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Bugfixes after drive test

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This commit is contained in:
Luis Waldhauser 2023-05-14 10:44:33 +02:00
parent 7452d6aae8
commit 062d08fe1a
2 changed files with 9 additions and 14 deletions
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18
software/roboter/raspy/functions.py
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@ -54,8 +54,8 @@ def drive_plant_thread(plantID, actionID, client: mqtt.Client):
logging.info("Measuring Sensors") logging.info("Measuring Sensors")
measure_send_data(plantID, actionID, client) measure_send_data(plantID, actionID, client)
# FIXME Send Picture logging.info("Taking Picture")
# sendPicture() sendPicture(client)
logging.info("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}')
@ -74,7 +74,6 @@ def drive_plant_thread(plantID, actionID, client: mqtt.Client):
#region MQTT callbacks #region MQTT callbacks
# TODO Test with all sensors
def drive_plant(client: mqtt.Client, userdata, message: mqtt.MQTTMessage): def drive_plant(client: mqtt.Client, userdata, message: mqtt.MQTTMessage):
""" """
Function to drive to plant according to request Function to drive to plant according to request
@ -87,8 +86,6 @@ def drive_plant(client: mqtt.Client, userdata, message: mqtt.MQTTMessage):
""" """
dictMessage = json.loads(str(message.payload.decode("UTF-8"))) dictMessage = json.loads(str(message.payload.decode("UTF-8")))
print(dictMessage)
plantID = dictMessage["PlantID"] plantID = dictMessage["PlantID"]
actionID = dictMessage["ActionID"] actionID = dictMessage["ActionID"]
@ -148,8 +145,9 @@ def get_BatteryStatus(client: mqtt.Client, userdata, message: mqtt.MQTTMessage):
"Battery": batteryLevel "Battery": batteryLevel
} }
client.publish(Topics["ROBOT_DATA_BATTERY"], json.dumps(battery, indent=4), qos=1) client.publish(Topics["ROBOT_DATA_BATTERY"], json.dumps(battery, indent=4), qos=1)
logging.info(f"Battery done {batteryLevel}")
# TODO Test needed
def sendPicture(client: mqtt.Client): def sendPicture(client: mqtt.Client):
""" """
Takes picture and publish via MQTT Takes picture and publish via MQTT
@ -162,12 +160,12 @@ def sendPicture(client: mqtt.Client):
except Exception as e: except Exception as e:
logging.error(str(e)) logging.error(str(e))
client.publish(Topics["ROBOT_DATA_ERROR"], str(e), qos=1) client.publish(Topics["ROBOT_DATA_ERROR"], str(e), qos=1)
return
with open("picture.txt", "rb") as f: with open("picture.png", "rb") as f:
file = f.read() file = f.read()
byteArr = bytearray(file) byteArr = bytearray(file)
print(byteArr) client.publish(Topics["ROBOT_DATA_PICTURE"], byteArr)
client.publish(Topics["ROBOT_DATA_IMAGE"], byteArr) logging.info("Picture Published")
print("Published")
#endregion #endregion

5
software/roboter/raspy/raspy_sensors.py
View File

@ -136,7 +136,6 @@ def readSensors():
return sensorData return sensorData
# TODO - Test needed
def takePicture(): def takePicture():
""" """
Take picture and return picture Take picture and return picture
@ -147,11 +146,9 @@ def takePicture():
camera = PiCamera() camera = PiCamera()
except: except:
raise Exception("Camera not connected") raise Exception("Camera not connected")
return
camera.start_preview() camera.start_preview()
camera.capture("picture.png") camera.capture("picture.png")
print("Camera on")
camera.stop_preview() camera.stop_preview()
return return
@ -174,7 +171,7 @@ def readPosition():
def main(): def main():
value = SENSORDATA value = SENSORDATA
try: try:
takePicture() readSensors()
except Exception as e: except Exception as e:
print(str(e)) print(str(e))