Smikkelbakje/J2S1-Kobuki
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added mqtt connection safety

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ishak jmilou.ishak
2025-01-08 14:15:06 +01:00
parent 361c17fbdb
commit 4bf3cd6d37
1 changed files with 39 additions and 26 deletions
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65
src/C++/Driver/src/main.cpp
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@@ -17,6 +17,7 @@ void parseMQTT(std::string message);
void CapnSend(); void CapnSend();
void reconnectKobuki(); void reconnectKobuki();
void monitorKobukiConnection(); void monitorKobukiConnection();
void monitorMQTTConnection();
// ip, clientID, username, password // ip, clientID, username, password
MqttClient client("ws://145.92.224.21/ws/", "KobukiRPI", "rpi", MqttClient client("ws://145.92.224.21/ws/", "KobukiRPI", "rpi",
"rpiwachtwoordofzo"); // create a client object "rpiwachtwoordofzo"); // create a client object
@@ -32,15 +33,16 @@ void setup() {
client.connect(); client.connect();
client.subscribe("home/commands"); client.subscribe("home/commands");
// std::thread monitorThread(monitorKobukiConnection); std::thread monitorThread(monitorKobukiConnection);
// monitorThread.detach(); std::thread mqttMonitorThread(monitorMQTTConnection);
mqttMonitorThread.detach();
monitorThread.detach();
} }
int main() { int main() {
setup(); setup();
// reconnectKobuki(); reconnectKobuki();
// 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 +59,40 @@ 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
// } }
// } }
void monitorMQTTConnection() {
while (true) {
if (!client.isConnected()) { // Controleer of de client nog verbonden is
std::cerr << "MQTT verbinding verloren. Probeer opnieuw te verbinden..." << std::endl;
client.connect();
client.subscribe("home/commands");
}
std::this_thread::sleep_for(std::chrono::seconds(5)); // Controleer iedere 5 seconden
}
}
std::string readMQTT() { std::string readMQTT() {