Smikkelbakje/J2S1-Kobuki
1
0
Fork 0
mirror of https://gitlab.fdmci.hva.nl/technische-informatica-sm3/ti-projectten/rooziinuubii79.git synced 2025-08-03 20:04:58 +00:00
Code Issues Actions Packages Projects Releases Wiki Activity

functions for auto reconnect with pi and kobuki

Browse Source
This commit is contained in:
ishak jmilou.ishak
2025-01-07 14:28:06 +01:00
parent bb1904b125
commit b111e49dff
3 changed files with 345 additions and 271 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
src/C++/Driver/src/KobukiDriver/CKobuki.cpp
View File

@@ -94,6 +94,10 @@ int CKobuki::connect(char *comportT) {
} }
} }
bool CKobuki::isConnected() {
return (HCom != -1 && tcflush(HCom, TCOFLUSH) == 0);
}
unsigned char *CKobuki::readKobukiMessage() { unsigned char *CKobuki::readKobukiMessage() {
unsigned char buffer[1]; unsigned char buffer[1];
ssize_t Pocet; ssize_t Pocet;

1
src/C++/Driver/src/KobukiDriver/CKobuki.h
View File

@@ -80,6 +80,7 @@ public:
void robotSafety(); //overload void robotSafety(); //overload
void sendNullMessage(); void sendNullMessage();
bool safetyActive = false; bool safetyActive = false;
bool isConnected();
KobukiParser parser; KobukiParser parser;

611
src/C++/Driver/src/main.cpp
View File

@@ -1,318 +1,387 @@
#include <iostream>
#include <cmath>
#include <thread>
#include "MQTT/MqttClient.h"
#include "KobukiDriver/CKobuki.h" #include "KobukiDriver/CKobuki.h"
#include <opencv4/opencv2/opencv.hpp> #include "MQTT/MqttClient.h"
#include <cmath>
#include <iostream>
#include <opencv4/opencv2/core.hpp> #include <opencv4/opencv2/core.hpp>
#include <opencv4/opencv2/opencv.hpp>
#include <thread>
using namespace std; using namespace std;
using namespace cv; using namespace cv;
CKobuki robot; CKobuki robot;
std::string readMQTT(); std::string readMQTT();
void parseMQTT(std::string message); void parseMQTT(std::string message);
void CapnSend(); void CapnSend();
//ip, clientID, username, password void reconnectKobuki();
MqttClient client("ws://145.92.224.21/ws/", "KobukiRPI", "rpi", "rpiwachtwoordofzo"); // create a client object void monitorKobukiConnection();
// ip, clientID, username, password
MqttClient client("ws://145.92.224.21/ws/", "KobukiRPI", "rpi",
"rpiwachtwoordofzo"); // create a client object
std::string message = "stop"; std::string message = "stop";
std::string serializeKobukiData(const TKobukiData &data); std::string serializeKobukiData(const TKobukiData &data);
void sendKobukiData(TKobukiData &data); void sendKobukiData(TKobukiData &data);
void setup() void setup() {
{ unsigned char *null_ptr(0);
unsigned char *null_ptr(0); robot.startCommunication("/dev/ttyUSB0", true, null_ptr);
robot.startCommunication("/dev/ttyUSB0", true, null_ptr); // connect mqtt server and sub to commands
//connect mqtt server and sub to commands
client.connect(); client.connect();
client.subscribe("home/commands"); client.subscribe("home/commands");
} }
int main() int main() {
{ setup();
setup(); reconnectKobuki();
std::thread image (CapnSend);
std::thread safety([&]() { robot.robotSafety(&message); });
std::thread sendMqtt([&]() { sendKobukiData(robot.parser.data); });
while(true){
std::string message = readMQTT();
if (!message.empty()){
parseMQTT(message);
}
}
sendMqtt.join(); std::thread connectionMonitor(monitorKobukiConnection);
safety.join(); std::thread image(CapnSend);
image.join(); std::thread safety([&]() { robot.robotSafety(&message); });
std::thread sendMqtt([&]() { sendKobukiData(robot.parser.data); });
while (true) {
std::string message = readMQTT();
