Fix/mqtt endpoint

.github/workflows/docker/mqtt_endpoint/docker-compose.yaml

@@ -1,6 +1,21 @@
 version: "3.8"
 services:
-  mqtt_endpoint:
+  # mqtt_endpoint:
+  #   image: wamvtan/mqtt_endpoint:latest
+  #   network_mode: host
+  #   restart: always
+  udp_forward_right_motor:
     image: wamvtan/mqtt_endpoint:latest
     network_mode: host
     restart: always
+    command: ["uv", "run", "udp_forward", "192.168.0.101", "8888", "--listen_port", "9001"]
+  udp_forward_left_motor:
+    image: wamvtan/mqtt_endpoint:latest
+    network_mode: host
+    restart: always
+    command: ["uv", "run", "udp_forward", "192.168.0.102", "8888", "--listen_port", "9002"]
+  udp_forward_estop:
+    image: wamvtan/mqtt_endpoint:latest
+    network_mode: host
+    restart: always
+    command: ["uv", "run", "udp_forward", "192.168.0.103", "4000", "--listen_port", "9003"]

.github/workflows/docker/mqtt_endpoint/mqtt_endpoint/mqtt_endpoint/generate.sh

@@ -1,4 +1,2 @@
-protoc -I=$PWD/proto --python_out=. $PWD/proto/hardware_communication_msgs__HeartBeat.proto
 protoc -I=$PWD/proto --python_out=. $PWD/proto/hardware_communication_msgs__MotorControl.proto
 protoc -I=$PWD/proto --python_out=. $PWD/proto/ground_station_heartbeat.proto
-

.github/workflows/docker/mqtt_endpoint/mqtt_endpoint/mqtt_endpoint/ground_station.py

@@ -8,7 +8,8 @@
 from mqtt_endpoint.ground_station_heartbeat_pb2 import (
     ground_station_heartbeat,
 )
-import joy_controller as joy
+from mqtt_endpoint.joy_controller import JoyController
+from google.protobuf.json_format import MessageToJson
 
 
 def on_connect(client, userdata, flags, rc):
@@ -22,57 +23,73 @@ def main():
     left_motor_control_topic = "miniv/left_motor"
     left_motor_command = hardware_communication_msgs__MotorControl()
     left_motor_command.motor_enable = True
-    
+
     right_motor_control_topic = "miniv/right_motor"
     right_motor_command = hardware_communication_msgs__MotorControl()
     right_motor_command.motor_enable = True
 
     groundstation_heartbeat_topic = "ground_station/heartbeat"
     heartbeat_command = ground_station_heartbeat()
 
+    joy_controller = JoyController()
+
     broker = "54.212.20.15"
     port = 1883
     client = mqtt.Client()
 
-    keep_alive_timeout = 1
-
+    # keep_alive_timeout = 1
 
     try:
-        client.connect(broker, port, keep_alive_timeout)
+        client.connect(broker, port)
         client.on_connect = on_connect
         client.loop_start()
         time.sleep(1)
 
-        sequence = 0
+        sequence = 1
         while True:
             if not client.is_connected():
                 break
 
-            left_motor_command.motor_speed = joy.get_stick_left_y()
-            right_motor_command.motor_speed = joy.get_stick_right_y()
-            heartbeat_command.sequence = sequence = sequence + 1 
-            heartbeat_command.mode = joy.get_mode()
-
+            joy_controller.update()
+            left_motor_command.motor_speed = joy_controller.stick_ly
+            right_motor_command.motor_speed = joy_controller.stick_ry
+            heartbeat_command.sequence = sequence
+            sequence = sequence + 1
+            heartbeat_command.mode = joy_controller.mode
+            right_motor_command.mode = joy_controller.mode
+            left_motor_command.mode = joy_controller.mode
+            # if heartbeat_command.mode == 0:
+            #     print("mode : AUTO")
+            # elif heartbeat_command.mode == 1:
+            #     print("mode : MANUAL")
+            # elif heartbeat_command.mode == 2:
+            #     print("mode : ESTOP")
             client.publish(
-                left_motor_control_topic, left_motor_command.SerializeToString()
+                left_motor_control_topic, left_motor_command.SerializeToString(), qos=0
             )
             client.publish(
-                right_motor_control_topic, right_motor_command.SerializeToString()
+                right_motor_control_topic,
+                right_motor_command.SerializeToString(),
+                qos=0,
+            )
+            client.publish(
+                groundstation_heartbeat_topic,
+                heartbeat_command.SerializeToString(),
+                qos=0,
             )
-            # TODO Fill heartbeat topic from joystick button input.
-            # if the user press Emergency stop button, fill "EMERGENCY" instead of "AUTO"
-            client.publish(groundstation_heartbeat_topic, "AUTO")
             time.sleep(0.05)
     except KeyboardInterrupt:
         print("Exiting...")
     except Exception as e:
         print(e)
     finally:
         left_motor_command.motor_speed = 0
-        client.publish(left_motor_control_topic, left_motor_command.SerializeToString())
+        client.publish(
+            left_motor_control_topic, left_motor_command.SerializeToString(), qos=0
+        )
         right_motor_command.motor_speed = 0
         client.publish(
-            right_motor_control_topic, right_motor_command.SerializeToString()
+            right_motor_control_topic, right_motor_command.SerializeToString(), qos=0
         )
         client.loop_stop()
         client.disconnect()