backend code fully commented

software/backend/data_functions.py

 
 This file contains all functions, which handle the different cases.
 Every function should return json format with the wanted data from the database
+The functions are called, when data is received on the according channel
 """
 import paho.mqtt.client as mqtt
 from plantdatabase import PlantDataBase
 
 def data_sensordata(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, mydatabase: PlantDataBase,
                     robot: Robot):
+    """
+    This function is used to store received data from the robot inside the plant_database
+    USAGE FOR DATA OF ONE PLANT
+    :param client: mqtt client
+    :param userdata:
+    :param message: received data
+    :param mydatabase: database information
+    :param robot: robot object
+    :return: none
+    """
+
+    # Load the message and convert to json
     str_in = str(message.payload.decode("UTF-8"))
     payload = json.loads(str_in)
+
     logging.info("ROBOT_DATA_SENSORDATA Received data: " + json.dumps(payload))
     drive_data = {
         "PlantID": [payload['PlantID']],
     }
 
     try:
-        print(drive_data)
-        print(robot.order_handler)
+        # Delete order from order list
         robot.delete_order(drive_data)
+        # Save data in database
         mydatabase.insert_measurement_data(plant_id=payload['PlantID'],
                                            sensordata_temp=payload['AirTemperature'],
                                            sensordata_humidity=payload['AirHumidity'],
                                            sensordata_soil_moisture=payload['SoilMoisture'],
                                            sensordata_brightness=payload['Brightness'])
         logging.debug("Inserted to data base: " + json.dumps(payload))
+
+        # Send received data to frontend
         action_getalldata(client, userdata, message, mydatabase)
     except Exception as e:
         logging.error("Could not delete order: " + str(e))
 
+
 def data_sensordataall(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, mydatabase: PlantDataBase,
-                    robot: Robot):
+                       robot: Robot):
+    """
+    This function is used to store received data from the robot inside the plant_database
+    USAGE FOR DATA OF ALL PLANTS
+    :param client:
+    :param userdata:
+    :param message:
+    :param mydatabase:
+    :param robot:
+    :return: none
+    """
+
+    # Load the message and convert to json
     str_in = str(message.payload.decode("UTF-8"))
     payload = json.loads(str_in)
     logging.info("ROBOT_DATA_SENSORDATAALL Received data: " + json.dumps(payload))
 
+    # Create list of plant_ids and create dataset
     plant_ids = []
-
     for i in payload['SensorData']:
         plant_ids.append(i["PlantID"])
-    print("Plant Names:", str(plant_ids))
     drive_data = {
         "PlantID": plant_ids,
         "ActionID": payload['ActionID']
     }
 
     try:
-        print(robot.order_handler)
-        print(drive_data)
+        # Delete order from order list
         robot.delete_order(drive_data)
+
+        # Insert all received data files in plant_database
         for i in payload['SensorData']:
             mydatabase.insert_measurement_data(plant_id=i['PlantID'],
-                                            sensordata_temp=i['AirTemperature'],
-                                            sensordata_humidity=i['AirHumidity'],
-                                            sensordata_soil_moisture=i['SoilMoisture'],
-                                            sensordata_brightness=i['Brightness'])
+                                               sensordata_temp=i['AirTemperature'],
+                                               sensordata_humidity=i['AirHumidity'],
+                                               sensordata_soil_moisture=i['SoilMoisture'],
+                                               sensordata_brightness=i['Brightness'])
             logging.debug("Inserted to data base: " + json.dumps(payload))
+
+        # Send all the plant data to the frontend
         action_getalldata(client, userdata, message, mydatabase)
     except Exception as e:
         logging.error("Could not delete order: " + str(e))
 