if (!message.empty()) {
parseMQTT(message);
}
}
sendMqtt.join();
safety.join();
image.join();
} }
std::string readMQTT() void reconnectKobuki() {
{ while (true) {
static std::string lastMessage; if (robot.startCommunication("/dev/ttyUSB0") != -1) {
std::cout << "Kobuki opnieuw verbonden!" << std::endl;
std::string message = client.getLastMessage(); break; // Verlaat de loop als de verbinding succesvol is
if (!message.empty() && message != lastMessage) } else {
{ std::cerr << "Kobuki niet verbonden. Probeer opnieuw over 3 seconden..." << std::endl;
std::cout << "MQTT Message: " << message << std::endl; std::this_thread::sleep_for(std::chrono::seconds(3));
lastMessage = message;
} }
}
// Add a small delay to avoid busy-waiting
std::this_thread::sleep_for(std::chrono::milliseconds(100));
return message;
} }
void parseMQTT(std::string message) void monitorKobukiConnection() {
{ while (true) {
if (message == "up") // Check regelmatig of de verbinding actief is
{ if (!robot.isConnected()) {
robot.forward(350); std::cerr << "Kobuki verbinding verloren. Reconnectie starten..." << std::endl;
} reconnectKobuki();
else if (message == "left")
{
robot.setRotationSpeed(4);
}
else if (message == "right")
{
robot.setRotationSpeed(-4);
}
else if (message == "down")
{
robot.forward(-350);
}
else if (message == "stop")
{
robot.sendNullMessage();
robot.sendNullMessage();
}
else if (message == "estop")
{
robot.forward(-400);
}
else
{
std::cout << "Invalid command" << std::endl;
} }
std::this_thread::sleep_for(std::chrono::seconds(5)); // Check iedere 5 seconden
}
} }
void logToFile()
{
while (true)
{
TKobukiData robotData = robot.parser.data;
std::ofstream outputFile("log", std::ios_base::app); // Open file in append mode to not overwrite own content
if (outputFile.is_open())
{ // check if the file was opened successfully
// Get current time
std::time_t now = std::time(nullptr);
outputFile << "Timestamp: " << std::ctime(&now);
// Write data to the file
outputFile << "analogInputCh0: " << robotData.analogInputCh0 << "\n";
outputFile << "analogInputCh1: " << robotData.analogInputCh1 << "\n";
outputFile << "analogInputCh2: " << robotData.analogInputCh2 << "\n";
outputFile << "analogInputCh3: " << robotData.analogInputCh3 << "\n";
outputFile << "digitalInput: " << robotData.digitalInput << "\n";
outputFile << "timestamp: " << robotData.timestamp << "\n";
outputFile << "BumperCenter: " << robotData.BumperCenter << "\n";
outputFile << "BumperLeft: " << robotData.BumperLeft << "\n";
outputFile << "BumperRight: " << robotData.BumperRight << "\n";
outputFile << "WheelDropLeft: " << robotData.WheelDropLeft << "\n";
outputFile << "WheelDropRight: " << robotData.WheelDropRight << "\n";
outputFile << "CliffCenter: " << robotData.CliffCenter << "\n";
outputFile << "CliffLeft: " << robotData.CliffLeft << "\n";
outputFile << "CliffRight: " << robotData.CliffRight << "\n";
outputFile << "EncoderLeft: " << robotData.EncoderLeft << "\n";
outputFile << "EncoderRight: " << robotData.EncoderRight << "\n";
outputFile << "PWMleft: " << robotData.PWMleft << "\n";
outputFile << "PWMright: " << robotData.PWMright << "\n";
outputFile << "ButtonPress: " << robotData.ButtonPress1 << "\n";
outputFile << "ButtonPress: " << robotData.ButtonPress2 << "\n";
outputFile << "ButtonPress: " << robotData.ButtonPress3 << "\n";
outputFile << "Charger: " << robotData.Charger << "\n";
outputFile << "Battery: " << robotData.Battery << "\n";
outputFile << "overCurrent: " << robotData.overCurrent << "\n";
