Smikkelbakje/J2S1-Kobuki
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code revert

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This commit is contained in:
Sam Hos
2024-12-11 16:07:26 +01:00
parent 0dfc3b5c13
commit e682969ec8
1 changed files with 26 additions and 37 deletions
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59
src/C++/Driver/src/main.cpp
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@@ -12,7 +12,7 @@ CKobuki robot;
std::string readMQTT();
void parseMQTT(std::string message);
void CapnSend();
// ip, clientID, username, password
//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 serializeKobukiData(const TKobukiData &data);
@@ -22,7 +22,7 @@ void setup()
{
unsigned char *null_ptr(0);
robot.startCommunication("/dev/ttyUSB0", true, null_ptr);
// connect mqtt server and sub to commands
//connect mqtt server and sub to commands
client.connect();
client.subscribe("home/commands");
@@ -31,14 +31,11 @@ void setup()
int main()
{
setup();
std::thread image(CapnSend);
std::thread safety([&]()
{ robot.robotSafety(&message); });
std::thread sendMqtt([&]()
{ sendKobukiData(robot.parser.data); });
std::thread image (CapnSend);
std::thread safety([&]() { robot.robotSafety(&message); });
std::thread sendMqtt([&]() { sendKobukiData(robot.parser.data); });
while (true)
{
while(true){
parseMQTT(readMQTT());
}
@@ -160,10 +157,8 @@ void logToFile()
}
}
void sendIndividualKobukiData(const TKobukiData &data)
{
while (true)
{
void sendIndividualKobukiData(const TKobukiData &data) {
while (true) {
client.publishMessage("kobuki/data/timestamp", std::to_string(data.timestamp));
client.publishMessage("kobuki/data/BumperCenter", std::to_string(data.BumperCenter));
client.publishMessage("kobuki/data/BumperLeft", std::to_string(data.BumperLeft));
@@ -209,9 +204,8 @@ void sendIndividualKobukiData(const TKobukiData &data)
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())
{
const auto &latestGyro = data.gyroData.back();
if (!data.gyroData.empty()) {
const auto& latestGyro = data.gyroData.back();
client.publishMessage("kobuki/data/gyroData/x", std::to_string(latestGyro.x));
client.publishMessage("kobuki/data/gyroData/y", std::to_string(latestGyro.y));
client.publishMessage("kobuki/data/gyroData/z", std::to_string(latestGyro.z));
@@ -221,8 +215,7 @@ void sendIndividualKobukiData(const TKobukiData &data)
}
}
std::string serializeKobukiData(const TKobukiData &data)
{
std::string serializeKobukiData(const TKobukiData &data) {
std::string json = "{\"timestamp\":" + std::to_string(data.timestamp) +
",\"BumperCenter\":" + std::to_string(data.BumperCenter) +
",\"BumperLeft\":" + std::to_string(data.BumperLeft) +
@@ -268,9 +261,8 @@ std::string serializeKobukiData(const TKobukiData &data)
",\"UDID1\":" + std::to_string(data.extraInfo.UDID1) +
",\"UDID2\":" + std::to_string(data.extraInfo.UDID2) + "},\"gyroData\":[";
if (!data.gyroData.empty())
{
const auto &latestGyro = data.gyroData.back();
if (!data.gyroData.empty()) {
const auto& latestGyro = data.gyroData.back();
json += "{\"x\":" + std::to_string(latestGyro.x) +
",\"y\":" + std::to_string(latestGyro.y) +
",\"z\":" + std::to_string(latestGyro.z) + "}";
@@ -279,23 +271,21 @@ std::string serializeKobukiData(const TKobukiData &data)
json += "]}";
return json;
}
// create extra function to send the message every 100ms
// needed it so it can be threaded
void sendKobukiData(TKobukiData &data)
{
while (true)
{
//create extra function to send the message every 100ms
//needed it so it can be threaded
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));
}
}
void CapnSend() {
// Use GStreamer pipeline to access the PiCam
std::string pipeline = "libcamerasrc ! video/x-raw,width=640,height=480,framerate=30/1 ! videoconvert ! appsink";
VideoCapture cap(pipeline, cv::CAP_GSTREAMER);
if (!cap.isOpened()) {
cerr << "Error: Could not open camera with GStreamer pipeline" << endl;
VideoCapture cap(0);
if (!cap.isOpened()) {
cerr << "Error: Could not open camera" << endl;
return;
}
@@ -313,9 +303,8 @@ void CapnSend() {
auto* enc_msg = reinterpret_cast<unsigned char*>(buf.data());
// Publish the image data
client.publishMessage("kobuki/cam", string(enc_msg, enc_msg + buf.size()));
client.publishMessage("kobuki/cam-", string(enc_msg, enc_msg + buf.size()));
cout << "Sent image" << endl;
std::this_thread::sleep_for(std::chrono::milliseconds(1000)); // Send image every 1000ms
std::this_thread::sleep_for(std::chrono::milliseconds(400)); // Send image every 1000ms
}
}