Obbart/RoboGlue_QT
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aggiunto topic interface, cambiato modo di subscribe mqtt

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This commit is contained in:
Emanuele
2019-10-30 16:33:36 +01:00
parent 117cf20765
commit 9483e265f3
7 changed files with 59 additions and 83 deletions
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17
shared/roboglue_shared.h
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@@ -21,7 +21,7 @@
* QUESTA COSA VA GIÀ CAMBIATA PERCHÈ È TROPPO CONFUSIONARIA!!
* 20190124 - Implementati tutti i metodi che salvano e ripristinano le configurazioni.
* 20190311 - Aggiunta la struttura che tiene gli stati che devono rimanere comuni ai moduli.
*
* 20191030 - Documentazione spostata in GIT
*/
#include <QMutex>
@@ -66,7 +66,7 @@ public:
struct {
struct {
std::string robotIp = std::string("192.168.0.31");
std::string robotIp = std::string("localhost");
uint robotPort = 30002;
unsigned char retry = 5;
bool autoConnect = false;
@@ -77,16 +77,9 @@ public:
kineDH_t DHtable;
float maxReach = 1.2;
} kine;
std::vector<std::string> subList {
{"roboglue_com/ros2com/commands"},
{"roboglue_com/ros2com/coordinates"},
{"roboglue_com/ros2com/state"}
};
std::vector<std::string> pubList {
{"roboglue_com/com2ros/commands"},
{"roboglue_com/com2ros/coordinates"},
{"roboglue_com/com2ros/state"}
};
std::map<std::string, std::string> subMap;
std::map<std::string, std::string> pubMap;
//FIXME: riempire la mappa dinamicamente da un file, eliminare l'assegnazione manuale
enum {
COMM, COORD, STAT
} tList;