Roboter comments added

software/roboter/ev3/drive_arm.py

@@ -1,4 +1,13 @@
 #!/usr/bin/env python3
+
+"""
+created by waldhauser
+
+This file contains the programm to drive the arm back to middle 
+This file is needed for the color code drive operation
+The plant where the robot is has to be passed as argument
+"""
+
 from ev3dev2.motor import Motor, OUTPUT_B, OUTPUT_C, SpeedPercent
 import sys
 

software/roboter/ev3/drive_back.py

@@ -1,4 +1,13 @@
 #!/usr/bin/env python3
+
+"""
+created by waldhauser
+
+This file contains the programm to drive the arm back to middle and drive the robot back to home
+This file is needed for the hard code driving operations 
+The plant where the robot is has to be passed as argument
+"""
+
 from ev3dev2.motor import Motor, LargeMotor, OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D, SpeedPercent
 from ev3dev2.sensor.lego import TouchSensor, UltrasonicSensor  
 from ev3dev2.sensor import INPUT_1, INPUT_4
@@ -31,8 +40,6 @@ while True:
         motorRight.on(SpeedPercent(-25))
         break
 
-
-    
 sensorTouch.wait_for_pressed(timeout_ms=None, sleep_ms=10)
 motorLeft.off()
 motorRight.off()

software/roboter/ev3/drive_back_straight.py

@@ -1,4 +1,14 @@
 #!/usr/bin/env python3
+
+"""
+created by waldhauser
+
+This file contains the programm to drive the robot back to the starting position 
+This file is needed for the color code drive operation
+No arguments are needed
+The end is determined by the UltraSonic- and TouchSensor
+"""
+
 from ev3dev2.motor import LargeMotor, OUTPUT_A, OUTPUT_D, SpeedPercent
 from ev3dev2.sensor.lego import TouchSensor, UltrasonicSensor  
 from ev3dev2.sensor import INPUT_1, INPUT_4

software/roboter/ev3/drive_plant.py

@@ -1,9 +1,11 @@
 #!/usr/bin/env pybricks-micropython
-'''
-Script to drive robot to plant. 
-Plant number is passed as argument.
-'''
 
+"""
+created by waldhauser
+
+This file contians the programm to drive to a specific plant based on the color codes 
+The plant where the robot is has to be passed as argument
+"""
 
 from ev3dev2.motor import Motor, LargeMotor, OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D, SpeedPercent
 from ev3dev2.sensor.lego import ColorSensor

software/roboter/ev3/drive_plant_gc.py

@@ -1,65 +0,0 @@
-#!/usr/bin/env pybricks-micropython
-from pybricks.hubs import EV3Brick
-from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor,
-                                 InfraredSensor, UltrasonicSensor, GyroSensor)
-from pybricks.parameters import Port, Stop, Direction, Button, Color
-from pybricks.tools import wait, StopWatch, DataLog
-from pybricks.robotics import DriveBase
-from pybricks.media.ev3dev import SoundFile, ImageFile
-
-import sys
-
-
-def fun_1(ev3):
-    pass
-
-
-def fun_2(a,b):
-    return 1
-
-def move_1(mo_forward_1, mo_forward_2, mo_le_ri, mo_up_down):
-    wait(2000)
-    #move forward
-    mo_forward_1.run_target(500, 1250,wait=False)
-    mo_forward_2.run_target(500, 1250)
-
-    #move arm
-    mo_le_ri.run_target(200,-50)
-
-    #move sensors
-    mo_up_down.run_target(500,2500)
-    wait(2000)
-    mo_up_down.run_target(500,0)
-
-    #move arm
-    mo_le_ri.run_target(200,0)
-
-    #move backwards
-    mo_forward_1.run_target(500, 0,wait=False)
-    mo_forward_2.run_target(500, 0)
-
-    
-
-
-def move_2():
-    pass
-def move_3():
-    pass
-
-
-
-
-ev3 = EV3Brick()
-
-motor_forward_1 = Motor(Port.A) 
-motor_forward_2 = Motor(Port.D)
-motor_le_ri = Motor(Port.B, Direction.COUNTERCLOCKWISE, [8, 56]) #with gear for angle
-motor_up_down = Motor(Port.C)
-
-#n = int(sys.argv[1])
-
-#if n == 1:
-move_1(motor_forward_1,motor_forward_2,motor_le_ri,motor_up_down)
-
-
-

