mirror of
https://gitlab.fdmci.hva.nl/technische-informatica-sm3/ti-projectten/rooziinuubii79.git
synced 2025-08-03 11:55:00 +00:00
458 lines
19 KiB
C++
458 lines
19 KiB
C++
#include <iostream>
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#include <thread>
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#include <fstream>
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#include <filesystem>
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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 std;
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using namespace cv;
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CKobuki robot;
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std::atomic<bool> kobuki_connected(false);
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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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void checkKobukiConnection();
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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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std::string findKobukiPort()
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{
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for (const auto& entry : std::filesystem::directory_iterator("/dev"))
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{
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std::string device = entry.path().string();
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if (device.find("ttyUSB") != std::string::npos)
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{
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return device; // Returneer de eerste gevonden poort
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}
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}
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return ""; // Geen poort gevonden
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}
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void setup()
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{
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std::string port = findKobukiPort();
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unsigned char *null_ptr(0);
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robot.startCommunication(const_cast<char*>(port.c_str()), 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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std::thread connectionChecker(checkKobukiConnection);
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connectionChecker.detach(); // Laat deze thread onafhankelijk draaien
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while (true)
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{
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std::string message = readMQTT();
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if (!message.empty())
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{
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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::mutex connectionMutex;
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void checkKobukiConnection()
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{
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while (true)
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{
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std::lock_guard<std::mutex> lock(connectionMutex);
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std::string port = findKobukiPort();
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if (port.empty()) {
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if (kobuki_connected) {
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cout << "Kobuki disconnected: No USB device found." << endl;
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kobuki_connected = false;
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}
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std::this_thread::sleep_for(std::chrono::seconds(5));
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continue; // Probeer later opnieuw
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}
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// Controleer of de Kobuki verbonden is
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if (!robot.isConnected()){
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if (kobuki_connected){
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cout << "Kobuki disconnected." << endl;
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kobuki_connected = false;
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}
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cout << "Attempting to reconnect Kobuki..." << endl;
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robot.startCommunication(const_cast<char*>(port.c_str()), true, nullptr);
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if (robot.isConnected()){
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cout << "Kobuki reconnected successfully!" << endl;
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kobuki_connected = true;
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}
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else{
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cout << "Failed to reconnect Kobuki, retrying in 5 seconds..." << endl;
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}
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}
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// Wacht voordat je opnieuw controleert
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std::this_thread::sleep_for(std::chrono::seconds(5));
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}
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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 lastMessage;
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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",
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std::ios_base::app); // Open file in append mode to
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// 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
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<< "\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
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<< "\n";
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outputFile << "frameId: " << robotData.frameId << "\n";
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outputFile << "HardwareVersionPatch: "
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<< robotData.extraInfo.HardwareVersionPatch << "\n";
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outputFile << "HardwareVersionMinor: "
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<< robotData.extraInfo.HardwareVersionMinor << "\n";
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outputFile << "HardwareVersionMajor: "
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<< robotData.extraInfo.HardwareVersionMajor << "\n";
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outputFile << "FirmwareVersionPatch: "
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<< robotData.extraInfo.FirmwareVersionPatch << "\n";
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outputFile << "FirmwareVersionMinor: "
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<< robotData.extraInfo.FirmwareVersionMinor << "\n";
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outputFile << "FirmwareVersionMajor: "
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<< 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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{
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while (true)
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{
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std::cout << "Kobuki Data wordt gepubliceerd naar kobuki/data/timestamp: "
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<< data.timestamp << std::endl;
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client.publishMessage("kobuki/data/timestamp",
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std::to_string(data.timestamp));
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client.publishMessage("kobuki/data/BumperCenter",
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std::to_string(data.BumperCenter));
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client.publishMessage("kobuki/data/BumperLeft",
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std::to_string(data.BumperLeft));
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client.publishMessage("kobuki/data/BumperRight",
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std::to_string(data.BumperRight));
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client.publishMessage("kobuki/data/WheelDropLeft",
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std::to_string(data.WheelDropLeft));
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client.publishMessage("kobuki/data/WheelDropRight",
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std::to_string(data.WheelDropRight));
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client.publishMessage("kobuki/data/CliffCenter",
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std::to_string(data.CliffCenter));
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client.publishMessage("kobuki/data/CliffLeft",
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std::to_string(data.CliffLeft));
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client.publishMessage("kobuki/data/CliffRight",
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std::to_string(data.CliffRight));
