rover_mqttcommand.hpp

Go to the documentation of this file.

/*
 * Copyright (c) 2017 FH Dortmund and others
 * All rights reserved. This program and the accompanying materials
 * are made available under the terms of the Eclipse Public License v1.0
 * which accompanies this distribution, and is available at
 * http://www.eclipse.org/legal/epl-v10.html
 *
 * Description:
 *    Rover MQTTCommand API - Class for MQTT communication related to rover tasks such as sensor publishing and control data retrieval.
 *    Header file
 *
 * Contributors:
 *    M.Ozcelikors <mozcelikors@gmail.com>, created RoverMQTTCommand C++API 10.12.2017
 *
 */

#ifndef ROVERAPI_ROVER_MQTTCOMMAND_HPP_
#define ROVERAPI_ROVER_MQTTCOMMAND_HPP_

#include <roverapi/rover_pahomqtt.hpp>

/* Defines regarding topic naming */
// Topic naming for control such as the following:
//  rover/<roverID 1-99>/RoverDriving/control
//  e.g rover/1/RoverDriving/Control
// Topic naming for sensor data and core data is : telemetry
#define topicPrefix "rover/"
#define drivingSubTopic "/RoverDriving/control"
#define telemetrySubTopic "/telemetry"
#define telemetryTopic "telemetry"

/* Buffer size for received message for MQTT */
#define MQTT_BUFSIZE 256

namespace rover
{
    typedef struct
    {
        float infrared[4];
        float ultrasonic_front;
        float ultrasonic_rear;
        float hmc5883l_bearing;
        int8_t gy521_gyro_x;
        int8_t gy521_gyro_y;
        int8_t gy521_gyro_z;
        float gy521_angle_x;
        float gy521_angle_y;
        float gy521_angle_z;
        int8_t gy521_accel_x;
        int8_t gy521_accel_y;
        int8_t gy521_accel_z;
                float core[4];
    } RoverSensorData_t;

    enum RoverDrivingMode_t {NONE_ = 0, MANUAL_ = 0, ACC_, PARKING_LEFT_, PARKING_RIGHT_, BOOTH_MODE_1_, BOOTH_MODE_2_};

    typedef struct
    {
        RoverDrivingMode_t driving_mode;
        int speed;
        char command;
        int data_ready;
    } RoverControlData_t;

    class RoverMQTTCommand: private RoverPahoMQTT
    {
        private:
                        int ROVER_ID;

        public:
                        RoverMQTTCommand (char * host, const int port, const int roverID, const int qos, char * username, char * password, char * clientID);

                        RoverMQTTCommand (char * host, const int port, const int roverID, const int qos, char * clientID);

            ~RoverMQTTCommand ();

            int publishToTelemetryTopic (RoverSensorData_t sensor_data);

            int publishToTelemetryTopicNonRedirected (RoverSensorData_t sensor_data);

            int subscribeToDrivingTopic (void);

            int unsubscribeToDrivingTopic (void);

            int connectRover (void);

            int getRoverConnected(void);

            RoverControlData_t readFromDrivingTopic (void);

            char * getTopicName (void);

            int getRoverID (void);

             void setRoverID (const int rover_id);

    };
}

#endif /* ROVERAPI_ROVER_MQTTCOMMAND_HPP_ */