115 lines
4.8 KiB
Go
115 lines
4.8 KiB
Go
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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rc "github.com/cyrilix/robocar-pca9685/actuator"
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"github.com/cyrilix/robocar-pca9685/part"
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log "github.com/sirupsen/logrus"
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"go.uber.org/zap"
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"os"
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)
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const (
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DefaultClientId = "robocar-pca9685"
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SteeringChannel = 0
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ThrottleChannel = 1
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ThrottleStoppedPWM = 1455
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ThrottleMinPWM = 1113
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ThrottleMaxPWM = 1800
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SteeringLeftPWM = 1004
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SteeringRightPWM = 1986
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)
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func main() {
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var mqttBroker, username, password, clientId, topicThrottle, topicSteering string
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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.BoolVar(&debug, "debug", false, "Display raw value to debug")
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var throttleChannel, throttleStoppedPWM, throttleMinPWM, throttleMaxPWM int
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if err := cli.SetIntDefaultValueFromEnv(&throttleChannel, "THROTTLE_CHANNEL", ThrottleChannel); err != nil {
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zap.S().Warnf("unable to init throttleChannel arg: %v", err)
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}
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if err := cli.SetIntDefaultValueFromEnv(&throttleStoppedPWM, "THROTTLE_STOPPED_PWM", ThrottleStoppedPWM); err != nil {
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zap.S().Warnf("unable to init throttleStoppedPWM arg: %v", err)
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}
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if err := cli.SetIntDefaultValueFromEnv(&throttleMinPWM, "THROTTLE_MIN_PWM", ThrottleMinPWM); err != nil {
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zap.S().Warnf("unable to init throttleMinPWM arg: %v", err)
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}
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if err := cli.SetIntDefaultValueFromEnv(&throttleMaxPWM, "THROTTLE_MAX_PWM", ThrottleMaxPWM); err != nil {
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zap.S().Warnf("unable to init throttleMaxPWM arg: %v", err)
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}
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var steeringChannel, steeringLeftPWM, steeringRightPWM int
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if err := cli.SetIntDefaultValueFromEnv(&steeringChannel, "STEERING_CHANNEL", SteeringChannel); err != nil {
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zap.S().Warnf("unable to init steeringChannel arg: %v", err)
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}
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if err := cli.SetIntDefaultValueFromEnv(&steeringLeftPWM, "STEERING_LEFT_PWM", SteeringLeftPWM); err != nil {
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zap.S().Warnf("unable to init steeringLeftPWM arg: %v", err)
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}
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if err := cli.SetIntDefaultValueFromEnv(&steeringRightPWM, "STEERING_RIGHT_PWM", SteeringRightPWM); err != nil {
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zap.S().Warnf("unable to init steeringRightPWM arg: %v", err)
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}
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var updatePWMFrequency int
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if err := cli.SetIntDefaultValueFromEnv(&updatePWMFrequency, "UPDATE_PWM_FREQUENCY", 25); err != nil {
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zap.S().Warnf("unable to init updatePWMFrequency arg: %v", err)
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}
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flag.StringVar(&topicThrottle, "mqtt-topic-throttle", os.Getenv("MQTT_TOPIC_THROTTLE"), "Mqtt topic that contains throttle value, use MQTT_TOPIC_THROTTLE if args not set")
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flag.StringVar(&topicSteering, "mqtt-topic-steering", os.Getenv("MQTT_TOPIC_STEERING"), "Mqtt topic that contains steering value, use MQTT_TOPIC_STEERING if args not set")
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flag.IntVar(&throttleChannel, "throttle-channel", throttleChannel, "I2C channel to use to control throttle, THROTTLE_CHANNEL env if args not set")
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flag.IntVar(&steeringChannel, "steering-channel", steeringChannel, "I2C channel to use to control steering, STEERING_CHANNEL env if args not set")
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flag.IntVar(&throttleStoppedPWM, "throttle-zero-pwm", throttleStoppedPWM, "Zero value for throttle PWM, THROTTLE_STOPPED_PWM env if args not set")
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flag.IntVar(&throttleMinPWM, "throttle-min-pwm", throttleMinPWM, "Min value for throttle PWM, THROTTLE_MIN_PWM env if args not set")
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flag.IntVar(&throttleMaxPWM, "throttle-max-pwm", throttleMaxPWM, "Max value for throttle PWM, THROTTLE_MAX_PWM env if args not set")
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flag.IntVar(&steeringLeftPWM, "steering-left-pwm", steeringLeftPWM, "Max left value for steering PWM, STEERING_STOPPED_PWM env if args not set")
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flag.IntVar(&steeringRightPWM, "steering-right-pwm", steeringRightPWM, "Max right value for steering PWM, STEERING_MIN_PWM env if args not set")
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flag.IntVar(&updatePWMFrequency, "update-pwm-frequency", updatePWMFrequency, "Number of update values per seconds, UPDATE_PWM_FREQUENCY env if args not set")
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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 bus: %v", err)
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}
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defer client.Disconnect(50)
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t := rc.NewThrottle(throttleChannel, throttleStoppedPWM, throttleMinPWM, throttleMaxPWM)
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s := rc.NewSteering(steeringChannel, steeringLeftPWM, steeringRightPWM)
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p := part.NewPca9685Part(client, t, s, updatePWMFrequency, topicThrottle, topicSteering)
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err = p.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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