outputFile << "IRSensorRight: " << robotData.IRSensorRight << "\n";
outputFile << "IRSensorCenter: " << robotData.IRSensorCenter << "\n";
outputFile << "IRSensorLeft: " << robotData.IRSensorLeft << "\n";
outputFile << "GyroAngle: " << robotData.GyroAngle << "\n";
outputFile << "GyroAngleRate: " << robotData.GyroAngleRate << "\n";
outputFile << "CliffSensorRight: " << robotData.CliffSensorRight << "\n";
outputFile << "CliffSensorCenter: " << robotData.CliffSensorCenter << "\n";
outputFile << "CliffSensorLeft: " << robotData.CliffSensorLeft << "\n";
outputFile << "wheelCurrentLeft: " << robotData.wheelCurrentLeft << "\n";
outputFile << "wheelCurrentRight: " << robotData.wheelCurrentRight << "\n";
outputFile << "frameId: " << robotData.frameId << "\n";
outputFile << "HardwareVersionPatch: " << robotData.extraInfo.HardwareVersionPatch << "\n";
outputFile << "HardwareVersionMinor: " << robotData.extraInfo.HardwareVersionMinor << "\n";
outputFile << "HardwareVersionMajor: " << robotData.extraInfo.HardwareVersionMajor << "\n";
outputFile << "FirmwareVersionPatch: " << robotData.extraInfo.FirmwareVersionPatch << "\n";
outputFile << "FirmwareVersionMinor: " << robotData.extraInfo.FirmwareVersionMinor << "\n";
outputFile << "FirmwareVersionMajor: " << robotData.extraInfo.FirmwareVersionMajor << "\n";
outputFile << "UDID0: " << robotData.extraInfo.UDID0 << "\n";
outputFile << "UDID1: " << robotData.extraInfo.UDID1 << "\n";
outputFile << "UDID2: " << robotData.extraInfo.UDID2 << "\n";
outputFile.close();
}
else
{
std::cerr << "Error opening file\n";
}
std::this_thread::sleep_for(std::chrono::seconds(2)); // Sleep for 2 seconds std::string readMQTT() {
static std::string lastMessage;
std::string message = client.getLastMessage();
if (!message.empty() && message != lastMessage) {
std::cout << "MQTT Message: " << message << std::endl;
lastMessage = message;
}
// Add a small delay to avoid busy-waiting
std::this_thread::sleep_for(std::chrono::milliseconds(100));
return message;
}
void parseMQTT(std::string message) {
if (message == "up") {
robot.forward(350);
} else if (message == "left") {
robot.setRotationSpeed(4);
} else if (message == "right") {
robot.setRotationSpeed(-4);
} else if (message == "down") {
robot.forward(-350);
} else if (message == "stop") {
robot.sendNullMessage();
robot.sendNullMessage();
} else if (message == "estop") {
robot.forward(-400);
} else {
std::cout << "Invalid command" << std::endl;
}
}
void logToFile() {
while (true) {
TKobukiData robotData = robot.parser.data;
std::ofstream outputFile("log",
std::ios_base::app); // Open file in append mode to
// not overwrite own content
if (outputFile.is_open()) { // check if the file was opened successfully
// Get current time
std::time_t now = std::time(nullptr);
outputFile << "Timestamp: " << std::ctime(&now);
// Write data to the file
outputFile << "analogInputCh0: " << robotData.analogInputCh0 << "\n";
outputFile << "analogInputCh1: " << robotData.analogInputCh1 << "\n";
outputFile << "analogInputCh2: " << robotData.analogInputCh2 << "\n";
outputFile << "analogInputCh3: " << robotData.analogInputCh3 << "\n";
outputFile << "digitalInput: " << robotData.digitalInput << "\n";
outputFile << "timestamp: " << robotData.timestamp << "\n";
outputFile << "BumperCenter: " << robotData.BumperCenter << "\n";
outputFile << "BumperLeft: " << robotData.BumperLeft << "\n";
outputFile << "BumperRight: " << robotData.BumperRight << "\n";
outputFile << "WheelDropLeft: " << robotData.WheelDropLeft << "\n";
outputFile << "WheelDropRight: " << robotData.WheelDropRight << "\n";
