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MQTT messages defined

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This commit is contained in:
waldluis 2023-04-24 13:04:03 +02:00
parent 33e2a058d3
commit 0c08ab1d8b
3 changed files with 120 additions and 27 deletions
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documentation/Definitions.docx
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85
software/defines.py
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@ -32,3 +32,88 @@ Topics = {
"BACKEND_DATA_PICTURE": "BACKEND/DATA/PICTURE"
}
# MQTT Messages:
# region Robot -> Backend
SENSORDATA = {
"AirTemperature": 0.0,
"AirHumidity" : 0.0,
"SoilMoisture" : 0.0,
"Brightness" : 0,
"PlantID": 0,
"ActionID": 0
}
# TODO When sensor is available
POSITION = {
"Position": ""
}
BATTERY = {
"Battery": 0.0
}
# endregion
# region Backend -> Robot
DRIVE = {
"PlantID": 0,
"ActionID": 0
}
# GETPOSITION -> no message needed
# GETBATTERY -> no message needed
# endregion
# region Backend -> Frontend
PLANTDATA = {
"AirTemperature": 0.0,
"AirHumidity" : 0.0,
"SoilMoisture" : 0.0,
"Brightness" : 0,
"PlantID": 0,
"Timestamp": "",
"MeasurementID": 0
}
ALLPLANTDATA = [
PLANTDATA,
PLANTDATA,
PLANTDATA,
PLANTDATA,
PLANTDATA,
PLANTDATA
]
# TODO When sensor is available
POSITION = {
"Position": "",
"Timestamp": ""
}
BATTERY = {
"Battery": 0.0,
"Timestamp": ""
}
# endregion
# region Frontend -> Backend
DRIVE = {
"PlantID": 0
}
# GETPOSITION -> no message needed
# GETBATTERY -> no message needed
# GETALLDATA -> no message needed
# endregion

62
software/roboter/raspy/mainProg.py
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@ -5,11 +5,12 @@ import os
import signal
import time
from raspy_sensors import RaspySensors
from software.defines import Topics
#region global Varaibles
#sensors:RaspySensors()
leftRight = 50
plantNumber = 0
plantID = 0
sensorData = {
"Air Temperature [°C]" : 0,
@ -40,7 +41,7 @@ def measure_send_data(plantID, actionID):
sensorData = sensors.readSensors()
sensorData["Plant_ID"] = plantID
sensorData["Action_ID"] = actionID
client.publish("ROBOT/DATA/SENSORDATA", json.dumps(sensorData, indent=4))
client.publish(Topics["ROBOT_DATA_SENSORDATA"], json.dumps(sensorData, indent=4))
def drive_home():
@ -54,9 +55,10 @@ def drive_home():
def drive_plant_thread():
'''Function to drive to plant according to number from MQTT message in thread'''
os.system(f'sshpass -p maker ssh robot@ev3dev.local python3 /home/robot/Programme/plant_{plantNumber}.py')
os.system(f'sshpass -p maker ssh robot@ev3dev.local python3 /home/robot/Programme/plant_{plantID}.py')
print("Raising Signal to meassure")
signal.raise_signal(signal.SIGUSR1)
#TODO alles hier ohne weitere Threads
def init_mqtt():
@ -67,17 +69,17 @@ def init_mqtt():
#Add callbacks
client.message_callback_add("ROBOT/DATA", send_data_json) #Testing
client.message_callback_add("ROBOT/ACTION/DRIVE", drive_plant)
client.message_callback_add("ROBOT/ACTION/GETPOSITION", get_position)
client.message_callback_add("ROBOT/ACTION/GETBATTERY", get_BatteryStatus)
client.message_callback_add(Topics["ROBOT_ACTION_DRIVE"], drive_plant)
client.message_callback_add(Topics["ROBOT_ACTION_GETPOSITION"], get_position)
client.message_callback_add(Topics["ROBOT_ACTION_GETBATTERY"], get_BatteryStatus)
client.connect(mqttBroker) #Has to be before subscribing
#Subscribe to topics
client.subscribe("ROBOT/DATA") #Testing
client.subscribe("ROBOT/ACTION/DRIVE")
client.subscribe("ROBOT/Action/GETPOSITION")
client.subscribe("ROBOT/ACTION/GETBATTERY")
client.subscribe(Topics["ROBOT_ACTION_DRIVE"])
client.subscribe(Topics["ROBOT_ACTION_GETPOSITION"])
client.subscribe(Topics["ROBOT_ACTION_GETBATTERY"])
@ -94,22 +96,22 @@ def signal_measure(signum, frame):
#region MQTT callbacks
#Testing
def send_data_json(client, userdata, message):
def send_data_json(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage):
strIn = str(message.payload.decode("UTF-8"))
dataDict = json.loads(strIn)
print("Received data: ", json.dumps(dataDict))
def drive_plant(clients, userdata, message):
def drive_plant(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage):
'''Function to drive to plant according to request
Starting Drive in Thread'''
global plantNumber, leftRight
global plantID, leftRight
#TODO define MQTT message
plantNumber = int(message.payload.decode("UTF-8"))
plantID = int(message.payload.decode("UTF-8"))
print(f"received drive to plant {plantNumber}")
print(f"received drive to plant {plantID}")
if plantNumber % 2 == 0:
if plantID % 2 == 0:
leftRight = -50 #rotating left
else:
leftRight = 50 #rotating right
@ -118,23 +120,26 @@ def drive_plant(clients, userdata, message):
thread.start()
def get_position(clients, userdata, message):
def get_position(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage):
'''Callback function for GPS position request
Function to send actual GPS position via MQTT'''
#[ ]TODO handle MQTT message
gpsPosition["Position"] = sensors.readPosition()
gpsPosition["Action_ID"] = message
#[ ]TODO Write Sensor Function
client.publish("ROBOT/DATA/POSITION", json.dumps(gpsPosition, indent=4))
def get_BatteryStatus(clients, userdata, message):
'''Callback function for battery status request
Function to read battery status from ev3 and send via MQTT'''
def get_BatteryStatus(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage):
"""
Callback function for battery status request
Function to read battery status from ev3 and send via MQTT
#[ ]TODO handle MQTT message
batteryStatus["Battery"] = sensors.readBattery()
batteryStatus["Action_ID"] = message
Args:
clients (mqtt.Client): _description_
userdata (_type_): _description_
message (mqtt.MQTTMessage): _description_
"""
#[ ]TODO read Battery
client.publish("ROBOT/DATA/BATTERY", json.dumps(batteryStatus, indent=4))
@ -143,9 +148,12 @@ def get_BatteryStatus(clients, userdata, message):
def main():
'''Initialises MQTT and Sensors
Runs forever and controlls all robot functions'''
"""
Initialises MQTT and Sensors
Runs forever and controlls all robot functions
"""
#TODO on_connect
init_mqtt()
print("MQTT initialized")
signal.signal(signal.SIGUSR1, signal_measure)