robocars/robocar-simulator
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Implement steering/throttle reading from simulator

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This commit is contained in:
Cyrille Nofficial
2021-01-15 11:12:21 +01:00
parent 843ada8357
commit d4194e6c5e
8 changed files with 393 additions and 202 deletions
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17
cmd/rc-simulator/rc-simultator.go
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@ -3,30 +3,35 @@ package main
import (
"flag"
"github.com/cyrilix/robocar-base/cli"
"github.com/cyrilix/robocar-simulator/camera"
"log"
"github.com/cyrilix/robocar-simulator/pkg/gateway"
log"github.com/sirupsen/logrus"
"os"
)
const DefaultClientId = "robocar-camera"
const DefaultClientId = "robocar-simulator"
func main() {
var mqttBroker, username, password, clientId, topicBase string
var mqttBroker, username, password, clientId, topicFrame string
var address string
var debug bool
mqttQos := cli.InitIntFlag("MQTT_QOS", 0)
_, mqttRetain := os.LookupEnv("MQTT_RETAIN")
cli.InitMqttFlags(DefaultClientId, &mqttBroker, &username, &password, &clientId, &mqttQos, &mqttRetain)
flag.StringVar(&topicBase, "mqtt-topic", os.Getenv("MQTT_TOPIC"), "Mqtt topic to publish camera frames, use MQTT_TOPIC if args not set")
flag.StringVar(&topicFrame, "mqtt-topic-frame", os.Getenv("MQTT_TOPIC"), "Mqtt topic to publish gateway frames, use MQTT_TOPIC_FRAME if args not set")
flag.StringVar(&address, "simulator-address", "127.0.0.1:9091", "Simulator address")
flag.BoolVar(&debug, "debug", false, "Debug logs")
flag.Parse()
if len(os.Args) <= 1 {
flag.PrintDefaults()
os.Exit(1)
}
if debug {
log.SetLevel(log.DebugLevel)
}
client, err := cli.Connect(mqttBroker, username, password, clientId)
if err != nil {
@ -35,7 +40,7 @@ func main() {
defer client.Disconnect(10)
c := camera.New(camera.NewMqttPublisher(client, topicBase), address)
c := gateway.New(gateway.NewMqttPublisher(client, topicFrame, "", ""), address)
defer c.Stop()
cli.HandleExit(c)