From b1d5e8548cf432719efcf19c992e468d4d993cbf Mon Sep 17 00:00:00 2001
From: "ishak jmilou.ishak" <ishak.jmiloui@hva.nl>
Date: Tue, 17 Dec 2024 15:26:19 +0100
Subject: [PATCH] got code from other branch

---
 src/C++/Driver/src/main.cpp | 13 ++++++++-----
 1 file changed, 8 insertions(+), 5 deletions(-)

diff --git a/src/C++/Driver/src/main.cpp b/src/C++/Driver/src/main.cpp
index b1ba02f..af68be6 100644
--- a/src/C++/Driver/src/main.cpp
+++ b/src/C++/Driver/src/main.cpp
@@ -1,7 +1,6 @@
 #include <iostream>
 #include <cmath>
 #include <thread>
-#include "KobukiDriver/graph.h"
 #include "MQTT/MqttClient.h"
 #include "KobukiDriver/CKobuki.h"
 
@@ -10,7 +9,7 @@ CKobuki robot;
 std::string readMQTT();
 void parseMQTT(std::string message);
 //ip, clientID, username, password
-MqttClient client("mqtt://145.92.224.21:1884", "KobukiRPI", "rpi", "rpiwachtwoordofzo"); // create a client object
+MqttClient client("ws://145.92.224.21/ws/", "KobukiRPI", "rpi", "rpiwachtwoordofzo"); // create a client object
 std::string message = "stop";
 std::string serializeKobukiData(const TKobukiData &data);
 void sendKobukiData(TKobukiData &data);
@@ -18,24 +17,27 @@ void sendKobukiData(TKobukiData &data);
 void setup()
 {
     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
+
     client.connect();
     client.subscribe("home/commands");
 }
 
 int main()
 {
+    // Unset the http_proxy environment variable
+
+
     setup();
     std::thread safety([&]() { robot.robotSafety(&message); });
     std::thread sendMqtt([&]() { sendKobukiData(robot.parser.data); });
     
     while(true){
-    parseMQTT(readMQTT());
+        parseMQTT(readMQTT());
     }
     sendMqtt.join();
     safety.join();
-    return 0;
 }
 
 std::string readMQTT()
@@ -270,6 +272,7 @@ std::string serializeKobukiData(const TKobukiData &data) {
 void sendKobukiData(TKobukiData &data) {
     while (true) {
         client.publishMessage("kobuki/data", serializeKobukiData(data));
+        std::cout << "Sent data" << std::endl;
         std::this_thread::sleep_for(std::chrono::milliseconds(1000));
     }
 }