outputFile << "CliffCenter: " << robotData.CliffCenter << "\n";
outputFile << "CliffLeft: " << robotData.CliffLeft << "\n";
outputFile << "CliffRight: " << robotData.CliffRight << "\n";
outputFile << "EncoderLeft: " << robotData.EncoderLeft << "\n";
outputFile << "EncoderRight: " << robotData.EncoderRight << "\n";
outputFile << "PWMleft: " << robotData.PWMleft << "\n";
outputFile << "PWMright: " << robotData.PWMright << "\n";
outputFile << "ButtonPress: " << robotData.ButtonPress1 << "\n";
outputFile << "ButtonPress: " << robotData.ButtonPress2 << "\n";
outputFile << "ButtonPress: " << robotData.ButtonPress3 << "\n";
outputFile << "Charger: " << robotData.Charger << "\n";
outputFile << "Battery: " << robotData.Battery << "\n";
outputFile << "overCurrent: " << robotData.overCurrent << "\n";
outputFile << "IRSensorRight: " << robotData.IRSensorRight << "\n";
outputFile << "IRSensorCenter: " << robotData.IRSensorCenter << "\n";
outputFile << "IRSensorLeft: " << robotData.IRSensorLeft << "\n";
outputFile << "GyroAngle: " << robotData.GyroAngle << "\n";
outputFile << "GyroAngleRate: " << robotData.GyroAngleRate << "\n";
outputFile << "CliffSensorRight: " << robotData.CliffSensorRight << "\n";
outputFile << "CliffSensorCenter: " << robotData.CliffSensorCenter
<< "\n";
outputFile << "CliffSensorLeft: " << robotData.CliffSensorLeft << "\n";
outputFile << "wheelCurrentLeft: " << robotData.wheelCurrentLeft << "\n";
outputFile << "wheelCurrentRight: " << robotData.wheelCurrentRight
<< "\n";
outputFile << "frameId: " << robotData.frameId << "\n";
outputFile << "HardwareVersionPatch: "
<< robotData.extraInfo.HardwareVersionPatch << "\n";
outputFile << "HardwareVersionMinor: "
<< robotData.extraInfo.HardwareVersionMinor << "\n";
outputFile << "HardwareVersionMajor: "
<< robotData.extraInfo.HardwareVersionMajor << "\n";
outputFile << "FirmwareVersionPatch: "
<< robotData.extraInfo.FirmwareVersionPatch << "\n";
outputFile << "FirmwareVersionMinor: "
<< robotData.extraInfo.FirmwareVersionMinor << "\n";
outputFile << "FirmwareVersionMajor: "
<< robotData.extraInfo.FirmwareVersionMajor << "\n";
outputFile << "UDID0: " << robotData.extraInfo.UDID0 << "\n";
outputFile << "UDID1: " << robotData.extraInfo.UDID1 << "\n";
outputFile << "UDID2: " << robotData.extraInfo.UDID2 << "\n";
outputFile.close();
} else {
std::cerr << "Error opening file\n";
} }
std::this_thread::sleep_for(std::chrono::seconds(2)); // Sleep for 2 seconds
}
} }
void sendIndividualKobukiData(const TKobukiData &data) { void sendIndividualKobukiData(const TKobukiData &data) {
while (true) { while (true) {
std::cout << "Kobuki Data wordt gepubliceerd naar kobuki/data/timestamp: " << data.timestamp << std::endl; std::cout << "Kobuki Data wordt gepubliceerd naar kobuki/data/timestamp: "
client.publishMessage("kobuki/data/timestamp", std::to_string(data.timestamp)); << data.timestamp << std::endl;
client.publishMessage("kobuki/data/BumperCenter", std::to_string(data.BumperCenter)); client.publishMessage("kobuki/data/timestamp",
client.publishMessage("kobuki/data/BumperLeft", std::to_string(data.BumperLeft)); std::to_string(data.timestamp));
client.publishMessage("kobuki/data/BumperRight", std::to_string(data.BumperRight)); client.publishMessage("kobuki/data/BumperCenter",
client.publishMessage("kobuki/data/WheelDropLeft", std::to_string(data.WheelDropLeft)); std::to_string(data.BumperCenter));
client.publishMessage("kobuki/data/WheelDropRight", std::to_string(data.WheelDropRight)); client.publishMessage("kobuki/data/BumperLeft",
