robocars/robocar-steering
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This commit is contained in:
Cyrille Nofficial
2022-08-28 12:06:43 +02:00
parent efbcac602a
commit 86aef79e66
5 changed files with 314 additions and 79 deletions
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37
cmd/rc-steering/rc-steering.go
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@@ -16,6 +16,10 @@ const (
func main() {
var mqttBroker, username, password, clientId string
var steeringTopic, driveModeTopic, rcSteeringTopic, tfSteeringTopic, objectsTopic string
var imgWidth, imgHeight int
var enableObjectsCorrection, enableObjectsCorrectionOnUserMode bool
var gridMapConfig, objectsMoveFactorsConfig string
var deltaMiddle float64
mqttQos := cli.InitIntFlag("MQTT_QOS", 0)
_, mqttRetain := os.LookupEnv("MQTT_RETAIN")
@@ -27,7 +31,13 @@ func main() {
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.StringVar(&objectsTopic, "mqtt-topic-objects", os.Getenv("MQTT_TOPIC_OBJECTS"), "Mqtt topic that contains Objects from object detection value, use MQTT_TOPIC_OBJECTS if args not set")
flag.IntVar(&imgWidth, "image-width", 160, "Video pixels width")
flag.IntVar(&imgHeight, "image-height", 128, "Video pixels height")
flag.BoolVar(&enableObjectsCorrection, "enable-objects-correction", false, "Adjust steering to avoid objects")
flag.BoolVar(&enableObjectsCorrectionOnUserMode, "enable-objects-correction-user", false, "Adjust steering to avoid objects on user mode driving")
flag.StringVar(&gridMapConfig, "grid-map-config", "", "Json file path to configure grid object correction")
flag.StringVar(&objectsMoveFactorsConfig, "objects-move-factors-config", "", "Json file path to configure objects move corrections")
flag.Float64Var(&deltaMiddle, "delta-middle", 0.1, "Half Percent zone to interpret as straight")
logLevel := zap.LevelFlag("log", zap.InfoLevel, "log level")
flag.Parse()
@@ -50,13 +60,36 @@ func main() {
}()
zap.ReplaceGlobals(lgr)
zap.S().Infof("steering topic : %s", steeringTopic)
zap.S().Infof("rc topic : %s", rcSteeringTopic)
zap.S().Infof("tflite steering topic : %s", tfSteeringTopic)
zap.S().Infof("drive mode topic : %s", driveModeTopic)
zap.S().Infof("objects topic : %s", objectsTopic)
zap.S().Infof("objects correction enabled : %v", enableObjectsCorrection)
zap.S().Infof("objects correction on user mode : %v", enableObjectsCorrectionOnUserMode)
zap.S().Infof("grid map file config : %v", gridMapConfig)
zap.S().Infof("objects move factors grid config: %v", objectsMoveFactorsConfig)
zap.S().Infof("image width x height : %v x %v", imgWidth, imgHeight)
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 := steering.NewController(client, steeringTopic, driveModeTopic, rcSteeringTopic, tfSteeringTopic, objectsTopic)
p := steering.NewController(
client,
steeringTopic, driveModeTopic, rcSteeringTopic, tfSteeringTopic, objectsTopic,
steering.WithCorrector(
steering.NewCorrector(
steering.WidthDeltaMiddle(deltaMiddle),
steering.WithGridMap(gridMapConfig),
steering.WithObjectMoveFactors(objectsMoveFactorsConfig),
steering.WithImageSize(imgWidth, imgHeight),
),
),
steering.WithObjectsCorrectionEnabled(enableObjectsCorrection, enableObjectsCorrectionOnUserMode),
)
defer p.Stop()
cli.HandleExit(p)