102 lines
4.3 KiB
Go
102 lines
4.3 KiB
Go
package main
|
|
|
|
import (
|
|
"flag"
|
|
"github.com/cyrilix/robocar-base/cli"
|
|
"github.com/cyrilix/robocar-steering/pkg/steering"
|
|
"go.uber.org/zap"
|
|
"log"
|
|
"os"
|
|
)
|
|
|
|
const (
|
|
DefaultClientId = "robocar-steering"
|
|
)
|
|
|
|
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")
|
|
|
|
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.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()
|
|
|
|
if len(os.Args) <= 1 {
|
|
flag.PrintDefaults()
|
|
os.Exit(1)
|
|
}
|
|
|
|
config := zap.NewDevelopmentConfig()
|
|
config.Level = zap.NewAtomicLevelAt(*logLevel)
|
|
lgr, err := config.Build()
|
|
if err != nil {
|
|
log.Fatalf("unable to init logger: %v", err)
|
|
}
|
|
defer func() {
|
|
if err := lgr.Sync(); err != nil {
|
|
log.Printf("unable to Sync logger: %v\n", err)
|
|
}
|
|
}()
|
|
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,
|
|
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)
|
|
|
|
err = p.Start()
|
|
if err != nil {
|
|
zap.S().Fatalf("unable to start service: %v", err)
|
|
}
|
|
}
|