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Upgrade to ArduinoJSON v7.2.0 #181

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merged 2 commits into from
Oct 23, 2024
Merged

Upgrade to ArduinoJSON v7.2.0 #181

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3d5af26
Upgrade to ArduinoJSON v7.2.0
BlueAndi Oct 22, 2024
a77dc91
Use JSON const objects continuously.
BlueAndi Oct 22, 2024
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15 changes: 6 additions & 9 deletions lib/ConvoyFollower/src/App.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -85,9 +85,6 @@ const char* App::TOPIC_NAME_BIRTH = "dcs/birth";
/* MQTT topic name for will messages. */
const char* App::TOPIC_NAME_WILL = "dcs/will";

/** Buffer size for JSON serialization of birth / will message */
static const uint32_t JSON_BIRTHMESSAGE_MAX_SIZE = 64U;

/******************************************************************************
* Public Methods
*****************************************************************************/
Expand Down Expand Up @@ -273,14 +270,14 @@ void App::fatalErrorHandler()
bool App::setupMqttClient()
{
/* Setup MQTT Server, Birth and Will messages. */
bool isSuccessful = false;
SettingsHandler& settings = SettingsHandler::getInstance();
StaticJsonDocument<JSON_BIRTHMESSAGE_MAX_SIZE> birthDoc;
String birthMessage;
bool isSuccessful = false;
SettingsHandler& settings = SettingsHandler::getInstance();
JsonDocument jsonBirthDoc;
String birthMessage;

birthDoc["name"] = settings.getRobotName();
jsonBirthDoc["name"] = settings.getRobotName();

if (0U == serializeJson(birthDoc, birthMessage))
if (0U == serializeJson(jsonBirthDoc, birthMessage))
{
/* Non-fatal error. Birth message will be empty. */
LOG_ERROR("Failed to serialize birth message.");
Expand Down
15 changes: 6 additions & 9 deletions lib/ConvoyLeader/src/App.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -85,9 +85,6 @@ const char* App::TOPIC_NAME_BIRTH = "dcs/birth";
/* MQTT topic name for will messages. */
const char* App::TOPIC_NAME_WILL = "dcs/will";

/** Buffer size for JSON serialization of birth / will message */
static const uint32_t JSON_BIRTHMESSAGE_MAX_SIZE = 64U;

/******************************************************************************
* Public Methods
*****************************************************************************/
Expand Down Expand Up @@ -274,14 +271,14 @@ void App::fatalErrorHandler()
bool App::setupMqttClient()
{
/* Setup MQTT Server, Birth and Will messages. */
bool isSuccessful = false;
SettingsHandler& settings = SettingsHandler::getInstance();
StaticJsonDocument<JSON_BIRTHMESSAGE_MAX_SIZE> birthDoc;
String birthMessage;
bool isSuccessful = false;
SettingsHandler& settings = SettingsHandler::getInstance();
JsonDocument jsonBirthDoc;
String birthMessage;

birthDoc["name"] = settings.getRobotName();
jsonBirthDoc["name"] = settings.getRobotName();

if (0U == serializeJson(birthDoc, birthMessage))
if (0U == serializeJson(jsonBirthDoc, birthMessage))
{
/* Non-fatal error. Birth message will be empty. */
LOG_ERROR("Failed to serialize birth message.");
Expand Down
3 changes: 1 addition & 2 deletions lib/MainNative/src/main.cpp
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Expand Up @@ -527,8 +527,7 @@ static int createConfigFile(const PrgArguments& prgArgs)
}
else
{
const size_t JSON_DOC_SIZE = 2048U;
DynamicJsonDocument jsonDoc(JSON_DOC_SIZE);
JsonDocument jsonDoc;

jsonDoc[ConfigurationKeys::ROBOT_NAME] = prgArgs.robotName;
jsonDoc[ConfigurationKeys::WIFI][ConfigurationKeys::SSID] = WIFI_SSID_DEFAULT;
Expand Down
71 changes: 33 additions & 38 deletions lib/PlatoonService/src/V2VCommManager.cpp
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Expand Up @@ -77,12 +77,6 @@ const char* V2VCommManager::TOPIC_NAME_IVS = "ivs";
/* MQTT subtopic name for Platoon Length. */
const char* V2VCommManager::TOPIC_NAME_PLATOON_LENGTH = "length";

