Smikkelbakje/J2S1-Kobuki
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removed code that didnt work

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ishak jmilou.ishak
2025-01-08 15:25:30 +01:00
parent fa85be2df5
commit 71091f57dd
1 changed files with 0 additions and 30 deletions
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30
src/C++/Driver/src/main.cpp
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@@ -15,8 +15,6 @@ CKobuki robot;
std::string readMQTT(); std::string readMQTT();
void parseMQTT(std::string message); void parseMQTT(std::string message);
void CapnSend(); void CapnSend();
void reconnectKobuki();
void monitorKobukiConnection();
// 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
@@ -32,13 +30,10 @@ void setup() {
client.connect(); client.connect();
client.subscribe("home/commands"); client.subscribe("home/commands");
std::thread monitorThread(monitorKobukiConnection);
monitorThread.detach();
} }
int main() { int main() {
setup(); setup();
reconnectKobuki();
std::thread image(CapnSend); std::thread image(CapnSend);
std::thread safety([&]() { robot.robotSafety(&message); }); std::thread safety([&]() { robot.robotSafety(&message); });
@@ -56,31 +51,6 @@ int main() {
image.join(); image.join();
} }
void reconnectKobuki() {
unsigned char *null_ptr(0);
while (true) {
if (robot.startCommunication("/dev/ttyUSB0", true, null_ptr) != -1) {
std::cout << "Kobuki opnieuw verbonden!" << std::endl;
break; // Verlaat de loop als de verbinding succesvol is
} else {
std::cerr << "Kobuki niet verbonden. Probeer opnieuw over 3 seconden..." << std::endl;
std::this_thread::sleep_for(std::chrono::seconds(3));
}
}
}
void monitorKobukiConnection() {
while (true) {
// Check regelmatig of de verbinding actief is
if (!robot.isConnected()) {
std::cerr << "Kobuki verbinding verloren. Reconnectie starten..." << std::endl;
reconnectKobuki();
}
std::this_thread::sleep_for(std::chrono::seconds(5)); // Check iedere 5 seconden
}
}
std::string readMQTT() { std::string readMQTT() {
static std::string lastMessage; static std::string lastMessage;