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https://gitlab.fdmci.hva.nl/technische-informatica-sm3/ti-projectten/rooziinuubii79.git
synced 2025-08-04 04:14:58 +00:00
fix: add reconnection logic for Kobuki in main loop
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@@ -39,6 +39,15 @@ int main() {
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std::thread sendMqtt([&]() { sendKobukiData(robot.parser.data); });
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std::thread sendMqtt([&]() { sendKobukiData(robot.parser.data); });
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while (true) {
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while (true) {
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if (!robot.isConnected()) {
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std::cout << "Kobuki is not connected anymore. Reconnecting..." << std::endl;
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robot.startCommunication("/dev/ttyUSB0", true, nullptr);
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while (!robot.isConnected()) {
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std::this_thread::sleep_for(std::chrono::seconds(1));
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}
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std::cout << "Reconnected to Kobuki." << std::endl;
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}
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std::string message = readMQTT();
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std::string message = readMQTT();
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if (!message.empty()) {
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if (!message.empty()) {
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parseMQTT(message);
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parseMQTT(message);
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