client.publishMessage("kobuki/data/CliffCenter", std::to_string(data.CliffCenter)); std::to_string(data.BumperLeft));
client.publishMessage("kobuki/data/CliffLeft", std::to_string(data.CliffLeft)); client.publishMessage("kobuki/data/BumperRight",
client.publishMessage("kobuki/data/CliffRight", std::to_string(data.CliffRight)); std::to_string(data.BumperRight));
client.publishMessage("kobuki/data/EncoderLeft", std::to_string(data.EncoderLeft)); client.publishMessage("kobuki/data/WheelDropLeft",
client.publishMessage("kobuki/data/EncoderRight", std::to_string(data.EncoderRight)); std::to_string(data.WheelDropLeft));
client.publishMessage("kobuki/data/PWMleft", std::to_string(data.PWMleft)); client.publishMessage("kobuki/data/WheelDropRight",
client.publishMessage("kobuki/data/PWMright", std::to_string(data.PWMright)); std::to_string(data.WheelDropRight));
client.publishMessage("kobuki/data/ButtonPress1", std::to_string(data.ButtonPress1)); client.publishMessage("kobuki/data/CliffCenter",
client.publishMessage("kobuki/data/ButtonPress2", std::to_string(data.ButtonPress2)); std::to_string(data.CliffCenter));
client.publishMessage("kobuki/data/ButtonPress3", std::to_string(data.ButtonPress3)); client.publishMessage("kobuki/data/CliffLeft",
client.publishMessage("kobuki/data/Charger", std::to_string(data.Charger)); std::to_string(data.CliffLeft));
client.publishMessage("kobuki/data/Battery", std::to_string(data.Battery)); client.publishMessage("kobuki/data/CliffRight",
client.publishMessage("kobuki/data/overCurrent", std::to_string(data.overCurrent)); std::to_string(data.CliffRight));
client.publishMessage("kobuki/data/IRSensorRight", std::to_string(data.IRSensorRight)); client.publishMessage("kobuki/data/EncoderLeft",
client.publishMessage("kobuki/data/IRSensorCenter", std::to_string(data.IRSensorCenter)); std::to_string(data.EncoderLeft));
client.publishMessage("kobuki/data/IRSensorLeft", std::to_string(data.IRSensorLeft)); client.publishMessage("kobuki/data/EncoderRight",
client.publishMessage("kobuki/data/GyroAngle", std::to_string(data.GyroAngle)); std::to_string(data.EncoderRight));
client.publishMessage("kobuki/data/GyroAngleRate", std::to_string(data.GyroAngleRate)); client.publishMessage("kobuki/data/PWMleft", std::to_string(data.PWMleft));
client.publishMessage("kobuki/data/CliffSensorRight", std::to_string(data.CliffSensorRight)); client.publishMessage("kobuki/data/PWMright",
client.publishMessage("kobuki/data/CliffSensorCenter", std::to_string(data.CliffSensorCenter)); std::to_string(data.PWMright));
client.publishMessage("kobuki/data/CliffSensorLeft", std::to_string(data.CliffSensorLeft)); client.publishMessage("kobuki/data/ButtonPress1",
client.publishMessage("kobuki/data/wheelCurrentLeft", std::to_string(data.wheelCurrentLeft)); std::to_string(data.ButtonPress1));
client.publishMessage("kobuki/data/wheelCurrentRight", std::to_string(data.wheelCurrentRight)); client.publishMessage("kobuki/data/ButtonPress2",
client.publishMessage("kobuki/data/digitalInput", std::to_string(data.digitalInput)); std::to_string(data.ButtonPress2));
client.publishMessage("kobuki/data/analogInputCh0", std::to_string(data.analogInputCh0)); client.publishMessage("kobuki/data/ButtonPress3",
client.publishMessage("kobuki/data/analogInputCh1", std::to_string(data.analogInputCh1)); std::to_string(data.ButtonPress3));
client.publishMessage("kobuki/data/analogInputCh2", std::to_string(data.analogInputCh2)); client.publishMessage("kobuki/data/Charger", std::to_string(data.Charger));