 
-
 def data_position(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, robot: Robot):
+    """
+    This function is used to receive the robot position and insert it in the robot object
+    :param client: mqtt client
+    :param userdata:
+    :param message: received data
+    :param robot: robot object to store position
+    :return: none
+    """
+
     logging.info("ROBOT_DATA_POSITION Received data: " + json.dumps(message.payload.decode("UTF-8")))
+
+    # Store received position data in robot object
     robot.store_position(json.loads(message.payload.decode("UTF-8"))["Position"])
     position_data = {
         "Position": robot.get_position(),
         "Timestamp": str(datetime.now())
     }
+    # Send the position as a json object to the frontend channel
     client.publish(Topics['BACKEND_DATA_POSITION'], json.dumps(position_data))
 
 
 def data_battery(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, robot: Robot):
+    """
+    This function is used to receive the robot position and insert it in the robot object
+    :param client: mqtt client object
+    :param userdata:
+    :param message: received data
+    :param robot: robot object to store the received information
+    :return: none
+    """
+
     logging.info("ROBOT_DATA_BATTERY Received data: " + str(json.dumps(message.payload.decode("UTF-8"))))
+    # Store battery status in robot object
     robot.store_battery(json.loads(message.payload.decode("UTF-8"))["Battery"])
     battery_data = {
         "Battery": robot.get_battery(),
         "Timestamp": str(datetime.now())
     }
+    # Send Battery status and Robot-Ready Status as json objects to frontend
     client.publish(Topics['BACKEND_DATA_BATTERY'], json.dumps(battery_data))
     client.publish(Topics['BACKEND_DATA_ROBOTREADY'], str(robot.get_robot_status()))
 
 
 def data_error(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, robot: Robot):
+    """
+    This function is called when the robot sends an error message and forwards it to the frontend
+    :param client: mqtt client
+    :param userdata:
+    :param message: received error message
+    :param robot: robot objectg
+    :return: none
+    """
+
+    # Store last error in robot object
     robot.store_last_error(message.payload.decode("UTF-8"))
+    # Write error into server log
     logging.error("ROBOT_DATA_ERROR new error received from Robot: " + robot.get_last_error())
+    # Send error data to FrontEnd Channel to display it to the user
     client.publish(Topics['BACKEND_DATA_ERROR'], message.payload.decode("UTF-8"))
 
 
 def data_robotready(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, robot: Robot):
+    """
+    This function is used to update the Robot-Ready Status of the Robot and inform the FrontEnd about it
+    :param client:  mqtt client
+    :param userdata:
+    :param message: received data
+    :param robot: robot object
+    :return: none
+    """
+
+    # Update the robot status
     robot.change_robot_status(message.payload.decode("UTF-8") == 'True')
+
+    # If possible send new waiting order to the robot
     if robot.get_robot_status() is True and robot.get_order_number() >= 1:
         client.publish(Topics['ROBOT_ACTION_DRIVE'], json.dumps(robot.get_next_order()))
         logging.info("Waiting Order send to Robot")
 
     logging.info("ROBOT_DATA_ROBOTREADY status updated: " + str(robot.get_robot_status()))
+
+    # Send new robot-ready status to frontend channel
     client.publish(Topics['BACKEND_DATA_ROBOTREADY'], str(robot.get_robot_status()))
 
 
 
 def action_drive(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, mydatabase: PlantDataBase,
                  robot: Robot):
+    """
+    This function is called when a drive command from the FrontEnd is received and forwards the order to the robot or
+    stores it in the order list.
+    :param client: mqtt client object
+    :param userdata:
+    :param message: information of plant to drive to
+    :param mydatabase: plant_database
+    :param robot: robot object
+    :return: none
+    """
+    # Get PlantID from received PlantName
     plant_id = mydatabase.get_plant_id(plant_name=json.loads(str(message.payload.decode("UTF-8"))))
-    print(str(plant_id))
+
+    # Generate a new ActionID
     action_id = str(uuid.uuid4())
     drive_data = {
         "PlantID": plant_id,
         "ActionID": action_id
     }
 