software/roboter/ev3/plant_1.py

@@ -1,5 +1,11 @@
 #!/usr/bin/env pybricks-micropython
 
+"""
+created by waldhauser
+
+This file contians the programm to drive a specfic plant with a certain distance to drive 
+"""
+
 from ev3dev2.motor import Motor, LargeMotor, ServoMotor, OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D, SpeedPercent
 
 motorRight = LargeMotor(OUTPUT_A)

software/roboter/ev3/plant_2.py

@@ -1,5 +1,11 @@
 #!/usr/bin/env pybricks-micropython
 
+"""
+created by waldhauser
+
+This file contians the programm to drive a specfic plant with a certain distance to drive 
+"""
+
 from ev3dev2.motor import Motor, LargeMotor, ServoMotor, OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D, SpeedPercent
 
 motorRight = LargeMotor(OUTPUT_A)

software/roboter/ev3/plant_3.py

@@ -1,5 +1,11 @@
 #!/usr/bin/env pybricks-micropython
 
+"""
+created by waldhauser
+
+This file contians the programm to drive a specfic plant with a certain distance to drive 
+"""
+
 from ev3dev2.motor import Motor, LargeMotor, ServoMotor, OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D, SpeedPercent
 
 motorRight = LargeMotor(OUTPUT_A)

software/roboter/ev3/plant_4.py

@@ -1,5 +1,11 @@
 #!/usr/bin/env pybricks-micropython
 
+"""
+created by waldhauser
+
+This file contians the programm to drive a specfic plant with a certain distance to drive 
+"""
+
 from ev3dev2.motor import Motor, LargeMotor, ServoMotor, OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D, SpeedPercent
 
 motorRight = LargeMotor(OUTPUT_A)

software/roboter/ev3/plant_5.py

@@ -1,5 +1,11 @@
 #!/usr/bin/env pybricks-micropython
 
+"""
+created by waldhauser
+
+This file contians the programm to drive a specfic plant with a certain distance to drive 
+"""
+
 from ev3dev2.motor import Motor, LargeMotor, ServoMotor, OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D, SpeedPercent
 
 motorRight = LargeMotor(OUTPUT_A)

software/roboter/ev3/plant_6.py

@@ -1,5 +1,11 @@
 #!/usr/bin/env pybricks-micropython
 
+"""
+created by waldhauser
+
+This file contians the programm to drive a specfic plant with a certain distance to drive 
+"""
+
 from ev3dev2.motor import Motor, LargeMotor, ServoMotor, OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D, SpeedPercent
 
 motorRight = LargeMotor(OUTPUT_A)

software/roboter/raspy/functions.py

@@ -1,3 +1,10 @@
+"""
+created by waldhauser
+
+This file contains the functions for the mainProg.py. 
+The functions are part of three groups, MQTT-callbacks, functions for external threads and one normal function.
+"""
+
 import paho.mqtt.client as mqtt
 import json
 import threading
@@ -29,21 +36,27 @@ def measure_send_data(plantID, actionID, client: mqtt.Client):
     sensorData["ActionID"] = actionID
     client.publish(Topics["ROBOT_DATA_SENSORDATA"], json.dumps(sensorData, indent=4), qos=1)
 
+#region Thread
+# Functions to be executed in external Thread to not block the mainProg
+# Functions contain the drive and sensor measurement operations
 
 def drive_plant_thread(plantID, actionID, client: mqtt.Client):
     """
     Function to drive to plant according to number from MQTT message in thread
+    Drive programm based on hardcoded drive programms specific for each plant
+    Only possible to drive to one plant per execution
     Meassure and publish data via MQTT
     Drive home to starting point
 
