mirror of
https://gitlab.fdmci.hva.nl/technische-informatica-sm3/ti-projectten/rooziinuubii79.git
synced 2025-08-03 20:04:58 +00:00
restored all my code
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@@ -16,7 +16,7 @@ std::string readMQTT();
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void parseMQTT(std::string message);
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void CapnSend();
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void reconnectKobuki();
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// void monitorKobukiConnection();
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void monitorKobukiConnection();
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// ip, clientID, username, password
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MqttClient client("ws://145.92.224.21/ws/", "KobukiRPI", "rpi",
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"rpiwachtwoordofzo"); // create a client object
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@@ -32,15 +32,15 @@ void setup() {
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client.connect();
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client.subscribe("home/commands");
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// std::thread monitorThread(monitorKobukiConnection);
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// monitorThread.detach();
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std::thread monitorThread(monitorKobukiConnection);
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monitorThread.detach();
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}
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int main() {
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setup();
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// reconnectKobuki();
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reconnectKobuki();
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// std::thread connectionMonitor(monitorKobukiConnection);
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std::thread connectionMonitor(monitorKobukiConnection);
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std::thread image(CapnSend);
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std::thread safety([&]() { robot.robotSafety(&message); });
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std::thread sendMqtt([&]() { sendKobukiData(robot.parser.data); });
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@@ -57,29 +57,29 @@ int main() {
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image.join();
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}
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// void reconnectKobuki() {
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// unsigned char *null_ptr(0);
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// while (true) {
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// if (robot.startCommunication("/dev/ttyUSB0", true, null_ptr) != -1) {
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// std::cout << "Kobuki opnieuw verbonden!" << std::endl;
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// break; // Verlaat de loop als de verbinding succesvol is
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// } else {
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// std::cerr << "Kobuki niet verbonden. Probeer opnieuw over 3 seconden..." << std::endl;
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// std::this_thread::sleep_for(std::chrono::seconds(3));
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// }
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// }
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// }
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void reconnectKobuki() {
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unsigned char *null_ptr(0);
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while (true) {
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if (robot.startCommunication("/dev/ttyUSB0", true, null_ptr) != -1) {
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std::cout << "Kobuki opnieuw verbonden!" << std::endl;
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break; // Verlaat de loop als de verbinding succesvol is
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} else {
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std::cerr << "Kobuki niet verbonden. Probeer opnieuw over 3 seconden..." << std::endl;
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std::this_thread::sleep_for(std::chrono::seconds(3));
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}
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}
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}
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// void monitorKobukiConnection() {
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// while (true) {
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// // Check regelmatig of de verbinding actief is
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// if (!robot.isConnected()) {
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// std::cerr << "Kobuki verbinding verloren. Reconnectie starten..." << std::endl;
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// reconnectKobuki();
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// }
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// std::this_thread::sleep_for(std::chrono::seconds(5)); // Check iedere 5 seconden
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// }
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// }
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void monitorKobukiConnection() {
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while (true) {
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// Check regelmatig of de verbinding actief is
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if (!robot.isConnected()) {
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std::cerr << "Kobuki verbinding verloren. Reconnectie starten..." << std::endl;
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reconnectKobuki();
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}
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std::this_thread::sleep_for(std::chrono::seconds(5)); // Check iedere 5 seconden
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}
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}
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std::string readMQTT() {
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