mirror of
https://gitlab.fdmci.hva.nl/technische-informatica-sm3/ti-projectten/rooziinuubii79.git
synced 2025-08-03 11:55:00 +00:00
revert and change port number
This commit is contained in:
@@ -1,10 +1,292 @@
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#include <opencv2/opencv.hpp>
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#include <iostream>
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#include <chrono>
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#include <cmath>
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#include <thread>
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#include "MQTT/MqttClient.h"
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#include "KobukiDriver/CKobuki.h"
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#include <opencv4/opencv2/opencv.hpp>
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#include <opencv4/opencv2/core.hpp>
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using namespace cv;
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using namespace std;
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using namespace cv;
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CKobuki robot;
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std::string readMQTT();
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void parseMQTT(std::string message);
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void CapnSend();
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//ip, clientID, username, password
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MqttClient client("ws://145.92.224.21/ws/", "KobukiRPI", "rpi", "rpiwachtwoordofzo"); // create a client object
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std::string message = "stop";
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std::string serializeKobukiData(const TKobukiData &data);
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void sendKobukiData(TKobukiData &data);
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void setup()
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{
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unsigned char *null_ptr(0);
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robot.startCommunication("/dev/ttyUSB0", true, null_ptr);
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//connect mqtt server and sub to commands
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client.connect();
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client.subscribe("home/commands");
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}
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int main()
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{
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setup();
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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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while(true){
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std::string message = readMQTT();
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if (!message.empty()){
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parseMQTT(message);
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}
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}
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sendMqtt.join();
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safety.join();
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image.join();
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}
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std::string readMQTT()
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{
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static std::string lastMessage;
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std::string message = client.getLastMessage();
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if (!message.empty() && message != lastMessage)
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{
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std::cout << "MQTT Message: " << message << std::endl;
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lastMessage = message;
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}
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// Add a small delay to avoid busy-waiting
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std::this_thread::sleep_for(std::chrono::milliseconds(100));
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return message;
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}
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void parseMQTT(std::string message)
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{
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if (message == "up")
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{
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robot.forward(350);
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}
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else if (message == "left")
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{
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robot.setRotationSpeed(4);
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}
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else if (message == "right")
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{
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robot.setRotationSpeed(-4);
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}
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else if (message == "down")
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{
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robot.forward(-350);
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}
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else if (message == "stop")
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{
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robot.sendNullMessage();
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robot.sendNullMessage();
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}
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else if (message == "estop")
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{
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robot.forward(-400);
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}
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else
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{
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std::cout << "Invalid command" << std::endl;
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}
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}
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void logToFile()
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{
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while (true)
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{
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TKobukiData robotData = robot.parser.data;
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std::ofstream outputFile("log", std::ios_base::app); // Open file in append mode to not overwrite own content
