aggiunto topic interface, cambiato modo di subscribe mqtt

RoboGlue.pro.user

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 4.8.2, 2019-10-23T17:47:47. -->
+<!-- Written by QtCreator 4.8.2, 2019-10-29T10:42:37. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>

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);
+    liblog->set_level(spdlog::level::warn);
-    modlog->set_level(spdlog::level::debug);
+    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 (auto it=m->comSettings.subMap.begin(); it != m->comSettings.subMap.end(); ++it){
-    for (uint i=0; i < subList.size(); i++){
+        client->subscribe(it->second,0);
-        client->subscribe(subList[i],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>

gui/roboglue_gui.ui

@@ -438,7 +438,7 @@
                </size>
               </property>
               <property name="text">
-               <string/>
+               <string>-</string>
               </property>
               <property name="alignment">
                <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
@@ -457,7 +457,7 @@
                </size>
               </property>
               <property name="text">
-               <string/>
+               <string>-</string>
               </property>
               <property name="alignment">
                <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
@@ -476,7 +476,7 @@
                </size>
               </property>
               <property name="text">
-               <string/>
+               <string>-</string>
               </property>
               <property name="alignment">
                <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
@@ -498,7 +498,7 @@
                <number>0</number>
               </property>
               <property name="text">
-               <string/>
+               <string>-</string>
               </property>
               <property name="alignment">
                <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
@@ -517,7 +517,7 @@
                </size>
               </property>
               <property name="text">
-               <string/>
+               <string>-</string>
               </property>
               <property name="alignment">
                <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
@@ -536,7 +536,7 @@
                </size>
               </property>
               <property name="text">
-               <string/>
+               <string>-</string>
               </property>
               <property name="alignment">
                <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
@@ -588,7 +588,7 @@
                <number>0</number>
               </property>
               <property name="text">
-               <string/>
+               <string>-</string>
               </property>
               <property name="alignment">
                <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
@@ -607,7 +607,7 @@
                </size>
               </property>
               <property name="text">
-               <string/>
+               <string>-</string>
               </property>
               <property name="alignment">
                <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
@@ -626,7 +626,7 @@
                </size>
               </property>
               <property name="text">
-               <string/>
+               <string>-</string>
               </property>
               <property name="alignment">
                <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
@@ -645,7 +645,7 @@
                </size>
               </property>
               <property name="text">
-               <string/>
+               <string>-</string>
               </property>
               <property name="alignment">
                <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
@@ -664,7 +664,7 @@
                </size>
               </property>
               <property name="text">
-               <string/>
+               <string>-</string>
               </property>
               <property name="alignment">
                <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
@@ -683,7 +683,7 @@
                </size>
               </property>
               <property name="text">
-               <string/>
+               <string>-</string>
               </property>
               <property name="alignment">
                <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
@@ -976,21 +976,21 @@
             <item>
              <widget class="QLabel" name="lbl_posX">
               <property name="text">
-               <string>TextLabel</string>
+               <string>-</string>
               </property>
              </widget>
             </item>
             <item>
              <widget class="QLabel" name="lbl_posY">
               <property name="text">
-               <string>TextLabel</string>
+               <string>-</string>
               </property>
              </widget>
             </item>
             <item>
              <widget class="QLabel" name="lbl_posZ">
               <property name="text">
-               <string>TextLabel</string>
+               <string>-</string>
               </property>
              </widget>
             </item>
@@ -1338,12 +1338,12 @@
  <resources/>
  <connections/>
  <buttongroups>
+  <buttongroup name="grp_hilo"/>
   <buttongroup name="grp_mod"/>
   <buttongroup name="gpr_lock">
    <property name="exclusive">
     <bool>false</bool>
    </property>
   </buttongroup>
-  <buttongroup name="grp_hilo"/>
  </buttongroups>
 </ui>