client.publishMessage("kobuki/data/analogInputCh3", std::to_string(data.analogInputCh3)); client.publishMessage("kobuki/data/Battery", std::to_string(data.Battery));
client.publishMessage("kobuki/data/frameId", std::to_string(data.frameId)); client.publishMessage("kobuki/data/overCurrent",
client.publishMessage("kobuki/data/extraInfo/HardwareVersionPatch", std::to_string(data.extraInfo.HardwareVersionPatch)); std::to_string(data.overCurrent));
client.publishMessage("kobuki/data/extraInfo/HardwareVersionMinor", std::to_string(data.extraInfo.HardwareVersionMinor)); client.publishMessage("kobuki/data/IRSensorRight",
client.publishMessage("kobuki/data/extraInfo/HardwareVersionMajor", std::to_string(data.extraInfo.HardwareVersionMajor)); std::to_string(data.IRSensorRight));
client.publishMessage("kobuki/data/extraInfo/FirmwareVersionPatch", std::to_string(data.extraInfo.FirmwareVersionPatch)); client.publishMessage("kobuki/data/IRSensorCenter",
client.publishMessage("kobuki/data/extraInfo/FirmwareVersionMinor", std::to_string(data.extraInfo.FirmwareVersionMinor)); std::to_string(data.IRSensorCenter));
client.publishMessage("kobuki/data/extraInfo/FirmwareVersionMajor", std::to_string(data.extraInfo.FirmwareVersionMajor)); client.publishMessage("kobuki/data/IRSensorLeft",
client.publishMessage("kobuki/data/extraInfo/UDID0", std::to_string(data.extraInfo.UDID0)); std::to_string(data.IRSensorLeft));
client.publishMessage("kobuki/data/extraInfo/UDID1", std::to_string(data.extraInfo.UDID1)); client.publishMessage("kobuki/data/GyroAngle",
client.publishMessage("kobuki/data/extraInfo/UDID2", std::to_string(data.extraInfo.UDID2)); 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()) { if (!data.gyroData.empty()) {
const auto& latestGyro = data.gyroData.back(); const auto &latestGyro = data.gyroData.back();
client.publishMessage("kobuki/data/gyroData/x", std::to_string(latestGyro.x)); client.publishMessage("kobuki/data/gyroData/x",
client.publishMessage("kobuki/data/gyroData/y", std::to_string(latestGyro.y)); std::to_string(latestGyro.x));
client.publishMessage("kobuki/data/gyroData/z", std::to_string(latestGyro.z)); client.publishMessage("kobuki/data/gyroData/y",
} std::to_string(latestGyro.y));
client.publishMessage("kobuki/data/gyroData/z",
std::this_thread::sleep_for(std::chrono::milliseconds(1000)); std::to_string(latestGyro.z));
} }
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
}
} }
std::string serializeKobukiData(const TKobukiData &data) { std::string serializeKobukiData(const TKobukiData &data) {
std::string json = "{\"timestamp\":" + std::to_string(data.timestamp) + std::string json =
",\"BumperCenter\":" + std::to_string(data.BumperCenter) + "{\"timestamp\":" + std::to_string(data.timestamp) +
",\"BumperLeft\":" + std::to_string(data.BumperLeft) + ",\"BumperCenter\":" + std::to_string(data.BumperCenter) +
",\"BumperRight\":" + std::to_string(data.BumperRight) + ",\"BumperLeft\":" + std::to_string(data.BumperLeft) +
",\"WheelDropLeft\":" + std::to_string(data.WheelDropLeft) + ",\"BumperRight\":" + std::to_string(data.BumperRight) +
",\"WheelDropRight\":" + std::to_string(data.WheelDropRight) + ",\"WheelDropLeft\":" + std::to_string(data.WheelDropLeft) +
",\"CliffCenter\":" + std::to_string(data.CliffCenter) + ",\"WheelDropRight\":" + std::to_string(data.WheelDropRight) +
",\"CliffLeft\":" + std::to_string(data.CliffLeft) + ",\"CliffCenter\":" + std::to_string(data.CliffCenter) +