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client.publishMessage("kobuki/data/EncoderLeft",
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std::to_string(data.EncoderLeft));
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client.publishMessage("kobuki/data/EncoderRight",
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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",
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std::to_string(data.PWMright));
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client.publishMessage("kobuki/data/ButtonPress1",
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std::to_string(data.ButtonPress1));
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client.publishMessage("kobuki/data/ButtonPress2",
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std::to_string(data.ButtonPress2));
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client.publishMessage("kobuki/data/ButtonPress3",
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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",
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std::to_string(data.overCurrent));
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client.publishMessage("kobuki/data/IRSensorRight",
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std::to_string(data.IRSensorRight));
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client.publishMessage("kobuki/data/IRSensorCenter",
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std::to_string(data.IRSensorCenter));
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client.publishMessage("kobuki/data/IRSensorLeft",
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std::to_string(data.IRSensorLeft));
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client.publishMessage("kobuki/data/GyroAngle",
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std::to_string(data.GyroAngle));
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client.publishMessage("kobuki/data/GyroAngleRate",
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std::to_string(data.GyroAngleRate));
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client.publishMessage("kobuki/data/CliffSensorRight",
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std::to_string(data.CliffSensorRight));
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client.publishMessage("kobuki/data/CliffSensorCenter",
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std::to_string(data.CliffSensorCenter));
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client.publishMessage("kobuki/data/CliffSensorLeft",
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std::to_string(data.CliffSensorLeft));
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client.publishMessage("kobuki/data/wheelCurrentLeft",
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std::to_string(data.wheelCurrentLeft));
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client.publishMessage("kobuki/data/wheelCurrentRight",
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std::to_string(data.wheelCurrentRight));
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client.publishMessage("kobuki/data/digitalInput",
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std::to_string(data.digitalInput));
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client.publishMessage("kobuki/data/analogInputCh0",
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std::to_string(data.analogInputCh0));
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client.publishMessage("kobuki/data/analogInputCh1",
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std::to_string(data.analogInputCh1));
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client.publishMessage("kobuki/data/analogInputCh2",
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std::to_string(data.analogInputCh2));
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client.publishMessage("kobuki/data/analogInputCh3",
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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",
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std::to_string(data.extraInfo.HardwareVersionPatch));
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client.publishMessage("kobuki/data/extraInfo/HardwareVersionMinor",
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std::to_string(data.extraInfo.HardwareVersionMinor));
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client.publishMessage("kobuki/data/extraInfo/HardwareVersionMajor",
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std::to_string(data.extraInfo.HardwareVersionMajor));
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client.publishMessage("kobuki/data/extraInfo/FirmwareVersionPatch",
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std::to_string(data.extraInfo.FirmwareVersionPatch));
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client.publishMessage("kobuki/data/extraInfo/FirmwareVersionMinor",
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std::to_string(data.extraInfo.FirmwareVersionMinor));
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client.publishMessage("kobuki/data/extraInfo/FirmwareVersionMajor",
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std::to_string(data.extraInfo.FirmwareVersionMajor));
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client.publishMessage("kobuki/data/extraInfo/UDID0",
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std::to_string(data.extraInfo.UDID0));
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client.publishMessage("kobuki/data/extraInfo/UDID1",
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std::to_string(data.extraInfo.UDID1));
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client.publishMessage("kobuki/data/extraInfo/UDID2",
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std::to_string(data.extraInfo.UDID2));
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if (!data.gyroData.empty())
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{
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const auto &latestGyro = data.gyroData.back();
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client.publishMessage("kobuki/data/gyroData/x",
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std::to_string(latestGyro.x));
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client.publishMessage("kobuki/data/gyroData/y",
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std::to_string(latestGyro.y));
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client.publishMessage("kobuki/data/gyroData/z",
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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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{
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std::string json =
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"{\"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\":" +
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std::to_string(data.extraInfo.HardwareVersionPatch) +
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",\"HardwareVersionMinor\":" +
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std::to_string(data.extraInfo.HardwareVersionMinor) +
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",\"HardwareVersionMajor\":" +
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std::to_string(data.extraInfo.HardwareVersionMajor) +
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",\"FirmwareVersionPatch\":" +
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std::to_string(data.extraInfo.FirmwareVersionPatch) +
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",\"FirmwareVersionMinor\":" +
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std::to_string(data.extraInfo.FirmwareVersionMinor) +
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",\"FirmwareVersionMajor\":" +
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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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{
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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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{
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while (true)
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{
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client.publishMessage("kobuki/data", serializeKobukiData(data));
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|
std::cout << "Sent data" << std::endl;
|
|
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
|
|
}
|
|
}
|
|
|
|
void CapnSend() {
|
|
VideoCapture cap(0);
|
|
if (!cap.isOpened()) {
|
|
cerr << "Error: Could not open camera" << endl;
|
|
return;
|
|
}
|
|
|
|
Mat frame;
|
|
while (true) {
|
|
if (!cap.read(frame)) {
|
|
cout << "Reconnecting camera" << endl;
|
|
cap.release();
|
|
std::this_thread::sleep_for(std::chrono::seconds(1));
|
|
// Attempt to reconnect to the camera
|
|
cap.open(0);
|
|
if (!cap.isOpened()) {
|
|
cerr << "Error: Could not reconnect to camera" << endl;
|
|
std::this_thread::sleep_for(std::chrono::seconds(1)); // Wait before retrying
|
|
continue;
|
|
} else {
|
|
cout << "Reconnected to camera" << endl;
|
|
continue;
|
|
}
|
|
}
|
|
|
|
// Convert the image to a byte array
|
|
vector<uchar> buf;
|
|
imencode(".jpg", frame, buf);
|
|
auto *enc_msg = reinterpret_cast<unsigned char *>(buf.data());
|
|
|
|
// Publish the image data
|
|
client.publishMessage("kobuki/cam", string(enc_msg, enc_msg + buf.size()));
|
|
cout << "Sent image" << endl;
|
|
|
|
std::this_thread::sleep_for(std::chrono::milliseconds(200)); // Send image every 200ms
|
|
}
|
|
} |