60 lines
1.7 KiB
Go
60 lines
1.7 KiB
Go
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package main
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import (
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"flag"
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"github.com/cyrilix/robocar-base/cli"
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"github.com/cyrilix/robocar-base/mqttdevice"
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"github.com/cyrilix/robocar-camera/camera"
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"gocv.io/x/gocv"
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"log"
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"os"
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)
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const DefaultClientId = "robocar-camera"
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func main() {
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var mqttBroker, username, password, clientId, topicBase string
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var pubFrequency int
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var device, videoWidth, videoHeight int
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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.StringVar(&topicBase, "mqtt-topic", os.Getenv("MQTT_TOPIC"), "Mqtt topic to publish camera frames, use MQTT_TOPIC if args not set")
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flag.IntVar(&pubFrequency, "mqtt-pub-frequency", 25., "Number of messages to publish per second")
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flag.IntVar(&device, "video-device", 0, "Video device number")
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flag.IntVar(&videoWidth, "video-width", 160, "Video pixels width")
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flag.IntVar(&videoHeight, "video-height", 128, "Video pixels height")
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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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pubSub := mqttdevice.NewPahoMqttPubSub(mqttBroker, username, password, clientId, mqttQos, mqttRetain)
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defer func() {
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err := pubSub.Close()
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if err != nil {
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log.Printf("unable to close mqtt publisher: %v", err)
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}
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}()
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videoProperties := make(map[gocv.VideoCaptureProperties]float64)
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videoProperties[gocv.VideoCaptureFrameWidth] = float64(videoWidth)
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videoProperties[gocv.VideoCaptureFrameHeight] = float64(videoHeight)
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c := camera.New(topicBase, pubSub, pubFrequency, videoProperties)
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defer c.Stop()
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cli.HandleExit(c)
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err := c.Start()
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if err != nil {
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log.Fatalf("unable to start service: %v", err)
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}
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}
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