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if (outputFile.is_open())
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{ // check if the file was opened successfully
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// Get current time
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std::time_t now = std::time(nullptr);
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outputFile << "Timestamp: " << std::ctime(&now);
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// Write data to the file
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outputFile << "analogInputCh0: " << robotData.analogInputCh0 << "\n";
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outputFile << "analogInputCh1: " << robotData.analogInputCh1 << "\n";
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outputFile << "analogInputCh2: " << robotData.analogInputCh2 << "\n";
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outputFile << "analogInputCh3: " << robotData.analogInputCh3 << "\n";
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outputFile << "digitalInput: " << robotData.digitalInput << "\n";
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outputFile << "timestamp: " << robotData.timestamp << "\n";
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outputFile << "BumperCenter: " << robotData.BumperCenter << "\n";
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outputFile << "BumperLeft: " << robotData.BumperLeft << "\n";
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outputFile << "BumperRight: " << robotData.BumperRight << "\n";
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outputFile << "WheelDropLeft: " << robotData.WheelDropLeft << "\n";
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outputFile << "WheelDropRight: " << robotData.WheelDropRight << "\n";
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outputFile << "CliffCenter: " << robotData.CliffCenter << "\n";
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outputFile << "CliffLeft: " << robotData.CliffLeft << "\n";
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outputFile << "CliffRight: " << robotData.CliffRight << "\n";
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outputFile << "EncoderLeft: " << robotData.EncoderLeft << "\n";
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outputFile << "EncoderRight: " << robotData.EncoderRight << "\n";
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outputFile << "PWMleft: " << robotData.PWMleft << "\n";
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outputFile << "PWMright: " << robotData.PWMright << "\n";
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outputFile << "ButtonPress: " << robotData.ButtonPress1 << "\n";
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outputFile << "ButtonPress: " << robotData.ButtonPress2 << "\n";
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outputFile << "ButtonPress: " << robotData.ButtonPress3 << "\n";
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outputFile << "Charger: " << robotData.Charger << "\n";
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outputFile << "Battery: " << robotData.Battery << "\n";
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outputFile << "overCurrent: " << robotData.overCurrent << "\n";
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outputFile << "IRSensorRight: " << robotData.IRSensorRight << "\n";
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outputFile << "IRSensorCenter: " << robotData.IRSensorCenter << "\n";
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outputFile << "IRSensorLeft: " << robotData.IRSensorLeft << "\n";
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outputFile << "GyroAngle: " << robotData.GyroAngle << "\n";
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outputFile << "GyroAngleRate: " << robotData.GyroAngleRate << "\n";
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outputFile << "CliffSensorRight: " << robotData.CliffSensorRight << "\n";
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outputFile << "CliffSensorCenter: " << robotData.CliffSensorCenter << "\n";
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outputFile << "CliffSensorLeft: " << robotData.CliffSensorLeft << "\n";
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outputFile << "wheelCurrentLeft: " << robotData.wheelCurrentLeft << "\n";
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outputFile << "wheelCurrentRight: " << robotData.wheelCurrentRight << "\n";
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outputFile << "frameId: " << robotData.frameId << "\n";
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outputFile << "HardwareVersionPatch: " << robotData.extraInfo.HardwareVersionPatch << "\n";
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outputFile << "HardwareVersionMinor: " << robotData.extraInfo.HardwareVersionMinor << "\n";
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outputFile << "HardwareVersionMajor: " << robotData.extraInfo.HardwareVersionMajor << "\n";
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outputFile << "FirmwareVersionPatch: " << robotData.extraInfo.FirmwareVersionPatch << "\n";
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outputFile << "FirmwareVersionMinor: " << robotData.extraInfo.FirmwareVersionMinor << "\n";
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outputFile << "FirmwareVersionMajor: " << robotData.extraInfo.FirmwareVersionMajor << "\n";
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outputFile << "UDID0: " << robotData.extraInfo.UDID0 << "\n";
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outputFile << "UDID1: " << robotData.extraInfo.UDID1 << "\n";
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outputFile << "UDID2: " << robotData.extraInfo.UDID2 << "\n";
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outputFile.close();
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}
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else
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{
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std::cerr << "Error opening file\n";
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}
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std::this_thread::sleep_for(std::chrono::seconds(2)); // Sleep for 2 seconds
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}
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}
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void sendIndividualKobukiData(const TKobukiData &data) {
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while (true) {
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client.publishMessage("kobuki/data/timestamp", std::to_string(data.timestamp));
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client.publishMessage("kobuki/data/BumperCenter", std::to_string(data.BumperCenter));
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client.publishMessage("kobuki/data/BumperLeft", std::to_string(data.BumperLeft));
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client.publishMessage("kobuki/data/BumperRight", std::to_string(data.BumperRight));
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client.publishMessage("kobuki/data/WheelDropLeft", std::to_string(data.WheelDropLeft));
