add pipeline for picam

This commit is contained in:
2024-12-11 15:34:53 +01:00
parent e9f998b3e7
commit 60ba177dc2

View File

@@ -12,7 +12,7 @@ CKobuki robot;
std::string readMQTT();
void parseMQTT(std::string message);
void CapnSend();
//ip, clientID, username, password
// ip, clientID, username, password
MqttClient client("ws://145.92.224.21/ws/", "KobukiRPI", "rpi", "rpiwachtwoordofzo"); // create a client object
std::string message = "stop";
std::string serializeKobukiData(const TKobukiData &data);
@@ -22,7 +22,7 @@ void setup()
{
unsigned char *null_ptr(0);
robot.startCommunication("/dev/ttyUSB0", true, null_ptr);
//connect mqtt server and sub to commands
// connect mqtt server and sub to commands
client.connect();
client.subscribe("home/commands");
@@ -31,11 +31,14 @@ void setup()
int main()
{
setup();
std::thread image (CapnSend);
std::thread safety([&]() { robot.robotSafety(&message); });
std::thread sendMqtt([&]() { sendKobukiData(robot.parser.data); });
while(true){
std::thread image(CapnSend);
std::thread safety([&]()
{ robot.robotSafety(&message); });
std::thread sendMqtt([&]()
{ sendKobukiData(robot.parser.data); });
while (true)
{
parseMQTT(readMQTT());
}
@@ -157,8 +160,10 @@ void logToFile()
}
}
void sendIndividualKobukiData(const TKobukiData &data) {
while (true) {
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));
@@ -204,8 +209,9 @@ void sendIndividualKobukiData(const TKobukiData &data) {
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();
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));
@@ -215,7 +221,8 @@ void sendIndividualKobukiData(const TKobukiData &data) {
}
}
std::string serializeKobukiData(const TKobukiData &data) {
std::string serializeKobukiData(const TKobukiData &data)
{
std::string json = "{\"timestamp\":" + std::to_string(data.timestamp) +
",\"BumperCenter\":" + std::to_string(data.BumperCenter) +
",\"BumperLeft\":" + std::to_string(data.BumperLeft) +
@@ -261,8 +268,9 @@ std::string serializeKobukiData(const TKobukiData &data) {
",\"UDID1\":" + std::to_string(data.extraInfo.UDID1) +
",\"UDID2\":" + std::to_string(data.extraInfo.UDID2) + "},\"gyroData\":[";
if (!data.gyroData.empty()) {
const auto& latestGyro = data.gyroData.back();
if (!data.gyroData.empty())
{
const auto &latestGyro = data.gyroData.back();
json += "{\"x\":" + std::to_string(latestGyro.x) +
",\"y\":" + std::to_string(latestGyro.y) +
",\"z\":" + std::to_string(latestGyro.z) + "}";
@@ -271,28 +279,34 @@ std::string serializeKobukiData(const TKobukiData &data) {
json += "]}";
return json;
}
//create extra function to send the message every 100ms
//needed it so it can be threaded
void sendKobukiData(TKobukiData &data) {
while (true) {
// create extra function to send the message every 100ms
// needed it so it can be threaded
void sendKobukiData(TKobukiData &data)
{
while (true)
{
client.publishMessage("kobuki/data", serializeKobukiData(data));
std::cout << "Sent data" << std::endl;
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
}
}
void CapnSend() {
VideoCapture cap(0, cv::CAP_V4L2); // Open the default camera and set it to the V4L2 backend
if (!cap.isOpened()) {
void CapnSend()
{
std::string pipeline = "libcamerasrc ! video/x-raw,width=640,height=480,framerate=30/1 ! videoconvert ! appsink";
VideoCapture cap(pipeline, cv::CAP_GSTREAMER);
if (!cap.isOpened())
{
cerr << "Error: Could not open camera" << endl;
return;
}
Mat frame;
while (true) {
while (true)
{
cap >> frame; // Capture a new image frame
if (frame.empty()) {
if (frame.empty())
{
cerr << "Error: Could not capture image" << endl;
continue;
}
@@ -300,7 +314,7 @@ void CapnSend() {
// Convert the image to a byte array
vector<uchar> buf;
imencode(".jpg", frame, buf);
auto* enc_msg = reinterpret_cast<unsigned char*>(buf.data());
auto *enc_msg = reinterpret_cast<unsigned char *>(buf.data());
// Publish the image data
client.publishMessage("kobuki/cam-", string(enc_msg, enc_msg + buf.size()));