robocars/robocar-steering
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Consume objects from mqtt topic

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This commit is contained in:
Cyrille Nofficial
2022-08-22 13:12:12 +02:00
parent 2b31a3b7eb
commit 9af8f3a770
7 changed files with 57 additions and 25 deletions
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7
cmd/rc-steering/rc-steering.go
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@@ -15,8 +15,7 @@ const (
func main() {
var mqttBroker, username, password, clientId string
var steeringTopic, driveModeTopic, rcSteeringTopic, tfSteeringTopic string
var debug bool
var steeringTopic, driveModeTopic, rcSteeringTopic, tfSteeringTopic, objectsTopic string
mqttQos := cli.InitIntFlag("MQTT_QOS", 0)
_, mqttRetain := os.LookupEnv("MQTT_RETAIN")
@@ -27,6 +26,7 @@ func main() {
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.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")
logLevel := zap.LevelFlag("log", zap.InfoLevel, "log level")
@@ -50,14 +50,13 @@ func main() {
}()
zap.ReplaceGlobals(lgr)
debug = logLevel.Enabled(zap.DebugLevel)
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, debug)
p := steering.NewController(client, steeringTopic, driveModeTopic, rcSteeringTopic, tfSteeringTopic, objectsTopic)
defer p.Stop()
cli.HandleExit(p)