package main import ( "flag" "fmt" "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" "github.com/cyrilix/robocar-simulator/pkg/simulator" mqtt "github.com/eclipse/paho.mqtt.golang" "github.com/golang/protobuf/proto" "go.uber.org/zap" "log" "os" "strconv" "strings" ) const DefaultClientId = "robocar-simulator" func main() { var mqttBroker, username, password, clientId, topicFrame, topicSteering, topicThrottle string var topicCtrlSteering, topicCtrlThrottle 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(&topicFrame, "events-topic-camera", os.Getenv("MQTT_TOPIC_CAMERA"), "Mqtt topic to events gateway frames, use MQTT_TOPIC_CAMERA if args not set") flag.StringVar(&topicSteering, "events-topic-steering", os.Getenv("MQTT_TOPIC_STEERING"), "Mqtt topic to events gateway steering, use MQTT_TOPIC_STEERING if args not set") flag.StringVar(&topicThrottle, "events-topic-throttle", os.Getenv("MQTT_TOPIC_THROTTLE"), "Mqtt topic to events gateway throttle, use MQTT_TOPIC_THROTTLE if args not set") flag.StringVar(&topicCtrlSteering, "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(&topicCtrlThrottle, "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") var carName, carStyle, carColor string var carFontSize int carStyles := []string{ string(simulator.CarConfigBodyStyleDonkey), string(simulator.CarConfigBodyStyleBare), string(simulator.CarConfigBodyStyleCar01), } flag.StringVar(&carName, "car-name", "simulator-gateway", "Car name to display") flag.StringVar(&carStyle, "car-style", string(simulator.CarConfigBodyStyleDonkey), fmt.Sprintf("Car style, only %s", strings.Join(carStyles, ","))) flag.StringVar(&carColor, "car-color", "0,0,0", "Color car as rgb value") flag.IntVar(&carFontSize, "car-font-size", 0, "Car font size") var racerName, racerBio, racerCountry, racerGuid string flag.StringVar(&racerName, "racer-name", "", "") flag.StringVar(&racerBio, "racer-bio", "", "") flag.StringVar(&racerCountry, "racer-country", "", "") flag.StringVar(&racerGuid, "racer-guid", "", "") var cameraFov, cameraImgW, cameraImgH, cameraImgD int var cameraFishEyeX, cameraFishEyeY float64 var cameraOffsetX, cameraOffsetY, cameraOffsetZ, cameraRotX, cameraRotY, cameraRotZ float64 var cameraImgEnc string flag.IntVar(&cameraFov, "camera-fov", 90, "") flag.Float64Var(&cameraFishEyeX, "camera-fish-eye-x", 0.4, "") flag.Float64Var(&cameraFishEyeY, "camera-fish-eye-y", 0.7, "") flag.IntVar(&cameraImgW, "camera-img-w", 160, "image width") flag.IntVar(&cameraImgH, "camera-img-h", 128, "image height") flag.IntVar(&cameraImgD, "camera-img-d", 3, "Image depth") flag.StringVar(&cameraImgEnc, "camera-img-enc", string(simulator.CameraImageEncJpeg), "") flag.Float64Var(&cameraOffsetX, "camera-offset-x", 0, "moves camera left/right") flag.Float64Var(&cameraOffsetY, "camera-offset-y", 1.120395, "moves camera up/down") flag.Float64Var(&cameraOffsetZ, "camera-offset-z", 0.5528488, "moves camera forward/back") flag.Float64Var(&cameraRotX, "camera-rot-x", 15.0, "rotate the camera around x-axis") flag.Float64Var(&cameraRotY, "camera-rot-y", 0.0, "rotate the camera around y-axis") flag.Float64Var(&cameraRotZ, "camera-rot-z", 0.0, "rotate the camera around z-axis") flag.Parse() if len(os.Args) <= 1 { flag.PrintDefaults() os.Exit(1) } config := zap.NewDevelopmentConfig() if debug { config.Level = zap.NewAtomicLevelAt(zap.DebugLevel) } else { config.Level = zap.NewAtomicLevelAt(zap.InfoLevel) } lgr, err := config.Build() if err != nil { log.Fatalf("unable to init logger: %v", err) } defer func() { if err := lgr.Sync(); err != nil { log.Printf("unable to Sync logger: %v\n", err) } }() zap.ReplaceGlobals(lgr) client, err := cli.Connect(mqttBroker, username, password, clientId) if err != nil { zap.S().Fatalf("unable to connect to events broker: %v", err) } defer client.Disconnect(10) bodyColors := strings.Split(carColor, ",") carConfig := simulator.CarConfigMsg{ MsgType: simulator.MsgTypeCarConfig, BodyStyle: simulator.CarStyle(carStyle), BodyR: bodyColors[0], BodyG: bodyColors[1], BodyB: bodyColors[2], CarName: carName, FontSize: strconv.Itoa(carFontSize), } racer := simulator.RacerBioMsg{ MsgType: simulator.MsgTypeRacerInfo, RacerName: racerName, CarName: carName, Bio: racerBio, Country: racerCountry, Guid: racerGuid, } camera := simulator.CamConfigMsg{ MsgType: simulator.MsgTypeCameraConfig, Fov: strconv.Itoa(cameraFov), FishEyeX: fmt.Sprintf("%.2f", cameraFishEyeX), FishEyeY: fmt.Sprintf("%.2f",cameraFishEyeY), ImgW: strconv.Itoa(cameraImgW), ImgH: strconv.Itoa(cameraImgH), ImgD: strconv.Itoa(cameraImgD), ImgEnc: simulator.CameraImageEnc(cameraImgEnc), OffsetX: fmt.Sprintf("%.2f",cameraOffsetX), OffsetY: fmt.Sprintf("%.2f", cameraOffsetY), OffsetZ: fmt.Sprintf("%.2f", cameraOffsetZ), RotX: fmt.Sprintf("%.2f", cameraRotX), RotY: fmt.Sprintf("%.2f", cameraRotY), RotZ: fmt.Sprintf("%.2f", cameraRotZ), } gtw, err := gateway.New(address, &carConfig, &racer, &camera) if err != nil { zap.S().Fatalf("unable to init gateway: %v", err) } defer gtw.Stop() msgPub := events.NewMsgPublisher( gtw, events.NewMqttPublisher(client), topicFrame, topicSteering, topicThrottle, ) defer msgPub.Stop() msgPub.Start() cli.HandleExit(gtw) if topicCtrlSteering != "" { zap.S().Info("configure mqtt route on steering command") client.Subscribe(topicCtrlSteering, byte(mqttQos), func(client mqtt.Client, message mqtt.Message) { onSteeringCommand(gtw, message) }) } if topicCtrlThrottle != "" { zap.S().Info("configure mqtt route on throttle command") client.Subscribe(topicCtrlThrottle, byte(mqttQos), func(client mqtt.Client, message mqtt.Message) { onThrottleCommand(gtw, message) }) } err = gtw.Start() if err != nil { zap.S().Fatalf("unable to start service: %v", err) } } func onSteeringCommand(c *gateway.Gateway, message mqtt.Message) { var steeringMsg events2.SteeringMessage err := proto.Unmarshal(message.Payload(), &steeringMsg) if err != nil { zap.S().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 { zap.S().Errorf("unable to unmarshal throttle msg: %v", err) return } c.WriteThrottle(&throttleMsg) }