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some stuff

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kleiax
2021-12-07 23:35:15 +01:00
parent 56d644145b
commit 54e84e4b5d
6 changed files with 399 additions and 18 deletions
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.gitignore
+2
View File
@@ -3,3 +3,5 @@
.vscode/c_cpp_properties.json
.vscode/launch.json
.vscode/ipch
workspace.code-workspace
debugMqtt/rhede/main.py
+2 -1
View File
@@ -21,6 +21,7 @@ if __name__ == '__main__':
client.on_connect = on_connect
client.on_message = on_message
client.connect("192.168.1.2", 1883, 60)
client.username_pw_set("kleiax", password="p?{$_~5%hBM7wrcFkr55KWr#")
client.connect("192.168.1.7", 1883, 60)
client.loop_forever()
debugMqtt/rhede/main_debug.py
+2 -1
View File
@@ -18,6 +18,7 @@ if __name__ == '__main__':
client.on_connect = on_connect
client.on_message = on_message
client.connect("192.168.1.2", 1883, 60)
client.username_pw_set("kleiax", password="p?{$_~5%hBM7wrcFkr55KWr#")
client.connect("192.168.1.7", 1883, 60)
client.loop_forever()
doc/statesAutopilot.uxf
+389 -12
View File
@@ -1,13 +1,390 @@
<diagram program="umletino" version="14.4.0-SNAPSHOT"><zoom_level>10</zoom_level><element><id>UMLSpecialState</id><coordinates><x>40</x><y>20</y><w>20</w><h>20</h></coordinates><panel_attributes>type=initial</panel_attributes><additional_attributes></additional_attributes></element><element><id>Relation</id><coordinates><x>40</x><y>20</y><w>130</w><h>30</h></coordinates><panel_attributes>lt=&lt;-</panel_attributes><additional_attributes>110;10;10;10</additional_attributes></element><element><id>UMLState</id><coordinates><x>150</x><y>10</y><w>100</w><h>40</h></coordinates><panel_attributes>search next point
bg=green</panel_attributes><additional_attributes></additional_attributes></element><element><id>UMLSpecialState</id><coordinates><x>180</x><y>90</y><w>40</w><h>40</h></coordinates><panel_attributes>bg=green
type=decision</panel_attributes><additional_attributes></additional_attributes></element><element><id>Relation</id><coordinates><x>190</x><y>40</y><w>30</w><h>70</h></coordinates><panel_attributes>lt=&lt;-</panel_attributes><additional_attributes>10;50;10;10</additional_attributes></element><element><id>UMLState</id><coordinates><x>150</x><y>180</y><w>100</w><h>40</h></coordinates><panel_attributes>detect alignment
bg=green</panel_attributes><additional_attributes></additional_attributes></element><element><id>Relation</id><coordinates><x>190</x><y>120</y><w>120</w><h>80</h></coordinates><panel_attributes>lt=&lt;-
[distance &lt;= 5m]</panel_attributes><additional_attributes>10;60;10;10</additional_attributes></element><element><id>UMLObject</id><coordinates><x>20</x><y>0</y><w>840</w><h>590</h></coordinates><panel_attributes>Autopilot
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<diagram program="umlet" version="14.3.0">
<zoom_level>10</zoom_level>
<element>
<id>UMLSpecialState</id>
<coordinates>
<x>40</x>
<y>20</y>
<w>20</w>
<h>20</h>
</coordinates>
<panel_attributes>type=initial</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>Relation</id>
<coordinates>
<x>40</x>
<y>20</y>
<w>130</w>
<h>30</h>
</coordinates>
<panel_attributes>lt=&lt;-</panel_attributes>
<additional_attributes>110.0;10.0;10.0;10.0</additional_attributes>
</element>
<element>
<id>UMLState</id>
<coordinates>
<x>150</x>
<y>10</y>
<w>100</w>
<h>40</h>
</coordinates>
<panel_attributes>search next point
bg=green</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>UMLSpecialState</id>
<coordinates>
<x>180</x>
<y>90</y>
<w>40</w>
<h>40</h>
</coordinates>
<panel_attributes>bg=green
type=decision</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>Relation</id>
<coordinates>
<x>190</x>
<y>40</y>
<w>30</w>
<h>70</h>
</coordinates>
<panel_attributes>lt=&lt;-</panel_attributes>
<additional_attributes>10.0;50.0;10.0;10.0</additional_attributes>
</element>
<element>
<id>UMLState</id>
<coordinates>
<x>150</x>
<y>180</y>
<w>100</w>
<h>40</h>
</coordinates>
<panel_attributes>detect alignment
