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added duplicate console to mqtt

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This commit is contained in:
kleiax
2022-02-14 19:31:24 +01:00
parent 6cacea2df3
commit 3a2e51713b
19 changed files with 262 additions and 166 deletions
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debugMqtt/hw1/main.py
+1 -2
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@@ -9,7 +9,6 @@ def on_connect(client, userdata, flags, rc):
client.subscribe("Rover/Info")
client.subscribe("Rover/Warn")
client.subscribe("Rover/Error")
client.subscribe("Rover/Info")
def on_message(client, userdata, msg):
@@ -21,6 +20,6 @@ if __name__ == '__main__':
client.on_connect = on_connect
client.on_message = on_message
client.connect("dz-pi.hw1.fb4.fh", 1883, 60)
client.connect("172.22.64.216", 1883, 60)
client.loop_forever()
debugMqtt/hw1/main_debug.py
+1 -1
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@@ -18,6 +18,6 @@ if __name__ == '__main__':
client.on_connect = on_connect
client.on_message = on_message
client.connect("dz-pi.hw1.fb4.fh", 1883, 60)
client.connect("172.22.64.216", 1883, 60)
client.loop_forever()
include/moveControl.h
+1
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@@ -12,6 +12,7 @@
#define MOVE_CONTROL_H
#include <cstdint>
#include <iostream>
#include <PID_v1.h>
#include <Arduino.h>
include/network.h
+1
View File
@@ -12,6 +12,7 @@
#ifndef NETWORK_H
#define NETWORK_H
#include <iostream>
#include <WiFi.h>
#include <PubSubClient.h>
include/networkConfig.h
+1 -3
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@@ -1,4 +1,4 @@
#define RHEDE
#define HW1
//Network config RHEDE
#ifdef RHEDE
@@ -15,8 +15,6 @@
#define NTP_SERVER "2.de.pool.ntp.org"
#endif //RHEDE
//Network config HW1
#ifdef HW1
#define WLAN_SSID "hw1_gast"
lib/MQTT/debugMqtt.cpp
+19 -2
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@@ -20,6 +20,11 @@ char DebugMqtt::topic[MQTT_BUFFER_SIZE];
DebugMqtt::DebugMqtt(const char* name) {
this->name = name;
this->buf = new char[this->bufSitze];
}
DebugMqtt::~DebugMqtt() {
delete this->buf;
}
void DebugMqtt::sendMsg(Loglevel loglevel, String topic, String msg) {
@@ -32,7 +37,9 @@ void DebugMqtt::sendMsg(Loglevel loglevel, String msg) {
}
void DebugMqtt::sendData(Loglevel loglevel, String topic, String data) {
if (!DebugMqtt::isInit) {return;}
if (!DebugMqtt::isInit) {
return;
}
if (loglevel <= DebugMqtt::loglevel && loglevel > Loglevel::none) {
snprintf (DebugMqtt::topic, MQTT_BUFFER_SIZE, "%s%s", DebugMqtt::enum_to_string(loglevel).c_str(), topic.c_str());
@@ -52,9 +59,19 @@ void DebugMqtt::writeToInflux(String measurement_name, String field_set, float m
this->sendData(Loglevel::influx, DebugMqtt::msg);
}
void DebugMqtt::addCharacter(char c) {
this->buf[this->bufPos] = c;
this->bufPos++;
if (c == '\n' || this->bufPos >= this->bufSitze - 1) {
this->buf[this->bufPos - 1] = '\0';
this->sendMsg(Loglevel::info, buf);
this->bufPos = 0;
}
}
void DebugMqtt::init(PubSubClient *client, Loglevel max_loglevel) {
DebugMqtt::client = client;
DebugMqtt::loglevel = loglevel;
DebugMqtt::loglevel = max_loglevel;
DebugMqtt::isInit = true;
}
lib/MQTT/debugMqtt.h
+9 -1
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@@ -11,6 +11,7 @@
#ifndef DEBUG_MQTT_H
#define DEBUG_MQTT_H
#include <iostream>
#include <PubSubClient.h>
/**
@@ -71,6 +72,8 @@ class DebugMqtt {
*/
DebugMqtt(const char* name);
~DebugMqtt();
/**
* @brief Send a Message via MQTT
*
@@ -120,6 +123,8 @@ class DebugMqtt {
*/
void writeToInflux(String measurement_name, String field_set, float measurement, uint64_t nanos);
void addCharacter(char c);
/**
* @brief Initalize debugMQTT for all instances
*
@@ -133,7 +138,7 @@ class DebugMqtt {
* @param client PubSubClient
* @param max_loglevel Max loglevel to send.
