some stuff

.gitignore

@@ -3,3 +3,5 @@
 .vscode/c_cpp_properties.json
 .vscode/launch.json
 .vscode/ipch
+
+workspace.code-workspace

debugMqtt/rhede/main.py

@@ -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

@@ -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

@@ -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
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
-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
+<diagram program="umlet" version="14.3.0">
-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
+  <zoom_level>10</zoom_level>
-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;-
+  <element>
-[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                                   
+    <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;-
+valign=top</panel_attributes>
-[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
+    <additional_attributes/>
-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
+  </element>
-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
+  <element>
-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
+    <id>Relation</id>
-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
+    <coordinates>
-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>
+      <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

@@ -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

@@ -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();