1:b+2E5dAYhXwXZwtnZ6UAqBI28+e2cm9otk0dWdXHAEo=
+golang.org/x/xerrors v0.0.0-20190717185122-a985d3407aa7/go.mod h1:I/5z698sn9Ka8TeJc9MKroUUfqBBauWjQqLJ2OPfmY0=
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 gopkg.in/check.v1 v0.0.0-20161208181325-20d25e280405 h1:yhCVgyC4o1eVCa2tZl7eS0r+SDo693bJlVdllGtEeKM=
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@@ -73,5 +104,7 @@ gopkg.in/check.v1 v1.0.0-20180628173108-788fd7840127 h1:qIbj1fsPNlZgppZ+VLlY7N33
 gopkg.in/check.v1 v1.0.0-20180628173108-788fd7840127/go.mod h1:Co6ibVJAznAaIkqp8huTwlJQCZ016jof/cbN4VW5Yz0=
 gopkg.in/natefinch/lumberjack.v2 v2.0.0 h1:1Lc07Kr7qY4U2YPouBjpCLxpiyxIVoxqXgkXLknAOE8=
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+gopkg.in/yaml.v2 v2.2.1/go.mod h1:hI93XBmqTisBFMUTm0b8Fm+jr3Dg1NNxqwp+5A1VGuI=
 gopkg.in/yaml.v2 v2.2.2 h1:ZCJp+EgiOT7lHqUV2J862kp8Qj64Jo6az82+3Td9dZw=
 gopkg.in/yaml.v2 v2.2.2/go.mod h1:hI93XBmqTisBFMUTm0b8Fm+jr3Dg1NNxqwp+5A1VGuI=
+rsc.io/pdf v0.1.1/go.mod h1:n8OzWcQ6Sp37PL01nO98y4iUCRdTGarVfzxY20ICaU4=