Display camera frame

2019-12-29 18:39:08 +01:00
parent 643cfbbd92
commit ac651c5e64
140 changed files with 21847 additions and 0 deletions
--- a/vendor/github.com/cyrilix/robocar-base/cli/cli.go
+++ b/vendor/github.com/cyrilix/robocar-base/cli/cli.go
@@ -0,0 +1,115 @@
+package cli
+
+import (
+	"flag"
+	"fmt"
+	"github.com/cyrilix/robocar-base/service"
+	MQTT "github.com/eclipse/paho.mqtt.golang"
+	"log"
+	"os"
+	"os/signal"
+	"strconv"
+	"syscall"
+)
+
+func SetDefaultValueFromEnv(value *string, key string, defaultValue string) {
+	if os.Getenv(key) != "" {
+		*value = os.Getenv(key)
+	} else {
+		*value = defaultValue
+	}
+}
+func SetIntDefaultValueFromEnv(value *int, key string, defaultValue int) error {
+	var sVal string
+	if os.Getenv(key) != "" {
+		sVal = os.Getenv(key)
+		val, err := strconv.Atoi(sVal)
+		if err != nil {
+			log.Printf("unable to convert string to int: %v", err)
+			return err
+		}
+		*value = val
+	} else {
+		*value = defaultValue
+	}
+	return nil
+}
+func SetFloat64DefaultValueFromEnv(value *float64, key string, defaultValue float64) error {
+	var sVal string
+	if os.Getenv(key) != "" {
+		sVal = os.Getenv(key)
+		val, err := strconv.ParseFloat(sVal, 64)
+		if err != nil {
+			log.Printf("unable to convert string to float: %v", err)
+			return err
+		}
+		*value = val
+	} else {
+		*value = defaultValue
+	}
+	return nil
+}
+
+func HandleExit(p service.Part) {
+	signals := make(chan os.Signal, 1)
+	signal.Notify(signals, os.Kill, os.Interrupt, syscall.SIGTERM)
+
+	go func() {
+		<-signals
+		p.Stop()
+		os.Exit(0)
+	}()
+}
+
+func InitMqttFlags(defaultClientId string, mqttBroker, username, password, clientId *string, mqttQos *int, mqttRetain *bool) {
+	SetDefaultValueFromEnv(clientId, "MQTT_CLIENT_ID", defaultClientId)
+	SetDefaultValueFromEnv(mqttBroker, "MQTT_BROKER", "tcp://127.0.0.1:1883")
+
+	flag.StringVar(mqttBroker, "mqtt-broker", *mqttBroker, "Broker Uri, use MQTT_BROKER env if arg not set")
+	flag.StringVar(username, "mqtt-username", os.Getenv("MQTT_USERNAME"), "Broker Username, use MQTT_USERNAME env if arg not set")
+	flag.StringVar(password, "mqtt-password", os.Getenv("MQTT_PASSWORD"), "Broker Password, MQTT_PASSWORD env if args not set")
+	flag.StringVar(clientId, "mqtt-client-id", *clientId, "Mqtt client id, use MQTT_CLIENT_ID env if args not set")
+	flag.IntVar(mqttQos, "mqtt-qos", *mqttQos, "Qos to pusblish message, use MQTT_QOS env if arg not set")
+	flag.BoolVar(mqttRetain, "mqtt-retain", *mqttRetain, "Retain mqtt message, if not set, true if MQTT_RETAIN env variable is set")
+}
+
+func InitIntFlag(key string, defValue int) int {
+	var value int
+	err := SetIntDefaultValueFromEnv(&value, key, defValue)
+	if err != nil {
+		log.Panicf("invalid int value: %v", err)
+	}
+	return value
+}
+
+func InitFloat64Flag(key string, defValue float64) float64 {
+	var value float64
+	err := SetFloat64DefaultValueFromEnv(&value, key, defValue)
+	if err != nil {
+		log.Panicf("invalid value: %v", err)
+	}
+	return value
+}
+
+func Connect(uri, username, password, clientId string) (MQTT.Client, error) {
+	//create a ClientOptions struct setting the broker address, clientid, turn
+	//off trace output and set the default message handler
+	opts := MQTT.NewClientOptions().AddBroker(uri)
+	opts.SetUsername(username)
+	opts.SetPassword(password)
+	opts.SetClientID(clientId)
+	opts.SetAutoReconnect(true)
+	opts.SetDefaultPublishHandler(
+		//define a function for the default message handler
+		func(client MQTT.Client, msg MQTT.Message) {
+			fmt.Printf("TOPIC: %s\n", msg.Topic())
+			fmt.Printf("MSG: %s\n", msg.Payload())
+		})
+
+	//create and start a client using the above ClientOptions
+	client := MQTT.NewClient(opts)
+	if token := client.Connect(); token.Wait() && token.Error() != nil {
+		return nil, fmt.Errorf("unable to connect to mqtt bus: %v", token.Error())
+	}
+	return client, nil
+}