bg=green</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>Relation</id>
<coordinates>
<x>190</x>
<y>120</y>
<w>130</w>
<h>80</h>
</coordinates>
<panel_attributes>lt=&lt;-
[distance &lt;= 5m]</panel_attributes>
<additional_attributes>10.0;60.0;10.0;10.0</additional_attributes>
</element>
<element>
<id>UMLObject</id>
<coordinates>
<x>20</x>
<y>0</y>
<w>840</w>
<h>590</h>
</coordinates>
<panel_attributes>Autopilot
valign=top</panel_attributes><additional_attributes></additional_attributes></element><element><id>Relation</id><coordinates><x>210</x><y>90</y><w>140</w><h>40</h></coordinates><panel_attributes>lt=&lt;-
[distance &gt; 5m]</panel_attributes><additional_attributes>120;20;10;20</additional_attributes></element><element><id>UMLState</id><coordinates><x>330</x><y>90</y><w>100</w><h>40</h></coordinates><panel_attributes>Error
bg=red</panel_attributes><additional_attributes></additional_attributes></element><element><id>UMLState</id><coordinates><x>150</x><y>270</y><w>100</w><h>40</h></coordinates><panel_attributes>correct alignment
bg=green</panel_attributes><additional_attributes></additional_attributes></element><element><id>UMLState</id><coordinates><x>150</x><y>360</y><w>100</w><h>40</h></coordinates><panel_attributes>drive to point
bg=green</panel_attributes><additional_attributes></additional_attributes></element><element><id>Relation</id><coordinates><x>190</x><y>210</y><w>30</w><h>80</h></coordinates><panel_attributes>lt=&lt;-</panel_attributes><additional_attributes>10;60;10;10</additional_attributes></element><element><id>Relation</id><coordinates><x>190</x><y>300</y><w>30</w><h>80</h></coordinates><panel_attributes>lt=&lt;-</panel_attributes><additional_attributes>10;60;10;10</additional_attributes></element><element><id>Relation</id><coordinates><x>90</x><y>280</y><w>80</w><h>120</h></coordinates><panel_attributes>lt=&lt;-</panel_attributes><additional_attributes>60;10;10;10;10;100;60;100</additional_attributes></element><element><id>UMLState</id><coordinates><x>440</x><y>10</y><w>410</w><h>300</h></coordinates><panel_attributes>detect alignment
valign=top</panel_attributes><additional_attributes></additional_attributes></element><element><id>UMLSpecialState</id><coordinates><x>460</x><y>60</y><w>20</w><h>20</h></coordinates><panel_attributes>type=final</panel_attributes><additional_attributes></additional_attributes></element><element><id>Relation</id><coordinates><x>470</x><y>60</y><w>90</w><h>30</h></coordinates><panel_attributes>lt=-&gt;</panel_attributes><additional_attributes>10;10;70;10</additional_attributes></element><element><id>UMLState</id><coordinates><x>540</x><y>50</y><w>110</w><h>40</h></coordinates><panel_attributes>drive 1m forward</panel_attributes><additional_attributes></additional_attributes></element><element><id>UMLState</id><coordinates><x>540</x><y>140</y><w>110</w><h>40</h></coordinates><panel_attributes>drive 2m backward</panel_attributes><additional_attributes></additional_attributes></element><element><id>UMLState</id><coordinates><x>540</x><y>230</y><w>110</w><h>40</h></coordinates><panel_attributes>drive 1m forward</panel_attributes><additional_attributes></additional_attributes></element><element><id>UMLState</id><coordinates><x>700</x><y>230</y><w>120</w><h>40</h></coordinates><panel_attributes>calculate straight line</panel_attributes><additional_attributes></additional_attributes></element><element><id>Relation</id><coordinates><x>580</x><y>80</y><w>30</w><h>80</h></coordinates><panel_attributes>lt=&lt;-</panel_attributes><additional_attributes>10;60;10;10</additional_attributes></element><element><id>Relation</id><coordinates><x>580</x><y>170</y><w>30</w><h>80</h></coordinates><panel_attributes>lt=&lt;-</panel_attributes><additional_attributes>10;60;10;10</additional_attributes></element><element><id>Relation</id><coordinates><x>620</x><y>580</y><w>80</w><h>30</h></coordinates><panel_attributes>lt=&lt;-</panel_attributes><additional_attributes>60;10;10;10</additional_attributes></element><element><id>UMLSpecialState</id><coordinates><x>750</x><y>150</y><w>20</w><h>20</h></coordinates><panel_attributes>type=termination</panel_attributes><additional_attributes></additional_attributes></element><element><id>Relation</id><coordinates><x>750</x><y>160</y><w>30</w><h>90</h></coordinates><panel_attributes>lt=&lt;-</panel_attributes><additional_attributes>10;10;10;70</additional_attributes></element><element><id>UMLState</id><coordinates><x>440</x><y>320</y><w>410</w><h>260</h></coordinates><panel_attributes>correct alignment