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client.publishMessage("kobuki/data/WheelDropRight", std::to_string(data.WheelDropRight));
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client.publishMessage("kobuki/data/CliffCenter", std::to_string(data.CliffCenter));
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client.publishMessage("kobuki/data/CliffLeft", std::to_string(data.CliffLeft));
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client.publishMessage("kobuki/data/CliffRight", std::to_string(data.CliffRight));
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client.publishMessage("kobuki/data/EncoderLeft", std::to_string(data.EncoderLeft));
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client.publishMessage("kobuki/data/EncoderRight", std::to_string(data.EncoderRight));
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client.publishMessage("kobuki/data/PWMleft", std::to_string(data.PWMleft));
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client.publishMessage("kobuki/data/PWMright", std::to_string(data.PWMright));
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client.publishMessage("kobuki/data/ButtonPress1", std::to_string(data.ButtonPress1));
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client.publishMessage("kobuki/data/ButtonPress2", std::to_string(data.ButtonPress2));
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client.publishMessage("kobuki/data/ButtonPress3", std::to_string(data.ButtonPress3));
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client.publishMessage("kobuki/data/Charger", std::to_string(data.Charger));
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client.publishMessage("kobuki/data/Battery", std::to_string(data.Battery));
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client.publishMessage("kobuki/data/overCurrent", std::to_string(data.overCurrent));
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client.publishMessage("kobuki/data/IRSensorRight", std::to_string(data.IRSensorRight));
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client.publishMessage("kobuki/data/IRSensorCenter", std::to_string(data.IRSensorCenter));
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client.publishMessage("kobuki/data/IRSensorLeft", std::to_string(data.IRSensorLeft));
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client.publishMessage("kobuki/data/GyroAngle", std::to_string(data.GyroAngle));
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client.publishMessage("kobuki/data/GyroAngleRate", std::to_string(data.GyroAngleRate));
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client.publishMessage("kobuki/data/CliffSensorRight", std::to_string(data.CliffSensorRight));
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client.publishMessage("kobuki/data/CliffSensorCenter", std::to_string(data.CliffSensorCenter));
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client.publishMessage("kobuki/data/CliffSensorLeft", std::to_string(data.CliffSensorLeft));
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client.publishMessage("kobuki/data/wheelCurrentLeft", std::to_string(data.wheelCurrentLeft));
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client.publishMessage("kobuki/data/wheelCurrentRight", std::to_string(data.wheelCurrentRight));
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client.publishMessage("kobuki/data/digitalInput", std::to_string(data.digitalInput));
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client.publishMessage("kobuki/data/analogInputCh0", std::to_string(data.analogInputCh0));
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client.publishMessage("kobuki/data/analogInputCh1", std::to_string(data.analogInputCh1));
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client.publishMessage("kobuki/data/analogInputCh2", std::to_string(data.analogInputCh2));
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client.publishMessage("kobuki/data/analogInputCh3", std::to_string(data.analogInputCh3));
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client.publishMessage("kobuki/data/frameId", std::to_string(data.frameId));
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client.publishMessage("kobuki/data/extraInfo/HardwareVersionPatch", std::to_string(data.extraInfo.HardwareVersionPatch));
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client.publishMessage("kobuki/data/extraInfo/HardwareVersionMinor", std::to_string(data.extraInfo.HardwareVersionMinor));
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client.publishMessage("kobuki/data/extraInfo/HardwareVersionMajor", std::to_string(data.extraInfo.HardwareVersionMajor));
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client.publishMessage("kobuki/data/extraInfo/FirmwareVersionPatch", std::to_string(data.extraInfo.FirmwareVersionPatch));
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client.publishMessage("kobuki/data/extraInfo/FirmwareVersionMinor", std::to_string(data.extraInfo.FirmwareVersionMinor));
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client.publishMessage("kobuki/data/extraInfo/FirmwareVersionMajor", std::to_string(data.extraInfo.FirmwareVersionMajor));
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client.publishMessage("kobuki/data/extraInfo/UDID0", std::to_string(data.extraInfo.UDID0));
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client.publishMessage("kobuki/data/extraInfo/UDID1", std::to_string(data.extraInfo.UDID1));
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client.publishMessage("kobuki/data/extraInfo/UDID2", std::to_string(data.extraInfo.UDID2));
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if (!data.gyroData.empty()) {
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const auto& latestGyro = data.gyroData.back();
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client.publishMessage("kobuki/data/gyroData/x", std::to_string(latestGyro.x));
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client.publishMessage("kobuki/data/gyroData/y", std::to_string(latestGyro.y));
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client.publishMessage("kobuki/data/gyroData/z", std::to_string(latestGyro.z));
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}
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std::this_thread::sleep_for(std::chrono::milliseconds(1000));
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}
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}
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std::string serializeKobukiData(const TKobukiData &data) {
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std::string json = "{\"timestamp\":" + std::to_string(data.timestamp) +
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",\"BumperCenter\":" + std::to_string(data.BumperCenter) +
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",\"BumperLeft\":" + std::to_string(data.BumperLeft) +
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",\"BumperRight\":" + std::to_string(data.BumperRight) +
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",\"WheelDropLeft\":" + std::to_string(data.WheelDropLeft) +
