publish string repr of eigen stuff

include/qrw/mqtt-interface.hpp

@@ -21,7 +21,7 @@ class MqttInterface {
   std::mutex data_m;
 
   bool getRun();
-  // std::string getValues();
+  std::string getValues();
   std::string getBattery();
 };
 #endif /* !MQTT_INTERFACE_HPP */

src/mqtt-interface.cpp

@@ -50,13 +50,19 @@ void MqttInterface::start() {
   MQTTClient_subscribe(client, "/odri/commands", 0);
   MQTTClient_deliveryToken token;
 
-  char *battery_c;
-  // char* values_c;
+  std::string values_s;
+  std::string battery_s;
+  char* values_c;
+  char* battery_c;
 
   while (getRun()) {
-    battery_c = getBattery().data();
+    values_s = getValues();
+    battery_s = getBattery();
+    values_c = values_s.data();
+    battery_c = battery_s.data();
 
     MQTTClient_publish(client, "/odri/battery", strlen(battery_c), battery_c, 0, 0, &token);
+    MQTTClient_publish(client, "/odri/values", strlen(values_c), values_c, 0, 0, &token);
 
     std::this_thread::sleep_for(std::chrono::milliseconds(100));
   }
@@ -75,6 +81,13 @@ bool MqttInterface::getRun() {
   return run_;
 }
 
+std::string MqttInterface::getValues() {
+  std::lock_guard<std::mutex> guard(data_m);
+  std::stringstream ret;
+  ret << values_.transpose();
+  return ret.str();
+}
+
 std::string MqttInterface::getBattery() {
   std::lock_guard<std::mutex> guard(data_m);
   std::string ret = std::to_string(battery_);