added code from main branch

This commit is contained in:
ishak jmilou.ishak
2024-12-19 20:22:43 +01:00
parent d8ce5de8f7
commit 45247b5574

View File

@@ -3,11 +3,15 @@
#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
std::string message = "stop";
@@ -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();
@@ -26,26 +30,33 @@ void setup()
int main()
{
// Unset the http_proxy environment variable
setup();
std::thread image (CapnSend);
std::thread safety([&]() { robot.robotSafety(&message); });
std::thread sendMqtt([&]() { sendKobukiData(robot.parser.data); });
while(true){
parseMQTT(readMQTT());
std::string message = readMQTT();
if (!message.empty()){
parseMQTT(message);
}
}
sendMqtt.join();
safety.join();
image.join();
}
std::string readMQTT()
{
message = client.getLastMessage();
if (!message.empty())
static std::string lastMessage;
std::string message = client.getLastMessage();
if (!message.empty() && message != lastMessage)
{
std::cout << "MQTT Message: " << message << std::endl;
lastMessage = message;
}
// Add a small delay to avoid busy-waiting
@@ -57,7 +68,7 @@ void parseMQTT(std::string message)
{
if (message == "up")
{
robot.forward(1024);
robot.forward(350);
}
else if (message == "left")
{
@@ -69,7 +80,7 @@ void parseMQTT(std::string message)
}
else if (message == "down")
{
robot.forward(-800);
robot.forward(-350);
}
else if (message == "stop")
{
@@ -276,3 +287,31 @@ void sendKobukiData(TKobukiData &data) {
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
}
}
void CapnSend() {
VideoCapture cap(0);
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(300)); // Send image every 1000ms
}
}