First implementation

cmd/rc-camera/rc-camera.go

@@ -0,0 +1,59 @@
+package main
+
+import (
+	"flag"
+	"github.com/cyrilix/robocar-base/cli"
+	"github.com/cyrilix/robocar-base/mqttdevice"
+	"github.com/cyrilix/robocar-camera/camera"
+	"gocv.io/x/gocv"
+	"log"
+	"os"
+)
+
+const DefaultClientId = "robocar-camera"
+
+func main() {
+	var mqttBroker, username, password, clientId, topicBase string
+	var pubFrequency int
+	var device, videoWidth, videoHeight int
+
+	mqttQos := cli.InitIntFlag("MQTT_QOS", 0)
+	_, mqttRetain := os.LookupEnv("MQTT_RETAIN")
+
+	cli.InitMqttFlags(DefaultClientId, &mqttBroker, &username, &password, &clientId, &mqttQos, &mqttRetain)
+
+	flag.StringVar(&topicBase, "mqtt-topic", os.Getenv("MQTT_TOPIC"), "Mqtt topic to publish camera frames, use MQTT_TOPIC if args not set")
+	flag.IntVar(&pubFrequency, "mqtt-pub-frequency", 25., "Number of messages to publish per second")
+
+	flag.IntVar(&device, "video-device", 0, "Video device number")
+	flag.IntVar(&videoWidth, "video-width", 160, "Video pixels width")
+	flag.IntVar(&videoHeight, "video-height", 128, "Video pixels height")
+
+	flag.Parse()
+	if len(os.Args) <= 1 {
+		flag.PrintDefaults()
+		os.Exit(1)
+	}
+
+	pubSub := mqttdevice.NewPahoMqttPubSub(mqttBroker, username, password, clientId, mqttQos, mqttRetain)
+	defer func() {
+		err := pubSub.Close()
+		if err != nil {
+			log.Printf("unable to close mqtt publisher: %v", err)
+		}
+	}()
+
+	videoProperties := make(map[gocv.VideoCaptureProperties]float64)
+	videoProperties[gocv.VideoCaptureFrameWidth] = float64(videoWidth)
+	videoProperties[gocv.VideoCaptureFrameHeight] = float64(videoHeight)
+
+	c := camera.New(topicBase, pubSub, pubFrequency, videoProperties)
+	defer c.Stop()
+
+	cli.HandleExit(c)
+
+	err := c.Start()
+	if err != nil {
+		log.Fatalf("unable to start service: %v", err)
+	}
+}