*/
static void init(PubSubClient *client, Loglevel max_loglevel);
static void init(PubSubClient* client, Loglevel max_loglevel);
/**
* @brief Change loglevel
@@ -146,6 +151,9 @@ class DebugMqtt {
private:
const char* name;
char* buf;
uint8_t bufPos = 0;
uint8_t bufSitze = 100;
static String enum_to_string(Loglevel loglevel);
lib/MQTT/outputBufMqtt.cpp
+30
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@@ -0,0 +1,30 @@
/**
* @file outputStreamMqtt.cpp
* @author Alexander Klein (alex@kleiax.de)
* @brief
* @version 0.1
* @date 2022-02-14
*
* @copyright Copyright (c) 2022
*
*/
#include "outputBufMqtt.h"
OutputBufMqtt::OutputBufMqtt(DebugMqtt* debugMqtt)
: std::streambuf() {
this->debugMqtt = debugMqtt;
}
std::streambuf::int_type OutputBufMqtt::overflow(std::streambuf::int_type c) {
if (c != EOF) {
// c = std::toupper(static_cast<char>(c), getloc());
this->debugMqtt->addCharacter((char) c);
Serial.print((char) c);
// if (putchar(c) == EOF) {
// return EOF;
// }
}
return c;
}
lib/MQTT/outputBufMqtt.h
+33
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@@ -0,0 +1,33 @@
/**
* @file outputStreamMqtt.h
* @author Alexander Klein (alex@kleiax.de)
* @brief
* @version 0.1
* @date 2022-02-14
*
* @copyright Copyright (c) 2022
*
*/
#ifndef OUTPUT_STREAM_MQTT_H
#define OUTPUT_STREAM_MQTT_H
#include <iostream>
#include <streambuf>
#include <locale>
#include <cstdio>
#include "debugMqtt.h"
class OutputBufMqtt : public std::streambuf {
public:
OutputBufMqtt(DebugMqtt* debugMqtt);
protected:
virtual std::streambuf::int_type overflow(std::streambuf::int_type c);
public:
DebugMqtt* debugMqtt;
};
#endif // OUTPUT_STREAM_MQTT_H
lib/Menu/menu.cpp
+1 -2
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@@ -34,7 +34,7 @@ void Menu::printMenu() {
lcd->print((**iter).getName());
} else
lcd->print((*this->entrys.begin())->getName());
} else {
}
std::cout << std::endl;
for (std::list<MenuAction*>::iterator iter = this->entrys.begin(); iter != this->entrys.end(); iter++) {
if (this->selectedEntry == iter)
@@ -42,7 +42,6 @@ void Menu::printMenu() {
else
std::cout << (**iter).getName() << std::endl;
}
}
this->inSubmenu = false;
}
src/SpecialMenus/Akku/menuAkku.cpp
+1 -2
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@@ -55,9 +55,8 @@ void MenuAkku::printMenu() {
lcd->printf("Controller: %s", buf);
lcd->setCursor(0, 1);
lcd->printf("Main: %u%%", mainBattery);
} else {
std::cout << "Controller: " << buf << "Main: " << mainBattery << "%" << std::endl;
}
std::cout << "Controller: " << buf << " Main: " << (int) mainBattery << "%" << std::endl;
}
void MenuAkku::update() {
src/SpecialMenus/GPS/menuGPS.cpp
+6 -10
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@@ -76,13 +76,12 @@ void MenuGPS::printPage(uint8_t page) const {
lcd->setCursor(0, 1);
lcd->printf("or no GPS signal");
}
} else {
}
if (gps->satellites.isValid() && gps->satellites.value() > 2)
std::cout << "Sats: " << gps->satellites.value()
<< "HDOP: " << gps->hdop.hdop() << std::endl;
else
std::cout << "Date isn't valid or no GPS signal" << std::endl;
}
std::cout << "Data isn't valid or no GPS signal" << std::endl;
break;
case 1:
@@ -98,13 +97,12 @@ void MenuGPS::printPage(uint8_t page) const {
lcd->setCursor(0, 1);
lcd->printf("or NO GPS signal");
}
} else {
}
if (gps->satellites.isValid() && gps->satellites.value() > 2)
