Merge branch 'test_script_movement' of ssh://gitlab.fdmci.hva.nl/technische-informatica-sm3/ti-projectten/rooziinuubii79 into test_script_movement

This commit is contained in:
ishak jmilou.ishak
2024-10-24 13:23:38 +02:00
12 changed files with 58 additions and 26 deletions

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@@ -2,11 +2,13 @@ cmake_minimum_required(VERSION 3.9)
project(kobuki_control)
set(SOURCE_FILES
src/KobukiParser.cpp
src/KobukiParser.h
src/CKobuki.cpp
src/CKobuki.h
src/test.cpp)
src/KobukiDriver/KobukiParser.cpp
src/KobukiDriver/KobukiParser.h
src/KobukiDriver/CKobuki.cpp
src/KobukiDriver/CKobuki.h
src/MQTT/MqttClient.cpp
src/MQTT/MqttClient.h
src/main.cpp)
add_executable(kobuki_control ${SOURCE_FILES})
#target_link_libraries(kobuki_control )

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@@ -1,11 +1,11 @@
#include "MqttClient.h"
MqttClient::MqttClient(const std::string& address, const std::string& clientId, const std::string& username, const std::string& password)
: client_(address, clientId), username_(username), password_(password) {
: client_(address, clientId), username_(username), password_(password), callback_(*this) {
client_.set_callback(callback_);
connOpts_.set_clean_session(true);
connOpts_.set_mqtt_version(MQTTVERSION_3_1_1); // For MQTT 3.1.1
if (!username_.empty() && !password_.empty()) { //if username and password are not empty also set those otherwise log in anonymously
if (!username_.empty() && !password_.empty()) {
connOpts_.set_user_name(username_);
connOpts_.set_password(password_);
}
@@ -32,7 +32,7 @@ void MqttClient::subscribe(const std::string& topic, int qos) {
}
}
/// @brief only needed if program doesnt loop itself
/// @brief Only needed when program doesnt keep itself alive
void MqttClient::run() {
// Keep the client running to receive messages
while (true) {
@@ -41,9 +41,8 @@ void MqttClient::run() {
}
void MqttClient::Callback::message_arrived(mqtt::const_message_ptr msg) {
std::cout << "Received message: '" << msg->get_topic()
<< "' : " << msg->to_string() << std::endl;
// Do something with the message, e.g., trigger a GPIO action
std::lock_guard<std::mutex> lock(client_.messageMutex_);
client_.lastMessage_ = msg->to_string();
}
void MqttClient::Callback::connection_lost(const std::string& cause) {
@@ -52,4 +51,11 @@ void MqttClient::Callback::connection_lost(const std::string& cause) {
void MqttClient::Callback::delivery_complete(mqtt::delivery_token_ptr token) {
std::cout << "Message delivered!" << std::endl;
}
/// @brief Get the last message received from the MQTT broker
/// @return The last message received in a string
std::string MqttClient::getLastMessage() {
std::lock_guard<std::mutex> lock(messageMutex_);
return lastMessage_;
}

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@@ -3,6 +3,7 @@
#include <iostream>
#include <thread>
#include <mutex>
#include <mqtt/async_client.h>
class MqttClient {
@@ -11,13 +12,18 @@ public:
void connect();
void subscribe(const std::string& topic, int qos = 1);
void run();
std::string getLastMessage();
private:
class Callback : public virtual mqtt::callback {
public:
void message_arrived(mqtt::const_message_ptr msg) override; //overide the main functions in the original class
Callback(MqttClient& client) : client_(client) {}
void message_arrived(mqtt::const_message_ptr msg) override;
void connection_lost(const std::string& cause) override;
void delivery_complete(mqtt::delivery_token_ptr token) override;
private:
MqttClient& client_;
};
mqtt::async_client client_;
@@ -25,6 +31,8 @@ private:
Callback callback_;
std::string username_;
std::string password_;
std::string lastMessage_;
std::mutex messageMutex_;
};
#endif // MQTTCLIENT_H

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@@ -1,31 +1,47 @@
#include "CKobuki.h"
#include <iostream>
#include <cmath>
#include <thread>
#include "graph.h"
#include "KobukiDriver/graph.h"
#include "MQTT/MqttClient.h"
#include "KobukiDriver/CKobuki.h"
using namespace std;
CKobuki robot;
int movement();
int checkCenterCliff();
std::string ReadMQTT();
MqttClient client("mqtt://localhost:1883", "KobukiRPI", "ishak", "kobuki");
int main()
{
void setup(){
unsigned char *null_ptr(0);
robot.startCommunication("/dev/ttyUSB0", true, null_ptr);
// thread mv(movement);
// mv.join(); //only exit once thread one is done running
client.connect();
client.subscribe("home/commands");
checkCenterCliff();
}
int main()
setup();
{
readMQTT();
return 0;
}
int checkCenterCliff()
std::string ReadMQTT()
{
while(true){
std::cout << robot.parser.data.CliffSensorCenter << endl;
}
while (true) {
std::string message = client.getLastMessage();
if (!message.empty()) {
std::cout << "MQTT Message: " << message << std::endl;
}
// Add a small delay to avoid busy-waiting
std::this_thread::sleep_for(std::chrono::milliseconds(100));
return message;
}
}

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@@ -10,7 +10,7 @@ mqtt_client.username_pw_set("ishak", "kobuki")
mqtt_client.connect("localhost", 1883, 60)
mqtt_client.loop_start()
@app.route('/')
@app.route('/', methods=["POST"])
def index():
return render_template('index.html')
@@ -24,4 +24,4 @@ def move():
return jsonify({"message": "Fout bij het publiceren van bericht"}), 500
if __name__ == '__main__':
app.run(debug=True)
app.run(debug=True)