roboglue.conf

@@ -8,34 +8,34 @@ automain=false
 autotrack=false
 
 [robot]
-connection\autoconnect=false
+connection\autoconnect=true
 connection\robotip=10.0.0.5
 connection\robotport=30002
 connection\robotretry=5
-kine\dhtable\1\dha=6.94460589082162e-310
+kine\dhtable\1\dha=0
-kine\dhtable\1\dhalpha=6.9446058912971e-310
+kine\dhtable\1\dhalpha=0
-kine\dhtable\1\dhd=1.099340831232476e+248
+kine\dhtable\1\dhd=0
-kine\dhtable\1\dhtheta=1.332e-320
+kine\dhtable\1\dhtheta=0
 kine\dhtable\2\dha=0
-kine\dhtable\2\dhalpha=6.9446058912884e-310
+kine\dhtable\2\dhalpha=0
-kine\dhtable\2\dhd=1.3849777432376169e+219
+kine\dhtable\2\dhd=0
-kine\dhtable\2\dhtheta=6.9446058913382e-310
+kine\dhtable\2\dhtheta=0
 kine\dhtable\3\dha=0
-kine\dhtable\3\dhalpha=5.53e-322
+kine\dhtable\3\dhalpha=0
-kine\dhtable\3\dhd=2.44861994589e-312
+kine\dhtable\3\dhd=0
-kine\dhtable\3\dhtheta=8e-323
+kine\dhtable\3\dhtheta=0
-kine\dhtable\4\dha=2.37e-322
+kine\dhtable\4\dha=0
-kine\dhtable\4\dhalpha=2.37e-322
+kine\dhtable\4\dhalpha=0
 kine\dhtable\4\dhd=0
 kine\dhtable\4\dhtheta=0
-kine\dhtable\5\dha=2.57e-322
+kine\dhtable\5\dha=0
-kine\dhtable\5\dhalpha=2.57e-322
+kine\dhtable\5\dhalpha=0
-kine\dhtable\5\dhd=2.06e-321
+kine\dhtable\5\dhd=0
-kine\dhtable\5\dhtheta=8.74e-322
+kine\dhtable\5\dhtheta=0
-kine\dhtable\6\dha=6.9446058915066e-310
+kine\dhtable\6\dha=0
-kine\dhtable\6\dhalpha=6.9446058913493e-310
+kine\dhtable\6\dhalpha=0
-kine\dhtable\6\dhd=6.94460589137854e-310
+kine\dhtable\6\dhd=0
-kine\dhtable\6\dhtheta=6.94460589137854e-310
+kine\dhtable\6\dhtheta=0
 kine\dhtable\size=6
 kine\maxreach=@Variant(\0\0\0\x87?\x99\x99\x9a)
 kine\prefix=0

shared/roboglue_shared.cpp

@@ -2,10 +2,17 @@
 
 RoboGlue_SHARED::RoboGlue_SHARED(QSettings *set){
     settings=set;
-
+    //FIXME: inserire la lettura di quesste informazioni da un file
     robotVariables.insert(std::pair<std::string, int>("RDY",1));
+    comSettings.subMap["commands"] = "roboglue_com/ros2com/commands";
+    comSettings.subMap["coordinates"] = "roboglue_com/ros2com/coordinates";
+    comSettings.subMap["state"] = "roboglue_com/ros2com/state";
+    comSettings.subMap["interface"] = "roboglue_com/ros2com/interface";
 
-
+    comSettings.pubMap["commands"] = "roboglue_com/com2ros/commands";
+    comSettings.pubMap["coordinates"] = "roboglue_com/com2ros/coordinates";
+    comSettings.pubMap["state"] = "roboglue_com/com2ros/state";
+    comSettings.pubMap["interface"] = "roboglue_com/com2ros/interface";
 }
 ////////////////////////////////////////////////////////////////
 /////////////////////// RESTORE FUNCTIONS /////////////////////

shared/roboglue_shared.h

@@ -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 {
+        std::map<std::string, std::string> subMap;
-              {"roboglue_com/ros2com/commands"},
+        std::map<std::string, std::string> pubMap;
-              {"roboglue_com/ros2com/coordinates"},
+        //FIXME: riempire la mappa dinamicamente da un file, eliminare l'assegnazione manuale
-              {"roboglue_com/ros2com/state"}
-        };
-        std::vector<std::string> pubList {
-            {"roboglue_com/com2ros/commands"},
-            {"roboglue_com/com2ros/coordinates"},
-            {"roboglue_com/com2ros/state"}
-        };
         enum {
             COMM, COORD, STAT
         } tList;