std::cout << "Lat: " << gps->location.lat()
<< "Lng: " << gps->location.lng() << std::endl;
else
std::cout << "Date isn't valid or NO GPS signal" << std::endl;
}
std::cout << "Data isn't valid or NO GPS signal" << std::endl;
break;
case 2:
@@ -114,9 +112,8 @@ void MenuGPS::printPage(uint8_t page) const {
lcd->printf("Chars processed");
lcd->setCursor(0, 1);
lcd->printf("-> %u", gps->charsProcessed());
} else {
std::cout << "Chars processed: " << gps->charsProcessed() << std::endl;
}
std::cout << "Chars processed: " << gps->charsProcessed() << std::endl;
break;
default:
@@ -124,9 +121,8 @@ void MenuGPS::printPage(uint8_t page) const {
lcd->clear();
lcd->setCursor(0, 0);
lcd->printf("Page: %u", page);
} else {
printf("Page: %u", page);
}
std::cout << "Page: " << (int) page << std::endl;
break;
}
}
src/SpecialMenus/PID/menuPidSettings.cpp
+1 -2
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@@ -85,10 +85,9 @@ void MenuPidSettings::printMenu() {
lcd->print(" P I D ");
lcd->setCursor(0, 1);
lcd->print(buf);
} else {
}
std::cout << " P I D " << std::endl;
std::cout << buf << std::endl;
}
}
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp
+1 -1
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@@ -69,7 +69,7 @@ void MenuAutopilot::printMenu() {
this->lcd->setCursor(0, 1);
this->lcd->print(buf2);
} else
}
std::cout << buf1 << " " << buf2 << std::endl;
}
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp
+2 -2
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@@ -21,8 +21,8 @@ void MenuCaptureRoute::printMenu() {
this->lcd->setCursor(0, 1);
this->lcd->print("du fahren. :-)");
} else
std::cout << "Capture du\n fahren. :-)" << std::endl;
}
std::cout << "Points: " << this->routeInfo.totalPoints << " du fahren. :-)" << std::endl;
}
void MenuCaptureRoute::update() {
src/SpecialMenus/driveModi/ManualDrive/menuManualDrive.cpp
+1 -1
View File
@@ -19,6 +19,6 @@ void MenuManualControl::printMenu() {
this->lcd->setCursor(0, 1);
this->lcd->print("du fahren. :-)");
} else
}
std::cout << "Jetzt kannst du\n fahren. :-)" << std::endl;
}
src/main.cpp
+116 -99
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@@ -9,6 +9,8 @@
#include "driveModi/driveManager.h"
#include "moveControl.h"
#include "network.h"
#include "outputBufMqtt.h"
#include "debugMqtt.h"
#include "menu.h"
#include "menuAction.h"
@@ -23,23 +25,38 @@ MoveControl moveController;
DriveManager driveManager(&moveController);
Menu* main_m;
LiquidCrystal_I2C* lcd;
OutputBufMqtt* bufMqtt;
DebugMqtt* debugMqtt;
// TODO: Platzhalter, muss irgendwann weg
void dummy(){std::cout << "Dummy in Action" <<std::endl;}
void callbackControllerAction();
void callbackControllerConnect();
void controllerPrintBattery();
void i2cScanner();
void restart();
void callbackControllerAction(void);
void callbackControllerConnect(void);
void i2cScanner(void);
void restart(void);
void makeMenu(void);
void setup() {
Serial.begin(115200);
Network::setIps();
Network::connectWifi();
Network::setupMQTT();
Network::checkMQTT();
DebugMqtt::init(Network::getMqtttClient(), Loglevel::debug);
std::cout << "Activate additional output via MQTT..." << std::endl;
debugMqtt = new DebugMqtt("Console");
bufMqtt = new OutputBufMqtt(debugMqtt);
std::cout.rdbuf(bufMqtt);
std::cout << "Welcome to Kleiax-Rover" << std::endl;