valign=top</panel_attributes><additional_attributes></additional_attributes></element><element><id>UMLState</id><coordinates><x>540</x><y>370</y><w>190</w><h>40</h></coordinates><panel_attributes>calculate relativ target position</panel_attributes><additional_attributes></additional_attributes></element><element><id>Relation</id><coordinates><x>470</x><y>380</y><w>90</w><h>30</h></coordinates><panel_attributes>lt=-&gt;</panel_attributes><additional_attributes>10;10;70;10</additional_attributes></element><element><id>UMLSpecialState</id><coordinates><x>460</x><y>380</y><w>20</w><h>20</h></coordinates><panel_attributes>type=final</panel_attributes><additional_attributes></additional_attributes></element><element><id>UMLState</id><coordinates><x>580</x><y>460</y><w>120</w><h>40</h></coordinates><panel_attributes>rotate x degree</panel_attributes><additional_attributes></additional_attributes></element><element><id>Relation</id><coordinates><x>630</x><y>400</y><w>30</w><h>80</h></coordinates><panel_attributes>lt=&lt;-</panel_attributes><additional_attributes>10;60;10;10</additional_attributes></element><element><id>Relation</id><coordinates><x>630</x><y>490</y><w>30</w><h>80</h></coordinates><panel_attributes>lt=&lt;-</panel_attributes><additional_attributes>10;60;10;10</additional_attributes></element><element><id>UMLSpecialState</id><coordinates><x>630</x><y>550</y><w>20</w><h>20</h></coordinates><panel_attributes>type=termination</panel_attributes><additional_attributes></additional_attributes></element></diagram>
valign=top</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>Relation</id>
<coordinates>
<x>210</x>
<y>90</y>
<w>140</w>
<h>40</h>
</coordinates>
<panel_attributes>lt=&lt;-
[distance &gt; 5m]</panel_attributes>
<additional_attributes>120.0;20.0;10.0;20.0</additional_attributes>
</element>
<element>
<id>UMLState</id>
<coordinates>
<x>330</x>
<y>90</y>
<w>100</w>
<h>40</h>
</coordinates>
<panel_attributes>Error
bg=red</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>UMLState</id>
<coordinates>
<x>150</x>
<y>270</y>
<w>100</w>
<h>40</h>
</coordinates>
<panel_attributes>correct alignment
bg=green</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>UMLState</id>
<coordinates>
<x>150</x>
<y>360</y>
<w>100</w>
<h>40</h>
</coordinates>
<panel_attributes>drive to point
bg=green</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>Relation</id>
<coordinates>
<x>190</x>
<y>210</y>
<w>30</w>
<h>80</h>
</coordinates>
<panel_attributes>lt=&lt;-</panel_attributes>
<additional_attributes>10.0;60.0;10.0;10.0</additional_attributes>
</element>
<element>
<id>Relation</id>
<coordinates>
<x>190</x>
<y>300</y>
<w>30</w>
<h>80</h>
</coordinates>
<panel_attributes>lt=&lt;-</panel_attributes>
<additional_attributes>10.0;60.0;10.0;10.0</additional_attributes>
</element>
<element>
<id>Relation</id>
<coordinates>
<x>90</x>
<y>280</y>
<w>80</w>
<h>120</h>
</coordinates>
<panel_attributes>lt=&lt;-</panel_attributes>
<additional_attributes>60.0;10.0;10.0;10.0;10.0;100.0;60.0;100.0</additional_attributes>
</element>
<element>
<id>UMLState</id>
<coordinates>
<x>440</x>
<y>10</y>
<w>410</w>
<h>300</h>
</coordinates>
<panel_attributes>detect alignment
valign=top</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>UMLSpecialState</id>
<coordinates>
<x>460</x>
<y>60</y>
<w>20</w>
<h>20</h>
</coordinates>
<panel_attributes>type=final</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>Relation</id>
<coordinates>
<x>470</x>
<y>60</y>
<w>90</w>
<h>30</h>
</coordinates>
<panel_attributes>lt=-&gt;</panel_attributes>
