Refactor safety checks and improve message handling in CKobuki class

src/C++/Driver/src/KobukiDriver/CKobuki.cpp

@@ -282,7 +282,6 @@ int CKobuki::measure() {
   return 0;
 }
 
-
 long double CKobuki::gyroToRad(signed short GyroAngle) {
 
   long double rad;
@@ -582,43 +581,42 @@ void CKobuki::Rotate(int degrees) {
   setRotationSpeed(radians);
 
   // Sleep for the calculated rotation time
-    std::this_thread::sleep_for(std::chrono::milliseconds(static_cast<int>(rotation_time * 1000)));
+  std::this_thread::sleep_for(
+      std::chrono::milliseconds(static_cast<int>(rotation_time * 1000)));
 
   // Stop the robot after the rotation
   setRotationSpeed(0);
 }
 
-
 void CKobuki::robotSafety(std::string *pointerToMessage) {
   while (true) {
 
-        if (parser.data.BumperCenter || parser.data.BumperLeft || parser.data.BumperRight || 
+    if (parser.data.BumperCenter || parser.data.BumperLeft ||
-            parser.data.CliffLeft || parser.data.CliffCenter || parser.data.CliffRight) {
+        parser.data.BumperRight || parser.data.CliffLeft ||
+        parser.data.CliffCenter || parser.data.CliffRight) {
       std::cout << "Safety condition triggered!" << std::endl; // Debug print
       *pointerToMessage = "estop";
+      safetyActive = true;
       forward(-100); // reverse the robot
-
+      safetyActive = false;
     }
     std::this_thread::sleep_for(std::chrono::milliseconds(static_cast<int>(100)));
-
-
   }
 }
 
 void CKobuki::robotSafety() {
   while (true) {
 
-        if (parser.data.BumperCenter || parser.data.BumperLeft || parser.data.BumperRight || 
+    if (parser.data.BumperCenter || parser.data.BumperLeft ||
-            parser.data.CliffLeft || parser.data.CliffCenter || parser.data.CliffRight) {
+        parser.data.BumperRight || parser.data.CliffLeft ||
+        parser.data.CliffCenter || parser.data.CliffRight) {
       std::cout << "Safety condition triggered!" << std::endl; // Debug print
       forward(-100); // reverse the robot
-
     }
-
   }
 }
 
-void CKobuki::sendNullMessage(){
+void CKobuki::sendNullMessage() {
 
   unsigned char message[11] = {
       0xaa, // Start byte 1
@@ -631,14 +629,12 @@ void CKobuki::sendNullMessage(){
       0x00, // Placeholder for radius
       0x00, // Placeholder for radius
       0x00  // Placeholder for checksum
-};
+  };
 
-
+  message[10] = message[2] ^ message[3] ^ message[4] ^ message[5] ^ message[6] ^
-message[10] = message[2] ^ message[3] ^ message[4] ^ message[5] ^ message[6] ^
                 message[7] ^ message[8] ^ message[9];
 
   // Send the message
   uint32_t pocet;
   pocet = write(HCom, &message, 11);
 }
-

src/C++/Driver/src/KobukiDriver/CKobuki.h

@@ -79,6 +79,7 @@ public:
 	void robotSafety(std::string *pointerToMessage);
 	void robotSafety(); //overload
 	void sendNullMessage();
+	bool safetyActive = false;
 	KobukiParser parser;
 
 

src/C++/Driver/src/main.cpp

@@ -49,6 +49,10 @@ std::string readMQTT()
 
 void parseMQTT(std::string message)
 {
+    if(robot.safetyActive){
+        std::cout << "Safety mode active. Ignoring command: " << message << std::endl;
+        return;
+    }
     if (message == "up")
     {
         robot.forward(1024);

src/Python/flask/web/static/style.css

@@ -1,5 +1,5 @@
 body {
-    font-family: 'Poppins', sans-serif;
+  font-family: "Poppins", sans-serif;
   text-align: -webkit-center;
   margin: 0;
   padding: 0;
@@ -37,7 +37,7 @@ body {
   font-size: 1rem;
   height: 40px;
   background-color: #b3ffb3;
-  }  
+}
 
 /* end navbar */
 
@@ -60,7 +60,7 @@ body {
 
 .btn {
   position: absolute;
-    background-color: #007BFF;
+  background-color: #007bff;
   color: white;
   border: none;
   border-radius: 50%;
@@ -74,31 +74,36 @@ body {
 }
 
 /* Direction buttons */
-.btn:nth-child(1) { /* Left */
+.btn:nth-child(1) {
+  /* Left */
   top: 50%;
   left: 50%;
   transform: translate(-160%, -50%);
 }
 
-.btn:nth-child(2) { /* Up */
+.btn:nth-child(2) {
+  /* Up */
   top: 0;
   left: 50%;
   transform: translate(-50%, -35%);
 }
 
-.btn:nth-child(3) { /* Right */
+.btn:nth-child(3) {
+  /* Right */
   top: 50%;
   right: 0;
-    transform: translate(35%,-50%);
+  transform: translate(35%, -50%);
 }
 
-.btn:nth-child(4) { /* Down */
+.btn:nth-child(4) {
+  /* Down */
   bottom: 0;
   left: 50%;
   transform: translate(-50%, 35%);
 }
 
-.btn:nth-child(5) { /* Stop Button */
+.btn:nth-child(5) {
+  /* Stop Button */
   top: 50%;
   left: 50%;
   transform: translate(-50%, -50%);
@@ -121,3 +126,17 @@ body {
   background-color: darkred; /* Different hover color for the stop button */
 }
 
+table {
+  width: 100%;
+  border-collapse: collapse;
+}
+
+th,td {
+  border: 1px solid #ddd;
+  padding: 8px;
+}
+
+th {
+  background-color: #f2f2f2;
+  text-align: left;
+}

src/Python/flask/web/templates/index.html

@@ -1,8 +1,6 @@
-{% extends 'base.html' %}
+{% extends 'base.html' %} {% block head %}
-{% block head %}
 <link rel="stylesheet" href="../static/style.css" />
-{% endblock %}
+{% endblock %} {% block content %}
-{% block content %}
 <!DOCTYPE html>
 <html lang="en">
   <head>
@@ -22,12 +20,27 @@
           <button class="btn" name="direction" value="up">↑</button>
           <button class="btn" name="direction" value="right">→</button>
           <button class="btn" name="direction" value="down">↓</button>
-          <button class="btn stop-button" name="direction" value="stop">Stop</button>
+          <button class="btn stop-button" name="direction" value="stop">
+            Stop
+          </button>
         </form>
       </div>
     </div>
     <div class="container">
       <h1>Sensor Data</h1>
+      <div class="data">
+        <table id="sensor-data-table">
+          <thead>
+            <tr>
+              <th>Sensor</th>
+              <th>Value</th>
+            </tr>
+          </thead>
+          <tbody>
+            <!-- Sensor data rows will be inserted here -->
+          </tbody>
+        </table>
+      </div>
     </div>
     <script src="../static/script.js"></script>
   </body>