From 2f4e5ae096cd9a8924f8496873184de8ae2a1c40 Mon Sep 17 00:00:00 2001
From: Sam Hos <sam.hos@hva.nl>
Date: Mon, 9 Dec 2024 10:31:01 +0100
Subject: [PATCH] re enable robot communication

---
 src/C++/Driver/src/main.cpp | 39 +++++++++++++++++++++++++++++++++++--
 1 file changed, 37 insertions(+), 2 deletions(-)

diff --git a/src/C++/Driver/src/main.cpp b/src/C++/Driver/src/main.cpp
index af68be6..b70dcd4 100644
--- a/src/C++/Driver/src/main.cpp
+++ b/src/C++/Driver/src/main.cpp
@@ -3,13 +3,17 @@
 #include <thread>
 #include "MQTT/MqttClient.h"
 #include "KobukiDriver/CKobuki.h"
+#include <opencv4/opencv2/opencv.hpp>
+#include <opencv4/opencv2/core.hpp>
 
 using namespace std;
+using namespace cv;
 CKobuki robot;
 std::string readMQTT();
 void parseMQTT(std::string message);
+void CapnSend();
 //ip, clientID, username, password
-MqttClient client("ws://145.92.224.21/ws/", "KobukiRPI", "rpi", "rpiwachtwoordofzo"); // create a client object
+MqttClient client("mqtt://localhost:1883", "KobukiRPI", "rpi", "rpiwachtwoordofzo"); // create a client object
 std::string message = "stop";
 std::string serializeKobukiData(const TKobukiData &data);
 void sendKobukiData(TKobukiData &data);
@@ -17,7 +21,7 @@ void sendKobukiData(TKobukiData &data);
 void setup()
 {
     unsigned char *null_ptr(0);
-    // robot.startCommunication("/dev/ttyUSB0", true, null_ptr);
+    robot.startCommunication("/dev/ttyUSB0", true, null_ptr);
     //connect mqtt server and sub to commands
 
     client.connect();
@@ -30,6 +34,7 @@ int main()
 
 
     setup();
+    std::thread image (CapnSend);
     std::thread safety([&]() { robot.robotSafety(&message); });
     std::thread sendMqtt([&]() { sendKobukiData(robot.parser.data); });
     
@@ -38,6 +43,7 @@ int main()
     }
     sendMqtt.join();
     safety.join();
+    image.join();
 }
 
 std::string readMQTT()
@@ -276,3 +282,32 @@ void sendKobukiData(TKobukiData &data) {
         std::this_thread::sleep_for(std::chrono::milliseconds(1000));
     }
 }
+
+
+void CapnSend() {
+    VideoCapture cap(0); // Open the default camera
+    if (!cap.isOpened()) {
+        cerr << "Error: Could not open camera" << endl;
+        return;
+    }
+
+    Mat frame;
+    while (true) {
+        cap >> frame; // Capture a new image frame
+        if (frame.empty()) {
+            cerr << "Error: Could not capture image" << endl;
+            continue;
+        }
+
+        // Convert the image to a byte array
+        vector<uchar> buf;
+        imencode(".jpg", frame, buf);
+        auto* enc_msg = reinterpret_cast<unsigned char*>(buf.data());
+
+        // Publish the image data
+        client.publishMessage("kobuki/cam", string(enc_msg, enc_msg + buf.size()));
+        cout << "Sent image" << endl;
+
+        std::this_thread::sleep_for(std::chrono::milliseconds(400)); // Send image every 1000ms
+    }
+}