robocars/robocar-arduino
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Debug on car

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This commit is contained in:
Cyrille Nofficial
2019-12-18 23:21:52 +01:00
parent bdba5127bd
commit d1ef22c2a5
608 changed files with 100164 additions and 128 deletions
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44
cmd/rc-arduino/rc-arduino.go
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@ -3,10 +3,10 @@ package main
import (
"flag"
"github.com/cyrilix/robocar-arduino/arduino"
"github.com/cyrilix/robocar-base/cli"
"github.com/cyrilix/robocar-base/mqttdevice"
"log"
"os"
"strconv"
)
const DefaultClientId = "robocar-arduino"
@ -20,30 +20,28 @@ func setDefaultValueFromEnv(value *string, key string, defaultValue string) {
}
func main() {
var mqttBroker, username, password, qos, clientId, topicBase string
var mqttBroker, username, password, clientId, topicBase string
var device string
var baud int
var pubFrequency float64
var debug bool
setDefaultValueFromEnv(&clientId, "MQTT_CLIENT_ID", DefaultClientId)
setDefaultValueFromEnv(&mqttBroker, "MQTT_BROKER", "tcp://127.0.0.1:1883")
setDefaultValueFromEnv(&qos, "MQTT_QOS", "0")
mqttQos, err := strconv.Atoi(qos)
if err != nil {
log.Panicf("invalid mqtt qos value: %v", qos)
}
mqttQos := cli.InitIntFlag("MQTT_QOS", 0)
_, mqttRetain := os.LookupEnv("MQTT_RETAIN")
flag.StringVar(&mqttBroker, "mqtt-broker", mqttBroker, "Broker Uri, use MQTT_BROKER env if arg not set")
flag.StringVar(&username, "mqtt-username", os.Getenv("MQTT_USERNAME"), "Broker Username, use MQTT_USERNAME env if arg not set")
flag.StringVar(&password, "mqtt-password", os.Getenv("MQTT_PASSWORD"), "Broker Password, MQTT_PASSWORD env if args not set")
flag.StringVar(&clientId, "mqtt-client-id", clientId, "Mqtt client id, use MQTT_CLIENT_ID env if args not set")
flag.IntVar(&mqttQos, "mqtt-qos", mqttQos, "Qos to pusblish message, use MQTT_QOS env if arg not set")
flag.StringVar(&topicBase, "mqtt-topic-base", os.Getenv("MQTT_TOPIC_BASE"), "Mqtt topic prefix, use MQTT_TOPIC_BASE if args not set")
flag.BoolVar(&mqttRetain, "mqtt-retain", mqttRetain, "Retain mqtt message, if not set, true if MQTT_RETAIN env variable is set")
cli.InitMqttFlags(DefaultClientId, &mqttBroker, &username, &password, &clientId, &mqttQos, &mqttRetain)
flag.Float64Var(&pubFrequency, "mqtt-pub-frequency", 25., "Number of messages to publish per second")
flag.StringVar(&topicBase, "mqtt-topic-base", os.Getenv("MQTT_TOPIC_BASE"), "Mqtt topic prefix, use MQTT_TOPIC_BASE if args not set")
flag.StringVar(&device, "device", "/dev/serial0", "Serial device")
flag.IntVar(&baud, "baud", 115200, "Serial baud")
flag.BoolVar(&debug, "debug", false, "Display raw value to debug")
flag.Parse()
if len(os.Args) <= 1 {
flag.PrintDefaults()
os.Exit(1)
}
flag.Parse()
if len(os.Args) <= 1 {
@ -52,8 +50,16 @@ func main() {
}
pubSub := mqttdevice.NewPahoMqttPubSub(mqttBroker, username, password, clientId, mqttQos, mqttRetain)
defer pubSub.Close()
defer func() {
err := pubSub.Close()
if err != nil {
log.Printf("unable to close pubsub: %v", err)
}
}()
a := arduino.NewArduinoPart(device, baud, pubSub,topicBase, pubFrequency)
a.Start()
a := arduino.NewPart(device, baud, pubSub, topicBase, pubFrequency, debug)
err := a.Start()
if err != nil {
log.Printf("unable to start service: %v", err)
}
}