Smikkelbakje/J2S1-Kobuki
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Merge branch 'main' of ssh://gitlab.fdmci.hva.nl/technische-informatica-sm3/ti-projectten/rooziinuubii79

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This commit is contained in:
ishak jmilou.ishak
2024-11-04 11:54:22 +01:00
parent ca9b81c03e b64ccd51eb
commit 705ffcd98d
1 changed files with 6 additions and 4 deletions
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10
src/C++/Driver/src/main.cpp
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@@ -19,15 +19,15 @@ void setup(){
robot.startCommunication("/dev/ttyUSB0", true, null_ptr); robot.startCommunication("/dev/ttyUSB0", true, null_ptr);
client.connect(); client.connect();
client.subscribe("home/commands"); client.subscribe("home/commands");
parseMQTT(readMQTT());
} }
int main(){ int main(){
setup(); setup();
client.run();
while(true){ while(true){
readMQTT(); parseMQTT(readMQTT());
cout << readMQTT() << endl; //debugging
} }
client.run();
return 0; return 0;
} }
@@ -37,7 +37,9 @@ std::string readMQTT()
if (!message.empty()) { if (!message.empty()) {
std::cout << "MQTT Message: " << message << std::endl; std::cout << "MQTT Message: " << message << std::endl;
} }
else {
std::cout << "No message received" << std::endl;
}
// Add a small delay to avoid busy-waiting // Add a small delay to avoid busy-waiting
std::this_thread::sleep_for(std::chrono::milliseconds(100)); std::this_thread::sleep_for(std::chrono::milliseconds(100));
return message; return message;