remove old parser

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

@@ -282,198 +282,6 @@ int CKobuki::measure() {
   return 0;
 }
 
-// int CKobuki::parseKobukiMessage(TKobukiData &output, unsigned char *data)
-// {
-//     int rtrnvalue = checkChecksum(data);
-//     // ak je zly checksum,tak kaslat na to
-//     if (rtrnvalue != 0)
-//         return -2;
-
-//     int checkedValue = 1;
-//     // kym neprejdeme celu dlzku
-//     while (checkedValue < data[0])
-//     {
-//         // basic data subload
-//         if (data[checkedValue] == 0x01)
-//         {
-//             checkedValue++;
-//             if (data[checkedValue] != 0x0F)
-//                 return -1;
-//             checkedValue++;
-//             output.timestamp = data[checkedValue + 1] * 256 +
-//             data[checkedValue]; checkedValue += 2; output.BumperCenter =
-//             data[checkedValue] && 0x02; output.BumperLeft =
-//             data[checkedValue] && 0x04; output.BumperRight =
-//             data[checkedValue] && 0x01; checkedValue++; output.WheelDropLeft
-//             = data[checkedValue] && 0x02; output.WheelDropRight =
-//             data[checkedValue] && 0x01; checkedValue++; output.CliffCenter =
-//             data[checkedValue] && 0x02; output.CliffLeft = data[checkedValue]
-//             && 0x04; output.CliffRight = data[checkedValue] && 0x01;
-//             checkedValue++;
-//             output.EncoderLeft = data[checkedValue + 1] * 256 +
-//             data[checkedValue]; checkedValue += 2; output.EncoderRight =
-//             data[checkedValue + 1] * 256 + data[checkedValue]; checkedValue
-//             += 2; output.PWMleft = data[checkedValue]; checkedValue++;
-//             output.PWMright = data[checkedValue];
-//             checkedValue++;
-//             output.ButtonPress = data[checkedValue];
-//             checkedValue++;
-//             output.Charger = data[checkedValue];
-//             checkedValue++;
-//             output.Battery = data[checkedValue];
-//             checkedValue++;
-//             output.overCurrent = data[checkedValue];
-//             checkedValue++;
-//         }
-//         else if (data[checkedValue] == 0x03)
-//         {
-//             checkedValue++;
-//             if (data[checkedValue] != 0x03)
-//                 return -3;
-//             checkedValue++;
-//             output.IRSensorRight = data[checkedValue];
-//             checkedValue++;
-//             output.IRSensorCenter = data[checkedValue];
-//             checkedValue++;
-//             output.IRSensorLeft = data[checkedValue];
-//             checkedValue++;
-//         }
-//         else if (data[checkedValue] == 0x04)
-//         {
-//             checkedValue++;
-//             if (data[checkedValue] != 0x07)
-//                 return -4;
-//             checkedValue++;
-//             output.GyroAngle = data[checkedValue + 1] * 256 +
-//             data[checkedValue]; checkedValue += 2; output.GyroAngleRate =
-//             data[checkedValue + 1] * 256 + data[checkedValue]; checkedValue
-//             += 5; // 3 unsued
-//         }
-//         else if (data[checkedValue] == 0x05)
-//         {
-//             checkedValue++;
-//             if (data[checkedValue] != 0x06)
-//                 return -5;
-//             checkedValue++;
-//             output.CliffSensorRight =
-//                 data[checkedValue + 1] * 256 + data[checkedValue];
-//             checkedValue += 2;
-//             output.CliffSensorCenter =
-//                 data[checkedValue + 1] * 256 + data[checkedValue];
-//             checkedValue += 2;
-//             output.CliffSensorLeft =
-//                 data[checkedValue + 1] * 256 + data[checkedValue];
-//             checkedValue += 2;
-//         }
-//         else if (data[checkedValue] == 0x06)
-//         {
-//             checkedValue++;
-//             if (data[checkedValue] != 0x02)
-//                 return -6;
-//             checkedValue++;
-//             output.wheelCurrentLeft = data[checkedValue];
-//             checkedValue++;
-//             output.wheelCurrentRight = data[checkedValue];
-//             checkedValue++;
-//         }
-//         else if (data[checkedValue] == 0x0A)
-//         {
-//             checkedValue++;