+    # Store order in order list or discard if list already contains 5 orders
     if robot.get_order_number() < 6 and robot.get_robot_status() is True:
         robot.add_order({"PlantID": [plant_id], "ActionID": action_id})
+        # Send order to robot, if robot is available
         client.publish(Topics['ROBOT_ACTION_DRIVE'], json.dumps(drive_data))
         logging.info("BACKEND_ACTION_DRIVE Drive Command published: " + json.dumps(drive_data))
     else:
         if robot.get_order_number() < 6:
+            # Add to order list if robot not available
             robot.add_order(drive_data)
             logging.info("BACKEND_ACTION_DRIVE New data added to order list: " + str(drive_data))
         elif robot.get_order_number() >= 6:
+            # Discard order if list full
             logging.error("Could not add Order to list. Order discarded")
             client.publish(Topics['BACKEND_DATA_ERROR'], "Could not add Order to list. Order discarded")
 
 
 def action_driveall(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, mydatabase: PlantDataBase,
                     robot: Robot):
+    """
+    This function is called when the frontend sends a drive_all command which lets the robot drive to all registered plants.
+    Same as action_drive(), but for all plants.
+    :param client:
+    :param userdata:
+    :param message:
+    :param mydatabase:
+    :param robot:
+    :return: none
+    """
+
+    # Get all plantnames from the database and extract the id from them
     plant_names = mydatabase.get_plant_names()
     plant_ids = []
-    print(plant_names)
 
     for names in plant_names:
         _id = mydatabase.get_plant_id(names[0])
         plant_ids.append(_id)
 
+    # Create a new order number
     action_id = str(uuid.uuid4())
     drive_data = {
         "PlantID": plant_ids,
         "ActionID": action_id
     }
-    print(drive_data)
+
+    # Send drive command to Robot if possible (same as action_drive())
     if robot.get_order_number() < 6 and robot.get_robot_status() is True:
         robot.add_order(drive_data)
         client.publish(Topics['ROBOT_ACTION_DRIVEALL'], json.dumps(drive_data))
 
 
 def action_getposition(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, mydatabase: PlantDataBase):
+    """
+    This function is called when the frontend demands the robots position from the backend. It forwards the command to
+    the robot.
+    :param client: mqtt client object
+    :param userdata:
+    :param message:
+    :param mydatabase:
+    :return: none
+    """
+
+    # Send command to robot
     client.publish(Topics['ROBOT_ACTION_GETPOSITION'])
     logging.info("BACKEND_ACTION_GETPOSITION message forwarded to Robot")
 
 
 def action_getbattery(client: mqtt.Client, userdata, message: mqtt.MQTTMessage):
+    """
+    This function is called when the frontend demands the robots battery status from the backend. It forwards the
+    command to the robot to get new information.
+    :param client: mqtt client object
+    :param userdata:
+    :param message:
+    :return: none
+    """
+
+    # Send command to robot
     client.publish(Topics['ROBOT_ACTION_GETBATTERY'])
     logging.info("BACKEND_ACTION_GETBATTERY message forwarded to Robot")
-    battery_data = {
-        "Battery": 66,
-        "Timestamp": str(datetime.now())
-    }
-    print(battery_data)
-    client.publish(Topics['BACKEND_DATA_BATTERY'], json.dumps(battery_data))
 
 
 def action_getalldata(client: mqtt.Client, userdata, message: Union[mqtt.MQTTMessage, list], mydatabase: PlantDataBase):
+    """
+    This function is called when the frontend demands the last data of the registered plants. It gets the last data from
+    the local database and forwards it to the frontend
+    :param client: mqtt client object
+    :param userdata:
+    :param message:
+    :param mydatabase: database object, where the plant data is stored
+    :return: none
+    """
+
+    # get the all PlantNames
     plant_names = mydatabase.get_plant_names()
-    print("SUIII" + str(plant_names))
     alldata = []
+
+    # Get the latest data from all registered plant names by using the plant names
     for i in plant_names:
         alldata.append(mydatabase.get_latest_data(plant_name=i[0]))
+
+    # Send the data as a list to the frontends channel
     client.publish(Topics['BACKEND_DATA_SENSORDATAALL'], json.dumps(alldata))
     logging.info("BACKEND_DATA_SENSORDATAALL got data from database:" + str(alldata))
 