",\"CliffRight\":" + std::to_string(data.CliffRight) + ",\"CliffLeft\":" + std::to_string(data.CliffLeft) +
",\"EncoderLeft\":" + std::to_string(data.EncoderLeft) + ",\"CliffRight\":" + std::to_string(data.CliffRight) +
",\"EncoderRight\":" + std::to_string(data.EncoderRight) + ",\"EncoderLeft\":" + std::to_string(data.EncoderLeft) +
",\"PWMleft\":" + std::to_string(data.PWMleft) + ",\"EncoderRight\":" + std::to_string(data.EncoderRight) +
",\"PWMright\":" + std::to_string(data.PWMright) + ",\"PWMleft\":" + std::to_string(data.PWMleft) +
",\"ButtonPress1\":" + std::to_string(data.ButtonPress1) + ",\"PWMright\":" + std::to_string(data.PWMright) +
",\"ButtonPress2\":" + std::to_string(data.ButtonPress2) + ",\"ButtonPress1\":" + std::to_string(data.ButtonPress1) +
",\"ButtonPress3\":" + std::to_string(data.ButtonPress3) + ",\"ButtonPress2\":" + std::to_string(data.ButtonPress2) +
",\"Charger\":" + std::to_string(data.Charger) + ",\"ButtonPress3\":" + std::to_string(data.ButtonPress3) +
",\"Battery\":" + std::to_string(data.Battery) + ",\"Charger\":" + std::to_string(data.Charger) +
",\"overCurrent\":" + std::to_string(data.overCurrent) + ",\"Battery\":" + std::to_string(data.Battery) +
",\"IRSensorRight\":" + std::to_string(data.IRSensorRight) + ",\"overCurrent\":" + std::to_string(data.overCurrent) +
",\"IRSensorCenter\":" + std::to_string(data.IRSensorCenter) + ",\"IRSensorRight\":" + std::to_string(data.IRSensorRight) +
",\"IRSensorLeft\":" + std::to_string(data.IRSensorLeft) + ",\"IRSensorCenter\":" + std::to_string(data.IRSensorCenter) +
",\"GyroAngle\":" + std::to_string(data.GyroAngle) + ",\"IRSensorLeft\":" + std::to_string(data.IRSensorLeft) +
",\"GyroAngleRate\":" + std::to_string(data.GyroAngleRate) + ",\"GyroAngle\":" + std::to_string(data.GyroAngle) +
",\"CliffSensorRight\":" + std::to_string(data.CliffSensorRight) + ",\"GyroAngleRate\":" + std::to_string(data.GyroAngleRate) +
",\"CliffSensorCenter\":" + std::to_string(data.CliffSensorCenter) + ",\"CliffSensorRight\":" + std::to_string(data.CliffSensorRight) +
",\"CliffSensorLeft\":" + std::to_string(data.CliffSensorLeft) + ",\"CliffSensorCenter\":" + std::to_string(data.CliffSensorCenter) +
",\"wheelCurrentLeft\":" + std::to_string(data.wheelCurrentLeft) + ",\"CliffSensorLeft\":" + std::to_string(data.CliffSensorLeft) +
",\"wheelCurrentRight\":" + std::to_string(data.wheelCurrentRight) + ",\"wheelCurrentLeft\":" + std::to_string(data.wheelCurrentLeft) +
",\"digitalInput\":" + std::to_string(data.digitalInput) + ",\"wheelCurrentRight\":" + std::to_string(data.wheelCurrentRight) +
",\"analogInputCh0\":" + std::to_string(data.analogInputCh0) + ",\"digitalInput\":" + std::to_string(data.digitalInput) +
",\"analogInputCh1\":" + std::to_string(data.analogInputCh1) + ",\"analogInputCh0\":" + std::to_string(data.analogInputCh0) +
",\"analogInputCh2\":" + std::to_string(data.analogInputCh2) + ",\"analogInputCh1\":" + std::to_string(data.analogInputCh1) +
",\"analogInputCh3\":" + std::to_string(data.analogInputCh3) + ",\"analogInputCh2\":" + std::to_string(data.analogInputCh2) +
",\"frameId\":" + std::to_string(data.frameId) + ",\"analogInputCh3\":" + std::to_string(data.analogInputCh3) +
",\"extraInfo\":{\"HardwareVersionPatch\":" + std::to_string(data.extraInfo.HardwareVersionPatch) + ",\"frameId\":" + std::to_string(data.frameId) +
",\"HardwareVersionMinor\":" + std::to_string(data.extraInfo.HardwareVersionMinor) + ",\"extraInfo\":{\"HardwareVersionPatch\":" +
",\"HardwareVersionMajor\":" + std::to_string(data.extraInfo.HardwareVersionMajor) + std::to_string(data.extraInfo.HardwareVersionPatch) +
