added robo commands and wrapper

ADIS_ESP32_Eclipse/main/CMakeLists.txt

@@ -21,6 +21,7 @@ idf_component_register(
         "splitflap_wrapper.c"
         "challenge_com.c"
         "challenge_nvs.c"
+        "robo_wrapper.c"
         
         INCLUDE_DIRS 
         "."

ADIS_ESP32_Eclipse/main/challenge_com.c

@@ -23,6 +23,9 @@
 const char MQTT_TOPIC_SF_DISPLAY[] = "/splitFlap/cmd/display/";
 const char MQTT_TOPIC_SF_INITALL[] = "/splitFlap/cmd/init/";
 const char MQTT_TOPIC_SF_CONFIG_SETUP[] = "/splitFlap/config/setup/";
+const char MQTT_TOPIC_ROBO_MODE[] = "/mobile/cmd/mode/";
+const char MQTT_TOPIC_ROBO_NAV_TURN[] = "/mobile/cmd/nav/turn";
+const char MQTT_TOPIC_ROBO_NAV_STOP[] = "/mobile/cmd/nav/stop";
 
 void Challenge_Com_ParseMqtt(void *handler_args, esp_event_base_t base, int32_t event_id, void *event_data){
 	/* INFO
@@ -99,7 +102,18 @@ void Challenge_Com_ParseMqtt(void *handler_args, esp_event_base_t base, int32_t
     }
     /* mobile robot allowed commands */
     else{
+    	// CMD: ROBO MOBILE MODE
+    	if(McuUtility_strcmp(topic, MQTT_TOPIC_ROBO_MODE)==0){
 
+    	}
+    	// CMD: ROBO MOBILE NAV TURN
+    	else if(McuUtility_strcmp(topic, MQTT_TOPIC_ROBO_NAV_TURN)==0){
+
+    	}
+    	// CMD: ROBO MOBILE NAV STOP
+    	else if(McuUtility_strcmp(topic, MQTT_TOPIC_ROBO_NAV_STOP)==0){
+
+    	}
     }
 
     /* both robot modes allowed commands */

ADIS_ESP32_Eclipse/main/robo_wrapper.c

@@ -0,0 +1,28 @@
+/*
+ * robo_wrapper.c
+ *
+ *  Created on: 09.12.2022
+ *      Author: jonas
+ */
+
+/* Sets the robot to automatic / manual mode */
+bool Robo_Wrapper_SetMode(bool automatic){
+
+}
+
+/* Lets the robot turn to a specific angle and then proceed straight with its previous movement */
+bool Robo_Wrapper_Nav_Turn(int16_t angle){
+
+}
+
+
+
+/* Sets the movementspeed of the robot */
+bool Robo_Wrapper_Nav_Move(int16_t speed){
+
+}
+
+/* Stops the movement of the robot */
+bool Robo_Wrapper_Nav_Stop(void){
+
+}

ADIS_ESP32_Eclipse/main/robo_wrapper.h

@@ -0,0 +1,26 @@
+/*
+ * robo_wrapper.h
+ *
+ *  Created on: 09.12.2022
+ *      Author: jonas
+ */
+
+#ifndef MAIN_ROBO_WRAPPER_H_
+#define MAIN_ROBO_WRAPPER_H_
+
+#include <stdint.h>
+#include <stdbool.h>
+
+/* Sets the robot to automatic / manual mode */
+bool Robo_Wrapper_SetMode(bool automatic);
+
+/* Lets the robot turn to a specific angle and then proceed straight with its previous movement */
+bool Robo_Wrapper_Nav_Turn(int16_t angle);
+
+/* Sets the movementspeed of the robot */
+bool Robo_Wrapper_Nav_Move(int16_t speed);
+
+/* Stops the movement of the robot */
+bool Robo_Wrapper_Nav_Stop(void);
+
+#endif /* MAIN_ROBO_WRAPPER_H_ */