77 lines
2.0 KiB
Go
77 lines
2.0 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-road/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-road"
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DefaultHorizon = 20
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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, roadTopic string
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var horizon int
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var debug bool
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err := cli.SetIntDefaultValueFromEnv(&horizon, "HORIZON", DefaultHorizon)
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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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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(&roadTopic, "mqtt-topic-road", os.Getenv("MQTT_TOPIC_ROAD"), "Mqtt topic to publish road detection result, use MQTT_TOPIC_ROAD if args not set")
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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")
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flag.IntVar(&horizon, "horizon", horizon, "Limit 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 bus: %v", err)
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}
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defer client.Disconnect(50)
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p := part.NewRoadPart(client, horizon, cameraTopic, roadTopic)
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defer p.Stop()
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cli.HandleExit(p)
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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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