+    ***If color codes are working properly this function is not needed anymore***
+
     Args:
         plantID (_type_): plant to measure
         actionID (_type_): current ID of driving action 
         client (mqtt.Client): current mqtt client for publishing
     """
-    # FIXME Change to color code driving
+
     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}')
 
     if errorCode != 0:
         if errorCode == 65280:
@@ -84,12 +97,16 @@ def drive_plant_thread(plantID, actionID, client: mqtt.Client):
 
 def drive_plant_all_thread(plantIDs: list, actionID, client: mqtt.Client):
     """
-    Function to drive to plants according to numbers from MQTT message in thread
+    Function to drive to plants according to numbers from MQTT message in thread, one or more plants possible
+    PlantIDs have to be in ascending order
+    Drive programm based on color codes in the flowerbed
     Meassure and publish data for all plants via MQTT
     Drive home to starting point
 
+    ***If color codes are working properly, only this function is needed for drive operations***
+
     Args:
-        plantIDs (list): Plants to drive to
+        plantIDs (list): Plants to drive to, plants have to be in ascending order
         actionID (_type_): ActionID from Backend for whole drive action
         client (mqtt.Client): current MQTT client
     """
@@ -118,6 +135,7 @@ def drive_plant_all_thread(plantIDs: list, actionID, client: mqtt.Client):
             return
     
 
+        # Read Sensors and store data, take picture
         logging.info("Measuring Sensors")
         try:
             sensordata = {}
@@ -167,14 +185,19 @@ def drive_plant_all_thread(plantIDs: list, actionID, client: mqtt.Client):
     logging.info("Robot home")
     client.publish(Topics["ROBOT_DATA_ROBOTREADY"], "True", qos=1)
 
+#endregion
 
 #region MQTT callbacks
+# Functions to be called by the MQTT callbacks
+# Starting the drive operations in threads or executing the small operations directly
 
 def drive_plant(client: mqtt.Client, userdata, message: mqtt.MQTTMessage):
     """
     Function to drive to plant according to request
     Starting Drive in Thread to not block main programm
 
+    ***If color codes are working properly this function is not needed anymore***
+
     Args:
         client (mqtt.Client): current mqtt client
         userdata (_type_): _description_
@@ -198,6 +221,8 @@ def drive_plant_all(client: mqtt.Client, userdata, message: mqtt.MQTTMessage):
     Function to drive to plants according to request
     Starting Drive in Thread to not block main programm
 
+    ***If color codes are working properly, only this function is needed for drive operations***
+
     Args:
         client (mqtt.Client): current MQTT client
         userdata (_type_): _description_
@@ -214,11 +239,14 @@ def drive_plant_all(client: mqtt.Client, userdata, message: mqtt.MQTTMessage):
     thread = threading.Thread(target= drive_plant_all_thread, args=(plantIDs, actionID, client), daemon=True)
     thread.start()
 
+
 def get_position(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage):
     """
     Callback function for GPS position request
     Function to send actual GPS position via MQTT in form of POSITION
 
+    ***Not implemented, available GPS-sensor was not working***
+
     Args:
         client (mqtt.Client): current mqtt client
         userdata (_type_): _description_
@@ -237,7 +265,9 @@ def get_position(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage):
 def get_batteryStatus(client: mqtt.Client, userdata, message: mqtt.MQTTMessage):
     """
     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
+    Reading battery level via SSH script execution
+    Battery level shown in Volts:
     8,5V -> 100%
     5V -> 0%
 
@@ -255,9 +285,9 @@ def get_batteryStatus(client: mqtt.Client, userdata, message: mqtt.MQTTMessage):
         client.publish(Topics["ROBOT_DATA_ERROR"], "Robot not connected", qos=1)
         return
 
-    batteryLevel = round(batteryLevel / 1000000, 2)       # Voltage
+    batteryLevel = round(batteryLevel / 1000000, 2)       # Conversion to Volt
     batteryLevel = batteryLevel - 5
-    batteryLevel = round(batteryLevel / 3.5, 3) *100      # Percentage
+    batteryLevel = round(batteryLevel / 3.5, 3) *100      # Conversion to Percentage, 8,5V -> 100%, 5V -> 0%
 
     battery = {
         "Battery": batteryLevel
@@ -270,6 +300,8 @@ def sendPicture(client: mqtt.Client):
     """
     Takes picture and publish via MQTT
 
