66 lines
1.7 KiB
Go
66 lines
1.7 KiB
Go
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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-steering-tflite-edgetpu/pkg/steering"
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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-steering-tflite-edgetpu"
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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, steeringTopic string
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var modelPath string
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var edgeVerbosity int
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lgr, err := zap.NewProductionConfig().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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zap.ReplaceGlobals(lgr)
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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(&modelPath, "model", "", "path to model file")
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flag.StringVar(&steeringTopic, "mqtt-topic-road", os.Getenv("MQTT_TOPIC_STEERING"), "Mqtt topic to publish road detection result, use MQTT_TOPIC_STEERING 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(&edgeVerbosity, "edge-verbosity", 0, "Edge TPU Verbosity")
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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 modelPath == "" {
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zap.L().Error("model path is mandatory")
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flag.PrintDefaults()
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os.Exit(1)
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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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zap.L().Fatal("unable to connect to mqtt bus", zap.Error(err))
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}
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defer client.Disconnect(50)
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p := steering.NewPart(client, steeringTopic, cameraTopic, edgeVerbosity)
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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.L().Fatal("unable to start service", zap.Error(err))
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}
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}
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