Merge branch 'main' of ssh://gitlab.fdmci.hva.nl/technische-informatica-sm3/ti-projectten/rooziinuubii79

src/C++/Driver/src/MQTT/MqttClient.cpp

@@ -3,18 +3,18 @@
 MqttClient::MqttClient(const std::string& address, const std::string& clientId, const std::string& username, const std::string& password)
     : client_(address, clientId), username_(username), password_(password), callback_(*this) {
     client_.set_callback(callback_);
-    connOpts_.set_clean_session(true);
+    options.set_clean_session(true);
-    connOpts_.set_mqtt_version(MQTTVERSION_3_1_1);  // For MQTT 3.1.1
+    options.set_mqtt_version(MQTTVERSION_3_1_1);  // For MQTT 3.1.1
     if (!username_.empty() && !password_.empty()) {
-        connOpts_.set_user_name(username_);
+        options.set_user_name(username_);
-        connOpts_.set_password(password_);
+        options.set_password(password_);
     }
 }
 
 void MqttClient::connect() {
     try {
         std::cout << "Connecting to broker..." << std::endl;
-        client_.connect(connOpts_)->wait();
+        client_.connect(options)->wait();
         std::cout << "Connected!" << std::endl;
     } catch (const mqtt::exception& exc) {
         std::cerr << "Error: " << exc.what() << std::endl;
@@ -41,6 +41,7 @@ void MqttClient::run() {
 }
 
 void MqttClient::Callback::message_arrived(mqtt::const_message_ptr msg) {
+    //lock the variable, it automaticly unlocks when going out of scope
     std::lock_guard<std::mutex> lock(client_.messageMutex_);
     client_.lastMessage_ = msg->to_string();
 }
@@ -55,7 +56,9 @@ void MqttClient::Callback::delivery_complete(mqtt::delivery_token_ptr token) {
 
 /// @brief Get the last message received from the MQTT broker
 /// @return The last message received in a string
+//std::string is the datatype of the return value
 std::string MqttClient::getLastMessage() {
+    //lock the variable, it automaticly unlocks when going out of scope
     std::lock_guard<std::mutex> lock(messageMutex_);
     return lastMessage_;
 }

src/C++/Driver/src/MQTT/MqttClient.h

@@ -27,7 +27,7 @@ private:
     };
 
     mqtt::async_client client_;
-    mqtt::connect_options connOpts_;
+    mqtt::connect_options options;
     Callback callback_;
     std::string username_;
     std::string password_;

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

@@ -10,7 +10,8 @@ using namespace std;
 CKobuki robot;
 int movement();
 std::string readMQTT();
-MqttClient client("mqtt://145.92.224.21:1883", "KobukiRPI", "ishak", "kobuki");
+void parseMQTT(std::string message);
+MqttClient client("mqtt://145.92.224.21:1883", "KobukiRPI", "ishak", "kobuki"); //create a client object
 
 
 void setup(){
@@ -18,7 +19,7 @@ void setup(){
 	robot.startCommunication("/dev/ttyUSB0", true, null_ptr);
     client.connect();
     client.subscribe("home/commands");
-
+    parseMQTT(readMQTT());
 }
 
 int main(){
@@ -42,6 +43,22 @@ std::string readMQTT()
 		return message;
 }
 
+void parseMQTT(std::string message){
+    if(message == "up"){
+        robot.forward(600);
+    }
+    else if(message == "left"){
+        robot.Rotate(90);
+    }
+    else if(message == "down"){
+        robot.Rotate(-90);
+    }
+    else{
+        std::cout << "Invalid command" << std::endl;
+    }
+}
+
+
 int movement()
 {
     int text;