Smikkelbakje/J2S1-Kobuki
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made it so it automaticly sends all its data in json to kobuki/data

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This commit is contained in:
Sam Hos
2024-11-05 14:20:24 +01:00
parent 47f29f0f0a
commit 7424c2d033
1 changed files with 17 additions and 7 deletions
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24
src/C++/Driver/src/main.cpp
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@@ -12,6 +12,8 @@ void parseMQTT(std::string message);
MqttClient client("mqtt://145.92.224.21:1883", "KobukiRPI", "ishak", "kobuki"); // create a client object
std::string message = "stop";
std::string serializeKobukiData(const TKobukiData &data);
void sendKobukiData(TKobukiData &data);
void setup()
{
unsigned char *null_ptr(0);
@@ -23,13 +25,13 @@ void setup()
int main()
{
setup();
// std::thread safety([&]() { robot.robotSafety(&message); });
// while(true){
// parseMQTT(readMQTT());
// }
// safety.join();
// return 0;
client.publishMessage("kobuki/data", serializeKobukiData(robot.parser.data));
std::thread safety([&]() { robot.robotSafety(&message); });
std::thread sendMqtt([&]() { sendKobukiData(robot.parser.data); });
while(true){
parseMQTT(readMQTT());
}
safety.join();
return 0;
}
std::string readMQTT()
@@ -200,4 +202,12 @@ 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) {
client.publishMessage("kobuki/data", serializeKobukiData(data));
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
}
}