aggiunto topic interface, cambiato modo di subscribe mqtt

com/mqtt_callback.cpp

@@ -1,9 +1,10 @@
 #include "mqtt_callback.h"
 
-mqtt_callback::mqtt_callback(mqtt::async_client *cli, std::shared_ptr<spdlog::logger> log) {
+mqtt_callback::mqtt_callback(mqtt::async_client *cli, std::shared_ptr<spdlog::logger> log, RoboGlue_SHARED *mem) {
     //initialize client pointer
  cli_=cli;
  log_=log;
+ mem_= mem;
 }
 
 void mqtt_callback::connected(const mqtt::string &cause) {
@@ -17,6 +18,17 @@ void mqtt_callback::connection_lost(const mqtt::string &cause) {
 void mqtt_callback::message_arrived(mqtt::const_message_ptr msg) {
     log_->debug("Message Arrived: topic->{} - message->{}",
                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());
+    } 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){
+        log_->debug("MQTT: Command Message: {}", msg->get_payload().c_str());
+    } else if (msg->get_topic() == mem_->comSettings.subMap.find("coordinates")->second){
+        log_->debug("MQTT: Coordinate Message: {}", msg->get_payload().c_str());
+    } else {
+        log_->error("Unrecognized topic");
+    }
 }
 
 void mqtt_callback::delivery_complete(mqtt::delivery_token_ptr tok) {

com/mqtt_callback.h

@@ -4,15 +4,17 @@
 #include <mqtt/client.h>
 #include <mqtt/callback.h>
 #include <spdlog/logger.h>
+#include <shared/roboglue_shared.h>
 
 class mqtt_callback : public virtual mqtt::callback {
 
 private:
+    RoboGlue_SHARED *mem_;
     mqtt::async_client *cli_ = nullptr;
     std::shared_ptr<spdlog::logger> log_;
 
 public:
-    mqtt_callback(mqtt::async_client *cli, std::shared_ptr<spdlog::logger> log);
+    mqtt_callback(mqtt::async_client *cli, std::shared_ptr<spdlog::logger> log,RoboGlue_SHARED *m);
 
     void connected(const mqtt::string &cause) override;
     void connection_lost(const mqtt::string &cause) override;

com/roboglue_com.cpp

@@ -5,8 +5,8 @@ RoboGlue_COM::RoboGlue_COM (RoboGlue_SHARED *mem): m(mem) {
     //////// SETUP LOGGER //////////
     liblog = spdlog::stdout_logger_mt("URcom_liblog");
     modlog = spdlog::stdout_logger_mt("RoboGlue_comlog");
-    liblog->set_level(spdlog::level::debug);
-    modlog->set_level(spdlog::level::debug);
+    liblog->set_level(spdlog::level::warn);
+    modlog->set_level(spdlog::level::info);
 
     ///////// INITIALIZE TCP SERVER ///////////
     server = new QTcpServer(this);
@@ -16,7 +16,7 @@ RoboGlue_COM::RoboGlue_COM (RoboGlue_SHARED *mem): m(mem) {
 
     //////// INITIALIZE MQTT CONNECTOR ///////
     client = new mqtt::async_client(std::string("tcp://localhost:1883"),"");
-    callback = new mqtt_callback(client,modlog);////////////////////////////////////////////////
+    callback = new mqtt_callback(client,modlog,m);////////////////////////////////////////////////
     //////// END EXTERNAL PUBLIC SLOTS /////////////
     ////////////////////////////////////////////////
     baseMsg = m->commonSettings.baseMessage;
@@ -35,9 +35,8 @@ void RoboGlue_COM::run() {
     client->set_callback(*callback);
     client->connect()->wait();
     // subscrbe to mqtt topics
-    std::vector<std::string> subList = m->comSettings.subList;
-    for (uint i=0; i < subList.size(); i++){
-        client->subscribe(subList[i],0);
+    for (auto it=m->comSettings.subMap.begin(); it != m->comSettings.subMap.end(); ++it){
+        client->subscribe(it->second,0);
     }
     client->start_consuming();
 
@@ -270,7 +269,7 @@ void RoboGlue_COM::timed_sendCoordinates(){
         baseMsg["value"]["rx"] = sp[3];
         baseMsg["value"]["ry"] = sp[4];
         baseMsg["value"]["rz"] = sp[5];
-        MQTTpublish(baseMsg, m->comSettings.pubList[m->comSettings.COORD]);
+        MQTTpublish(baseMsg, m->comSettings.pubMap.find("coordinates")->second);
     }
 }
 ////////////////////////////////////////////////
@@ -329,7 +328,7 @@ void RoboGlue_COM::on_sendROScommand(QString command, QVariantMap params) {
     baseMsg["command"] = command.toStdString();
     QJsonDocument jparam = QJsonDocument(QJsonObject::fromVariantMap(params));
     baseMsg["params"] = json::parse(jparam.toJson().data());
-    MQTTpublish(baseMsg, m->comSettings.pubList[m->comSettings.COMM]);
+    MQTTpublish(baseMsg, m->comSettings.pubMap.find("commands")->second);
 }
 
 void RoboGlue_COM::on_sendROScoordinates(QList<double> sp) {
@@ -350,41 +349,3 @@ void RoboGlue_COM::on_sendROSstate(QMap<std::string,bool> digital, QMap<std::str
 ////////////////////////////////////////////////
 //////// END EXTERNAL PUBLIC SLOTS /////////////
 ////////////////////////////////////////////////
-//void RoboGlue_COM::on_sendSetpointOLD(QList<double> sp) {
-//    std::string setpoint;
-//    struct {
-//        union{
-//            struct{
-//                uint32_t x,y,z,a,b,c,keepalive;
-//            };
-//            char bytes[28];
-//        };
-//    } setPointBytes;
-//    setPointBytes.keepalive=1;
-//    int32_t v;
-//    setpoint = "(";
-//    for(uchar i=0; i<JOINT_NUMBER; i++){
-//        v=static_cast<int32_t>(sp[i]*1000);
-//        if (i>2) v=boost::algorithm::clamp(v, -2680,2680);
-//        setpoint.append(std::to_string(v));
-//        boost::algorithm::replace_all(setpoint, ",",".");
-//        if(i<JOINT_NUMBER) setpoint.append("|");
-//    }
-//    setpoint.append("1");
-//    boost::algorithm::replace_all(setpoint,"|",",");
-//    setpoint.append(")");
-
-//    setPointBytes.x=htonl(static_cast<uint32_t>(sp[0]*1000));
-//    setPointBytes.y=htonl(static_cast<uint32_t>(sp[1]*1000));
-//    setPointBytes.z=htonl(static_cast<uint32_t>(sp[2]*1000));
-//    setPointBytes.a=htonl(static_cast<uint32_t>(sp[3]*1000));
-//    setPointBytes.b=htonl(static_cast<uint32_t>(sp[4]*1000));
-//    setPointBytes.c=htonl(static_cast<uint32_t>(sp[5]*1000));
-//    setPointBytes.keepalive=htonl(setPointBytes.keepalive);
-
-//    if(robotIN->write(setPointBytes.bytes,28))
-//        modlog->trace("Sent Setpoint {}",setpoint.c_str());
-//    robotIN->flush();
-//}
-
-

com/roboglue_com.h

@@ -44,7 +44,8 @@
  *              della coda di destinazione.
  * 20190311 - La pubblicazione dei messaggi di coordinate verso ros deve essere a rateo costante
  *              indipendentemente dalla frequenza di ingresso
- */
+ * 20191030 - Spostata la documentazione su GIT
+*/
 
 #include <QObject>
 #include <QThread>