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Robot logging added

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This commit is contained in:
Luis Waldhauser 2023-05-12 13:56:56 +02:00
parent c35028f354
commit 0385aa7792
2 changed files with 19 additions and 12 deletions
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21
software/roboter/raspy/functions.py
View File

@ -2,6 +2,7 @@ import paho.mqtt.client as mqtt
import json import json
import threading import threading
import os import os
import logging
import raspy_sensors as Sensors import raspy_sensors as Sensors
from defines import Topics, SENSORDATA from defines import Topics, SENSORDATA
@ -44,23 +45,23 @@ def drive_plant_thread(plantID, actionID, client: mqtt.Client):
# TODO Error Message # TODO Error Message
if errorCode != 0: if errorCode != 0:
print(f"Robot Error {errorCode} occurred") logging.error(f"Robot Error {errorCode} occurred")
print("Drive Plant aborted, Robot at starting position") logging.error("Drive Plant aborted, Robot at starting position")
return return
print("Measuring Sensors") logging.info("Measuring Sensors")
measure_send_data(plantID, actionID, client) measure_send_data(plantID, actionID, client)
print("Robot driving home") logging.info("Robot driving home")
errorCode = os.system(f'sshpass -p maker ssh robot@ev3dev.local python3 /home/robot/Programme/drive_back.py {plantID}') errorCode = os.system(f'sshpass -p maker ssh robot@ev3dev.local python3 /home/robot/Programme/drive_back.py {plantID}')
# TODO Error Message # TODO Error Message
if errorCode != 0: if errorCode != 0:
print(f"Robot Error {errorCode} occurred") logging.error(f"Robot Error {errorCode} occurred")
print(f"Drive Home aborted, Robot at plant {plantID}") logging.error(f"Drive Home aborted, Robot at plant {plantID}")
return return
print("Robot home") logging.info("Robot home")
#TODO decide about robot occupied message #TODO decide about robot occupied message
#client.publish("ROBOT/DATA/OCCUPIED", "false") #client.publish("ROBOT/DATA/OCCUPIED", "false")
@ -82,7 +83,7 @@ def drive_plant(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage):
plantID = dictMessage["PlantID"] plantID = dictMessage["PlantID"]
actionID = dictMessage["ActionID"] actionID = dictMessage["ActionID"]
print(f"Received Drive-request to plant {plantID}, ActionID: {actionID}") logging.info(f"Received Drive-request to plant {plantID}, ActionID: {actionID}")
thread = threading.Thread(target= drive_plant_thread, args=(plantID, actionID, clients), daemon=True) thread = threading.Thread(target= drive_plant_thread, args=(plantID, actionID, clients), daemon=True)
thread.start() thread.start()
@ -118,12 +119,12 @@ def get_BatteryStatus(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage)
userdata (_type_): _description_ userdata (_type_): _description_
message (mqtt.MQTTMessage): received message message (mqtt.MQTTMessage): received message
""" """
print("Received battery status request") logging.info("Received battery status request")
try: try:
batteryLevel = int(os.popen('sshpass -p maker ssh robot@ev3dev.local cat /sys/devices/platform/battery/power_supply/lego-ev3-battery/voltage_now').read()) batteryLevel = int(os.popen('sshpass -p maker ssh robot@ev3dev.local cat /sys/devices/platform/battery/power_supply/lego-ev3-battery/voltage_now').read())
except: except:
print("Robot not connected") logging.error("Robot not connected")
#TODO Error Message #TODO Error Message
return return

10
software/roboter/raspy/mainProg.py
View File

@ -10,6 +10,8 @@ Interaction with the EV3 via SSH
import paho.mqtt.client as mqtt import paho.mqtt.client as mqtt
import functions import functions
import logging
import sys
from defines import Topics, RASPI_CLIENT_ID, MQTT_BROKER_GLOBAL from defines import Topics, RASPI_CLIENT_ID, MQTT_BROKER_GLOBAL
@ -35,7 +37,7 @@ def on_connect(client: mqtt.Client, userdata, flags, rc):
client.subscribe(Topics["ROBOT_ACTION_GETPOSITION"]) client.subscribe(Topics["ROBOT_ACTION_GETPOSITION"])
client.subscribe(Topics["ROBOT_ACTION_GETBATTERY"]) client.subscribe(Topics["ROBOT_ACTION_GETBATTERY"])
print("MQTT initialized") logging.info("MQTT initialized")
@ -44,6 +46,10 @@ def main():
Initialises MQTT and Sensors Initialises MQTT and Sensors
Runs forever and controlls all robot functions Runs forever and controlls all robot functions
""" """
logging.basicConfig(filename="robot.log", filemode="a", encoding="utf-8", level=logging.DEBUG, format='%(asctime)s %(name)s %(levelname)s %(message)s',
datefmt="%d-%m-%Y %H:%M:%S")
logging.getLogger().addHandler(logging.StreamHandler(sys.stdout))
client = mqtt.Client(RASPI_CLIENT_ID) client = mqtt.Client(RASPI_CLIENT_ID)
client.on_connect = on_connect client.on_connect = on_connect
client.connect(MQTT_BROKER_GLOBAL) client.connect(MQTT_BROKER_GLOBAL)
@ -51,7 +57,7 @@ def main():
# CHECK forever or start # CHECK forever or start
client.loop_start() client.loop_start()
print("Starting Loop") logging.info("Starting Loop")
while True: while True:
pass pass