fix: improve connection handling and logging in KobukiDriver

src/C++/Driver/src/KobukiDriver/CKobuki.cpp

@@ -68,28 +68,14 @@ int CKobuki::connect(char *comportT) {
   HCom = open(comportT, O_RDWR | O_NOCTTY | O_NONBLOCK);
 
   if (HCom == -1) {
-    printf("Kobuki connected\n");
+    printf("unable to connect\n");
     return HCom;
   } else {
-    set_interface_attribs2(HCom, B115200,
+    set_interface_attribs2(HCom, B115200,0); // set speed to 115,200 bps, 8n1 (no parity)
-                           0); // set speed to 115,200 bps, 8n1 (no parity)
     set_blocking2(HCom, 0);    // set no blocking
-    /*  struct termios settings;
-      tcgetattr(HCom, &settings);
-
-      cfsetospeed(&settings, B115200); // baud rate
-      settings.c_cflag &= ~PARENB; // no parity
-      settings.c_cflag &= ~CSTOPB; // 1 stop bit
-      settings.c_cflag &= ~CSIZE;
-      settings.c_cflag |= CS8 | CLOCAL; // 8 bits
-      settings.c_lflag &= ~ICANON; // canonical mode
-      settings.c_cc[VTIME]=1;
-      settings.c_oflag &= ~OPOST; // raw output
-
-      tcsetattr(HCom, TCSANOW, &settings); // apply the settings*/
     tcflush(HCom, TCOFLUSH);
 
-    printf("Kobuki connected\n");
+    std::cout<<"Kobuki connected" << std::endl;
     return HCom;
   }
 }

src/C++/Driver/src/main.cpp

@@ -325,6 +325,13 @@ std::string serializeKobukiData(const TKobukiData &data) {
 // needed it so it can be threaded
 void sendKobukiData(TKobukiData &data) {
   while (true) {
+    if(!robot.connected()){
+      std::cout << "Kobuki is not connected anymore" << std::endl;
+      while(!robot.connected()){
+        robot.startCommunication("/dev/ttyUSB0", true, nullptr);
+        std::this_thread::sleep_for(std::chrono::seconds(1));
+      }
+    }
     client.publishMessage("kobuki/data", serializeKobukiData(data));
     std::cout << "Sent data" << std::endl;
     std::this_thread::sleep_for(std::chrono::milliseconds(1000));