 
 def action_newplant(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, mydatabase: PlantDataBase):
+    """
+    This function is called when the frontend wants to register a new plant. The information of the new plant is
+    delivered from the frontend and used to register the plant
+    :param client: mqtt client object
+    :param userdata:
+    :param message: data from the frontend
+    :param mydatabase: local database
+    :return: none
+    """
+
+    # Load the plant data as json
     plant_data = json.loads(message.payload.decode("UTF-8"))
+
+    # Insert the plant in the database
     mydatabase.insert_plant(plantname=plant_data["PlantName"], plant_id=plant_data["PlantID"])
+
+    # Insert a first measurement value in the database
     mydatabase.insert_measurement_data(plant_id=plant_data["PlantID"],
                                        sensordata_temp=plant_data["AirTemperature"],
                                        sensordata_humidity=plant_data["AirHumidity"],
                                        sensordata_soil_moisture=plant_data["SoilMoisture"],
                                        sensordata_brightness=plant_data["Brightness"])
     logging.info("BACKEND_ACTION_NEWPLANT new plant data received and inserted: " + str(plant_data))
+
+    # Send all new plant data to the frontend to update it
     action_getalldata(client, userdata, message, mydatabase)
 
 
 def action_configureplant(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, mydatabase: PlantDataBase):
+    """
+    This function is called when a parameter of a plant is changed by the frontend. It updates the information in the
+    database and sends the updated data to the frontend
+    :param client: mqtt client object
+    :param userdata:
+    :param message: received data from frontend
+    :param mydatabase: local database
+    :return: none
+    """
+
+    # Load the received data as json
     plant_data = json.loads(message.payload.decode("UTF-8"))
+
+    # Update the plant in the database
     mydatabase.configure_plant(plant_id=plant_data["PlantID"], plantname=plant_data["PlantName"])
+    # Insert  measurement_data into the database (from frontend)
     mydatabase.insert_measurement_data(plant_id=plant_data["PlantID"],
                                        sensordata_temp=plant_data["AirTemperature"],
                                        sensordata_humidity=plant_data["AirHumidity"],
                                        sensordata_soil_moisture=plant_data["SoilMoisture"],
                                        sensordata_brightness=plant_data["Brightness"])
     logging.info("BACKEND_ACTION_CONFIGUREPLANT configure plant data received and inserted: " + str(plant_data))
+
+    # Update the frontend with the current data
     action_getalldata(client, userdata, message, mydatabase)
 
 
 def action_deleteplant(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, mydatabase: PlantDataBase):
+    """
+    This function is called when the frontend wants to delete a registered plant from the database.
+    :param client:
+    :param userdata:
+    :param message: Received data from the frontend
+    :param mydatabase: local database object
+    :return: none
+    """
+
+    # Load the Plant-Name from the message
     delete_plant = json.loads(message.payload.decode("UTF-8"))
+
+    # Delete the plant
     mydatabase.delete_plant(plant_id=delete_plant)
     logging.info("BACKEND_ACTION_DELETEPLANT delete plant data received and deleted: " + str(delete_plant))
+
+    # Send current data to frontend to update it
     action_getalldata(client, userdata, message, mydatabase)
 
 
 def action_countplants(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, mydatabase: PlantDataBase):
+    """
+    This function is called when the frontend requires the count of the currently registerd plants. It sends the number
+    and maximal possible plant number to the frontend as a json object
+    :param client: mqtt client object
+    :param userdata:
+    :param message:
+    :param mydatabase: local database
+    :return: none
+    """
+
+    # Count plants
     count = mydatabase.plant_count()
+
+    # Create Object and send to the FrontEnd
     count_payload = {
         "CurrentCount": count,
         "MaxCount": MAX_PLANT_COUNT

software/backend/defines.py

 """
 created by caliskan at 19.04.2023
 
-contains all constants for the backend architecture of the smart garden project
+contains all constants for the backend architecture of the smart garden project. This file contains no executable script
+and is only for documentation purpose
 """
 
