first push of

pi/roverd/cmd/roverd/main.go

@@ -0,0 +1,75 @@
+package main
+
+import (
+	"context"
+	"flag"
+	"log"
+	"os"
+	"os/signal"
+	"syscall"
+	"time"
+
+	roverd "multiroombarover/pi/roverd"
+)
+
+func main() {
+	var cfgPath string
+	flag.StringVar(&cfgPath, "config", "/etc/roverd.yaml", "path to roverd configuration file")
+	flag.Parse()
+
+	cfg, err := roverd.LoadConfig(cfgPath)
+	if err != nil {
+		log.Fatalf("load config: %v", err)
+	}
+
+	ctx, cancel := signal.NotifyContext(context.Background(), syscall.SIGINT, syscall.SIGTERM)
+	defer cancel()
+
+	logger := log.New(os.Stdout, "roverd: ", log.LstdFlags|log.Lmicroseconds|log.LUTC)
+
+	serialPort, err := roverd.OpenSerial(cfg.Serial)
+	if err != nil {
+		logger.Fatalf("open serial: %v", err)
+	}
+	defer serialPort.Close()
+
+	var pulser *roverd.BRCPulser
+	if cfg.BRC.Enabled() {
+		pulser, err = roverd.NewBRCPulser(cfg.BRC, logger)
+		if err != nil {
+			logger.Fatalf("init BRC pulser: %v", err)
+		}
+		defer pulser.Close()
+		pulser.Start(ctx)
+	}
+
+	sensorFrames := make(chan []byte, 8)
+	streamer := roverd.NewSensorStreamer(serialPort, sensorFrames, logger)
+	go streamer.Run(ctx)
+
+	adapter := roverd.NewSerialAdapter(serialPort, logger)
+
+	mediaSupervisor := roverd.NewMediaSupervisor(cfg.Media, logger)
+	if mediaSupervisor != nil {
+		mediaSupervisor.Start(ctx)
+	}
+
+	client := roverd.NewWSClient(cfg, adapter, sensorFrames, mediaSupervisor, logger)
+
+	retryDelay := time.Second
+	for ctx.Err() == nil {
+		if err := client.Run(ctx); err != nil {
+			logger.Printf("websocket loop ended: %v", err)
+		}
+
+		select {
+		case <-ctx.Done():
+			return
+		case <-time.After(retryDelay):
+		}
+
+		if retryDelay < 30*time.Second {
+			retryDelay *= 2
+		}
+	}
+}