From 199d3727efafa8bcb638f06e7f30755dc1c3e485 Mon Sep 17 00:00:00 2001
From: Clemens Elflein <clemens1@familie-elflein.de>
Date: Sat, 8 Jul 2023 23:31:07 +0200
Subject: [PATCH] feat: external mqtt support for smart home

---
 src/lib/xbot_monitoring                       |  2 +-
 src/open_mower/config/mower_config.sh.example | 13 +++++++++++++
 src/open_mower/launch/open_mower.launch       |  5 +++++
 src/open_mower/launch/sim_mower_logic.launch  |  6 ++++++
 4 files changed, 25 insertions(+), 1 deletion(-)

diff --git a/src/lib/xbot_monitoring b/src/lib/xbot_monitoring
index 0e8474cb..08e5535c 160000
--- a/src/lib/xbot_monitoring
+++ b/src/lib/xbot_monitoring
@@ -1 +1 @@
-Subproject commit 0e8474cbe6c4797526cdd0d2148e3fa21e96d0cd
+Subproject commit 08e5535cec3f4d37efbe9acaff2fbe146cb1802a
diff --git a/src/open_mower/config/mower_config.sh.example b/src/open_mower/config/mower_config.sh.example
index 86e9c07e..947c317b 100644
--- a/src/open_mower/config/mower_config.sh.example
+++ b/src/open_mower/config/mower_config.sh.example
@@ -119,6 +119,19 @@ export OM_AUTOMATIC_MODE=0
 
 export OM_OUTLINE_OFFSET=0.05
 
+################################
+##    External MQTT Broker    ##
+################################
+# Set thes in order to publish status data to your external MQTT broker.
+# This is for use with smart home.
+
+# export OM_MQTT_ENABLE=False
+# export OM_MQTT_HOSTNAME="your_mqtt_broker"
+# export OM_MQTT_PORT="1883"
+# export OM_MQTT_USER=""
+# export OM_MQTT_PASSWORD=""
+
+
 # source the default values for the hardware platform.
 # you only need this line on non-docker installs. in the docker, it will be done automatically.
 # source $(rospack find open_mower)/params/hardware_specific/$OM_MOWER/default_environment.sh
diff --git a/src/open_mower/launch/open_mower.launch b/src/open_mower/launch/open_mower.launch
index b66fe1a8..2edfb66e 100644
--- a/src/open_mower/launch/open_mower.launch
+++ b/src/open_mower/launch/open_mower.launch
@@ -32,6 +32,11 @@
     </node>
 
     <node pkg="xbot_monitoring" type="xbot_monitoring" name="xbot_monitoring" output="screen" respawn="true" respawn_delay="10">
+        <param name="external_mqtt_enable" value="$(optenv OM_MQTT_ENABLE False)" />
+        <param name="external_mqtt_hostname" value="$(optenv OM_MQTT_HOSTNAME)" />
+        <param name="external_mqtt_port" value="$(optenv OM_MQTT_PORT)" />
+        <param name="external_mqtt_username" value="$(optenv OM_MQTT_USER)" />
+        <param name="external_mqtt_password" value="$(optenv OM_MQTT_PASSWORD)" />
         <remap from="/xbot_monitoring/remote_cmd_vel" to="/joy_vel"/>
     </node>
 
diff --git a/src/open_mower/launch/sim_mower_logic.launch b/src/open_mower/launch/sim_mower_logic.launch
index b2e5a151..262c6993 100644
--- a/src/open_mower/launch/sim_mower_logic.launch
+++ b/src/open_mower/launch/sim_mower_logic.launch
@@ -23,8 +23,14 @@
 
 
     <node pkg="xbot_monitoring" type="xbot_monitoring" name="xbot_monitoring" output="screen" respawn="true" respawn_delay="10">
+        <param name="external_mqtt_enable" value="$(optenv OM_MQTT_ENABLE False)" />
+        <param name="external_mqtt_hostname" value="$(optenv OM_MQTT_HOSTNAME)" />
+        <param name="external_mqtt_port" value="$(optenv OM_MQTT_PORT)" />
+        <param name="external_mqtt_username" value="$(optenv OM_MQTT_USER)" />
+        <param name="external_mqtt_password" value="$(optenv OM_MQTT_PASSWORD)" />
         <remap from="/xbot_monitoring/remote_cmd_vel" to="/joy_vel"/>
     </node>
+
     <node pkg="xbot_remote" type="xbot_remote" name="xbot_remote" output="screen" respawn="true" respawn_delay="10">
         <remap from="/xbot_remote/cmd_vel" to="/joy_vel"/>
     </node>