88 lines
2.7 KiB
Go
88 lines
2.7 KiB
Go
package main
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import (
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"flag"
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"fmt"
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"github.com/cyrilix/robocar-base/cli"
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"github.com/cyrilix/robocar-camera/pkg/camera"
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"go.uber.org/zap"
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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, topicRoi string
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var pubFrequency, horizon int
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var device, videoWidth, videoHeight int
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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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err := cli.SetIntDefaultValueFromEnv(&horizon, "HORIZON", 0)
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if err != nil {
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log.Printf("unable to parse horizon value arg: %v", err)
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}
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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.StringVar(&topicRoi, "mqtt-topic-roi", os.Getenv("MQTT_TOPIC_ROI"), "Mqtt topic to publish camera frames cropped to horizon value, mqtt-topic value with '-roi' suffix 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.IntVar(&horizon, "horizon", horizon, "Limit region of interest to horizon in pixels from top, use HORIZON if args not set")
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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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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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if topicRoi == "" {
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topicRoi = fmt.Sprintf( "%s-roi", topicBase)
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}
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c := camera.New(client, topicBase, topicRoi, pubFrequency, videoProperties, horizon)
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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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zap.S().Fatalf("unable to start service: %v", err)
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}
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}
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