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RobotReady and SendError added

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This commit is contained in:
Luis Waldhauser 2023-05-12 16:51:31 +02:00
parent 0385aa7792
commit 43fbbfcbbb
3 changed files with 34 additions and 16 deletions
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8
software/roboter/raspy/defines.py
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@ -19,6 +19,8 @@ Topics = {
"ROBOT_DATA_BATTERY": "ROBOT/DATA/BATTERY", "ROBOT_DATA_BATTERY": "ROBOT/DATA/BATTERY",
"ROBOT_DATA_POSITION": "ROBOT/DATA/POSITION", "ROBOT_DATA_POSITION": "ROBOT/DATA/POSITION",
"ROBOT_DATA_PICTURE": "ROBOT/DATA/PICTURE", "ROBOT_DATA_PICTURE": "ROBOT/DATA/PICTURE",
"ROBOT_DATA_ERROR": "ROBOT/DATA/ERROR",
"ROBOT_DATA_ROBOTREADY": "ROBOT/DATA/ROBOTREADY",
"BACKEND_ACTION_DRIVE": "BACKEND/ACTION/DRIVE", "BACKEND_ACTION_DRIVE": "BACKEND/ACTION/DRIVE",
"BACKEND_ACTION_DRIVEPALL": "BACKEND/ACTION/DRIVEALL", "BACKEND_ACTION_DRIVEPALL": "BACKEND/ACTION/DRIVEALL",
@ -36,6 +38,8 @@ Topics = {
"BACKEND_DATA_BATTERY": "BACKEND/DATA/BATTERY", "BACKEND_DATA_BATTERY": "BACKEND/DATA/BATTERY",
"BACKEND_DATA_PICTURE": "BACKEND/DATA/PICTURE", "BACKEND_DATA_PICTURE": "BACKEND/DATA/PICTURE",
"BACKEND_DATA_PLANTCOUNT": "BACKEND/DATA/PLANTCOUNT", "BACKEND_DATA_PLANTCOUNT": "BACKEND/DATA/PLANTCOUNT",
"BACKEND_DATA_ERROR": "BACKEND/DATA/ERROR",
"BACKEND_DATA_ROBOTREADY": "BACKEND/DATA/ROBOTREADY"
} }
@ -49,7 +53,7 @@ SENSORDATA = {
"SoilMoisture": 0.0, "SoilMoisture": 0.0,
"Brightness": 0, "Brightness": 0,
"PlantID": 0, "PlantID": 0,
"ActionID": 0 "ActionID": ""
} }
# TODO When sensor is available # TODO When sensor is available
@ -67,7 +71,7 @@ BATTERY = {
DRIVE = { DRIVE = {
"PlantID": 0, "PlantID": 0,
"ActionID": 0 "ActionID": ""
} }
# GETPOSITION -> no message needed # GETPOSITION -> no message needed

