69 lines
2.3 KiB
Go
69 lines
2.3 KiB
Go
package main
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import (
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"flag"
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"github.com/cyrilix/robocar-base/cli"
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"github.com/cyrilix/robocar-steering/pkg/steering"
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"go.uber.org/zap"
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"log"
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"os"
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)
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const (
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DefaultClientId = "robocar-steering"
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)
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func main() {
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var mqttBroker, username, password, clientId string
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var steeringTopic, driveModeTopic, rcSteeringTopic, tfSteeringTopic, objectsTopic string
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mqttQos := cli.InitIntFlag("MQTT_QOS", 0)
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_, mqttRetain := os.LookupEnv("MQTT_RETAIN")
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cli.InitMqttFlags(DefaultClientId, &mqttBroker, &username, &password, &clientId, &mqttQos, &mqttRetain)
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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")
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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")
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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")
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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")
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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")
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logLevel := zap.LevelFlag("log", zap.InfoLevel, "log level")
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flag.Parse()
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if len(os.Args) <= 1 {
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flag.PrintDefaults()
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os.Exit(1)
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}
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config := zap.NewDevelopmentConfig()
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config.Level = zap.NewAtomicLevelAt(*logLevel)
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lgr, err := config.Build()
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if err != nil {
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log.Fatalf("unable to init logger: %v", err)
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}
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defer func() {
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if err := lgr.Sync(); err != nil {
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log.Printf("unable to Sync logger: %v\n", err)
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}
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}()
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zap.ReplaceGlobals(lgr)
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client, err := cli.Connect(mqttBroker, username, password, clientId)
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if err != nil {
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log.Fatalf("unable to connect to mqtt bus: %v", err)
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}
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defer client.Disconnect(50)
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p := steering.NewController(client, steeringTopic, driveModeTopic, rcSteeringTopic, tfSteeringTopic, objectsTopic)
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defer p.Stop()
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cli.HandleExit(p)
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err = p.Start()
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if err != nil {
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zap.S().Fatalf("unable to start service: %v", err)
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}
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}
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