Add uncommited files

cmd/rc-steering/rc-steering.go

@@ -0,0 +1,50 @@
+package main
+
+import (
+	"flag"
+	"github.com/cyrilix/robocar-base/cli"
+	"github.com/cyrilix/robocar-steering/part"
+	"log"
+	"os"
+)
+
+const (
+	DefaultClientId = "robocar-steering"
+)
+
+func main() {
+	var mqttBroker, username, password, clientId string
+	var steeringTopic, driveModeTopic, rcSteeringTopic, tfSteeringTopic string
+
+	mqttQos := cli.InitIntFlag("MQTT_QOS", 0)
+	_, mqttRetain := os.LookupEnv("MQTT_RETAIN")
+
+	cli.InitMqttFlags(DefaultClientId, &mqttBroker, &username, &password, &clientId, &mqttQos, &mqttRetain)
+
+	flag.StringVar(&steeringTopic, "mqtt-topic-steering", os.Getenv("MQTT_TOPIC_STEERING"), "Mqtt topic to publish steering result, use MQTT_TOPIC_STEERING if args not set")
+	flag.StringVar(&rcSteeringTopic, "mqtt-topic-rc-steering", os.Getenv("MQTT_TOPIC_RC_STEERING"), "Mqtt topic that contains RC steering value, use MQTT_TOPIC_RC_STEERING if args not set")
+	flag.StringVar(&tfSteeringTopic, "mqtt-topic-tf-steering", os.Getenv("MQTT_TOPIC_TF_STEERING"), "Mqtt topic that contains tenorflow steering value, use MQTT_TOPIC_TF_STEERING if args not set")
+	flag.StringVar(&driveModeTopic, "mqtt-topic-drive-mode", os.Getenv("MQTT_TOPIC_DRIVE_MODE"), "Mqtt topic that contains DriveMode value, use MQTT_TOPIC_DRIVE_MODE if args not set")
+
+	flag.Parse()
+	if len(os.Args) <= 1 {
+		flag.PrintDefaults()
+		os.Exit(1)
+	}
+
+	client, err := cli.Connect(mqttBroker, username, password, clientId)
+	if err != nil {
+		log.Fatalf("unable to connect to mqtt bus: %v", err)
+	}
+	defer client.Disconnect(50)
+
+	p := part.NewPart(client, steeringTopic, driveModeTopic, rcSteeringTopic, tfSteeringTopic)
+	defer p.Stop()
+
+	cli.HandleExit(p)
+
+	err = p.Start()
+	if err != nil {
+		log.Fatalf("unable to start service: %v", err)
+	}
+}