feat(lifecycle & hw): added mqtt connection and installation setup

doc/installation/installation.md

@@ -41,3 +41,54 @@ You can configure specific database settings in the `docker-compose.yaml` in the
 ros2 launch g2_2025_grade_calculator_pkg grade_calculator.launch.xml
 ```
 To change parameters when using the launch file it will need to be edited in the `src/g2_2025_grade_calculator_pkg/launch` folder. All parameters are already added to this document and thus only the values will need to be changed
+
+
+
+### installation and setup for mqtt
+
+```bash
+sudo apt install mosquitto
+
+sudo apt-get install libpaho-mqtt-dev
+
+
+git clone https://github.com/eclipse/paho.mqtt.cpp
+cd paho.mqtt.cpp
+git co v1.5.4
+git submodule init
+git submodule update
+
+cmake -Bbuild -H. -DPAHO_WITH_MQTT_C=ON -DPAHO_BUILD_EXAMPLES=ON
+sudo cmake --build build/ --target install
+```
+
+## for launching lifecycle mqtt node
+
+first:
+```bash
+ros2 run g2_2025_imu_reader_pkg g2_2025_lifecycle_node --ros-args -p comm_t:='mqtt'
+```
+
+in other terminal:
+
+```bash
+mosquitto -p 1884
+```
+
+and in other terminal to inialize the subsecriber:
+```bash
+
+ros2 lifecycle set /lifecycle_manager configure
+ros2 lifecycle set /lifecycle_manager activate
+
+```
+
+an finally publish a mesg to the sub in other terminal:
+
+```bash
+mosquitto_pub -h localhost -p 1884 -t "esp32/imu" -m "nirvana"
+```
+close conn via:
+```bash
+ros2 lifecycle set /lifecycle_manager deactivate
+```

src/g2_2025_imu_reader_pkg/CMakeLists.txt

@@ -53,6 +53,13 @@ target_include_directories(g2_2025_lifecycle_node PRIVATE
 )
 ament_target_dependencies(g2_2025_lifecycle_node rclcpp rclcpp_lifecycle std_msgs sensor_msgs)
 
+target_link_libraries(g2_2025_lifecycle_node
+  paho-mqttpp3
+  paho-mqtt3a
+)
+
+
+
 install(
     TARGETS
         imu_database_writer
@@ -60,6 +67,8 @@ install(
     DESTINATION lib/${PROJECT_NAME}
 )
 
+set_target_properties(g2_2025_lifecycle_node PROPERTIES INSTALL_RPATH "/usr/local/lib")
+
 if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
 

src/g2_2025_imu_reader_pkg/src/g2_2025_lifecycle_node/nodes/hardware_interface.cpp

@@ -45,4 +45,61 @@ void HardwareInterface::close_device() {
 
 }
 
+class callback : public virtual mqtt::callback {
+public:
+    void message_arrived(mqtt::const_message_ptr msg) override {
+        // Use a named logger since this class isn't a rclcpp::Node
+        RCLCPP_INFO(rclcpp::get_logger("hardware_interface"),
+                    "Message received: %s", msg->get_payload_str().c_str());
+    }
+};
+
+
+void HardwareInterface::mqtt_listener() {
+    // Create persistent client and callback so they outlive this function.
+    if (!mqtt_client) {
+        mqtt_client = std::make_shared<mqtt::async_client>(SERVER_ADDRESS, CLIENT_ID);
+    }
+    if (!mqtt_cb) {
+        mqtt_cb = std::make_shared<callback>();
+    }
+
+    // attach callback (expects a reference)
+    mqtt_client->set_callback(*mqtt_cb);
+
+    mqtt::connect_options connOpts;
+    connOpts.set_keep_alive_interval(20);
+    connOpts.set_clean_session(true);
+
+    try {
+        mqtt_client->connect(connOpts)->wait();
+        RCLCPP_INFO(this->get_logger(), "Connected to broker");
+
+        mqtt_client->subscribe(TOPIC, 1)->wait();
+        RCLCPP_INFO(this->get_logger(), "Subscribed to topic: %s", TOPIC.c_str());
+        // Note: do not disconnect here; keep client alive until close_mqtt_conn()
+    } catch (const mqtt::exception& exc) {
+        RCLCPP_ERROR(this->get_logger(), "Error: %s", exc.what());
+    }
+}
+
+void HardwareInterface::close_mqtt_conn() {
+    try {
+        if (mqtt_client) {
+            if (mqtt_client->is_connected()) {
+                mqtt_client->disconnect()->wait();
+                RCLCPP_INFO(this->get_logger(), "Disconnected MQTT client");
+            }
+            // reset to allow destruction
+            mqtt_client.reset();
+        }
+        if (mqtt_cb) {
+            mqtt_cb.reset();
+        }
+    } catch (const mqtt::exception& exc) {
+        RCLCPP_ERROR(this->get_logger(), "Error while disconnecting MQTT: %s", exc.what());
+    }
+}
+
+
 } // namespace assignments::two::g2_2025_lifecycle_node

src/g2_2025_imu_reader_pkg/src/g2_2025_lifecycle_node/nodes/hardware_interface.hpp

@@ -19,6 +19,11 @@
 #include <unistd.h>
 #include <sys/ioctl.h>
 #include "config/serialib.h"
+#include <iostream>
+
+
+#include <mqtt/client.h>
+#include <mqtt/async_client.h>
 
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_lifecycle/lifecycle_node.hpp"
@@ -34,8 +39,18 @@ public:
     bool open_device(const std::string& device_path, int baud_rate);
     bool is_device_open();
     void close_device();
+    void mqtt_listener();
+    void close_mqtt_conn();
 private:
     serialib serial;
+    // MQTT defaults. Use static inline so they can be initialized in-class.
