First implementation

cmd/rc-steering/rc-steering.go

@@ -0,0 +1,65 @@
+package main
+
+import (
+	"flag"
+	"github.com/cyrilix/robocar-base/cli"
+	"github.com/cyrilix/robocar-steering-tflite-edgetpu/pkg/steering"
+	"go.uber.org/zap"
+	"log"
+	"os"
+)
+
+const (
+	DefaultClientId = "robocar-steering-tflite-edgetpu"
+)
+
+func main() {
+	var mqttBroker, username, password, clientId string
+	var cameraTopic, steeringTopic string
+	var modelPath string
+	var edgeVerbosity int
+
+	lgr, err := zap.NewProductionConfig().Build()
+	if err != nil {
+		log.Fatalf("unable to init logger: %v", err)
+	}
+	zap.ReplaceGlobals(lgr)
+
+	mqttQos := cli.InitIntFlag("MQTT_QOS", 0)
+	_, mqttRetain := os.LookupEnv("MQTT_RETAIN")
+
+	cli.InitMqttFlags(DefaultClientId, &mqttBroker, &username, &password, &clientId, &mqttQos, &mqttRetain)
+
+	flag.StringVar(&modelPath, "model", "", "path to model file")
+	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")
+	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")
+	flag.IntVar(&edgeVerbosity, "edge-verbosity", 0, "Edge TPU Verbosity")
+
+	flag.Parse()
+	if len(os.Args) <= 1 {
+		flag.PrintDefaults()
+		os.Exit(1)
+	}
+
+	if modelPath == "" {
+		zap.L().Error("model path is mandatory")
+		flag.PrintDefaults()
+		os.Exit(1)
+	}
+
+	client, err := cli.Connect(mqttBroker, username, password, clientId)
+	if err != nil {
+		zap.L().Fatal("unable to connect to mqtt bus", zap.Error(err))
+	}
+	defer client.Disconnect(50)
+
+	p := steering.NewPart(client, steeringTopic, cameraTopic, edgeVerbosity)
+	defer p.Stop()
+
+	cli.HandleExit(p)
+
+	err = p.Start()
+	if err != nil {
+		zap.L().Fatal("unable to start service", zap.Error(err))
+	}
+}