First implementation

cmd/rc-road/rc-road.go

@@ -0,0 +1,56 @@
+package main
+
+import (
+	"flag"
+	"github.com/cyrilix/robocar-base/cli"
+	"github.com/cyrilix/robocar-road/part"
+	"log"
+	"os"
+)
+
+const (
+	DefaultClientId    = "robocar-road"
+	DefaultHorizon = 20
+)
+
+func main() {
+	var mqttBroker, username, password, clientId string
+	var cameraTopic, roadTopic string
+	var horizon int
+
+	err := cli.SetIntDefaultValueFromEnv(&horizon, "HORIZON", DefaultHorizon)
+	if err != nil {
+		log.Printf("unable to parse horizon value arg: %v", err)
+	}
+
+	mqttQos := cli.InitIntFlag("MQTT_QOS", 0)
+	_, mqttRetain := os.LookupEnv("MQTT_RETAIN")
+
+	cli.InitMqttFlags(DefaultClientId, &mqttBroker, &username, &password, &clientId, &mqttQos, &mqttRetain)
+
+	flag.StringVar(&roadTopic, "mqtt-topic-road", os.Getenv("MQTT_TOPIC_ROAD"), "Mqtt topic to publish road detection result, use MQTT_TOPIC_ROAD if args not set")
+	flag.StringVar(&cameraTopic, "mqtt-topic-camera", os.Getenv("MQTT_TOPIC_CAMERA"), "Mqtt topic that contains camera frame values, use MQTT_TOPIC_CAMERA if args not set")
+	flag.IntVar(&horizon, "horizon", horizon, "Limit horizon in pixels from top, use HORIZON if args not set")
+
+	flag.Parse()
+	if len(os.Args) <= 1 {
+		flag.PrintDefaults()
+		os.Exit(1)
+	}
+
+	client, err := cli.Connect(mqttBroker, username, password, clientId)
+	if err != nil {
+		log.Fatalf("unable to connect to mqtt bus: %v", err)
+	}
+	defer client.Disconnect(50)
+
+	p := part.NewRoadPart(client, horizon, cameraTopic, roadTopic)
+	defer p.Stop()
+
+	cli.HandleExit(p)
+
+	err = p.Start()
+	if err != nil {
+		log.Fatalf("unable to start service: %v", err)
+	}
+}