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Aggiornamento callback MQTT per nodo broadcaster

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This commit is contained in:
Emanuele
2019-11-15 16:44:21 +01:00
parent 66bf6d5710
commit 069fa97b40
2 changed files with 7 additions and 2 deletions
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8
com/mqtt_callback.cpp
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@@ -40,7 +40,11 @@ void mqtt_callback::message_arrived(mqtt::const_message_ptr msg) {
} else if (!intMsg[mem_->comSettings.NODE].compare(mem_->comSettings.nodeNames["recorder"])) { } else if (!intMsg[mem_->comSettings.NODE].compare(mem_->comSettings.nodeNames["recorder"])) {
mem_->commonStatus.recorderRunning = true; mem_->commonStatus.recorderRunning = true;
mem_->commonStatus.recorderLast = std::stod(intMsg[mem_->comSettings.TS]); mem_->commonStatus.recorderLast = std::stod(intMsg[mem_->comSettings.TS]);
log_->trace("HB RECORDER time: [{}]", mem_->commonStatus.recorderLast); log_->trace("HB RECORDER time: [{}]", mem_->commonStatus.recorderLast);
} else if (!intMsg[mem_->comSettings.NODE].compare(mem_->comSettings.nodeNames["broadcaster"])) {
mem_->commonStatus.broadcasterRunning = true;
mem_->commonStatus.broadcasterLast = std::stod(intMsg[mem_->comSettings.TS]);
log_->trace("HB BROADCASTER time: [{}]", mem_->commonStatus.broadcasterLast);
} else { } else {
log_->error("Node {} unknown", intMsg[mem_->comSettings.NODE].c_str()); log_->error("Node {} unknown", intMsg[mem_->comSettings.NODE].c_str());
} }
@@ -53,7 +57,7 @@ void mqtt_callback::message_arrived(mqtt::const_message_ptr msg) {
} else if (msg->get_topic() == mem_->comSettings.subMap.find("coordinates")->second){ } else if (msg->get_topic() == mem_->comSettings.subMap.find("coordinates")->second){
log_->debug("MQTT: Coordinate Message: {}", msg->get_payload().c_str()); log_->debug("MQTT: Coordinate Message: {}", msg->get_payload().c_str());
} else { } else {
log_->error("Unrecognized topic"); log_->error("Unrecognized topic: {}", msg->get_topic().c_str());
} }
} }

1
shared/roboglue_shared.h
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@@ -56,6 +56,7 @@ public:
bool relayRunning = false; bool relayRunning = false;
bool followerRunning = false; bool followerRunning = false;
bool recorderRunning = false; bool recorderRunning = false;
bool broadcasterRunning = false;
// ROS node last seen // ROS node last seen
double relayLast = static_cast<double>(time(NULL)); double relayLast = static_cast<double>(time(NULL));
double followerLast = static_cast<double>(time(NULL)); double followerLast = static_cast<double>(time(NULL));