std::cout << "All actions from the main programm run on Core -> " << xPortGetCoreID() << std::endl;
Ps3.attach(callbackControllerAction);
Ps3.attachOnConnect(callbackControllerConnect);
std::cout << "\nReady to connect a PS3 Controller... \n";
Ps3.begin(CONTROLLER_MAC);
Wire.begin(21, 19);
// i2cScanner();
lcd = new LiquidCrystal_I2C(0x3F,16,2);
@@ -49,14 +66,97 @@ void setup() {
lcd->setCursor(0, 1);
lcd->print("Press PS-Button");
Network::setIps();
Network::connectWifi();
Network::setupMQTT();
makeMenu();
}
Ps3.attach(callbackControllerAction);
Ps3.attachOnConnect(callbackControllerConnect);
std::cout << "\nReady to connect a PS3 Controller... \n";
Ps3.begin(CONTROLLER_MAC);
void loop() {
Network::checkMQTT();
driveManager.loop();
}
void callbackControllerAction() {
auto isDelayReached = [](bool reset = false) -> bool {
static uint32_t lastMillis = 0;
if (reset)
lastMillis = millis();
static const uint16_t delay = 300;
bool res = false;
if (millis() - lastMillis > delay)
res = true;
return res;
};
// Menu controlling
if (isDelayReached()) {
if (Ps3.data.button.up)
main_m->up();
else if (Ps3.data.button.down)
main_m->down();
else if (Ps3.data.button.left)
main_m->left();
else if (Ps3.data.button.right)
main_m->right();
else if (Ps3.data.button.circle)
main_m->yes();
else if (Ps3.data.button.cross)
main_m->no();
else if (Ps3.data.button.select)
debugMqtt->sendMsg(Loglevel::info, "Here we are: callbackController..");
isDelayReached(true);
}
// This have to be stand here because it have to be run on the other Core
main_m->update();
}
void callbackControllerConnect() {
std::cout << "Controller connected to ESP32" << std::endl;
std::cout << "All actions from the Controller run on Core -> " << xPortGetCoreID() << std::endl;
// TODO: Display is not functional without this seconde init, first init is in setup()
lcd->init();
main_m->printMenu();
}
void i2cScanner() {
std::cout << "\nI2C Scanner" << std::endl;
byte error, address;
int nDevices;
Serial.println("Scanning...");
nDevices = 0;
for(address = 1; address < 127; address++ ) {
Wire.beginTransmission(address);
error = Wire.endTransmission();
if (error == 0) {
Serial.print("I2C device found at address 0x");
if (address<16)
Serial.print("0");
Serial.println(address,HEX);
nDevices++;
}
else if (error==4) {
Serial.print("Unknow error at address 0x");
if (address<16)
Serial.print("0");
Serial.println(address,HEX);
}
}
if (nDevices == 0)
Serial.println("No I2C devices found\n");
else
Serial.println("done\n");
}
void restart() {
ESP.restart();
}
void makeMenu() {
auto dummy = []() {
std::cout << "Dummy in Action" <<std::endl;
};
// Create Menu
main_m = new Menu();
@@ -112,87 +212,4 @@ void setup() {
MenuAction* pidr_e = new MenuAction("Right", pidr_m);
pid_m->addEntry(pidl_e);
pid_m->addEntry(pidr_e);
}
void loop() {
Network::checkMQTT();
driveManager.loop();
}
bool isDelayReached(bool reset = false) {
static uint32_t lastMillis = 0;
if (reset)
lastMillis = millis();
static const uint16_t delay = 300;
bool res = false;
if (millis() - lastMillis > delay)
res = true;
return res;
}
void callbackControllerAction() {
// Menu controlling
if (isDelayReached()) {
if (Ps3.data.button.up)
main_m->up();
else if (Ps3.data.button.down)
main_m->down();
else if (Ps3.data.button.left)
