robocars/robocar-simulator
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Watch mqtt topic to control simulator car

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This commit is contained in:
Cyrille Nofficial 2021-01-23 12:30:59 +01:00
parent 0f79efacf2
commit e819f61d1b
2 changed files with 62 additions and 6 deletions
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64
cmd/rc-simulator/rc-simultator.go
View File

@ -3,7 +3,11 @@ package main
import (
"flag"
"github.com/cyrilix/robocar-base/cli"
events2 "github.com/cyrilix/robocar-protobuf/go/events"
"github.com/cyrilix/robocar-simulator/pkg/events"
"github.com/cyrilix/robocar-simulator/pkg/gateway"
mqtt "github.com/eclipse/paho.mqtt.golang"
"github.com/golang/protobuf/proto"
log "github.com/sirupsen/logrus"
"os"
)
@ -11,7 +15,8 @@ import (
const DefaultClientId = "robocar-simulator"
func main() {
var mqttBroker, username, password, clientId, topicFrame string
var mqttBroker, username, password, clientId, topicFrame, topicSteering, topicThrottle string
var topicCtrlSteering, topicCtrlThrottle string
var address string
var debug bool
@ -20,7 +25,11 @@ func main() {
cli.InitMqttFlags(DefaultClientId, &mqttBroker, &username, &password, &clientId, &mqttQos, &mqttRetain)
flag.StringVar(&topicFrame, "events-topic-frame", os.Getenv("MQTT_TOPIC"), "Mqtt topic to events gateway frames, use MQTT_TOPIC_FRAME if args not set")
flag.StringVar(&topicFrame, "events-topic-frame", os.Getenv("MQTT_TOPIC_FRAME"), "Mqtt topic to events gateway frames, use MQTT_TOPIC_FRAME if args not set")
flag.StringVar(&topicFrame, "events-topic-steering", os.Getenv("MQTT_TOPIC_STEERING"), "Mqtt topic to events gateway steering, use MQTT_TOPIC_STEERING if args not set")
flag.StringVar(&topicFrame, "events-topic-throttle", os.Getenv("MQTT_TOPIC_THROTTLE"), "Mqtt topic to events gateway throttle, use MQTT_TOPIC_THROTTLE if args not set")
flag.StringVar(&topicFrame, "topic-steering-ctrl", os.Getenv("MQTT_TOPIC_STEERING_CTRL"), "Mqtt topic to send steering instructions, use MQTT_TOPIC_STEERING_CTRL if args not set")
flag.StringVar(&topicFrame, "topic-throttle-ctrl", os.Getenv("MQTT_TOPIC_THROTTLE_CTRL"), "Mqtt topic to send throttle instructions, use MQTT_TOPIC_THROTTLE_CTRL if args not set")
flag.StringVar(&address, "simulator-address", "127.0.0.1:9091", "Simulator address")
flag.BoolVar(&debug, "debug", false, "Debug logs")
@ -39,13 +48,56 @@ func main() {
}
defer client.Disconnect(10)
c := gateway.New(address)
defer c.Stop()
gtw := gateway.New(address)
defer gtw.Stop()
cli.HandleExit(c)
msgPub := events.NewMsgPublisher(
gtw,
events.NewMqttPublisher(client),
topicFrame,
topicSteering,
topicThrottle,
)
defer msgPub.Stop()
err = c.Start()
cli.HandleExit(gtw)
err = gtw.Start()
if err != nil {
log.Fatalf("unable to start service: %v", err)
}
msgPub.Start()
if topicCtrlSteering != "" {
log.Infof("configure mqtt route on steering command")
client.AddRoute(topicCtrlSteering, func(client mqtt.Client, message mqtt.Message) {
onSteeringCommand(gtw, message)
})
}
if topicCtrlThrottle != "" {
log.Infof("configure mqtt route on throttle command")
client.AddRoute(topicCtrlThrottle, func(client mqtt.Client, message mqtt.Message) {
onThrottleCommand(gtw, message)
})
}
}
func onSteeringCommand(c *gateway.Gateway, message mqtt.Message) {
var steeringMsg *events2.SteeringMessage
err := proto.Unmarshal(message.Payload(), steeringMsg)
if err != nil {
log.Errorf("unable to unmarshal steering msg: %v", err)
return
}
c.WriteSteering(steeringMsg)
}
func onThrottleCommand(c *gateway.Gateway, message mqtt.Message) {
var throttleMsg *events2.ThrottleMessage
err := proto.Unmarshal(message.Payload(), throttleMsg)
if err != nil {
log.Errorf("unable to unmarshal throttle msg: %v", err)
return
}
c.WriteThrottle(throttleMsg)
}

4
pkg/events/events.go
View File

@ -131,6 +131,10 @@ type Publisher interface {
Publish(topic string, payload []byte) error
}
func NewMqttPublisher(client mqtt.Client) *MqttPublisher {
return &MqttPublisher{client: client}
}
type MqttPublisher struct {
client mqtt.Client
}