72 lines
2.5 KiB
Go
72 lines
2.5 KiB
Go
package main
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import (
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"flag"
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"github.com/cyrilix/robocar-arduino/pkg/arduino"
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"github.com/cyrilix/robocar-base/cli"
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"go.uber.org/zap"
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"log"
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"os"
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)
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const DefaultClientId = "robocar-arduino"
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func main() {
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var mqttBroker, username, password, clientId string
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var throttleTopic, steeringTopic, driveModeTopic, switchRecordTopic string
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var device string
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var baud int
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var pubFrequency float64
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var debug bool
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mqttQos := cli.InitIntFlag("MQTT_QOS", 0)
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_, mqttRetain := os.LookupEnv("MQTT_RETAIN")
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cli.InitMqttFlags(DefaultClientId, &mqttBroker, &username, &password, &clientId, &mqttQos, &mqttRetain)
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flag.Float64Var(&pubFrequency, "mqtt-pub-frequency", 25., "Number of messages to publish per second")
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flag.StringVar(&throttleTopic, "mqtt-topic-throttle", os.Getenv("MQTT_TOPIC_THROTTLE"), "Mqtt topic where to publish throttle values, use MQTT_TOPIC_THROTTLE if args not set")
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flag.StringVar(&steeringTopic, "mqtt-topic-steering", os.Getenv("MQTT_TOPIC_STEERING"), "Mqtt topic where to publish steering values, use MQTT_TOPIC_STEERING if args not set")
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flag.StringVar(&driveModeTopic, "mqtt-topic-drive-mode", os.Getenv("MQTT_TOPIC_DRIVE_MODE"), "Mqtt topic where to publish drive mode state, use MQTT_TOPIC_DRIVE_MODE if args not set")
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flag.StringVar(&switchRecordTopic, "mqtt-topic-switch-record", os.Getenv("MQTT_TOPIC_SWITCH_RECORD"), "Mqtt topic where to publish switch record state, use MQTT_TOPIC_SWITCH_RECORD if args not set")
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flag.StringVar(&device, "device", "/dev/serial0", "Serial device")
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flag.IntVar(&baud, "baud", 115200, "Serial baud")
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flag.BoolVar(&debug, "debug", false, "Display raw value to debug")
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flag.Parse()
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if len(os.Args) <= 1 {
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flag.PrintDefaults()
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os.Exit(1)
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}
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config := zap.NewDevelopmentConfig()
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if debug {
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config.Level = zap.NewAtomicLevelAt(zap.DebugLevel)
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} else {
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config.Level = zap.NewAtomicLevelAt(zap.InfoLevel)
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}
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lgr, err := config.Build()
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if err != nil {
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log.Fatalf("unable to init logger: %v", err)
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}
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defer func() {
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if err := lgr.Sync(); err != nil {
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log.Printf("unable to Sync logger: %v\n", err)
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}
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}()
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zap.ReplaceGlobals(lgr)
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client, err := cli.Connect(mqttBroker, username, password, clientId)
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if err != nil {
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zap.S().Fatalf("unable to connect to mqtt broker: %v", err)
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}
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defer client.Disconnect(10)
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a := arduino.NewPart(client, device, baud, throttleTopic, steeringTopic, driveModeTopic, switchRecordTopic, pubFrequency)
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err = a.Start()
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if err != nil {
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zap.S().Errorw("unable to start service", "error", err)
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}
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}
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