mirror of
https://gitlab.fdmci.hva.nl/technische-informatica-sm3/ti-projectten/rooziinuubii79.git
synced 2025-08-03 20:04:58 +00:00
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:
@@ -2,11 +2,13 @@ cmake_minimum_required(VERSION 3.9)
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project(kobuki_control)
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set(SOURCE_FILES
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src/KobukiParser.cpp
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src/KobukiParser.h
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src/CKobuki.cpp
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src/CKobuki.h
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src/test.cpp)
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src/KobukiDriver/KobukiParser.cpp
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src/KobukiDriver/KobukiParser.h
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src/KobukiDriver/CKobuki.cpp
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src/KobukiDriver/CKobuki.h
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src/MQTT/MqttClient.cpp
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src/MQTT/MqttClient.h
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src/main.cpp)
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add_executable(kobuki_control ${SOURCE_FILES})
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#target_link_libraries(kobuki_control )
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@@ -1,11 +1,11 @@
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#include "MqttClient.h"
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MqttClient::MqttClient(const std::string& address, const std::string& clientId, const std::string& username, const std::string& password)
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: client_(address, clientId), username_(username), password_(password) {
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: client_(address, clientId), username_(username), password_(password), callback_(*this) {
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client_.set_callback(callback_);
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connOpts_.set_clean_session(true);
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connOpts_.set_mqtt_version(MQTTVERSION_3_1_1); // For MQTT 3.1.1
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if (!username_.empty() && !password_.empty()) { //if username and password are not empty also set those otherwise log in anonymously
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if (!username_.empty() && !password_.empty()) {
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connOpts_.set_user_name(username_);
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connOpts_.set_password(password_);
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}
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@@ -32,7 +32,7 @@ void MqttClient::subscribe(const std::string& topic, int qos) {
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}
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}
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/// @brief only needed if program doesnt loop itself
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/// @brief Only needed when program doesnt keep itself alive
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void MqttClient::run() {
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// Keep the client running to receive messages
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while (true) {
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@@ -41,9 +41,8 @@ void MqttClient::run() {
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}
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void MqttClient::Callback::message_arrived(mqtt::const_message_ptr msg) {
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std::cout << "Received message: '" << msg->get_topic()
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<< "' : " << msg->to_string() << std::endl;
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// Do something with the message, e.g., trigger a GPIO action
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std::lock_guard<std::mutex> lock(client_.messageMutex_);
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client_.lastMessage_ = msg->to_string();
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}
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void MqttClient::Callback::connection_lost(const std::string& cause) {
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@@ -52,4 +51,11 @@ void MqttClient::Callback::connection_lost(const std::string& cause) {
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void MqttClient::Callback::delivery_complete(mqtt::delivery_token_ptr token) {
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std::cout << "Message delivered!" << std::endl;
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}
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/// @brief Get the last message received from the MQTT broker
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/// @return The last message received in a string
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std::string MqttClient::getLastMessage() {
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std::lock_guard<std::mutex> lock(messageMutex_);
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return lastMessage_;
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}
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@@ -3,6 +3,7 @@
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#include <iostream>
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#include <thread>
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#include <mutex>
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#include <mqtt/async_client.h>
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class MqttClient {
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@@ -11,13 +12,18 @@ public:
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void connect();
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void subscribe(const std::string& topic, int qos = 1);
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void run();
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std::string getLastMessage();
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private:
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class Callback : public virtual mqtt::callback {
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public:
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void message_arrived(mqtt::const_message_ptr msg) override; //overide the main functions in the original class
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Callback(MqttClient& client) : client_(client) {}
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void message_arrived(mqtt::const_message_ptr msg) override;
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void connection_lost(const std::string& cause) override;
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void delivery_complete(mqtt::delivery_token_ptr token) override;
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private:
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MqttClient& client_;
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};
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mqtt::async_client client_;
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@@ -25,6 +31,8 @@ private:
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Callback callback_;
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std::string username_;
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std::string password_;
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std::string lastMessage_;
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std::mutex messageMutex_;
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};
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#endif // MQTTCLIENT_H
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@@ -1,31 +1,47 @@
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#include "CKobuki.h"
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#include <iostream>
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#include <cmath>
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#include <thread>
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#include "graph.h"
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#include "KobukiDriver/graph.h"
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#include "MQTT/MqttClient.h"
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#include "KobukiDriver/CKobuki.h"
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using namespace std;
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CKobuki robot;
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int movement();
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int checkCenterCliff();
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std::string ReadMQTT();
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MqttClient client("mqtt://localhost:1883", "KobukiRPI", "ishak", "kobuki");
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int main()
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{
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void setup(){
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unsigned char *null_ptr(0);
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robot.startCommunication("/dev/ttyUSB0", true, null_ptr);
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// thread mv(movement);
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// mv.join(); //only exit once thread one is done running
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client.connect();
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client.subscribe("home/commands");
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checkCenterCliff();
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}
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int main()
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setup();
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{
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readMQTT();
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return 0;
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}
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int checkCenterCliff()
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std::string ReadMQTT()
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{
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while(true){
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std::cout << robot.parser.data.CliffSensorCenter << endl;
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}
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while (true) {
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std::string message = client.getLastMessage();
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if (!message.empty()) {
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std::cout << "MQTT Message: " << message << std::endl;
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}
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// Add a small delay to avoid busy-waiting
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std::this_thread::sleep_for(std::chrono::milliseconds(100));
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return message;
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}
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}
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@@ -10,7 +10,7 @@ mqtt_client.username_pw_set("ishak", "kobuki")
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mqtt_client.connect("localhost", 1883, 60)
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mqtt_client.loop_start()
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@app.route('/')
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@app.route('/', methods=["POST"])
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def index():
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return render_template('index.html')
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@@ -24,4 +24,4 @@ def move():
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return jsonify({"message": "Fout bij het publiceren van bericht"}), 500
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if __name__ == '__main__':
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app.run(debug=True)
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app.run(debug=True)
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