/** Buffer size for JSON serialization of heartbeat messages. */
static const uint32_t JSON_HEARTBEAT_MAX_SIZE = 128U;

/** Default size of the JSON Document for parsing. */
static const uint32_t JSON_DOC_DEFAULT_SIZE = 512U;

/******************************************************************************
* Public Methods
*****************************************************************************/
Expand Down Expand Up @@ -302,8 +296,8 @@ bool V2VCommManager::sendIVS(const int32_t ivs) const
V2VEventType type = V2V_EVENT_IVS;

/* Create JSON document. */
StaticJsonDocument<JSON_DOC_DEFAULT_SIZE> jsonPayload;
String payload;
JsonDocument jsonPayload;
String payload;

jsonPayload["ivs"] = ivs;

Expand Down Expand Up @@ -375,29 +369,29 @@ int32_t V2VCommManager::getPlatoonLength() const
void V2VCommManager::eventCallback(const String& payload)
{
/* Deserialize payload. */
StaticJsonDocument<JSON_DOC_DEFAULT_SIZE> jsonPayload;
DeserializationError error = deserializeJson(jsonPayload, payload.c_str());
JsonDocument jsonPayload;
DeserializationError error = deserializeJson(jsonPayload, payload.c_str());

if (DeserializationError::Ok != error)
{
LOG_ERROR("JSON Deserialization Error %d.", error);
}
else
{
JsonVariant jsonEventVehicleId = jsonPayload["id"]; /* Vehicle ID. */
JsonVariant jsonEventType = jsonPayload["type"]; /* Event type. */
JsonVariant jsonEventTimestamp = jsonPayload["timestamp"]; /* Timestamp [ms]. */
JsonVariant jsonEventData = jsonPayload["data"]; /* Event data. */
JsonVariantConst jsonEventVehicleId = jsonPayload["id"]; /* Vehicle ID. */
JsonVariantConst jsonEventType = jsonPayload["type"]; /* Event type. */
JsonVariantConst jsonEventTimestamp = jsonPayload["timestamp"]; /* Timestamp [ms]. */
JsonVariantConst jsonEventData = jsonPayload["data"]; /* Event data. */

if ((false == jsonEventVehicleId.isNull()) && (false == jsonEventType.isNull()) &&
(false == jsonEventTimestamp.isNull()) && (false == jsonEventData.isNull()))
{
bool pushEventToQueue = false;
uint8_t eventVehicleId = jsonEventVehicleId.as<uint8_t>();
V2VEventType eventType = jsonEventType.as<V2VEventType>();
uint32_t eventTimestamp = jsonEventTimestamp.as<uint32_t>();
JsonObject eventDataAsJson = jsonEventData.as<JsonObject>();
void* eventData = nullptr;
bool pushEventToQueue = false;
uint8_t eventVehicleId = jsonEventVehicleId.as<uint8_t>();
V2VEventType eventType = jsonEventType.as<V2VEventType>();
uint32_t eventTimestamp = jsonEventTimestamp.as<uint32_t>();
JsonObjectConst eventDataAsJson = jsonEventData.as<JsonObjectConst>();
void* eventData = nullptr;

switch (eventType)
{
Expand Down Expand Up @@ -446,8 +440,8 @@ void V2VCommManager::eventCallback(const String& payload)
}
else
{
JsonVariant jsonEventDataStatus = eventDataAsJson["status"]; /* Vehicle status. */
JsonVariant jsonEventDataTimestamp = eventDataAsJson["timestamp"]; /* Timestamp [ms]. */
JsonVariantConst jsonEventDataStatus = eventDataAsJson["status"]; /* Vehicle status. */
JsonVariantConst jsonEventDataTimestamp = eventDataAsJson["timestamp"]; /* Timestamp [ms]. */

