Smikkelbakje/J2S1-Kobuki
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added both json and idividual topic sending in cpp

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This commit is contained in:
Sam Hos
2024-11-20 15:49:21 +01:00
parent 528de4f3f4
commit 47b29a1c55
1 changed files with 59 additions and 1 deletions
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60
src/C++/Driver/src/main.cpp
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@@ -149,6 +149,64 @@ void logToFile()
} }
} }
void sendIndividualKobukiData(const TKobukiData &data) {
while (true) {
client.publishMessage("kobuki/data/timestamp", std::to_string(data.timestamp));
client.publishMessage("kobuki/data/BumperCenter", std::to_string(data.BumperCenter));
client.publishMessage("kobuki/data/BumperLeft", std::to_string(data.BumperLeft));
client.publishMessage("kobuki/data/BumperRight", std::to_string(data.BumperRight));
client.publishMessage("kobuki/data/WheelDropLeft", std::to_string(data.WheelDropLeft));
client.publishMessage("kobuki/data/WheelDropRight", std::to_string(data.WheelDropRight));
client.publishMessage("kobuki/data/CliffCenter", std::to_string(data.CliffCenter));
client.publishMessage("kobuki/data/CliffLeft", std::to_string(data.CliffLeft));
client.publishMessage("kobuki/data/CliffRight", std::to_string(data.CliffRight));
client.publishMessage("kobuki/data/EncoderLeft", std::to_string(data.EncoderLeft));
client.publishMessage("kobuki/data/EncoderRight", std::to_string(data.EncoderRight));
client.publishMessage("kobuki/data/PWMleft", std::to_string(data.PWMleft));
client.publishMessage("kobuki/data/PWMright", std::to_string(data.PWMright));
client.publishMessage("kobuki/data/ButtonPress1", std::to_string(data.ButtonPress1));
client.publishMessage("kobuki/data/ButtonPress2", std::to_string(data.ButtonPress2));
client.publishMessage("kobuki/data/ButtonPress3", std::to_string(data.ButtonPress3));
client.publishMessage("kobuki/data/Charger", std::to_string(data.Charger));
client.publishMessage("kobuki/data/Battery", std::to_string(data.Battery));
client.publishMessage("kobuki/data/overCurrent", std::to_string(data.overCurrent));
client.publishMessage("kobuki/data/IRSensorRight", std::to_string(data.IRSensorRight));
client.publishMessage("kobuki/data/IRSensorCenter", std::to_string(data.IRSensorCenter));
client.publishMessage("kobuki/data/IRSensorLeft", std::to_string(data.IRSensorLeft));
client.publishMessage("kobuki/data/GyroAngle", std::to_string(data.GyroAngle));
client.publishMessage("kobuki/data/GyroAngleRate", std::to_string(data.GyroAngleRate));
client.publishMessage("kobuki/data/CliffSensorRight", std::to_string(data.CliffSensorRight));
client.publishMessage("kobuki/data/CliffSensorCenter", std::to_string(data.CliffSensorCenter));
client.publishMessage("kobuki/data/CliffSensorLeft", std::to_string(data.CliffSensorLeft));
client.publishMessage("kobuki/data/wheelCurrentLeft", std::to_string(data.wheelCurrentLeft));
client.publishMessage("kobuki/data/wheelCurrentRight", std::to_string(data.wheelCurrentRight));
client.publishMessage("kobuki/data/digitalInput", std::to_string(data.digitalInput));
client.publishMessage("kobuki/data/analogInputCh0", std::to_string(data.analogInputCh0));
client.publishMessage("kobuki/data/analogInputCh1", std::to_string(data.analogInputCh1));
client.publishMessage("kobuki/data/analogInputCh2", std::to_string(data.analogInputCh2));
client.publishMessage("kobuki/data/analogInputCh3", std::to_string(data.analogInputCh3));
client.publishMessage("kobuki/data/frameId", std::to_string(data.frameId));
client.publishMessage("kobuki/data/extraInfo/HardwareVersionPatch", std::to_string(data.extraInfo.HardwareVersionPatch));
client.publishMessage("kobuki/data/extraInfo/HardwareVersionMinor", std::to_string(data.extraInfo.HardwareVersionMinor));
client.publishMessage("kobuki/data/extraInfo/HardwareVersionMajor", std::to_string(data.extraInfo.HardwareVersionMajor));
client.publishMessage("kobuki/data/extraInfo/FirmwareVersionPatch", std::to_string(data.extraInfo.FirmwareVersionPatch));
client.publishMessage("kobuki/data/extraInfo/FirmwareVersionMinor", std::to_string(data.extraInfo.FirmwareVersionMinor));
client.publishMessage("kobuki/data/extraInfo/FirmwareVersionMajor", std::to_string(data.extraInfo.FirmwareVersionMajor));
client.publishMessage("kobuki/data/extraInfo/UDID0", std::to_string(data.extraInfo.UDID0));
client.publishMessage("kobuki/data/extraInfo/UDID1", std::to_string(data.extraInfo.UDID1));
client.publishMessage("kobuki/data/extraInfo/UDID2", std::to_string(data.extraInfo.UDID2));
if (!data.gyroData.empty()) {
const auto& latestGyro = data.gyroData.back();
client.publishMessage("kobuki/data/gyroData/x", std::to_string(latestGyro.x));
client.publishMessage("kobuki/data/gyroData/y", std::to_string(latestGyro.y));
client.publishMessage("kobuki/data/gyroData/z", std::to_string(latestGyro.z));
}
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
}
}
std::string serializeKobukiData(const TKobukiData &data) { std::string serializeKobukiData(const TKobukiData &data) {
std::string json = "{\"timestamp\":" + std::to_string(data.timestamp) + std::string json = "{\"timestamp\":" + std::to_string(data.timestamp) +
",\"BumperCenter\":" + std::to_string(data.BumperCenter) + ",\"BumperCenter\":" + std::to_string(data.BumperCenter) +
@@ -212,4 +270,4 @@ void sendKobukiData(TKobukiData &data) {
client.publishMessage("kobuki/data", serializeKobukiData(data)); client.publishMessage("kobuki/data", serializeKobukiData(data));
std::this_thread::sleep_for(std::chrono::milliseconds(1000)); std::this_thread::sleep_for(std::chrono::milliseconds(1000));
} }
} }