107 lines
4.3 KiB
Go
107 lines
4.3 KiB
Go
package main
|
|
|
|
import (
|
|
"flag"
|
|
"github.com/cyrilix/robocar-base/cli"
|
|
"github.com/cyrilix/robocar-throttle/pkg/brake"
|
|
"github.com/cyrilix/robocar-throttle/pkg/throttle"
|
|
"github.com/cyrilix/robocar-throttle/pkg/types"
|
|
"go.uber.org/zap"
|
|
"log"
|
|
"os"
|
|
)
|
|
|
|
const (
|
|
DefaultClientId = "robocar-throttle"
|
|
DefaultThrottleMin = 0.3
|
|
)
|
|
|
|
func main() {
|
|
var mqttBroker, username, password, clientId string
|
|
var throttleTopic, driveModeTopic, rcThrottleTopic, steeringTopic, throttleFeedbackTopic string
|
|
var minThrottle, maxThrottle float64
|
|
var publishPilotFrequency int
|
|
var brakeConfig string
|
|
var enableBrake bool
|
|
|
|
err := cli.SetFloat64DefaultValueFromEnv(&minThrottle, "THROTTLE_MIN", DefaultThrottleMin)
|
|
if err != nil {
|
|
zap.S().Errorf("unable to parse min throttle value arg: %v", err)
|
|
}
|
|
err = cli.SetFloat64DefaultValueFromEnv(&maxThrottle, "THROTTLE_MAX", minThrottle)
|
|
if err != nil {
|
|
zap.S().Errorf("unable to parse max throttle value arg: %v", err)
|
|
}
|
|
|
|
mqttQos := cli.InitIntFlag("MQTT_QOS", 0)
|
|
_, mqttRetain := os.LookupEnv("MQTT_RETAIN")
|
|
|
|
cli.InitMqttFlags(DefaultClientId, &mqttBroker, &username, &password, &clientId, &mqttQos, &mqttRetain)
|
|
|
|
flag.StringVar(&throttleTopic, "mqtt-topic-throttle", os.Getenv("MQTT_TOPIC_THROTTLE"), "Mqtt topic to publish throttle result, use MQTT_TOPIC_THROTTLE 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(&rcThrottleTopic, "mqtt-topic-rc-throttle", os.Getenv("MQTT_TOPIC_RC_THROTTLE"), "Mqtt topic that contains RC Throttle value, use MQTT_TOPIC_RC_THROTTLE if args not set")
|
|
flag.StringVar(&steeringTopic, "mqtt-topic-steering", os.Getenv("MQTT_TOPIC_STEERING"), "Mqtt topic that contains steering value, use MQTT_TOPIC_STEERING if args not set")
|
|
flag.StringVar(&throttleFeedbackTopic, "mqtt-topic-throttle-feedback", os.Getenv("MQTT_TOPIC_THROTTLE_FEEDBACK"), "Mqtt topic where to publish throttle feedback, use MQTT_TOPIC_THROTTLE_FEEDBACK if args not set")
|
|
|
|
flag.Float64Var(&minThrottle, "throttle-min", minThrottle, "Minimum throttle value, use THROTTLE_MIN if args not set")
|
|
flag.Float64Var(&maxThrottle, "throttle-max", maxThrottle, "Minimum throttle value, use THROTTLE_MAX if args not set")
|
|
flag.IntVar(&publishPilotFrequency, "update-pwm-frequency", 2, "Number of throttle event to publish when pilot mode is enabled")
|
|
|
|
flag.BoolVar(&enableBrake, "enable-brake-feature", false, "Enable brake to slow car on throttle changes")
|
|
flag.StringVar(&brakeConfig, "brake-configuration", "", "Json file to use to configure brake adaptation when --enable-brake is `true`")
|
|
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("Topic throttle : %s", throttleTopic)
|
|
zap.S().Infof("Topic rc-throttle : %s", rcThrottleTopic)
|
|
zap.S().Infof("Topic throttle feedback : %s", throttleFeedbackTopic)
|
|
zap.S().Infof("Topic steering : %s", steeringTopic)
|
|
zap.S().Infof("Topic drive mode : %s", driveModeTopic)
|
|
zap.S().Infof("Min throttle : %v", minThrottle)
|
|
zap.S().Infof("Max throttle : %v", maxThrottle)
|
|
zap.S().Infof("Publish frequency : %vHz", publishPilotFrequency)
|
|
zap.S().Infof("Brake enabled : %v", enableBrake)
|
|
|
|
client, err := cli.Connect(mqttBroker, username, password, clientId)
|
|
if err != nil {
|
|
zap.S().Fatalf("unable to connect to mqtt bus: %v", err)
|
|
}
|
|
defer client.Disconnect(50)
|
|
|
|
var brakeCtrl brake.Controller
|
|
if enableBrake {
|
|
brakeCtrl = brake.NewCustomControllerWithJsonConfig(brakeConfig)
|
|
} else {
|
|
brakeCtrl = &brake.DisabledController{}
|
|
}
|
|
p := throttle.New(client, throttleTopic, driveModeTopic, rcThrottleTopic, steeringTopic, throttleFeedbackTopic,
|
|
types.Throttle(minThrottle), types.Throttle(maxThrottle), 2, throttle.WithBrakeController(brakeCtrl))
|
|
defer p.Stop()
|
|
|
|
cli.HandleExit(p)
|
|
|
|
err = p.Start()
|
|
if err != nil {
|
|
zap.S().Fatalf("unable to start service: %v", err)
|
|
}
|
|
}
|