if ((false == jsonEventDataStatus.isNull()) && (false == jsonEventDataTimestamp.isNull()))
{
Expand All @@ -466,18 +460,19 @@ void V2VCommManager::eventCallback(const String& payload)
case V2V_EVENT_PLATOON_HEARTBEAT:
if (PLATOON_LEADER_ID != m_vehicleId)
{
JsonVariant jsonEventDataTimestamp = eventDataAsJson["timestamp"]; /* Timestamp [ms]. */
JsonVariantConst jsonEventDataTimestamp = eventDataAsJson["timestamp"]; /* Timestamp [ms]. */

if (false == jsonEventDataTimestamp.isNull())
{
/* Timestamp is sent back to acknowledge synchronization. */
uint32_t eventDataTimestamp = jsonEventDataTimestamp.as<uint32_t>();
StaticJsonDocument<JSON_HEARTBEAT_MAX_SIZE> heartbeatDoc;
heartbeatDoc["timestamp"] = eventDataTimestamp;
heartbeatDoc["status"] = m_vehicleStatus;
uint32_t eventDataTimestamp = jsonEventDataTimestamp.as<uint32_t>();
JsonDocument jsonHeartbeatDoc;

jsonHeartbeatDoc["timestamp"] = eventDataTimestamp;
jsonHeartbeatDoc["status"] = m_vehicleStatus;

if (false == publishEvent(m_heartbeatResponseTopic, V2V_EVENT_VEHICLE_HEARTBEAT,
heartbeatDoc.as<JsonObject>()))
jsonHeartbeatDoc.as<JsonObject>()))
{
LOG_ERROR("Failed to publish MQTT message to %s.", m_heartbeatResponseTopic.c_str());
}
Expand All @@ -500,7 +495,7 @@ void V2VCommManager::eventCallback(const String& payload)
}
else
{
JsonVariant jsonEventDataIVS = eventDataAsJson["ivs"]; /* Inter Vehicle Space. */
JsonVariantConst jsonEventDataIVS = eventDataAsJson["ivs"]; /* Inter Vehicle Space. */

if (false == jsonEventDataIVS.isNull())
{
Expand Down Expand Up @@ -729,13 +724,13 @@ bool V2VCommManager::sendPlatoonHeartbeat()
bool isSuccessful = false;

/* Send platoon heartbeat. */
StaticJsonDocument<JSON_HEARTBEAT_MAX_SIZE> heartbeatDoc;
String heartbeatPayload;
uint32_t timestamp = millis();
JsonDocument jsonHeartbeatDoc;
String heartbeatPayload;
uint32_t timestamp = millis();

heartbeatDoc["timestamp"] = timestamp;
jsonHeartbeatDoc["timestamp"] = timestamp;

if (0U == serializeJson(heartbeatDoc, heartbeatPayload))
if (0U == serializeJson(jsonHeartbeatDoc, heartbeatPayload))
{
LOG_ERROR("Failed to serialize heartbeat.");
}
Expand All @@ -762,8 +757,8 @@ bool V2VCommManager::publishEvent(const String& topic, V2VEventType type, const
bool isSuccessful = false;

/* Create JSON document. */
StaticJsonDocument<JSON_DOC_DEFAULT_SIZE> jsonPayload;
String payload;
JsonDocument jsonPayload;
String payload;

jsonPayload["id"] = m_vehicleId;
jsonPayload["type"] = type;
Expand Down Expand Up @@ -844,8 +839,8 @@ bool V2VCommManager::sendPlatoonLength(const int32_t length) const
V2VEventType type = V2V_EVENT_IVS;

/* Create JSON document. */
StaticJsonDocument<JSON_DOC_DEFAULT_SIZE> jsonPayload;
String payload;
JsonDocument jsonPayload;
String payload;

jsonPayload["length"] = length;

Expand Down
56 changes: 24 additions & 32 deletions lib/PlatoonService/src/Waypoint.cpp
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Expand Up @@ -56,18 +56,15 @@
* Local Variables
*****************************************************************************/

/** Default size of the JSON Document for parsing. */
static const uint32_t JSON_DOC_DEFAULT_SIZE = 1024U;

/******************************************************************************
* Public Methods
*****************************************************************************/

