79 lines
2.6 KiB
Go
79 lines
2.6 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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"github.com/cyrilix/robocar-record/pkg/part"
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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 (
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DefaultClientId = "robocar-record"
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)
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func main() {
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var mqttBroker, username, password, clientId string
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var cameraTopic, rcSteeringTopic, recordTopic, tfSteeringTopic, driveModeTopic, switchRecordTopic 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.StringVar(&cameraTopic, "mqtt-topic-frame", os.Getenv("MQTT_TOPIC_CAMERA"), "Mqtt topic that contains camera frame, use MQTT_TOPIC_CAMERA if args not set")
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flag.StringVar(&rcSteeringTopic, "mqtt-topic-steering", os.Getenv("MQTT_TOPIC_STEERING"), "Mqtt topic that contains steering raw values, use MQTT_TOPIC_STEERING if args not set")
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flag.StringVar(&tfSteeringTopic, "mqtt-topic-autopilot-steering", os.Getenv("MQTT_TOPIC_AUTOPILOT_STEERING"), "Mqtt topic that contains steering computed by autopilot, use MQTT_TOPIC_AUTOPILOT_STEERING if args not set")
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flag.StringVar(&driveModeTopic, "mqtt-topic-drive-mode", os.Getenv("MQTT_TOPIC_DRIVE_MODE"), "Mqtt topic that contains drive mode instruction, 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 that contain switch record state, use MQTT_TOPIC_SWITCH_RECORD if args not set")
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flag.StringVar(&recordTopic, "mqtt-topic-records", os.Getenv("MQTT_TOPIC_RECORDS"), "Mqtt topic to publish record messages, use MQTT_TOPIC_RECORDS 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 bus: %v", err)
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}
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defer client.Disconnect(50)
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r := part.NewRecorder(client,
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recordTopic,
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cameraTopic,
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rcSteeringTopic,
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tfSteeringTopic,
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driveModeTopic,
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switchRecordTopic,
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)
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defer r.Stop()
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cli.HandleExit(r)
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if err := r.Start(); 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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