 MQTT_BROKER_LOCAL = "192.168.0.102"

software/backend/main.py

     """
     This method gets called, when it connects to a mqtt broker.
     It is used to subscribe to the specific topics
-    :param _robot:
-    :param _mydatabase:
+    :param _robot: robot object for
+    :param _mydatabase: object, that contains the custom plant database and methods for its usage
     :param _client: mqtt client object
     :param _userdata:
     :param _flags:
     :param _rc: connection flag
-    :return:
+    :return: none
     """
     if _rc == 0:
         print("connected")
 
 
 def main():
+    # Create Robot Object
     robot = Robot()
+
+    # Connect to Plant_Database and create tables if database did not exist
     my_database = PlantDataBase(database_name=DATABASE_NAME)
     my_database.create_tables()
-    mqttclient = mqtt.Client(BACKEND_CLIENT_ID, transport="websockets")
+
+    # Create MQTT Client and connect to local broker
+    mqttclient = mqtt.Client(BACKEND_CLIENT_ID, transport="websockets")  # transport websockets required for local broker
     mqttclient.on_connect = lambda client, userdata, flags, rc: on_connect(_client=client,
                                                                            _userdata=userdata,
                                                                            _flags=flags,
                                                                            _mydatabase=my_database,
                                                                            _robot=robot)
     mqttclient.connect(MQTT_BROKER_LOCAL)
+
+    # Initialize logger and save in server.log file
     logging.basicConfig(filename="server.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))
+
+    # Starting mqttclient infinite loop
     mqttclient.loop_forever()
 
 

software/backend/plantdatabase.py

 
 class PlantDataBase:
     """
-    Class to create Makeathon database
+    Class of a PlantDataBase Object. It contains functions specifically for the plantdatabase.
+    Usage:
+    - First declare object
+    - Then use create_tables() to create the tables (NECESSARY !!)
+    - After that use the methods of this class
     """
 
     def __init__(self, database_name: str):
-        self.db_file = database_name  # 'backend_database.db'
+        """
+        Only Constructor of the Class. Pass name of database to connect to. If not available it will create a new one.
+        :param database_name: Name of the SQLITE database file system
+        """
+        self.db_file = database_name  # 'backend_database.db' usually used name
         self.conn = None
         try:
+            # connect or create new database if not available
             self.conn = sqlite3.connect(self.db_file, check_same_thread=False)
         except sqlite3.Error as e:
             logging.error("Database init error: " + str(e))
+
+        # cursor on the database
         self.cur = self.conn.cursor()
 
     def create_tables(self):
+        """
+        Use this method to create the plants and measurement_values tables. Call this function before using the data
+        handling methods below
+        :return: True if successfully, False if not
+        """
         try:
+            # Create plants table if not already existing
             table_config = "CREATE TABLE IF NOT EXISTS plants " \
                            "(PlantID INTEGER PRIMARY KEY," \
                            "PlantName TEXT)"
             self.cur.execute(table_config)
 
