136 lines
4.7 KiB
Go
136 lines
4.7 KiB
Go
package main
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import (
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"flag"
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"fmt"
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"github.com/cyrilix/robocar-base/cli"
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"github.com/cyrilix/robocar-tools/part"
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"github.com/cyrilix/robocar-tools/record"
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"github.com/cyrilix/robocar-tools/video"
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mqtt "github.com/eclipse/paho.mqtt.golang"
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log "github.com/sirupsen/logrus"
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"os"
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)
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const (
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DefaultClientId = "robocar-tools"
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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 framePath string
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var fps int
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var frameTopic, objectsTopic, roadTopic, recordTopic string
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var withObjects, withRoad bool
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var jsonPath, imgPath string
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mqttQos := cli.InitIntFlag("MQTT_QOS", 0)
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_, mqttRetain := os.LookupEnv("MQTT_RETAIN")
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flag.Usage = func() {
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fmt.Printf("Usage of %s:\n", os.Args[0])
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fmt.Printf(" display\n \tDisplay events on live frames\n")
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fmt.Printf(" record \n \tRecord event for tensorflow training\n")
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}
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displayFlags := flag.NewFlagSet("display", flag.ExitOnError)
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cli.InitMqttFlagSet(displayFlags, DefaultClientId, &mqttBroker, &username, &password, &clientId, &mqttQos, &mqttRetain)
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displayFlags.StringVar(&frameTopic, "mqtt-topic-frame", os.Getenv("MQTT_TOPIC_FRAME"), "Mqtt topic that contains frame to display, use MQTT_TOPIC_FRAME if args not set")
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displayFlags.StringVar(&framePath, "frame-path", "", "Directory path where to read jpeg frame to inject in frame topic")
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displayFlags.IntVar(&fps, "frame-per-second", 25, "Video frame per second of frame to publish")
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displayFlags.StringVar(&objectsTopic, "mqtt-topic-objects", os.Getenv("MQTT_TOPIC_OBJECTS"), "Mqtt topic that contains detected objects, use MQTT_TOPIC_OBJECTS if args not set")
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displayFlags.BoolVar(&withObjects, "with-objects", false, "Display detected objects")
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displayFlags.StringVar(&roadTopic, "mqtt-topic-road", os.Getenv("MQTT_TOPIC_ROAD"), "Mqtt topic that contains road description, use MQTT_TOPIC_ROAD if args not set")
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displayFlags.BoolVar(&withRoad, "with-road", false, "Display detected road")
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recordFlags := flag.NewFlagSet("record", flag.ExitOnError)
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cli.InitMqttFlagSet(recordFlags, DefaultClientId, &mqttBroker, &username, &password, &clientId, &mqttQos, &mqttRetain)
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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")
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recordFlags.StringVar(&jsonPath, "record-json-path", os.Getenv("RECORD_JSON_PATH"), "Path where to write json files, use RECORD_JSON_PATH if args not set")
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recordFlags.StringVar(&imgPath, "record-image-path", os.Getenv("RECORD_IMAGE_PATH"), "Path where to write jpeg files, use RECORD_IMAGE_PATH if args not set")
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flag.Parse()
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// Switch on the subcommand
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// Parse the flags for appropriate FlagSet
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// FlagSet.Parse() requires a set of arguments to parse as input
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// os.Args[2:] will be all arguments starting after the subcommand at os.Args[1]
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switch flag.Arg(0) {
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case displayFlags.Name():
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if err := displayFlags.Parse(os.Args[2:]); err == flag.ErrHelp {
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displayFlags.PrintDefaults()
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os.Exit(0)
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}
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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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runDisplay(client, framePath, frameTopic, fps, objectsTopic, roadTopic, withObjects, withRoad)
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case recordFlags.Name():
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if err := recordFlags.Parse(os.Args[2:]); err == flag.ErrHelp {
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recordFlags.PrintDefaults()
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os.Exit(0)
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}
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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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runRecord(client, jsonPath, imgPath, recordTopic)
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default:
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flag.PrintDefaults()
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os.Exit(1)
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}
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cmd := flag.Arg(1)
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switch cmd {
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case "display":
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case "record":
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default:
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log.Errorf("invalid command: %v", cmd)
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}
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}
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func runRecord(client mqtt.Client, jsonDir, imgDir string, recordTopic string) {
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r := record.New(client, jsonDir, imgDir, recordTopic)
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defer r.Stop()
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cli.HandleExit(r)
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err := r.Start()
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if err != nil {
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log.Fatalf("unable to start service: %v", err)
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}
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}
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func runDisplay(client mqtt.Client, framePath string, frameTopic string, fps int, objectsTopic string, roadTopic string, withObjects bool, withRoad bool) {
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if framePath != "" {
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camera, err := video.NewCameraFake(client, frameTopic, framePath, fps)
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if err != nil {
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log.Fatalf("unable to load fake camera: %v", err)
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}
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if err = camera.Start(); err != nil {
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log.Fatalf("unable to start fake camera: %v", err)
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}
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defer camera.Stop()
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}
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p := part.NewPart(client, frameTopic,
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objectsTopic, roadTopic,
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withObjects, withRoad)
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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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log.Fatalf("unable to start service: %v", err)
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}
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}
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