Waypoint* Waypoint::deserialize(const String& serializedWaypoint)
{
Waypoint* waypoint = nullptr;
StaticJsonDocument<JSON_DOC_DEFAULT_SIZE> jsonPayload;
DeserializationError error = deserializeJson(jsonPayload, serializedWaypoint.c_str());
Waypoint* waypoint = nullptr;
JsonDocument jsonPayload;
DeserializationError error = deserializeJson(jsonPayload, serializedWaypoint.c_str());

if (DeserializationError::Ok != error)
{
Expand All @@ -82,41 +79,36 @@ Waypoint* Waypoint::deserialize(const String& serializedWaypoint)
return waypoint;
}

Waypoint* Waypoint::fromJsonObject(const JsonObject& jsonWaypoint)
Waypoint* Waypoint::fromJsonObject(const JsonObjectConst& jsonWaypoint)
{
Waypoint* waypoint = nullptr;

if (jsonWaypoint.containsKey("X") && jsonWaypoint.containsKey("Y") && jsonWaypoint.containsKey("Orientation") &&
jsonWaypoint.containsKey("Left") && jsonWaypoint.containsKey("Right") && jsonWaypoint.containsKey("Center"))
Waypoint* waypoint = nullptr;
JsonVariantConst jsonXPos = jsonWaypoint["X"]; /* X position [mm]. */
JsonVariantConst jsonYPos = jsonWaypoint["Y"]; /* Y position [mm]. */
JsonVariantConst jsonOrientation = jsonWaypoint["Orientation"]; /* Orientation [mrad]. */
JsonVariantConst jsonLeft = jsonWaypoint["Left"]; /* Left motor speed [mm/s]. */
JsonVariantConst jsonRight = jsonWaypoint["Right"]; /* Right motor speed [mm/s]. */
JsonVariantConst jsonCenter = jsonWaypoint["Center"]; /* Center speed [mm/s]. */

if ((false == jsonXPos.isNull()) && (false == jsonYPos.isNull()) && (false == jsonOrientation.isNull()) &&
(false == jsonLeft.isNull()) && (false == jsonRight.isNull()) && (false == jsonCenter.isNull()))
{
JsonVariant jsonXPos = jsonWaypoint["X"]; /* X position [mm]. */
JsonVariant jsonYPos = jsonWaypoint["Y"]; /* Y position [mm]. */
JsonVariant jsonOrientation = jsonWaypoint["Orientation"]; /* Orientation [mrad]. */
JsonVariant jsonLeft = jsonWaypoint["Left"]; /* Left motor speed [mm/s]. */
JsonVariant jsonRight = jsonWaypoint["Right"]; /* Right motor speed [mm/s]. */
JsonVariant jsonCenter = jsonWaypoint["Center"]; /* Center speed [mm/s]. */

if ((false == jsonXPos.isNull()) && (false == jsonYPos.isNull()) && (false == jsonOrientation.isNull()) &&
(false == jsonLeft.isNull()) && (false == jsonRight.isNull()) && (false == jsonCenter.isNull()))
{

int32_t xPos = jsonXPos.as<int32_t>();
int32_t yPos = jsonYPos.as<int32_t>();
int32_t orientation = jsonOrientation.as<int32_t>();
int32_t left = jsonLeft.as<int32_t>();
int32_t right = jsonRight.as<int32_t>();
int32_t center = jsonCenter.as<int32_t>();

waypoint = new (std::nothrow) Waypoint(xPos, yPos, orientation, left, right, center);
}

int32_t xPos = jsonXPos.as<int32_t>();
int32_t yPos = jsonYPos.as<int32_t>();
int32_t orientation = jsonOrientation.as<int32_t>();
int32_t left = jsonLeft.as<int32_t>();
int32_t right = jsonRight.as<int32_t>();
int32_t center = jsonCenter.as<int32_t>();

waypoint = new (std::nothrow) Waypoint(xPos, yPos, orientation, left, right, center);
}

return waypoint;
}

void Waypoint::serialize(String& serializedWaypoint) const
{
StaticJsonDocument<JSON_DOC_DEFAULT_SIZE> jsonPayload;
JsonDocument jsonPayload;

jsonPayload["X"] = xPos; /* X position [mm]. */
jsonPayload["Y"] = yPos; /* Y position [mm]. */
Expand Down
2 changes: 1 addition & 1 deletion lib/PlatoonService/src/Waypoint.h
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Original file line number Diff line number Diff line change
Expand Up @@ -114,7 +114,7 @@ struct Waypoint
*
* @return Pointer to a waypoint object. In case of an error, it returns nullptr.
*/
static Waypoint* fromJsonObject(const JsonObject& jsonWaypoint);
static Waypoint* fromJsonObject(const JsonObjectConst& jsonWaypoint);

