From fe3fe2b8cfa34aa2d619241a88f1b5616163d706 Mon Sep 17 00:00:00 2001
From: "ishak jmilou.ishak" <ishak.jmiloui@hva.nl>
Date: Wed, 8 Jan 2025 13:40:38 +0100
Subject: [PATCH] restored all my code

---
 src/C++/Driver/src/main.cpp | 54 ++++++++++++++++++-------------------
 1 file changed, 27 insertions(+), 27 deletions(-)

diff --git a/src/C++/Driver/src/main.cpp b/src/C++/Driver/src/main.cpp
index e3b5797..16416b5 100644
--- a/src/C++/Driver/src/main.cpp
+++ b/src/C++/Driver/src/main.cpp
@@ -16,7 +16,7 @@ std::string readMQTT();
 void parseMQTT(std::string message);
 void CapnSend();
 void reconnectKobuki();
-// void monitorKobukiConnection();
+void monitorKobukiConnection();
 // ip, clientID, username, password
 MqttClient client("ws://145.92.224.21/ws/", "KobukiRPI", "rpi",
                   "rpiwachtwoordofzo"); // create a client object
@@ -32,15 +32,15 @@ void setup() {
   client.connect();
   client.subscribe("home/commands");
 
-//   std::thread monitorThread(monitorKobukiConnection);
-//   monitorThread.detach();
+  std::thread monitorThread(monitorKobukiConnection);
+  monitorThread.detach();
 }
 
 int main() {
   setup();
-//   reconnectKobuki();
+  reconnectKobuki();
 
-//   std::thread connectionMonitor(monitorKobukiConnection);
+  std::thread connectionMonitor(monitorKobukiConnection);
   std::thread image(CapnSend);
   std::thread safety([&]() { robot.robotSafety(&message); });
   std::thread sendMqtt([&]() { sendKobukiData(robot.parser.data); });
@@ -57,29 +57,29 @@ int main() {
   image.join();
 }
 
-// void reconnectKobuki() {
-//   unsigned char *null_ptr(0);
-//   while (true) {
-//     if (robot.startCommunication("/dev/ttyUSB0", true, null_ptr) != -1) {
-//       std::cout << "Kobuki opnieuw verbonden!" << std::endl;
-//       break; // Verlaat de loop als de verbinding succesvol is
-//     } else { 
-//       std::cerr << "Kobuki niet verbonden. Probeer opnieuw over 3 seconden..." << std::endl;
-//       std::this_thread::sleep_for(std::chrono::seconds(3));
-//     }
-//   }
-// }
+void reconnectKobuki() {
+  unsigned char *null_ptr(0);
+  while (true) {
+    if (robot.startCommunication("/dev/ttyUSB0", true, null_ptr) != -1) {
+      std::cout << "Kobuki opnieuw verbonden!" << std::endl;
+      break; // Verlaat de loop als de verbinding succesvol is
+    } else { 
+      std::cerr << "Kobuki niet verbonden. Probeer opnieuw over 3 seconden..." << std::endl;
+      std::this_thread::sleep_for(std::chrono::seconds(3));
+    }
+  }
+}
 
-// void monitorKobukiConnection() {
-//   while (true) {
-//     // Check regelmatig of de verbinding actief is
-//     if (!robot.isConnected()) { 
-//       std::cerr << "Kobuki verbinding verloren. Reconnectie starten..." << std::endl;
-//       reconnectKobuki();
-//     }
-//     std::this_thread::sleep_for(std::chrono::seconds(5)); // Check iedere 5 seconden
-//   }
-// }
+void monitorKobukiConnection() {
+  while (true) {
+    // Check regelmatig of de verbinding actief is
+    if (!robot.isConnected()) { 
+      std::cerr << "Kobuki verbinding verloren. Reconnectie starten..." << std::endl;
+      reconnectKobuki();
+    }
+    std::this_thread::sleep_for(std::chrono::seconds(5)); // Check iedere 5 seconden
+  }
+}
 
 
 std::string readMQTT() {