Smikkelbakje/J2S1-Kobuki
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Refactor safety checks and improve message handling in CKobuki class

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This commit is contained in:
ishak jmilou.ishak
2024-11-06 14:06:15 +01:00
parent 7424c2d033
commit d534940370
5 changed files with 154 additions and 121 deletions
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98
src/C++/Driver/src/KobukiDriver/CKobuki.cpp
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@@ -282,7 +282,6 @@ int CKobuki::measure() {
return 0;
}
long double CKobuki::gyroToRad(signed short GyroAngle) {
long double rad;
@@ -569,76 +568,73 @@ void CKobuki::forward(int speedvalue) {
/// @param degrees Rotation in degrees
void CKobuki::Rotate(int degrees) {
// convert raidans to degrees
float radians = degrees * PI / 180.0;
// convert raidans to degrees
float radians = degrees * PI / 180.0;
// Calculate the rotation speed in radians per second
double radpersec = 1;
// Calculate the rotation speed in radians per second
double radpersec = 1;
// calculator rotation time and give absolute value
float rotation_time = std::abs(radians / radpersec);
// Use original function to set the rotation speed in mm/s
setRotationSpeed(radians);
// calculator rotation time and give absolute value
float rotation_time = std::abs(radians / radpersec);
// Sleep for the calculated rotation time
std::this_thread::sleep_for(std::chrono::milliseconds(static_cast<int>(rotation_time * 1000)));
// Use original function to set the rotation speed in mm/s
setRotationSpeed(radians);
// Stop the robot after the rotation
setRotationSpeed(0);
// Sleep for the calculated rotation time
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 ||
parser.data.CliffLeft || parser.data.CliffCenter || parser.data.CliffRight) {
std::cout << "Safety condition triggered!" << std::endl; // Debug print
*pointerToMessage = "estop";
forward(-100); // reverse the robot
}
std::this_thread::sleep_for(std::chrono::milliseconds(static_cast<int>(100)));
while (true) {
if (parser.data.BumperCenter || parser.data.BumperLeft ||
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 ||
parser.data.CliffLeft || parser.data.CliffCenter || parser.data.CliffRight) {
std::cout << "Safety condition triggered!" << std::endl; // Debug print
forward(-100); // reverse the robot
}
while (true) {
if (parser.data.BumperCenter || parser.data.BumperLeft ||
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
0x55, // Start byte 2
0x08, // Payload length (the first 2 bytes dont count)
0x01, // payload type (0x01 = control command)
0x04, // Control byte or additional identifier
0x00, // Lower byte of speed value
0x00, // Upper byte of speed value
0x00, // Placeholder for radius
0x00, // Placeholder for radius
0x00 // Placeholder for checksum
};
unsigned char message[11] = {
0xaa, // Start byte 1
0x55, // Start byte 2
0x08, // Payload length (the first 2 bytes dont count)
0x01, // payload type (0x01 = control command)
0x04, // Control byte or additional identifier
0x00, // Lower byte of speed value
0x00, // Upper byte of speed value
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[7] ^ message[8] ^ message[9];
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);
}

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

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

4
src/C++/Driver/src/main.cpp
View File

@@ -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);

149
src/Python/flask/web/static/style.css
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@@ -1,8 +1,8 @@
body {
font-family: 'Poppins', sans-serif;
text-align: -webkit-center;
margin: 0;
padding: 0;
font-family: "Poppins", sans-serif;
text-align: -webkit-center;
margin: 0;
padding: 0;
}
/* This is my code for my navbar */
@@ -29,95 +29,114 @@ body {
}
.connectButton {
border-radius: 10px;
height: 100%;
width: 100px;
box-shadow: none;
border: none;
font-size: 1rem;
height: 40px;
background-color: #b3ffb3;
}
border-radius: 10px;
height: 100%;
width: 100px;
box-shadow: none;
border: none;
font-size: 1rem;
height: 40px;
background-color: #b3ffb3;
}
/* end navbar */
.container {
display: flex;
justify-content: space-around;
align-items: center;
margin-top: 50px;
width: 80%;
background-color: white;
border-radius: 20px;
box-shadow: 0px 8px 16px rgba(0, 0, 0, 0.2);
padding: 40px;
display: flex;
justify-content: space-around;
align-items: center;
margin-top: 50px;
width: 80%;
background-color: white;
border-radius: 20px;
box-shadow: 0px 8px 16px rgba(0, 0, 0, 0.2);
padding: 40px;
}
.button-section {
position: relative;
width: 150px;
height: 150px;
position: relative;
width: 150px;
height: 150px;
}
.btn {
position: absolute;
background-color: #007BFF;
color: white;
border: none;
border-radius: 50%;
width: 60px;
height: 60px;
font-size: 1.2em;
text-align: center;
line-height: 60px;
cursor: pointer;
transition: transform 0.2s ease, background-color 0.2s ease;
position: absolute;
background-color: #007bff;
color: white;
border: none;
border-radius: 50%;
width: 60px;
height: 60px;
font-size: 1.2em;
text-align: center;
line-height: 60px;
cursor: pointer;
transition: transform 0.2s ease, background-color 0.2s ease;
}
/* Direction buttons */
.btn:nth-child(1) { /* Left */
top: 50%;
left: 50%;
transform: translate(-160%, -50%);
.btn:nth-child(1) {
/* Left */
top: 50%;
left: 50%;
transform: translate(-160%, -50%);
}
.btn:nth-child(2) { /* Up */
top: 0;
left: 50%;
transform: translate(-50%, -35%);
.btn:nth-child(2) {
/* Up */
top: 0;
left: 50%;
transform: translate(-50%, -35%);
}
.btn:nth-child(3) { /* Right */
top: 50%;
right: 0;
transform: translate(35%,-50%);
.btn:nth-child(3) {
/* Right */
top: 50%;
right: 0;
transform: translate(35%, -50%);
}
.btn:nth-child(4) { /* Down */
bottom: 0;
left: 50%;
transform: translate(-50%, 35%);
.btn:nth-child(4) {
/* Down */
bottom: 0;
left: 50%;
transform: translate(-50%, 35%);
}
.btn:nth-child(5) { /* Stop Button */
top: 50%;
left: 50%;
transform: translate(-50%, -50%);
background-color: red; /* Distinct color for the stop button */
width: 60px; /* Slightly larger for emphasis */
height: 60px; /* Slightly larger for emphasis */
line-height: 60px; /* Center text vertically */
.btn:nth-child(5) {
/* Stop Button */
top: 50%;
left: 50%;
transform: translate(-50%, -50%);
background-color: red; /* Distinct color for the stop button */
width: 60px; /* Slightly larger for emphasis */
height: 60px; /* Slightly larger for emphasis */
line-height: 60px; /* Center text vertically */
}
/* Hover effects */
.btn:hover {
background-color: #0056b3;
background-color: #0056b3;
}
.btn:active {
background-color: #004494;
background-color: #004494;
}
.stop-button:hover {
background-color: darkred; /* Different hover color for the stop button */
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;
}

23
src/Python/flask/web/templates/index.html
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@@ -1,8 +1,6 @@
{% extends 'base.html' %}
{% block head %}
{% extends 'base.html' %} {% block head %}
<link rel="stylesheet" href="../static/style.css" />
{% endblock %}
{% block content %}
{% endblock %} {% 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>