mirror of
https://gitlab.fdmci.hva.nl/technische-informatica-sm3/ti-projectten/rooziinuubii79.git
synced 2025-08-03 20:04:58 +00:00
added comments and controls for mqtt
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@@ -3,18 +3,18 @@
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MqttClient::MqttClient(const std::string& address, const std::string& clientId, const std::string& username, const std::string& password)
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: client_(address, clientId), username_(username), password_(password), callback_(*this) {
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client_.set_callback(callback_);
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connOpts_.set_clean_session(true);
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connOpts_.set_mqtt_version(MQTTVERSION_3_1_1); // For MQTT 3.1.1
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options.set_clean_session(true);
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options.set_mqtt_version(MQTTVERSION_3_1_1); // For MQTT 3.1.1
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if (!username_.empty() && !password_.empty()) {
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connOpts_.set_user_name(username_);
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connOpts_.set_password(password_);
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options.set_user_name(username_);
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options.set_password(password_);
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}
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}
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void MqttClient::connect() {
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try {
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std::cout << "Connecting to broker..." << std::endl;
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client_.connect(connOpts_)->wait();
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client_.connect(options)->wait();
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std::cout << "Connected!" << std::endl;
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} catch (const mqtt::exception& exc) {
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std::cerr << "Error: " << exc.what() << std::endl;
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@@ -41,6 +41,7 @@ void MqttClient::run() {
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}
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void MqttClient::Callback::message_arrived(mqtt::const_message_ptr msg) {
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//lock the variable, it automaticly unlocks when going out of scope
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std::lock_guard<std::mutex> lock(client_.messageMutex_);
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client_.lastMessage_ = msg->to_string();
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}
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@@ -55,7 +56,9 @@ void MqttClient::Callback::delivery_complete(mqtt::delivery_token_ptr token) {
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/// @brief Get the last message received from the MQTT broker
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/// @return The last message received in a string
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//std::string is the datatype of the return value
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std::string MqttClient::getLastMessage() {
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//lock the variable, it automaticly unlocks when going out of scope
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std::lock_guard<std::mutex> lock(messageMutex_);
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return lastMessage_;
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}
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@@ -27,7 +27,7 @@ private:
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};
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mqtt::async_client client_;
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mqtt::connect_options connOpts_;
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mqtt::connect_options options;
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Callback callback_;
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std::string username_;
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std::string password_;
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@@ -10,7 +10,8 @@ using namespace std;
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CKobuki robot;
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int movement();
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std::string readMQTT();
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MqttClient client("mqtt://145.92.224.21:1883", "KobukiRPI", "ishak", "kobuki");
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void parseMQTT(std::string message);
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MqttClient client("mqtt://145.92.224.21:1883", "KobukiRPI", "ishak", "kobuki"); //create a client object
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void setup(){
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@@ -18,7 +19,7 @@ void setup(){
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robot.startCommunication("/dev/ttyUSB0", true, null_ptr);
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client.connect();
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client.subscribe("home/commands");
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parseMQTT(readMQTT());
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}
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int main(){
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@@ -42,6 +43,22 @@ std::string readMQTT()
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return message;
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}
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void parseMQTT(std::string message){
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if(message == "up"){
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robot.forward(600);
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}
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else if(message == "left"){
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robot.Rotate(90);
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}
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else if(message == "down"){
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robot.Rotate(-90);
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}
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else{
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std::cout << "Invalid command" << std::endl;
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}
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}
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int movement()
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{
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int text;
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