-//             if (data[checkedValue] != 0x04)
-//                 return -7;
-//             checkedValue++;
-//             output.extraInfo.HardwareVersionPatch = data[checkedValue];
-//             checkedValue++;
-//             output.extraInfo.HardwareVersionMinor = data[checkedValue];
-//             checkedValue++;
-//             output.extraInfo.HardwareVersionMajor = data[checkedValue];
-//             checkedValue += 2;
-//         }
-//         else if (data[checkedValue] == 0x0B)
-//         {
-//             checkedValue++;
-//             if (data[checkedValue] != 0x04)
-//                 return -8;
-//             checkedValue++;
-//             output.extraInfo.FirmwareVersionPatch = data[checkedValue];
-//             checkedValue++;
-//             output.extraInfo.FirmwareVersionMinor = data[checkedValue];
-//             checkedValue++;
-//             output.extraInfo.FirmwareVersionMajor = data[checkedValue];
-//             checkedValue += 2;
-//         }
-//         else if (data[checkedValue] == 0x0D)
-//         {
-//             checkedValue++;
-//             if (data[checkedValue] % 2 != 0)
-//                 return -9;
-//             checkedValue++;
-//             output.frameId = data[checkedValue];
-//             checkedValue++;
-//             int howmanyFrames = data[checkedValue] / 3;
-//             checkedValue++;
-//             output.gyroData.reserve(howmanyFrames);
-//             output.gyroData.clear();
-//             for (int hk = 0; hk < howmanyFrames; hk++)
-//             {
-//                 TRawGyroData temp;
-//                 temp.x = data[checkedValue + 1] * 256 + data[checkedValue];
-//                 checkedValue += 2;
-//                 temp.y = data[checkedValue + 1] * 256 + data[checkedValue];
-//                 checkedValue += 2;
-//                 temp.z = data[checkedValue + 1] * 256 + data[checkedValue];
-//                 checkedValue += 2;
-//                 output.gyroData.push_back(temp);
-//             }
-//         }
-//         else if (data[checkedValue] == 0x10)
-//         {
-//             checkedValue++;
-//             if (data[checkedValue] != 0x10)
-//                 return -10;
-//             checkedValue++;
-//             output.digitalInput = data[checkedValue + 1] * 256 +
-//             data[checkedValue]; checkedValue += 2; output.analogInputCh0 =
-//             data[checkedValue + 1] * 256 + data[checkedValue]; checkedValue
-//             += 2; output.analogInputCh1 = data[checkedValue + 1] * 256 +
-//             data[checkedValue]; checkedValue += 2; output.analogInputCh2 =
-//             data[checkedValue + 1] * 256 + data[checkedValue]; checkedValue
-//             += 2; output.analogInputCh3 = data[checkedValue + 1] * 256 +
-//             data[checkedValue]; checkedValue += 8; // 2+6
-//         }
-//         else if (data[checkedValue] == 0x13)
-//         {
-//             checkedValue++;
-//             if (data[checkedValue] != 0x0C)
-//                 return -11;
-//             checkedValue++;
-//             output.extraInfo.UDID0 = data[checkedValue + 3] * 256 * 256 * 256
-//             +
-//                                      data[checkedValue + 2] * 256 * 256 +
-//                                      data[checkedValue + 1] * 256 +
-//                                      data[checkedValue];
-//             checkedValue += 4;
-//             output.extraInfo.UDID1 = data[checkedValue + 3] * 256 * 256 * 256
-//             +
-//                                      data[checkedValue + 2] * 256 * 256 +
-//                                      data[checkedValue + 1] * 256 +
-//                                      data[checkedValue];
-//             checkedValue += 4;
-//             output.extraInfo.UDID2 = data[checkedValue + 3] * 256 * 256 * 256
-//             +
-//                                      data[checkedValue + 2] * 256 * 256 +
-//                                      data[checkedValue + 1] * 256 +
-//                                      data[checkedValue];
-//             checkedValue += 4;
-//         }
-//         else
-//         {
-//             checkedValue++;
-//             checkedValue += data[checkedValue] + 1;
-//         }
-//     }
-//     return 0;
-// }
 
