105 lines
3.4 KiB
Go
105 lines
3.4 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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events2 "github.com/cyrilix/robocar-protobuf/go/events"
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"github.com/cyrilix/robocar-simulator/pkg/events"
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"github.com/cyrilix/robocar-simulator/pkg/gateway"
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mqtt "github.com/eclipse/paho.mqtt.golang"
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"github.com/golang/protobuf/proto"
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log "github.com/sirupsen/logrus"
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"os"
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)
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const DefaultClientId = "robocar-simulator"
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func main() {
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var mqttBroker, username, password, clientId, topicFrame, topicSteering, topicThrottle string
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var topicCtrlSteering, topicCtrlThrottle string
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var address string
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var debug bool
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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(&topicFrame, "events-topic-camera", os.Getenv("MQTT_TOPIC_CAMERA"), "Mqtt topic to events gateway frames, use MQTT_TOPIC_CAMERA if args not set")
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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")
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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")
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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")
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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")
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flag.StringVar(&address, "simulator-address", "127.0.0.1:9091", "Simulator address")
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flag.BoolVar(&debug, "debug", false, "Debug logs")
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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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if debug {
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log.SetLevel(log.DebugLevel)
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}
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client, err := cli.Connect(mqttBroker, username, password, clientId)
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if err != nil {
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log.Fatalf("unable to connect to events broker: %v", err)
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}
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defer client.Disconnect(10)
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gtw := gateway.New(address)
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defer gtw.Stop()
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msgPub := events.NewMsgPublisher(
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gtw,
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events.NewMqttPublisher(client),
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topicFrame,
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topicSteering,
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topicThrottle,
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)
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defer msgPub.Stop()
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msgPub.Start()
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cli.HandleExit(gtw)
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err = gtw.Start()
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if err != nil {
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log.Fatalf("unable to start service: %v", err)
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}
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if topicCtrlSteering != "" {
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log.Infof("configure mqtt route on steering command")
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client.AddRoute(topicCtrlSteering, func(client mqtt.Client, message mqtt.Message) {
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onSteeringCommand(gtw, message)
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})
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}
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if topicCtrlThrottle != "" {
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log.Infof("configure mqtt route on throttle command")
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client.AddRoute(topicCtrlThrottle, func(client mqtt.Client, message mqtt.Message) {
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onThrottleCommand(gtw, message)
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})
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}
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}
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func onSteeringCommand(c *gateway.Gateway, message mqtt.Message) {
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var steeringMsg *events2.SteeringMessage
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err := proto.Unmarshal(message.Payload(), steeringMsg)
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if err != nil {
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log.Errorf("unable to unmarshal steering msg: %v", err)
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return
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}
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c.WriteSteering(steeringMsg)
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}
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func onThrottleCommand(c *gateway.Gateway, message mqtt.Message) {
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var throttleMsg *events2.ThrottleMessage
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err := proto.Unmarshal(message.Payload(), throttleMsg)
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if err != nil {
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log.Errorf("unable to unmarshal throttle msg: %v", err)
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return
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}
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c.WriteThrottle(throttleMsg)
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}
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