made more changes

it compiles now

.gitignore

@@ -12,3 +12,4 @@ src/C++/Driver/vgcore.42611
 src/Socket/a.out
 src/C++/Driver/cmake_install.cmake
 src/C++/Socket/a.out
+src/C++/Driver/Makefile

src/C++/Driver/CMakeLists.txt

@@ -5,10 +5,10 @@ project(kobuki_control)
 find_package( OpenCV REQUIRED )
 
 set(SOURCE_FILES
-        src/CKobuki.cpp
-        src/CKobuki.h
         src/KobukiParser.cpp
         src/KobukiParser.h
+        src/CKobuki.cpp
+        src/CKobuki.h
         src/main.cpp)
 
 add_executable(kobuki_control ${SOURCE_FILES})

src/C++/Driver/Makefile

@@ -153,6 +153,30 @@ src/CKobuki.cpp.s:
 	$(MAKE) $(MAKESILENT) -f CMakeFiles/kobuki_control.dir/build.make CMakeFiles/kobuki_control.dir/src/CKobuki.cpp.s
 .PHONY : src/CKobuki.cpp.s
 
+src/KobukiParser.o: src/KobukiParser.cpp.o
+.PHONY : src/KobukiParser.o
+
+# target to build an object file
+src/KobukiParser.cpp.o:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/kobuki_control.dir/build.make CMakeFiles/kobuki_control.dir/src/KobukiParser.cpp.o
+.PHONY : src/KobukiParser.cpp.o
+
+src/KobukiParser.i: src/KobukiParser.cpp.i
+.PHONY : src/KobukiParser.i
+
+# target to preprocess a source file
+src/KobukiParser.cpp.i:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/kobuki_control.dir/build.make CMakeFiles/kobuki_control.dir/src/KobukiParser.cpp.i
+.PHONY : src/KobukiParser.cpp.i
+
+src/KobukiParser.s: src/KobukiParser.cpp.s
+.PHONY : src/KobukiParser.s
+
+# target to generate assembly for a file
+src/KobukiParser.cpp.s:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/kobuki_control.dir/build.make CMakeFiles/kobuki_control.dir/src/KobukiParser.cpp.s
+.PHONY : src/KobukiParser.cpp.s
+
 src/main.o: src/main.cpp.o
 .PHONY : src/main.o
 
@@ -189,6 +213,9 @@ help:
 	@echo "... src/CKobuki.o"
 	@echo "... src/CKobuki.i"
 	@echo "... src/CKobuki.s"
+	@echo "... src/KobukiParser.o"
+	@echo "... src/KobukiParser.i"
+	@echo "... src/KobukiParser.s"
 	@echo "... src/main.o"
 	@echo "... src/main.i"
 	@echo "... src/main.s"

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

@@ -4,13 +4,12 @@
 #include <cstddef>
 #include <iostream>
 
+
 // plot p;
 static std::vector<float> vectorX;
 static std::vector<float> vectorY;
 static std::vector<float> vectorGyroTheta;
 
-KobukiParser parser;
-
 // obsluha tty pod unixom
 int set_interface_attribs2(int fd, int speed, int parity)
 {
@@ -267,16 +266,17 @@ void CKobuki::setSound(int noteinHz, int duration)
     pocet = write(HCom, &message, 9);
 }
 
-void CKobuki::startCommunication(char *portname, bool CommandsEnabled,
+void CKobuki::startCommunication(char *portname, bool CommandsEnabled, void *userDataL)
-                                 void *userDataL)
 {
     connect(portname);
     enableCommands(CommandsEnabled);
     userData = userDataL;
 
     int pthread_result;
-    pthread_result =
+    pthread_result = pthread_create(&threadHandle, NULL, KobukiProcess, (void *)this);
-        pthread_create(&threadHandle, NULL, KobukiProcess, (void *)this);
+    if (pthread_result != 0) {
+        std::cerr << "Error creating thread: " << pthread_result << std::endl;
+    }
 }
 
 int CKobuki::measure()
@@ -295,7 +295,7 @@ int CKobuki::measure()
         // citat
         if (ok == 0)
         {
-            loop(userData, data);
+            loop(userData, parser.data);
         }
         free(message);
     }

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

@@ -30,12 +30,12 @@
 #include <iomanip>
 #include <chrono>
 #include <sstream>
-
-#include "graph.h"
 #include "KobukiParser.h"
+#include "graph.h"
 
 using namespace std;
 
+
 // typedef struct
 // {
 	
@@ -125,6 +125,7 @@ typedef long(*src_callback_kobuki_data) (void *user_data, TKobukiData &Kobuki_da
 class CKobuki
 {
 public:
+
 	CKobuki() { 
 		stopVlakno = 0; 
 		std::cout << "kobuki instantiated" << std::endl;
@@ -159,13 +160,14 @@ public:
 	void doRotation(long double th);
 	void goToXy(long double xx, long double yy);
 	std::ofstream odometry_log;
-	TKobukiData data;
 
 
 
 
 
 private:
+	 KobukiParser parser;
+
 	int HCom;
 	pthread_t threadHandle; // handle to the thread
 	int threadID;  // thread id

src/C++/Driver/src/KobukiParser.cpp

@@ -1,7 +1,9 @@
 #include "KobukiParser.h"
+#include <iostream>
 
 int KobukiParser::parseKobukiMessage(TKobukiData &output, unsigned char *data) {
     //check if the checksum is correct
+    std::cout << "Parsing message" << std::endl;
     int rtrnvalue = checkChecksum(data);
     if (rtrnvalue != 0)
         return -2;
@@ -64,6 +66,7 @@ int KobukiParser::parseKobukiMessage(TKobukiData &output, unsigned char *data) {
             //     break;
             default:
                 checkedValue += length + 2; // Skip data block if nothing matches
+                std::cout << "Unknown header: " << header << std::endl;
                 break;
         }
     }

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

@@ -9,6 +9,7 @@ using namespace std;
 CKobuki robot;
 int movement();
 int checkCenterCliff();
+	 KobukiParser parser;
 
 int main()
 {
@@ -17,14 +18,14 @@ int main()
 	// thread mv(movement);
 	// mv.join(); //only exit once thread one is done running
 
-	checkCenterCliff();
+	// checkCenterCliff();
 }
 
 int checkCenterCliff()
 {
 	while (true)
 	{
-		std::cout << "cliffsensordata:" << parser.data.CliffSensorCenter << std::endl;
+		std::cout << "cliffsensordata:" << parser.data.BumperCenter << std::endl;
 	}
 }