add pipeline for picam

src/C++/Driver/src/main.cpp

@@ -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 image(CapnSend);
-    std::thread safety([&]() { robot.robotSafety(&message); });
+    std::thread safety([&]()
-    std::thread sendMqtt([&]() { sendKobukiData(robot.parser.data); });
+                       { robot.robotSafety(&message); });
+    std::thread sendMqtt([&]()
+                         { sendKobukiData(robot.parser.data); });
 
-    while(true){
+    while (true)
+    {
         parseMQTT(readMQTT());
     }
 
@@ -157,8 +160,10 @@ void logToFile()
     }
 }
 
-void sendIndividualKobukiData(const TKobukiData &data) {
+void sendIndividualKobukiData(const TKobukiData &data)
-    while (true) {
+{
+    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()) {
+        if (!data.gyroData.empty())
-            const auto& latestGyro = data.gyroData.back();
+        {
+            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()) {
+    if (!data.gyroData.empty())
-        const auto& latestGyro = data.gyroData.back();
+    {
+        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
+// create extra function to send the message every 100ms
-//needed it so it can be threaded
+// needed it so it can be threaded
-void sendKobukiData(TKobukiData &data) {
+void sendKobukiData(TKobukiData &data)
-    while (true) {
+{
+    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()
-void CapnSend() {
+{
-    VideoCapture cap(0, cv::CAP_V4L2); // Open the default camera and set it to the V4L2 backend
+    std::string pipeline = "libcamerasrc ! video/x-raw,width=640,height=480,framerate=30/1 ! videoconvert ! appsink";
-     if (!cap.isOpened()) {
+    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()));