<additional_attributes>10.0;10.0;70.0;10.0</additional_attributes>
</element>
<element>
<id>UMLState</id>
<coordinates>
<x>540</x>
<y>50</y>
<w>110</w>
<h>40</h>
</coordinates>
<panel_attributes>drive 1m forward</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>UMLState</id>
<coordinates>
<x>540</x>
<y>140</y>
<w>110</w>
<h>40</h>
</coordinates>
<panel_attributes>drive 2m backward</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>UMLState</id>
<coordinates>
<x>540</x>
<y>230</y>
<w>110</w>
<h>40</h>
</coordinates>
<panel_attributes>drive 1m forward</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>UMLState</id>
<coordinates>
<x>700</x>
<y>230</y>
<w>120</w>
<h>40</h>
</coordinates>
<panel_attributes>calculate straight line</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>Relation</id>
<coordinates>
<x>580</x>
<y>80</y>
<w>30</w>
<h>80</h>
</coordinates>
<panel_attributes>lt=&lt;-</panel_attributes>
<additional_attributes>10.0;60.0;10.0;10.0</additional_attributes>
</element>
<element>
<id>Relation</id>
<coordinates>
<x>580</x>
<y>170</y>
<w>30</w>
<h>80</h>
</coordinates>
<panel_attributes>lt=&lt;-</panel_attributes>
<additional_attributes>10.0;60.0;10.0;10.0</additional_attributes>
</element>
<element>
<id>UMLSpecialState</id>
<coordinates>
<x>750</x>
<y>150</y>
<w>20</w>
<h>20</h>
</coordinates>
<panel_attributes>type=termination</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>Relation</id>
<coordinates>
<x>750</x>
<y>160</y>
<w>30</w>
<h>90</h>
</coordinates>
<panel_attributes>lt=&lt;-</panel_attributes>
<additional_attributes>10.0;10.0;10.0;70.0</additional_attributes>
</element>
<element>
<id>UMLState</id>
<coordinates>
<x>440</x>
<y>320</y>
<w>410</w>
<h>260</h>
</coordinates>
<panel_attributes>correct alignment
valign=top</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>UMLState</id>
<coordinates>
<x>540</x>
<y>370</y>
<w>190</w>
<h>40</h>
</coordinates>
<panel_attributes>calculate relativ target position</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>Relation</id>
<coordinates>
<x>470</x>
<y>380</y>
<w>90</w>
<h>30</h>
</coordinates>
<panel_attributes>lt=-&gt;</panel_attributes>
<additional_attributes>10.0;10.0;70.0;10.0</additional_attributes>
</element>
<element>
<id>UMLSpecialState</id>
<coordinates>
<x>460</x>
<y>380</y>
<w>20</w>
<h>20</h>
</coordinates>
<panel_attributes>type=final</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>UMLState</id>
<coordinates>
<x>580</x>
<y>460</y>
<w>120</w>
<h>40</h>
</coordinates>
<panel_attributes>rotate x degree</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>Relation</id>
<coordinates>
<x>630</x>
<y>400</y>
<w>30</w>
<h>80</h>
</coordinates>
<panel_attributes>lt=&lt;-</panel_attributes>
<additional_attributes>10.0;60.0;10.0;10.0</additional_attributes>
</element>
<element>
<id>Relation</id>
<coordinates>
<x>630</x>
<y>490</y>
<w>30</w>
<h>80</h>
</coordinates>
<panel_attributes>lt=&lt;-</panel_attributes>
<additional_attributes>10.0;60.0;10.0;10.0</additional_attributes>
</element>
<element>
<id>UMLSpecialState</id>
<coordinates>
<x>630</x>
<y>550</y>
<w>20</w>
<h>20</h>
</coordinates>
<panel_attributes>type=termination</panel_attributes>
<additional_attributes/>
</element>
</diagram>
src/config.h
+1 -1
View File
@@ -71,7 +71,7 @@
// PS3 Controller
// ESP32 MAC BL 24:62:AB:F2:4B:3A
#define HW1
#define RHEDE
//Network config RHEDE
#ifdef RHEDE
src/main.cpp
+3 -3
View File
@@ -39,7 +39,7 @@ ConsolControl consolControl;
IPAddress local_IP(WLAN_IP);
IPAddress gateway(WLAN_GATEWAY);
IPAddress subnet(WLAN_SUBNETMASK);
// IPAddress mqtt_server(MQTT_SERVER);
IPAddress mqtt_server(MQTT_SERVER);
WiFiClient wifi_client;
PubSubClient mqtt_client(wifi_client);
@@ -73,8 +73,8 @@ void setup() {
Serial.println("IP address: ");
Serial.println(WiFi.localIP());
// mqtt_client.setServer(mqtt_server, MQTT_PORT);
mqtt_client.setServer(MQTT_SERVER, MQTT_PORT);
mqtt_client.setServer(mqtt_server, MQTT_PORT);
// mqtt_client.setServer(MQTT_SERVER, MQTT_PORT);
mqtt_client.setSocketTimeout(1);
reconnectMqtt();