Smikkelbakje/J2S1-Kobuki
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comment everything again

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This commit is contained in:
ishak jmilou.ishak
2025-01-08 13:59:06 +01:00
parent fe3fe2b8cf
commit 361c17fbdb
1 changed files with 26 additions and 26 deletions
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52
src/C++/Driver/src/main.cpp
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@@ -32,15 +32,15 @@ void setup() {
client.connect(); client.connect();
client.subscribe("home/commands"); client.subscribe("home/commands");
std::thread monitorThread(monitorKobukiConnection); // std::thread monitorThread(monitorKobukiConnection);
monitorThread.detach(); // monitorThread.detach();
} }
int main() { int main() {
setup(); setup();
reconnectKobuki(); // reconnectKobuki();
std::thread connectionMonitor(monitorKobukiConnection); // std::thread connectionMonitor(monitorKobukiConnection);
std::thread image(CapnSend); std::thread image(CapnSend);
std::thread safety([&]() { robot.robotSafety(&message); }); std::thread safety([&]() { robot.robotSafety(&message); });
std::thread sendMqtt([&]() { sendKobukiData(robot.parser.data); }); std::thread sendMqtt([&]() { sendKobukiData(robot.parser.data); });
@@ -57,29 +57,29 @@ int main() {
image.join(); image.join();
} }
void reconnectKobuki() { // void reconnectKobuki() {
unsigned char *null_ptr(0); // unsigned char *null_ptr(0);
while (true) { // while (true) {
if (robot.startCommunication("/dev/ttyUSB0", true, null_ptr) != -1) { // if (robot.startCommunication("/dev/ttyUSB0", true, null_ptr) != -1) {
std::cout << "Kobuki opnieuw verbonden!" << std::endl; // std::cout << "Kobuki opnieuw verbonden!" << std::endl;
break; // Verlaat de loop als de verbinding succesvol is // break; // Verlaat de loop als de verbinding succesvol is
} else { // } else {
std::cerr << "Kobuki niet verbonden. Probeer opnieuw over 3 seconden..." << std::endl; // std::cerr << "Kobuki niet verbonden. Probeer opnieuw over 3 seconden..." << std::endl;
std::this_thread::sleep_for(std::chrono::seconds(3)); // std::this_thread::sleep_for(std::chrono::seconds(3));
} // }
} // }
} // }
void monitorKobukiConnection() { // void monitorKobukiConnection() {
while (true) { // while (true) {
// Check regelmatig of de verbinding actief is // // Check regelmatig of de verbinding actief is
if (!robot.isConnected()) { // if (!robot.isConnected()) {
std::cerr << "Kobuki verbinding verloren. Reconnectie starten..." << std::endl; // std::cerr << "Kobuki verbinding verloren. Reconnectie starten..." << std::endl;
reconnectKobuki(); // reconnectKobuki();
} // }
std::this_thread::sleep_for(std::chrono::seconds(5)); // Check iedere 5 seconden // std::this_thread::sleep_for(std::chrono::seconds(5)); // Check iedere 5 seconden
} // }
} // }
std::string readMQTT() { std::string readMQTT() {