robocars/robocar-tools
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feat(dsiplay): add option to display throttle feedback

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This commit is contained in:
Cyrille Nofficial
2022-09-05 19:34:10 +02:00
parent 3d12e00bfc
commit b7b4bd76a0
2 changed files with 76 additions and 29 deletions
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16
cmd/rc-tools/rc-tools.go
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@@ -28,8 +28,8 @@ func main() {
var mqttBroker, username, password, clientId string
var framePath string
var fps int
var frameTopic, objectsTopic, roadTopic, recordTopic string
var withObjects, withRoad bool
var frameTopic, objectsTopic, roadTopic, recordTopic, throttleFeedbackTopic string
var withObjects, withRoad, withThrottleFeedback bool
var recordsPath string
var trainArchiveName string
var trainSliceSize int
@@ -81,6 +81,9 @@ func main() {
displayCameraFlags.StringVar(&roadTopic, "mqtt-topic-road", os.Getenv("MQTT_TOPIC_ROAD"), "Mqtt topic that contains road description, use MQTT_TOPIC_ROAD if args not set")
displayCameraFlags.BoolVar(&withRoad, "with-road", false, "Display detected road")
displayCameraFlags.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")
displayCameraFlags.BoolVar(&withThrottleFeedback, "with-throttle-feedback", false, "Display throttle feedback")
recordFlags := flag.NewFlagSet("record", flag.ExitOnError)
cli.InitMqttFlagSet(recordFlags, DefaultClientId, &mqttBroker, &username, &password, &clientId, &mqttQos, &mqttRetain)
recordFlags.StringVar(&recordTopic, "mqtt-topic-records", os.Getenv("MQTT_TOPIC_RECORDS"), "Mqtt topic that contains record data for training, use MQTT_TOPIC_RECORDS if args not set")
@@ -195,7 +198,7 @@ func main() {
zap.S().Fatalf("unable to connect to mqtt bus: %v", err)
}
defer client.Disconnect(50)
runDisplay(client, framePath, frameTopic, fps, objectsTopic, roadTopic, withObjects, withRoad)
runDisplay(client, framePath, frameTopic, fps, objectsTopic, roadTopic, throttleFeedbackTopic, withObjects, withRoad, withThrottleFeedback)
default:
displayFlags.PrintDefaults()
os.Exit(0)
@@ -325,7 +328,8 @@ func runDisplayRecord(client mqtt.Client, recordTopic string) {
zap.S().Fatalf("unable to start service: %v", err)
}
}
func runDisplay(client mqtt.Client, framePath string, frameTopic string, fps int, objectsTopic string, roadTopic string, withObjects bool, withRoad bool) {
func runDisplay(client mqtt.Client, framePath string, frameTopic string, fps int, objectsTopic, roadTopic, throttleFeedbackTopic string,
withObjects, withRoad, withThrottleFeedback bool) {
if framePath != "" {
camera, err := video.NewCameraFake(client, frameTopic, framePath, fps)
@@ -339,8 +343,8 @@ func runDisplay(client mqtt.Client, framePath string, frameTopic string, fps int
}
p := part.NewPart(client, frameTopic,
objectsTopic, roadTopic,
withObjects, withRoad)
objectsTopic, roadTopic, throttleFeedbackTopic,
withObjects, withRoad, withThrottleFeedback)
defer p.Stop()
cli.HandleExit(p)