Publish position and events via MQTT

src/lib/xbot_monitoring/CMakeLists.txt

@@ -13,7 +13,8 @@ find_package(catkin REQUIRED COMPONENTS
         grid_map_core
         grid_map_ros
         grid_map_msgs
-        xbot_rpc
+        xbot_mqtt
+        mower_msgs
         )
 
 
@@ -31,6 +32,7 @@ catkin_package(
         #  LIBRARIES mower_comms
         #  CATKIN_DEPENDS mower_msgs roscpp serial
         #  DEPENDS system_lib
+        CATKIN_DEPENDS mower_msgs
         DEPENDS PahoMqttCpp
 
 )

src/lib/xbot_monitoring/package.xml

@@ -22,7 +22,8 @@
   <depend>grid_map_core</depend>
   <depend>grid_map_ros</depend>
   <depend>grid_map_msgs</depend>
-  <depend>xbot_rpc</depend>
+  <depend>xbot_mqtt</depend>
+  <depend>mower_msgs</depend>
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>

src/lib/xbot_monitoring/src/EventHistory.h

@@ -0,0 +1,70 @@
+#pragma once
+
+#include <deque>
+#include <fstream>
+#include <mutex>
+#include <string>
+
+#include <nlohmann/json.hpp>
+
+using json = nlohmann::ordered_json;
+
+class EventHistory {
+public:
+    EventHistory() = default;
+
+    void init(size_t max_size) {
+        max_size_ = max_size;
+        file_path_ = "events.jsonl";
+        loadFromDisk();
+    }
+
+    // Appends a raw JSON string to the ring buffer and persists it.
+    // No JSON parsing — stored as-is, parsed only on getAll().
+    void add(const std::string& json_payload) {
+        std::lock_guard<std::mutex> lk(mutex_);
+        if (buffer_.size() >= max_size_) {
+            buffer_.pop_front();
+        }
+        buffer_.push_back(json_payload);
+        appendToDisk(json_payload);
+    }
+
+    // Returns all buffered events as a JSON array. Parses on read.
+    json getAll() const {
+        std::lock_guard<std::mutex> lk(mutex_);
+        json arr = json::array();
+        for (const auto& line : buffer_) {
+            try {
+                arr.push_back(json::parse(line));
+            } catch (...) {
+                // skip malformed lines
+            }
+        }
+        return arr;
+    }
+
+private:
+    void loadFromDisk() {
+        std::ifstream f(file_path_);
+        if (!f.is_open()) return;
+        std::string line;
+        while (std::getline(f, line)) {
+            if (line.empty()) continue;
+            if (buffer_.size() >= max_size_) buffer_.pop_front();
+            buffer_.push_back(std::move(line));
+        }
+    }
+
+    void appendToDisk(const std::string& json_payload) {
+        std::ofstream f(file_path_, std::ios::app);
+        if (f.is_open()) {
+            f << json_payload << "\n";
+        }
+    }
+
+    std::string file_path_;
+    size_t max_size_ = 100;
+    std::deque<std::string> buffer_;
+    mutable std::mutex mutex_;
+};