/**
* Serialize the waypoint.
Expand Down
29 changes: 13 additions & 16 deletions lib/RemoteControl/src/App.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -87,9 +87,6 @@ const char* App::TOPIC_NAME_CMD = "cmd";
/* MQTT topic name for receiving motor speeds. */
const char* App::TOPIC_NAME_MOTOR_SPEEDS = "motorSpeeds";

/** Default size of the JSON Document for parsing. */
static const uint32_t JSON_DOC_DEFAULT_SIZE = 1024U;

/** Buffer size for JSON serialization of birth / will message */
static const uint32_t JSON_BIRTHMESSAGE_MAX_SIZE = 64U;

Expand Down Expand Up @@ -147,12 +144,12 @@ void App::setup()
else
{
/* Setup MQTT Server, Birth and Will messages. */
StaticJsonDocument<JSON_BIRTHMESSAGE_MAX_SIZE> birthDoc;
char birthMsgArray[JSON_BIRTHMESSAGE_MAX_SIZE];
String birthMessage;
JsonDocument jsonBirthDoc;
char birthMsgArray[JSON_BIRTHMESSAGE_MAX_SIZE];
String birthMessage;

birthDoc["name"] = settings.getRobotName().c_str();
(void)serializeJson(birthDoc, birthMsgArray);
jsonBirthDoc["name"] = settings.getRobotName().c_str();
(void)serializeJson(jsonBirthDoc, birthMsgArray);
birthMessage = birthMsgArray;

/* Setup SerialMuxProt Channels */
Expand Down Expand Up @@ -233,7 +230,7 @@ void App::loop()
initialVehicleData.orientation = settings.getInitialHeading();

if (true == m_smpServer.sendData(m_serialMuxProtChannelInitialVehicleData, &initialVehicleData,
sizeof(initialVehicleData)))
sizeof(initialVehicleData)))
{
LOG_DEBUG("Initial vehicle data sent.");
m_initialDataSent = true;
Expand Down Expand Up @@ -275,16 +272,16 @@ void App::fatalErrorHandler()

void App::cmdTopicCallback(const String& payload)
{
StaticJsonDocument<JSON_DOC_DEFAULT_SIZE> jsonPayload;
DeserializationError error = deserializeJson(jsonPayload, payload.c_str());
JsonDocument jsonPayload;
DeserializationError error = deserializeJson(jsonPayload, payload.c_str());

if (error != DeserializationError::Ok)
{
LOG_ERROR("JSON Deserialization Error %d.", error);
}
else
{
JsonVariant command = jsonPayload["CMD_ID"];
JsonVariantConst command = jsonPayload["CMD_ID"];

if (false == command.isNull())
{
Expand Down Expand Up @@ -352,17 +349,17 @@ void App::cmdTopicCallback(const String& payload)

void App::motorSpeedsTopicCallback(const String& payload)
{
StaticJsonDocument<JSON_DOC_DEFAULT_SIZE> jsonPayload;
DeserializationError error = deserializeJson(jsonPayload, payload.c_str());
JsonDocument jsonPayload;
DeserializationError error = deserializeJson(jsonPayload, payload.c_str());

if (error != DeserializationError::Ok)
{
LOG_ERROR("JSON deserialization error %d.", error);
}
else
{
JsonVariant leftSpeed = jsonPayload["LEFT"];
JsonVariant rightSpeed = jsonPayload["RIGHT"];
JsonVariantConst leftSpeed = jsonPayload["LEFT"];
JsonVariantConst rightSpeed = jsonPayload["RIGHT"];

if ((false == leftSpeed.isNull()) && (false == rightSpeed.isNull()))
{
Expand Down
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