+            # Create measurement_values_table if not already existing
             table_config = "CREATE TABLE IF NOT EXISTS measurement_values " \
                            "(measurementID INTEGER PRIMARY KEY," \
                            "Timestamp DATETIME DEFAULT (datetime('now', 'localtime'))," \
             return False
 
     def insert_plant(self, plantname: str, plant_id: int) -> bool:
+        """
+        Insert a new plant with an id and a plantname
+        :param plantname: name of plant
+        :param plant_id: id of plant (position in the bed, must be unique!!)
+        :return: True if successfully, False if not
+        """
         try:
             self.cur.execute("INSERT INTO plants (PlantName, PlantID) VALUES (?,?)", (plantname, plant_id))
             self.conn.commit()
             return False
 
     def configure_plant(self, plant_id: int, plantname: str) -> bool:
+        """
+        Change a plants parameters in the database by using its PlantID as a search criteria
+        :param plant_id: id of plant
+        :param plantname: name of plant
+        :return: True if successfully, False if not
+        """
         try:
             self.cur.execute("UPDATE plants SET PlantID = ?, PlantName = ? WHERE PlantID= ?",
                              (plant_id, plantname, plant_id))
             return False
 
     def delete_plant(self, plant_id):
+        """
+        Delete a plant from the database
+        :param plant_id: PlantID of plant to delete
+        :return: True if successfully, False if not
+        """
         try:
             self.cur.execute('DELETE FROM plants WHERE PlantID = ?', (plant_id,))
             self.conn.commit()
                                 sensordata_humidity,
                                 sensordata_soil_moisture,
                                 sensordata_brightness) -> bool:
+        """
+        Insert a measurement value of plantID
+        :param plant_id: plantID of plant
+        :param sensordata_temp: Temperature
+        :param sensordata_humidity: Air Humidity value
+        :param sensordata_soil_moisture: Soil Moisture value
+        :param sensordata_brightness: brightness value
+        :return: True if successfully, False if not
+        """
         try:
             self.cur.execute(f"INSERT INTO measurement_values (PlantID, AirTemperature, AirHumidity,"
                             f"SoilMoisture, Brightness) VALUES "
 
     def get_latest_data(self, plant_name: Optional[str] = None, plant_id: Optional[int] = None):
         """
-        Gets the newest parameter of specific plant and returns all parameters in json format
-        :param plant_id:
-        :param plant_name:
-        :return:
+        Gets the newest parameter of specific plant and returns all parameters in json format.
+        Either pass plant_name OR plant_id, BOTH passed -> ERROR
+        :param plant_id: PlantID of plant
+        :param plant_name: Name of Plant
+        :return: JSON with data if successfully, else none
         """
         try:
             if plant_name is not None and plant_id is None:
             logging.error("Could not get measurement values: " + str(e))
 
     def delete_data(self, table_name):
+        """
+        Delete all data from a specific tabel
+        :param table_name: tabel you want to delete
+        :return: True if successfully, False if not
+        """
         try:
             self.cur.execute(f'DELETE FROM {table_name}')
             self.conn.commit()
     def plant_count(self) -> int:
         """
         returns the number of plants registered in the database
-        :return:
+        :return: Count of registered plants as int
         """
         try:
             self.cur.execute("SELECT COUNT(*) FROM plants")
             logging.error("Could not count plants: " + str(e))
 
     def get_plant_names(self) -> list:
+        """
+        Use this method to get a list of the Names of all registered plants
+        :return: list containing plantNames
+        """
         try:
             self.cur.execute("SELECT PlantName FROM plants")
             return self.cur.fetchall()
             logging.error("Could not get plant names: " + str(e))
 
     def get_plant_id(self, plant_name: str) -> int:
+        """
+        Use this method to get the PlantID of a registered plant by its name
+        :param plant_name: name of registered plant
+        :return: ID of plant as int
+        """
         try:
             self.cur.execute("SELECT PlantID FROM plants WHERE PlantName=?", (plant_name,))
             return self.cur.fetchone()[0]
             logging.error("Could not get plant id: " + str(e))
 
     def __del__(self):
+        """
+        Destructor of Class. Disconnects from database.
+        """
         self.conn.close()

software/backend/robot.py

 class Robot:
     """
     This class contains the features of the robot. It is used as an interface for the main to avoid global variables and
-    store them instead in an instance of this robot object
+    store them instead an instance of this robot object. It saves the orders and some basic information of the robots status
     """
     def __init__(self):
         self.robot_ready = True