Smikkelbakje/J2S1-Kobuki
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made more debug

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This commit is contained in:
ishak jmilou.ishak
2025-01-20 10:58:34 +01:00
parent c31689ac70
commit aedff1c2cc
1 changed files with 22 additions and 11 deletions
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33
src/C++/Driver/src/main.cpp
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@@ -60,24 +60,35 @@ void checkKobukiConnection()
{
while (true)
{
std::lock_guard<std::mutex> lock(connectionMutex);
bool connected = robot.isConnected();
if (!connected && kobuki_connected)
{
cout << "Kobuki is disconnected" << endl;
kobuki_connected = false;
}
else if (connected && !kobuki_connected)
{
cout << "Kobuki is reconnecting..." << endl;
robot.startCommunication("/dev/ttyUSB0", true, nullptr);
kobuki_connected = true;
std::lock_guard<std::mutex> lock(connectionMutex);
if (!robot.isConnected())
{
if (kobuki_connected)
{
cout << "Kobuki is disconnected" << endl;
kobuki_connected = false;
}
// Probeer opnieuw te verbinden
cout << "Attempting to reconnect Kobuki..." << endl;
robot.startCommunication("/dev/ttyUSB0", true, nullptr);
kobuki_connected = robot.isConnected();
if (kobuki_connected)
{
cout << "Kobuki reconnected successfully!" << endl;
}
else
{
cout << "Failed to reconnect Kobuki, retrying in 5 seconds..." << endl;
}
}
}
std::this_thread::sleep_for(std::chrono::seconds(5)); // Controleer elke 5 seconden
}
}
std::string readMQTT()
{
static std::string lastMessage;