",\"FirmwareVersionPatch\":" + std::to_string(data.extraInfo.FirmwareVersionPatch) + ",\"HardwareVersionMinor\":" +
",\"FirmwareVersionMinor\":" + std::to_string(data.extraInfo.FirmwareVersionMinor) + std::to_string(data.extraInfo.HardwareVersionMinor) +
",\"FirmwareVersionMajor\":" + std::to_string(data.extraInfo.FirmwareVersionMajor) + ",\"HardwareVersionMajor\":" +
",\"UDID0\":" + std::to_string(data.extraInfo.UDID0) + std::to_string(data.extraInfo.HardwareVersionMajor) +
",\"UDID1\":" + std::to_string(data.extraInfo.UDID1) + ",\"FirmwareVersionPatch\":" +
",\"UDID2\":" + std::to_string(data.extraInfo.UDID2) + "},\"gyroData\":["; std::to_string(data.extraInfo.FirmwareVersionPatch) +
",\"FirmwareVersionMinor\":" +
std::to_string(data.extraInfo.FirmwareVersionMinor) +
",\"FirmwareVersionMajor\":" +
std::to_string(data.extraInfo.FirmwareVersionMajor) +
",\"UDID0\":" + std::to_string(data.extraInfo.UDID0) +
",\"UDID1\":" + std::to_string(data.extraInfo.UDID1) +
",\"UDID2\":" + std::to_string(data.extraInfo.UDID2) + "},\"gyroData\":[";
if (!data.gyroData.empty()) { if (!data.gyroData.empty()) {
const auto& latestGyro = data.gyroData.back(); const auto &latestGyro = data.gyroData.back();
json += "{\"x\":" + std::to_string(latestGyro.x) + json += "{\"x\":" + std::to_string(latestGyro.x) +
",\"y\":" + std::to_string(latestGyro.y) + ",\"y\":" + std::to_string(latestGyro.y) +
",\"z\":" + std::to_string(latestGyro.z) + "}"; ",\"z\":" + std::to_string(latestGyro.z) + "}";
} }
json += "]}"; json += "]}";
return json; return json;
} }
//create extra function to send the message every 100ms // create extra function to send the message every 100ms
//needed it so it can be threaded // needed it so it can be threaded
void sendKobukiData(TKobukiData &data) { void sendKobukiData(TKobukiData &data) {
while (true) { while (true) {
client.publishMessage("kobuki/data", serializeKobukiData(data)); client.publishMessage("kobuki/data", serializeKobukiData(data));
std::cout << "Sent data" << std::endl; std::cout << "Sent data" << std::endl;
std::this_thread::sleep_for(std::chrono::milliseconds(1000)); std::this_thread::sleep_for(std::chrono::milliseconds(1000));
} }
} }
void CapnSend() { void CapnSend() {
VideoCapture cap(0); VideoCapture cap(0);
if (!cap.isOpened()) { if (!cap.isOpened()) {
cerr << "Error: Could not open camera" << endl; cerr << "Error: Could not open camera" << endl;
return; return;
}
Mat frame;
while (true) {
cap >> frame; // Capture a new image frame
if (frame.empty()) {
cerr << "Error: Could not capture image" << endl;
continue;
} }
Mat frame; // Convert the image to a byte array
while (true) { vector<uchar> buf;
cap >> frame; // Capture a new image frame imencode(".jpg", frame, buf);
if (frame.empty()) { auto *enc_msg = reinterpret_cast<unsigned char *>(buf.data());
cerr << "Error: Could not capture image" << endl;
continue;
}
// Convert the image to a byte array // Publish the image data
vector<uchar> buf; client.publishMessage("kobuki/cam", string(enc_msg, enc_msg + buf.size()));
imencode(".jpg", frame, buf); cout << "Sent image" << endl;
auto* enc_msg = reinterpret_cast<unsigned char*>(buf.data());
// Publish the image data std::this_thread::sleep_for(
client.publishMessage("kobuki/cam", string(enc_msg, enc_msg + buf.size())); std::chrono::milliseconds(300)); // Send image every 1000ms
cout << "Sent image" << endl; }
std::this_thread::sleep_for(std::chrono::milliseconds(300)); // Send image every 1000ms
}
} }