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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ishak jmilou.ishak
2024-11-20 17:14:55 +01:00
parent a41ea1b70c eb804c888c
commit 8a5b349040
3 changed files with 65 additions and 6 deletions
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4
src/C++/Driver/src/KobukiDriver/CKobuki.cpp
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@@ -572,10 +572,10 @@ void CKobuki::Rotate(int degrees) {
float radians = degrees * PI / 180.0;
// Calculate the rotation speed in radians per second
double radpersec = 1;
double RADS_PER_SEC = 1;
// calculator rotation time and give absolute value
float rotation_time = std::abs(radians / radpersec);
float rotation_time = std::abs(radians / RADS_PER_SEC);
// Use original function to set the rotation speed in mm/s
setRotationSpeed(radians);

63
src/C++/Driver/src/main.cpp
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@@ -9,7 +9,8 @@ using namespace std;
CKobuki robot;
std::string readMQTT();
void parseMQTT(std::string message);
MqttClient client("mqtt://145.92.224.21:1883", "KobukiRPI", "ishak", "kobuki"); // create a client object
//ip, clientID, username, password
MqttClient client("mqtt://145.92.224.21:1884", "KobukiRPI", "rpi", "rpiwachtwoordofzo"); // create a client object
std::string message = "stop";
std::string serializeKobukiData(const TKobukiData &data);
void sendKobukiData(TKobukiData &data);
@@ -149,6 +150,64 @@ void logToFile()
}
}
void sendIndividualKobukiData(const TKobukiData &data) {
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));
client.publishMessage("kobuki/data/BumperRight", std::to_string(data.BumperRight));
client.publishMessage("kobuki/data/WheelDropLeft", std::to_string(data.WheelDropLeft));
client.publishMessage("kobuki/data/WheelDropRight", std::to_string(data.WheelDropRight));
client.publishMessage("kobuki/data/CliffCenter", std::to_string(data.CliffCenter));
client.publishMessage("kobuki/data/CliffLeft", std::to_string(data.CliffLeft));
client.publishMessage("kobuki/data/CliffRight", std::to_string(data.CliffRight));
client.publishMessage("kobuki/data/EncoderLeft", std::to_string(data.EncoderLeft));
client.publishMessage("kobuki/data/EncoderRight", std::to_string(data.EncoderRight));
client.publishMessage("kobuki/data/PWMleft", std::to_string(data.PWMleft));
client.publishMessage("kobuki/data/PWMright", std::to_string(data.PWMright));
client.publishMessage("kobuki/data/ButtonPress1", std::to_string(data.ButtonPress1));
client.publishMessage("kobuki/data/ButtonPress2", std::to_string(data.ButtonPress2));
client.publishMessage("kobuki/data/ButtonPress3", std::to_string(data.ButtonPress3));
client.publishMessage("kobuki/data/Charger", std::to_string(data.Charger));
client.publishMessage("kobuki/data/Battery", std::to_string(data.Battery));
client.publishMessage("kobuki/data/overCurrent", std::to_string(data.overCurrent));
client.publishMessage("kobuki/data/IRSensorRight", std::to_string(data.IRSensorRight));
client.publishMessage("kobuki/data/IRSensorCenter", std::to_string(data.IRSensorCenter));
client.publishMessage("kobuki/data/IRSensorLeft", std::to_string(data.IRSensorLeft));
client.publishMessage("kobuki/data/GyroAngle", std::to_string(data.GyroAngle));
client.publishMessage("kobuki/data/GyroAngleRate", std::to_string(data.GyroAngleRate));
client.publishMessage("kobuki/data/CliffSensorRight", std::to_string(data.CliffSensorRight));
client.publishMessage("kobuki/data/CliffSensorCenter", std::to_string(data.CliffSensorCenter));
client.publishMessage("kobuki/data/CliffSensorLeft", std::to_string(data.CliffSensorLeft));
client.publishMessage("kobuki/data/wheelCurrentLeft", std::to_string(data.wheelCurrentLeft));
client.publishMessage("kobuki/data/wheelCurrentRight", std::to_string(data.wheelCurrentRight));
client.publishMessage("kobuki/data/digitalInput", std::to_string(data.digitalInput));
client.publishMessage("kobuki/data/analogInputCh0", std::to_string(data.analogInputCh0));
client.publishMessage("kobuki/data/analogInputCh1", std::to_string(data.analogInputCh1));
client.publishMessage("kobuki/data/analogInputCh2", std::to_string(data.analogInputCh2));
client.publishMessage("kobuki/data/analogInputCh3", std::to_string(data.analogInputCh3));
client.publishMessage("kobuki/data/frameId", std::to_string(data.frameId));
client.publishMessage("kobuki/data/extraInfo/HardwareVersionPatch", std::to_string(data.extraInfo.HardwareVersionPatch));
client.publishMessage("kobuki/data/extraInfo/HardwareVersionMinor", std::to_string(data.extraInfo.HardwareVersionMinor));
client.publishMessage("kobuki/data/extraInfo/HardwareVersionMajor", std::to_string(data.extraInfo.HardwareVersionMajor));
client.publishMessage("kobuki/data/extraInfo/FirmwareVersionPatch", std::to_string(data.extraInfo.FirmwareVersionPatch));
client.publishMessage("kobuki/data/extraInfo/FirmwareVersionMinor", std::to_string(data.extraInfo.FirmwareVersionMinor));
client.publishMessage("kobuki/data/extraInfo/FirmwareVersionMajor", std::to_string(data.extraInfo.FirmwareVersionMajor));
client.publishMessage("kobuki/data/extraInfo/UDID0", std::to_string(data.extraInfo.UDID0));
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()) {
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));
}
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
}
}
std::string serializeKobukiData(const TKobukiData &data) {
std::string json = "{\"timestamp\":" + std::to_string(data.timestamp) +
",\"BumperCenter\":" + std::to_string(data.BumperCenter) +
@@ -212,4 +271,4 @@ void sendKobukiData(TKobukiData &data) {
client.publishMessage("kobuki/data", serializeKobukiData(data));
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
}
}
}

4
src/Python/flask/web/app.py
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@@ -9,8 +9,8 @@ def on_message(client, userdata, message):
# Create an MQTT client instance
mqtt_client = mqtt.Client()
mqtt_client.username_pw_set("ishak", "kobuki")
mqtt_client.connect("localhost", 1883, 60)
mqtt_client.username_pw_set("server", "serverwachtwoordofzo")
mqtt_client.connect("localhost", 1884, 60)
mqtt_client.loop_start()
mqtt_client.subscribe("kobuki/data")
mqtt_client.on_message = on_message # this lines needs to be under the function definition otherwise it cant find which function it needs to use