projektarbeit_duelger_waldhauser_caliskan/software/backend/main.py

"""
created by caliskan at 19.04.2023

This file contains the main script for the backend server of smart garden project
It has the task to be a bridge between the frontend and robot.
It also contains a database with the current plant data
Used protocol for interaction: mqtt (paho-mqtt module)
"""

# imports
import paho.mqtt.client as mqtt
from software.defines import MQTT_BROKER_LOCAL, MQTT_BROKER_GLOBAL, Topics, BACKEND_CLIENT_ID
from plantdatabase import PlantDataBase
import data_functions

# inits
mydatabase = PlantDataBase()
mydatabase.create_table()
order_handler = []  # will contain UUIDS with Order IDs


def on_connect(_client: mqtt.Client, _userdata, _flags, _rc):
    """
    This method gets called, when it connects to a mqtt broker.
    It is used to subscribe to the specific topics
    :param _client: mqtt client object
    :param _userdata:
    :param _flags:
    :param _rc: connection flag
    :return:
    """
    if _rc == 0:
        print("connected")

        # TOPIC SUBSCRIPTIONS

        # From Robot:
        _client.subscribe(Topics['ROBOT_DATA_SENSORDATA'])
        _client.message_callback_add(Topics['ROBOT_DATA_SENSORDATA'], lambda client, userdata, message: data_functions.
                                     data_sensordata(client, userdata, message, mydatabase, order_handler))

        _client.subscribe(Topics['ROBOT_DATA_POSITION'])
        _client.message_callback_add(Topics['ROBOT_DATA_POSITION'], data_functions.data_position)

        _client.subscribe(Topics['ROBOT_DATA_BATTERY'])
        _client.message_callback_add(Topics['ROBOT_DATA_BATTERY'], lambda client, userdata, message: data_functions.
                                     data_battery(client, userdata, message, mydatabase))

        # client.subscribe('Robot/Data/Picture')

        # From FrontEnd:
        _client.subscribe(Topics['BACKEND_ACTION_DRIVE'])
        _client.message_callback_add(Topics['BACKEND_ACTION_DRIVE'], lambda client, userdata, message: data_functions.
                                     action_drive(client, userdata, message, mydatabase, order_handler))

        _client.subscribe(Topics['BACKEND_ACTION_GETPOSITION'])
        _client.message_callback_add(Topics['BACKEND_ACTION_GETPOSITION'], data_functions.action_getposition)

        _client.subscribe(Topics['BACKEND_ACTION_GETBATTERY'])
        _client.message_callback_add(Topics['BACKEND_ACTION_GETBATTERY'], data_functions.action_getbattery)

        _client.subscribe(Topics['BACKEND_ACTION_GETALLDATA'])
        _client.message_callback_add(Topics['BACKEND_ACTION_GETALLDATA'], lambda client, userdata, message: data_functions.action_getalldata(client, userdata, message, mydatabase))

        # END TOPIC SUBSCRIPTIONS
    else:
        print("connection failed")


def main():
    client = mqtt.Client(BACKEND_CLIENT_ID)
    client.on_connect = on_connect
    client.connect(MQTT_BROKER_GLOBAL)
    client.loop_forever()


if __name__ == "__main__":
    main()