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",\"WheelDropRight\":" + std::to_string(data.WheelDropRight) +
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",\"CliffCenter\":" + std::to_string(data.CliffCenter) +
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",\"CliffLeft\":" + std::to_string(data.CliffLeft) +
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",\"CliffRight\":" + std::to_string(data.CliffRight) +
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",\"EncoderLeft\":" + std::to_string(data.EncoderLeft) +
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",\"EncoderRight\":" + std::to_string(data.EncoderRight) +
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",\"PWMleft\":" + std::to_string(data.PWMleft) +
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",\"PWMright\":" + std::to_string(data.PWMright) +
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",\"ButtonPress1\":" + std::to_string(data.ButtonPress1) +
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",\"ButtonPress2\":" + std::to_string(data.ButtonPress2) +
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",\"ButtonPress3\":" + std::to_string(data.ButtonPress3) +
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",\"Charger\":" + std::to_string(data.Charger) +
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",\"Battery\":" + std::to_string(data.Battery) +
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",\"overCurrent\":" + std::to_string(data.overCurrent) +
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",\"IRSensorRight\":" + std::to_string(data.IRSensorRight) +
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",\"IRSensorCenter\":" + std::to_string(data.IRSensorCenter) +
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",\"IRSensorLeft\":" + std::to_string(data.IRSensorLeft) +
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",\"GyroAngle\":" + std::to_string(data.GyroAngle) +
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",\"GyroAngleRate\":" + std::to_string(data.GyroAngleRate) +
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",\"CliffSensorRight\":" + std::to_string(data.CliffSensorRight) +
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",\"CliffSensorCenter\":" + std::to_string(data.CliffSensorCenter) +
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",\"CliffSensorLeft\":" + std::to_string(data.CliffSensorLeft) +
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",\"wheelCurrentLeft\":" + std::to_string(data.wheelCurrentLeft) +
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",\"wheelCurrentRight\":" + std::to_string(data.wheelCurrentRight) +
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",\"digitalInput\":" + std::to_string(data.digitalInput) +
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",\"analogInputCh0\":" + std::to_string(data.analogInputCh0) +
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",\"analogInputCh1\":" + std::to_string(data.analogInputCh1) +
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",\"analogInputCh2\":" + std::to_string(data.analogInputCh2) +
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",\"analogInputCh3\":" + std::to_string(data.analogInputCh3) +
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",\"frameId\":" + std::to_string(data.frameId) +
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",\"extraInfo\":{\"HardwareVersionPatch\":" + std::to_string(data.extraInfo.HardwareVersionPatch) +
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",\"HardwareVersionMinor\":" + std::to_string(data.extraInfo.HardwareVersionMinor) +
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",\"HardwareVersionMajor\":" + std::to_string(data.extraInfo.HardwareVersionMajor) +
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",\"FirmwareVersionPatch\":" + std::to_string(data.extraInfo.FirmwareVersionPatch) +
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",\"FirmwareVersionMinor\":" + std::to_string(data.extraInfo.FirmwareVersionMinor) +
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",\"FirmwareVersionMajor\":" + std::to_string(data.extraInfo.FirmwareVersionMajor) +
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",\"UDID0\":" + std::to_string(data.extraInfo.UDID0) +
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",\"UDID1\":" + std::to_string(data.extraInfo.UDID1) +
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",\"UDID2\":" + std::to_string(data.extraInfo.UDID2) + "},\"gyroData\":[";
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if (!data.gyroData.empty()) {
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const auto& latestGyro = data.gyroData.back();
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json += "{\"x\":" + std::to_string(latestGyro.x) +
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",\"y\":" + std::to_string(latestGyro.y) +
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",\"z\":" + std::to_string(latestGyro.z) + "}";
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}
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json += "]}";
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return json;
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}
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//create extra function to send the message every 100ms
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//needed it so it can be threaded
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void sendKobukiData(TKobukiData &data) {
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while (true) {
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client.publishMessage("kobuki/data", serializeKobukiData(data));
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std::cout << "Sent data" << std::endl;
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std::this_thread::sleep_for(std::chrono::milliseconds(1000));
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}
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}
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void CapnSend() {
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int fps = 15;
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@@ -17,7 +299,7 @@ void CapnSend() {
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return;
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}
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VideoWriter out("appsrc ! videoconvert ! video/x-raw,format=I420 ! x264enc speed-preset=ultrafast bitrate=600 key-int-max=" + to_string(fps * 2) + " ! video/x-h264,profile=baseline ! rtph264pay ! udpsink host=127.0.0.1 port=5001",
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VideoWriter out("appsrc ! videoconvert ! video/x-raw,format=I420 ! x264enc speed-preset=ultrafast bitrate=600 key-int-max=" + to_string(fps * 2) + " ! video/x-h264,profile=baseline ! mpegtsmux ! udpsink host=127.0.0.1 port=5001",
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CAP_GSTREAMER, 0, fps, Size(width, height), true);
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if (!out.isOpened()) {
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cerr << "Error: Can't open video writer" << endl;
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