Obbart/RoboGlue_QT
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Aggiunte funzioni di lettura di Startup/Heartbeat

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funzioni aggiunte nelle callback mqtt che segnalano il cambiamento con
l'emit di commonStatusChange
This commit is contained in:
Emanuele
2019-11-04 15:40:22 +01:00
parent 9483e265f3
commit 29db06e3c4
5 changed files with 44 additions and 1 deletions
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2
RoboGlue.pro.user
View File

@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QtCreatorProject>
<!-- Written by QtCreator 4.8.2, 2019-10-29T10:42:37. -->
<!-- Written by QtCreator 4.8.2, 2019-10-30T17:30:22. -->
<qtcreator>
<data>
<variable>EnvironmentId</variable>

23
com/mqtt_callback.cpp
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@@ -20,6 +20,29 @@ void mqtt_callback::message_arrived(mqtt::const_message_ptr msg) {
msg->get_topic(), msg->to_string());
if(msg->get_topic() == mem_->comSettings.subMap.find("interface")->second) {
log_->debug("MQTT: Interface Message: {}", msg->get_payload().c_str());
// Gestione dei messaggi di interfaccia
std::vector<std::string> intMsg;
boost::split(intMsg, static_cast<const std::string>(msg->to_string()), boost::is_any_of(":"));
if (!intMsg[mem_->comSettings.TYPE].compare("STARTUP") ||
!intMsg[mem_->comSettings.TYPE].compare("HB")){
// Received Startup Message
log_->debug("Startup/Heartbeat from node, ts: {},[{}]",
intMsg[mem_->comSettings.NODE].c_str(),
intMsg[mem_->comSettings.TS]);
if (!intMsg[mem_->comSettings.NODE].compare(mem_->comSettings.nodeNames["relay"])){
mem_->commonStatus.relayRunning = true;
mem_->commonStatus.relayLast = std::stod(intMsg[mem_->comSettings.TS]);
} else if (!intMsg[mem_->comSettings.NODE].compare(mem_->comSettings.nodeNames["follower"])) {
mem_->commonStatus.followerRunning = true;
mem_->commonStatus.followerLast = std::stod(intMsg[mem_->comSettings.TS]);
} else if (!intMsg[mem_->comSettings.NODE].compare(mem_->comSettings.nodeNames["recorder"])) {
mem_->commonStatus.recorderRunning = true;
mem_->commonStatus.recorderLast = std::stod(intMsg[mem_->comSettings.TS]);
} else {
log_->error("Node {} unknown", intMsg[mem_->comSettings.NODE].c_str());
}
emit mem_->commonStatusChange();
}
} else if (msg->get_topic() == mem_->comSettings.subMap.find("state")->second){
log_->debug("MQTT: State Message: {}", msg->get_payload().c_str());
} else if (msg->get_topic() == mem_->comSettings.subMap.find("commands")->second){

3
gui/roboglue_gui.cpp
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@@ -26,6 +26,8 @@ RoboGlue_GUI::RoboGlue_GUI(RoboGlue_SHARED *mem) : m(mem) {
this, SLOT(deleteLater()), Qt::ConnectionType::QueuedConnection);
connect(this, SIGNAL(pad_hoverEvent(QEvent *)),
this, SLOT(on_pad_hoverEvent(QEvent *)));
connect(m, SIGNAL(commonStatusChange()),
this, SLOT(on_commonStatusChange));
/////// READ NAME DEFINITION JSON FILE //////////
try {
@@ -89,6 +91,7 @@ void RoboGlue_GUI::disableLockAxes(){
////////////////////////////////////////////////
void RoboGlue_GUI::on_commonStatusChange() {
modlog->trace("on_commonStatusChange Received");
// TODO: aggiungere e interpretare le flag per capire se i nodi ros sono tutti vivi dall'heartbeat
}
void RoboGlue_GUI::on_pad_hoverEvent(QEvent* e) {

4
shared/roboglue_shared.cpp
View File

@@ -13,6 +13,10 @@ RoboGlue_SHARED::RoboGlue_SHARED(QSettings *set){
comSettings.pubMap["coordinates"] = "roboglue_com/com2ros/coordinates";
comSettings.pubMap["state"] = "roboglue_com/com2ros/state";
comSettings.pubMap["interface"] = "roboglue_com/com2ros/interface";
comSettings.nodeNames["relay"] = "roboglue_ros_relay";
comSettings.nodeNames["follower"] = "roboglue_ros_follower";
comSettings.nodeNames["recorder"] = "roboglue_ros_recorder";
}
////////////////////////////////////////////////////////////////
/////////////////////// RESTORE FUNCTIONS /////////////////////

13
shared/roboglue_shared.h
View File

@@ -31,6 +31,7 @@
#include <stdexcept>
#include <libJson/json.hpp>
#include <libURcom/URCLinterface.h>
#include <boost/algorithm/string.hpp>
using namespace nlohmann;
@@ -47,6 +48,14 @@ public:
bool isPlaying = false;
bool isRealtime = false;
bool isFileOpen = false;
// ROS node status
bool relayRunning = false;
bool followerRunning = false;
bool recorderRunning = false;
// ROS node last seen
double relayLast = 0.0;
double followerLast = 0.0;
double recorderLast = 0.0;
} commonStatus;
/////////// PERMANENT SETTINGS VARIABLES /////////
@@ -79,10 +88,14 @@ public:
} kine;
std::map<std::string, std::string> subMap;
std::map<std::string, std::string> pubMap;
std::map<std::string, std::string> nodeNames;
//FIXME: riempire la mappa dinamicamente da un file, eliminare l'assegnazione manuale
enum {
COMM, COORD, STAT
} tList;
enum {
TYPE, NODE, TS
};
} comSettings;
struct {