+    static inline const std::string SERVER_ADDRESS = "tcp://localhost:1884";
+    static inline const std::string CLIENT_ID = "cpp_mqtt_client";
+    static inline const std::string TOPIC = "esp32/imu";
+
+    std::shared_ptr<mqtt::async_client> mqtt_client;
+    std::shared_ptr<mqtt::callback> mqtt_cb;
+
 
 };
 }  // namespace assignments::two::g2_2025_lifecycle_node

src/g2_2025_imu_reader_pkg/src/g2_2025_lifecycle_node/nodes/lifecycle_manager.cpp

@@ -13,7 +13,7 @@ LifecycleManager::LifecycleManager() : rclcpp_lifecycle::LifecycleNode("lifecycl
 
     device_path_ = this->declare_parameter<std::string>("device_path", "/dev/ttyUSB0");
     baudrate_ = this->declare_parameter<int>("baudrate", 115200);
-    communication_type_ = this->declare_parameter<std::string>("communication_type", "serial"); // placeholder default serial or param mqtt
+    communication_type_ = this->declare_parameter<std::string>("comm_t", "serial"); // placeholder default serial or param mqtt
 
     //  hardware interface instance
     hw_interface = std::make_shared<HardwareInterface>();
@@ -39,12 +39,21 @@ void LifecycleManager::publish_imu_data(const std::string& data) { // placeholde
 rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
 LifecycleManager::on_configure(const rclcpp_lifecycle::State&) {
 
+
     RCLCPP_INFO(this->get_logger(), "configuring lifecycle...");
 
+    if (communication_type_ == "mqtt") {
+        // RCLCPP_INFO(this->get_logger(), "Setting up MQTT communication...");
+        // hw_interface->mqtt_listener();
+
+    } else {
+        RCLCPP_INFO(this->get_logger(), "Using serial communication.");
+
         if (!hw_interface->open_device(device_path_, baudrate_)) {
             RCLCPP_ERROR(this->get_logger(), "Failed to open hardware device during configuration.");
             return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::FAILURE;
         }
+    }
 
     return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
 }
@@ -53,10 +62,24 @@ rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
 LifecycleManager::on_activate(const rclcpp_lifecycle::State&) {
 
     RCLCPP_INFO(this->get_logger(), "activating lifecycle...");
+
+    if (communication_type_ == "mqtt") {
+        RCLCPP_INFO(this->get_logger(), "Setting up MQTT communication...");
+        hw_interface->mqtt_listener();
+        return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
+
+    } else {
+        RCLCPP_INFO(this->get_logger(), "Using serial communication.");
         if (!hw_interface->is_device_open()) {
             RCLCPP_ERROR(this->get_logger(), "Hardware device is not open during activation.");
             return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::FAILURE;
         }
+        if (!hw_interface->open_device(device_path_, baudrate_)) {
+
+            RCLCPP_ERROR(this->get_logger(), "Failed to open hardware device during configuration.");
+            return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::FAILURE;
+        }
+    }
 
     RCLCPP_INFO(this->get_logger(), "Hardware device is open, starting data read...");
 
@@ -71,7 +94,13 @@ LifecycleManager::on_deactivate(const rclcpp_lifecycle::State&) {
 
     RCLCPP_INFO(this->get_logger(), "deactivating lifecycle...");
 
+    if (communication_type_ == "mqtt")
+    {
+        hw_interface->close_mqtt_conn();
+    } else {
         hw_interface->close_device();
+    }
+
 
     return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
 }