 long double CKobuki::gyroToRad(signed short GyroAngle) {
 
@@ -781,6 +589,22 @@ void CKobuki::Rotate(int degrees) {
 }
 
 
+void CKobuki::robotSafety(std::string *pointerToMessage) {
+    while (true) {
+
+        if (parser.data.BumperCenter || parser.data.BumperLeft || parser.data.BumperRight || 
+            parser.data.CliffLeft || parser.data.CliffCenter || parser.data.CliffRight) {
+            std::cout << "Safety condition triggered!" << std::endl; // Debug print
+            *pointerToMessage = "estop";
+            forward(-100); // reverse the robot
+
+        }
+        std::this_thread::sleep_for(std::chrono::milliseconds(static_cast<int>(100)));
+
+
+    }
+}
+
 void CKobuki::robotSafety() {
     while (true) {
 

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

@@ -76,7 +76,8 @@ public:
 	void goToXy(long double xx, long double yy);
 	void Rotate(int degrees);
 	std::ofstream odometry_log;
-	void robotSafety();
+	void robotSafety(std::string *pointerToMessage);
+	void robotSafety(); //overload
 	void sendNullMessage();
 	KobukiParser parser;
 

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

@@ -8,30 +8,33 @@
 
 using namespace std;
 CKobuki robot;
-int movement();
 std::string readMQTT();
 void parseMQTT(std::string message);
 MqttClient client("mqtt://145.92.224.21:1883", "KobukiRPI", "ishak", "kobuki"); //create a client object
-
+std::string message = "stop";
 
 void setup(){
 	unsigned char *null_ptr(0);
 	robot.startCommunication("/dev/ttyUSB0", true, null_ptr);
     client.connect();
     client.subscribe("home/commands");
+
+
 }
 
 int main(){
 	setup();
+    std::thread safety([&]() { robot.robotSafety(&message); });
 	while(true){
     parseMQTT(readMQTT());
 	}
+    safety.join();
 	return 0;
 }
 
 std::string readMQTT()
 {
-        std::string message = client.getLastMessage();
+        message = client.getLastMessage();
         if (!message.empty()) {
             std::cout << "MQTT Message: " << message << std::endl;
         }
@@ -43,60 +46,30 @@ std::string readMQTT()
 
 void parseMQTT(std::string message){
     if(message == "up"){
-        robot.forward(600);
+        robot.forward(1024);
     }
     else if(message == "left"){
-        robot.Rotate(90);
+        robot.setRotationSpeed(4);
 
     }
+    else if(message == "right"){
+        robot.setRotationSpeed(-4);
+    }
     else if(message == "down"){
-        robot.Rotate(-90);
+        robot.forward(-800);
     }
     else if(message == "stop"){
         robot.sendNullMessage();
+        robot.sendNullMessage();
+    }
+    else if (message == "estop"){
+        robot.forward(-400);
     }
     else{
         std::cout << "Invalid command" << std::endl;
     }
 }
 
-
-int movement()
-{
-    int text;
-    while (true)
-    {
-        cout << "gimme input: ";
-        cin >> text;
-
-        if (text == 1)
-        {
-            robot.forward(400);
-        }
-        else if (text == 2)
-        {
-            // 1 is full circle
-            robot.Rotate(90);
-        }
-        else if (text == 3)
-        {
-            // Add your code here for text == 3
-        }
-        else
-        {
-            try
-            {
-                robot.doRotation(text);
-                throw "NaN";
-            }
-            catch (const char *msg)
-            {
-                cerr << msg << endl;
-            }
-        }
-    }
-}
-
 void logToFile()
 {
     while (true)

src/Python/flask/web/static/style.css

@@ -73,47 +73,51 @@ body {
     transition: transform 0.2s ease, background-color 0.2s ease;
 }
 
-/* Middenknop */
-.btn:nth-child(1) {
+/* Direction buttons */
+.btn:nth-child(1) { /* Left */
     top: 50%;
     left: 50%;
-    transform: translate(-125%, -50%);
+    transform: translate(-160%, -50%);
 }
 
-/* Knop boven */
-.btn:nth-child(2) {
+.btn:nth-child(2) { /* Up */
     top: 0;
     left: 50%;
-    transform: translateX(-50%);
+    transform: translate(-50%, -35%);
 }
 
-/* Knop rechts */
-.btn:nth-child(3) {
+.btn:nth-child(3) { /* Right */
     top: 50%;
     right: 0;
-    transform: translateY(-50%);
+    transform: translate(35%,-50%);
 }
 
-/* Knop onder */
-.btn:nth-child(4) {
+.btn:nth-child(4) { /* Down */
     bottom: 0;
     left: 50%;
-    transform: translateX(-50%);
+    transform: translate(-50%, 35%);
 }
 
-/* Knop links */
-.btn:nth-child(5) {
+.btn:nth-child(5) { /* Stop Button */
     top: 50%;
-    left: 0;
-    transform: translateY(-50%);
+    left: 50%;
+    transform: translate(-50%, -50%);
+    background-color: red; /* Distinct color for the stop button */
+    width: 60px; /* Slightly larger for emphasis */
+    height: 60px; /* Slightly larger for emphasis */
+    line-height: 60px; /* Center text vertically */
 }
 
+/* Hover effects */
 .btn:hover {
     background-color: #0056b3;
-    /* transform: scale(1.1); */
 }
 
 .btn:active {
     background-color: #004494;
 }
+
+.stop-button:hover {
+    background-color: darkred; /* Different hover color for the stop button */
+}
   

src/Python/flask/web/templates/index.html

@@ -1,10 +1,15 @@
-{%extends 'base.html'%} {%block head%} {%endblock%} {%block content%}
+{% extends 'base.html' %}
+{% block head %}
+<link rel="stylesheet" href="../static/style.css" />
+{% endblock %}
+{% block content %}
 <!DOCTYPE html>
 <html lang="en">
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
     <title>Kobuki</title>
+    <link rel="stylesheet" href="../static/style.css" />
   </head>
   <body>
     <div class="container">
@@ -12,11 +17,12 @@
         <img src="kobuki.jpg" alt="Kobuki Robot" id="robot-image" />
       </div>
       <div class="button-section">
-        <form id = "form" action="/move" method="post">
+        <form id="form" action="/move" method="post">
           <button class="btn" name="direction" value="left">←</button>
           <button class="btn" name="direction" value="up">↑</button>
           <button class="btn" name="direction" value="right">→</button>
           <button class="btn" name="direction" value="down">↓</button>
+          <button class="btn stop-button" name="direction" value="stop">Stop</button>
         </form>
       </div>
     </div>
@@ -26,5 +32,4 @@
     <script src="../static/script.js"></script>
   </body>
 </html>
-
-{%endblock%}
+{% endblock %}