40
software/roboter/raspy/functions.py
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@ -20,12 +20,13 @@ def measure_send_data(plantID, actionID, client: mqtt.Client):
try: try:
sensorData = Sensors.readSensors() sensorData = Sensors.readSensors()
except Exception as e: except Exception as e:
print(str(e)) logging.error(str(e))
# TODO Error message MQTT # TODO Error message MQTT
client.publish(Topics["ROBOT_DATA_ERROR"], str(e), qos=1)
sensorData["PlantID"] = plantID sensorData["PlantID"] = plantID
sensorData["ActionID"] = actionID sensorData["ActionID"] = actionID
client.publish(Topics["ROBOT_DATA_SENSORDATA"], json.dumps(sensorData, indent=4)) client.publish(Topics["ROBOT_DATA_SENSORDATA"], json.dumps(sensorData, indent=4), qos=1)
def drive_plant_thread(plantID, actionID, client: mqtt.Client): def drive_plant_thread(plantID, actionID, client: mqtt.Client):
@ -43,10 +44,13 @@ def drive_plant_thread(plantID, actionID, client: mqtt.Client):
errorCode = os.system(f'sshpass -p maker ssh robot@ev3dev.local python3 /home/robot/Programme/plant_{plantID}.py') errorCode = os.system(f'sshpass -p maker ssh robot@ev3dev.local python3 /home/robot/Programme/plant_{plantID}.py')
# errorCode = os.system(f'sshpass -p maker ssh robot@ev3dev.local python3 /home/robot/Programme/drive_plant.py {plantID}') # errorCode = os.system(f'sshpass -p maker ssh robot@ev3dev.local python3 /home/robot/Programme/drive_plant.py {plantID}')
# TODO Error Message
if errorCode != 0: if errorCode != 0:
logging.error(f"Robot Error {errorCode} occurred") logging.error(f"Robot Error {errorCode} occurred")
logging.error("Drive Plant aborted, Robot at starting position") logging.info("Drive Plant aborted, Robot at starting position")
client.publish(Topics["ROBOT_DATA_ERROR"], "Drive Plant aborted, Robot at starting position", qos=1)
#TODO decide about robot occupied message
client.publish(Topics["ROBOT_DATA_ROBOTREADY"], "True", qos=1)
return return
logging.info("Measuring Sensors") logging.info("Measuring Sensors")
@ -55,21 +59,23 @@ def drive_plant_thread(plantID, actionID, client: mqtt.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}')
# TODO Error Message
if errorCode != 0: if errorCode != 0:
logging.error(f"Robot Error {errorCode} occurred") logging.error(f"Robot Error {errorCode} occurred")
logging.error(f"Drive Home aborted, Robot at plant {plantID}") logging.info(f"Drive Home aborted, Robot at plant {plantID}")
client.publish(Topics["ROBOT_DATA_ERROR"], f"Drive Home aborted, Robot at plant {plantID}", qos=1)
#TODO decide about robot occupied message
client.publish(Topics["ROBOT_DATA_ROBOTREADY"], "True", qos=1)
return return
logging.info("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(Topics["ROBOT_DATA_ROBOTREADY"], "True", qos=1)
#region MQTT callbacks #region MQTT callbacks
def drive_plant(clients: 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
Starting Drive in Thread to not block main programm Starting Drive in Thread to not block main programm
@ -80,12 +86,18 @@ def drive_plant(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage):
message (mqtt.MQTTMessage): received DRIVE message with PlantID and ActionID message (mqtt.MQTTMessage): received DRIVE message with PlantID and ActionID
""" """
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"]
logging.info(f"Received Drive-request to plant {plantID}, ActionID: {actionID}") logging.info(f"Received Drive-request to plant {plantID}, ActionID: {actionID}")
#TODO decide about robot occupied message
client.publish(Topics["ROBOT_DATA_ROBOTREADY"], "False", qos=1)
thread = threading.Thread(target= drive_plant_thread, args=(plantID, actionID, clients), daemon=True) thread = threading.Thread(target= drive_plant_thread, args=(plantID, actionID, client), daemon=True)
thread.start() thread.start()
@ -99,15 +111,17 @@ def get_position(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage):
userdata (_type_): _description_ userdata (_type_): _description_
message (mqtt.MQTTMessage): received message message (mqtt.MQTTMessage): received message
""" """
logging.info("Received position request")
# TODO Write GPS Sensor Function # TODO Write GPS Sensor Function
position = { position = {
"Position": "" "Position": ""
} }
clients.publish(Topics["ROBOT_DATA_POSITION"], json.dumps(position, indent=4)) clients.publish(Topics["ROBOT_DATA_POSITION"], json.dumps(position, indent=4), qos=1)
def get_BatteryStatus(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage): def get_BatteryStatus(client: mqtt.Client, userdata, message: mqtt.MQTTMessage):
""" """
Callback function for battery status request Callback function for battery status request
Function to read battery status from ev3 and send via MQTT in form of BATTERY Function to read battery status from ev3 and send via MQTT in form of BATTERY
@ -125,7 +139,7 @@ def get_BatteryStatus(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage)
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:
logging.error("Robot not connected") logging.error("Robot not connected")
#TODO Error Message client.publish(Topics["ROBOT_DATA_ERROR"], "Robot not connected", qos=1)
return return
batteryLevel = round(batteryLevel / 1000000, 2) # Voltage batteryLevel = round(batteryLevel / 1000000, 2) # Voltage
@ -135,6 +149,6 @@ def get_BatteryStatus(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage)
battery = { battery = {
"Battery": batteryLevel "Battery": batteryLevel
} }
clients.publish(Topics["ROBOT_DATA_BATTERY"], json.dumps(battery, indent=4)) client.publish(Topics["ROBOT_DATA_BATTERY"], json.dumps(battery, indent=4), qos=1)
#endregion #endregion

2
software/roboter/raspy/mainProg.py
View File

@ -57,7 +57,7 @@ def main():
# CHECK forever or start # CHECK forever or start
client.loop_start() client.loop_start()
logging.info("Starting Loop") logging.info("Robot initialised")
while True: while True:
pass pass