added comments and controls for mqtt

This commit is contained in:
2024-11-04 11:42:58 +01:00
parent 41034ba85c
commit e708cbb6ea
3 changed files with 29 additions and 9 deletions

View File

@@ -3,18 +3,18 @@
MqttClient::MqttClient(const std::string& address, const std::string& clientId, const std::string& username, const std::string& password)
: client_(address, clientId), username_(username), password_(password), callback_(*this) {
client_.set_callback(callback_);
connOpts_.set_clean_session(true);
connOpts_.set_mqtt_version(MQTTVERSION_3_1_1); // For MQTT 3.1.1
options.set_clean_session(true);
options.set_mqtt_version(MQTTVERSION_3_1_1); // For MQTT 3.1.1
if (!username_.empty() && !password_.empty()) {
connOpts_.set_user_name(username_);
connOpts_.set_password(password_);
options.set_user_name(username_);
options.set_password(password_);
}
}
void MqttClient::connect() {
try {
std::cout << "Connecting to broker..." << std::endl;
client_.connect(connOpts_)->wait();
client_.connect(options)->wait();
std::cout << "Connected!" << std::endl;
} catch (const mqtt::exception& exc) {
std::cerr << "Error: " << exc.what() << std::endl;
@@ -41,6 +41,7 @@ void MqttClient::run() {
}
void MqttClient::Callback::message_arrived(mqtt::const_message_ptr msg) {
//lock the variable, it automaticly unlocks when going out of scope
std::lock_guard<std::mutex> lock(client_.messageMutex_);
client_.lastMessage_ = msg->to_string();
}
@@ -55,7 +56,9 @@ void MqttClient::Callback::delivery_complete(mqtt::delivery_token_ptr token) {
/// @brief Get the last message received from the MQTT broker
/// @return The last message received in a string
//std::string is the datatype of the return value
std::string MqttClient::getLastMessage() {
//lock the variable, it automaticly unlocks when going out of scope
std::lock_guard<std::mutex> lock(messageMutex_);
return lastMessage_;
}

View File

@@ -27,7 +27,7 @@ private:
};
mqtt::async_client client_;
mqtt::connect_options connOpts_;
mqtt::connect_options options;
Callback callback_;
std::string username_;
std::string password_;

View File

@@ -10,7 +10,8 @@ using namespace std;
CKobuki robot;
int movement();
std::string readMQTT();
MqttClient client("mqtt://145.92.224.21:1883", "KobukiRPI", "ishak", "kobuki");
void parseMQTT(std::string message);
MqttClient client("mqtt://145.92.224.21:1883", "KobukiRPI", "ishak", "kobuki"); //create a client object
void setup(){
@@ -18,7 +19,7 @@ void setup(){
robot.startCommunication("/dev/ttyUSB0", true, null_ptr);
client.connect();
client.subscribe("home/commands");
parseMQTT(readMQTT());
}
int main(){
@@ -42,6 +43,22 @@ std::string readMQTT()
return message;
}
void parseMQTT(std::string message){
if(message == "up"){
robot.forward(600);
}
else if(message == "left"){
robot.Rotate(90);
}
else if(message == "down"){
robot.Rotate(-90);
}
else{
std::cout << "Invalid command" << std::endl;
}
}
int movement()
{
int text;