implemented auto publish of battery voltage in both robot modes (ESP32)

ADIS_ESP32_Eclipse/main/challenge_app.c

@@ -56,7 +56,9 @@ static void appTask(void *pv){
 
 			// endless loop
 			for(;;){
-				vTaskDelay(pdMS_TO_TICKS(10000));
+				vTaskDelay(pdMS_TO_TICKS(5000));
+				// auto publish battery voltage
+				Challenge_Com_PublishBatteryVoltage();
 			}
 		}
 

ADIS_ESP32_Eclipse/main/challenge_com.c

@@ -31,8 +31,9 @@ const char MQTT_TOPIC_ROBO_NAV_STOP[] = "/mobile/cmd/nav/stop/";
 const char MQTT_TOPIC_ROBO_CALIB_CMD[] = "/mobile/cmd/line_sens/calib";
 const char MQTT_TOPIC_ROBO_GET_CALIB[] = "/mobile/cmd/line_sens/get_calib";
 const char MQTT_TOPIC_ROBO_CALIB_STATE[] = "/mobile/state/line_sens/calib_data";
-const char MQTT_TOPIC_ROBO_REQ_BATTERY[] = "/mobile/cmd/battery/get_volt";
+const char MQTT_TOPIC_REQ_BATTERY[] = "/both/cmd/battery/get_volt";
 const char MQTT_TOPIC_ROBO_RESP_BATTERY[] = "/mobile/state/battery/voltage";
+const char MQTT_TOPIC_STAT_RESP_BATTERY[] = "/stationary/state/battery/voltage";
 
 void Challenge_Com_ParseMqtt(void *handler_args, esp_event_base_t base, int32_t event_id, void *event_data){
 	/* INFO
@@ -197,23 +198,14 @@ void Challenge_Com_ParseMqtt(void *handler_args, esp_event_base_t base, int32_t
 
         	MyMqtt_Publish(MQTT_TOPIC_ROBO_CALIB_STATE, (char*)payload);
     	}
-    	// CMD: ROBO_REQ_BATTERY
-    	else if(McuUtility_strcmp(topic, MQTT_TOPIC_ROBO_REQ_BATTERY)==0){
-        	handled = true;
-        	unsigned char voltage[20] = "";
-        	Robo_Wrapper_GetBatteryVoltage(voltage);
-        	ESP_LOGI(TAG, "Read battery voltage=%s", voltage);
-
-        	// build json and respond
-        	unsigned char payload[100] = "{\"voltage\": \"";
-        	McuUtility_strcat(payload, sizeof(payload), voltage);
-        	McuUtility_strcat(payload, sizeof(payload), (unsigned char*)"\"}");
-
-        	MyMqtt_Publish(MQTT_TOPIC_ROBO_RESP_BATTERY, (char*)payload);
-    	}
     }
 
     /* both robot modes allowed commands */
+	// CMD: REQ_BATTERY
+	if(McuUtility_strcmp(topic, MQTT_TOPIC_REQ_BATTERY)==0){
+		handled = true;
+		Challenge_Com_PublishBatteryVoltage();
+	}
 
 
 
@@ -223,15 +215,40 @@ void Challenge_Com_ParseMqtt(void *handler_args, esp_event_base_t base, int32_t
     return;
 }
 
+void Challenge_Com_PublishBatteryVoltage(void){
+	unsigned char voltage[20] = "";
+	Robo_Wrapper_GetBatteryVoltage(voltage);
+	ESP_LOGI(TAG, "Read battery voltage=%s", voltage);
+
+	// build json and respond
+	unsigned char payload[100] = "{\"voltage\": \"";
+	McuUtility_strcat(payload, sizeof(payload), voltage);
+	McuUtility_strcat(payload, sizeof(payload), (unsigned char*)"\"}");
+
+	if(Challenge_App_GetRobotMode() == true){
+		MyMqtt_Publish(MQTT_TOPIC_STAT_RESP_BATTERY, (char*)payload);
+	}
+	else{
+		MyMqtt_Publish(MQTT_TOPIC_ROBO_RESP_BATTERY, (char*)payload);
+	}
+}
+
 void Challenge_Com_SubscribeToAllTopics(void){
-	MyMqtt_Subscribe(MQTT_TOPIC_SF_INITALL);
-	MyMqtt_Subscribe(MQTT_TOPIC_SF_DISPLAY);
-	MyMqtt_Subscribe(MQTT_TOPIC_SF_CONFIG_SETUP);
-	MyMqtt_Subscribe(MQTT_TOPIC_ROBO_MODE);
-	MyMqtt_Subscribe(MQTT_TOPIC_ROBO_NAV_MOVE);
-	MyMqtt_Subscribe(MQTT_TOPIC_ROBO_NAV_TURN);
-	MyMqtt_Subscribe(MQTT_TOPIC_ROBO_NAV_STOP);
-	MyMqtt_Subscribe(MQTT_TOPIC_ROBO_CALIB_CMD);
-	MyMqtt_Subscribe(MQTT_TOPIC_ROBO_GET_CALIB);
-	MyMqtt_Subscribe(MQTT_TOPIC_ROBO_REQ_BATTERY);
+    /* subscribe to stationary robot interested topics */
+	if(Challenge_App_GetRobotMode() == true){
+		MyMqtt_Subscribe(MQTT_TOPIC_SF_INITALL);
+		MyMqtt_Subscribe(MQTT_TOPIC_SF_DISPLAY);
+		MyMqtt_Subscribe(MQTT_TOPIC_SF_CONFIG_SETUP);
+	}
+	/* subscribe to mobile robot interested topics */
+	else{
+		MyMqtt_Subscribe(MQTT_TOPIC_ROBO_MODE);
+		MyMqtt_Subscribe(MQTT_TOPIC_ROBO_NAV_MOVE);
+		MyMqtt_Subscribe(MQTT_TOPIC_ROBO_NAV_TURN);
+		MyMqtt_Subscribe(MQTT_TOPIC_ROBO_NAV_STOP);
+		MyMqtt_Subscribe(MQTT_TOPIC_ROBO_CALIB_CMD);
+		MyMqtt_Subscribe(MQTT_TOPIC_ROBO_GET_CALIB);
+	}
+	/* subscribe to topics relevant for both modes */
+	MyMqtt_Subscribe(MQTT_TOPIC_REQ_BATTERY);
 }

ADIS_ESP32_Eclipse/main/challenge_com.h

@@ -16,4 +16,7 @@ void Challenge_Com_ParseMqtt(void *handler_args, esp_event_base_t base, int32_t
 /*! \brief subscribes to all relevant topics */
 void Challenge_Com_SubscribeToAllTopics(void);
 
+/*! \brief publish the battery voltage */
+void Challenge_Com_PublishBatteryVoltage(void);
+
 #endif /* MAIN_CHALLENGE_COM_H_ */