main_m->left();
else if (Ps3.data.button.right)
main_m->right();
else if (Ps3.data.button.circle)
main_m->yes();
else if (Ps3.data.button.cross)
main_m->no();
isDelayReached(true);
}
// This have to be stand here because it have to be run on the other Core
main_m->update();
}
void callbackControllerConnect() {
std::cout << "Controller connected to ESP32" << std::endl;
std::cout << "All actions from the Controller run on Core -> " << xPortGetCoreID() << std::endl;
// TODO: Display is not functional without this seconde init, first init is in setup()
lcd->init();
main_m->printMenu();
}
void i2cScanner() {
std::cout << "\nI2C Scanner" << std::endl;
byte error, address;
int nDevices;
Serial.println("Scanning...");
nDevices = 0;
for(address = 1; address < 127; address++ ) {
Wire.beginTransmission(address);
error = Wire.endTransmission();
if (error == 0) {
Serial.print("I2C device found at address 0x");
if (address<16)
Serial.print("0");
Serial.println(address,HEX);
nDevices++;
}
else if (error==4) {
Serial.print("Unknow error at address 0x");
if (address<16)
Serial.print("0");
Serial.println(address,HEX);
}
}
if (nDevices == 0)
Serial.println("No I2C devices found\n");
else
Serial.println("done\n");
}
void restart() {
ESP.restart();
}
src/moveControl.cpp
+3 -1
View File
@@ -47,7 +47,9 @@ void MoveControl::loop() {
|| right_motor_time > 50
|| left_speed_time > 50
|| right_speed_time > 50) {
Serial.printf("left M: %d, right M %d, left S %d, right S %d in moveControl::loop\n", left_motor_time, right_motor_time, left_speed_time, right_speed_time);
char buf[128];
sprintf(buf, "left M: %d, right M %d, left S %d, right S %d in moveControl::loop\n", left_motor_time, right_motor_time, left_speed_time, right_speed_time);
std::cout << buf;
}
static uint64_t last_millis = 0;
src/network.cpp
+12 -15
View File
@@ -27,12 +27,11 @@ void Network::setIps() {
}
void Network::setupMQTT() {
mqtt_client = new PubSubClient(wifi_client);
mqtt_client->setServer(mqtt_server, MQTT_PORT);
// mqtt_client.setServer(MQTT_SERVER, MQTT_PORT);
Network::mqtt_client = new PubSubClient(wifi_client);
// mqtt_client->setServer(mqtt_server, MQTT_PORT);
Network::mqtt_client->setServer(MQTT_SERVER, MQTT_PORT);
Network::mqtt_client->setSocketTimeout(1);
mqtt_client->setSocketTimeout(1);
connectMQTT();
Network::connectMQTT();
}
bool Network::connectMQTT() {
@@ -55,24 +54,22 @@ bool Network::connectMQTT() {
}
void Network::connectWifi() {
// Configures static IP address
if (!WiFi.config(local_IP, gateway, subnet)) {
Serial.println("STA Failed to configure");
}
if (!WiFi.config(local_IP, gateway, subnet))
std::cout << "STA Failed to configure" << std::endl;
// Connect to Wi-Fi network with SSID and password
Serial.print("Connecting to ");
Serial.println(WLAN_SSID);
std::cout << "Connecting to " << WLAN_SSID << std::endl;
WiFi.begin(WLAN_SSID, WLAN_PASSWORD);
while (WiFi.status() != WL_CONNECTED) {
delay(500);
Serial.print(".");
std::cout << "." << std::flush;
}
// Print local IP address and start web server
Serial.println("");
Serial.println("WiFi connected.");
Serial.println("IP address: ");
Serial.println(WiFi.localIP());
std::cout << std::endl;
std::cout << "WiFi connected." << std::endl;
std::cout << "IP address: " << std::endl;
std::cout << WLAN_IP << std::endl;
}
void Network::checkMQTT() {