+    ***Pictures can not be send until now -> assumption of reaching maximum payload limit***
+
     Args:
         client (mqtt.Client): current mqtt client
     """

software/roboter/raspy/mainProg.py

@@ -1,12 +1,12 @@
 """
-created by waldluis
+created by waldlhauser
 
 This file contains the main script for the RaspberryPi of smart garden project
-It has the task to control the EV3 robot and take measurements with the mounted sensor
+It has the task to control the EV3 robot and take measurements with the mounted sensors
 The sensor data is published to MQTT topics to be available for the backend server
 Used protocol for interaction: mqtt (paho-mqtt module)
 Interaction with the EV3 via SSH
- """
+"""
 
 import paho.mqtt.client as mqtt
 import functions

software/roboter/raspy/raspy_sensors.py

@@ -1,4 +1,11 @@
-# from picamera import PiCamera
+"""
+created by waldhauser
+
+This file contains the functions to read the sensors DHT22, TSL2561, earth humidity with MCP3008 ADC and RaspberryPi camera 
+Every sensor can be read on its own
+Reading all sensors is possible with the readSensors() function and provides the data in the format of SENSORDATA dictionary
+"""
+
 import adafruit_dht
 import adafruit_tsl2561
 import board
@@ -83,7 +90,6 @@ def readMCP3008():
     percentage = round(((1100 - percentage) / 1100) *100, 2)   # 680 -> 100% moisture, 1780 -> 0% moisture
 
     if percentage > 100 or percentage < 0:                # If not connected values above 100% appear  
-        percentage = 0
         raise Exception("YL69 not connected")
 
     return percentage
@@ -92,6 +98,7 @@ def readMCP3008():
 def readSensors(sensorData):
     """
     Read DHT22, TSL2561 and Humidity Sensor
+    Dictionary is passed to ensure that values are available when errors occur
 
     Args:
         sensorData (dictionary): Dictionary of type SENSORDATA
@@ -107,25 +114,25 @@ def readSensors(sensorData):
     try:
         sensorData["AirTemperature"], sensorData["AirHumidity"] = readDHT22()   
     except Exception as e:
-        sensorData["AirHumidity"] = 0                   # otherwise old value
+        sensorData["AirHumidity"] = 0                   # No value returend if error occurs -> setting dummy value
         sensorData["AirTemperature"] = 0
-        errorMessage = str(e) + "\n"
+        errorMessage = str(e) + "\n"                    # Appending received error message to later forward all occured errors
 
     # read TSL2561
     try:
         sensorData["Brightness"] = readTSL2561()
     except Exception as e:
-        sensorData["Brightness"] = 0                   # otherwise old value
-        errorMessage = errorMessage + str(e) + "\n"
+        sensorData["Brightness"] = 0                   # No value returend if error occurs -> setting dummy value
+        errorMessage = errorMessage + str(e) + "\n"    # Appending received error message to later forward all occured errors
 
     # read YL-69
     try:
         sensorData["SoilMoisture"] = readMCP3008()
     except Exception as e:
-        sensorData["SoilMoisture"] = 0
-        errorMessage = errorMessage + str(e) + "\n"
+        sensorData["SoilMoisture"] = 0                 # No value returend if error occurs -> setting dummy value
+        errorMessage = errorMessage + str(e) + "\n"    # Appending received error message to later forward all occured errors
 
-        # combined error message
+    # raise combined error message
     if errorMessage != "":
         raise Exception(errorMessage)
     
@@ -133,9 +140,8 @@ def readSensors(sensorData):
 
 def takePicture():
     """
-    Take picture and return picture
-    Returns:
-        _type_: _description_
+    Take picture and store as "picture.png" in current folder
+
     """
     try:
         camera = PiCamera()
@@ -146,14 +152,14 @@ def takePicture():
     camera.capture("picture.png")
     camera.stop_preview()
 
-    return 
-
 
 # TODO - read position with sensor
 def readPosition():
     """
     Read and return Position
 
+    ***Not implemented, available GPS-sensor was not working***
+
     Returns:
         _type_: _description_
      """
@@ -162,7 +168,6 @@ def readPosition():
 
 
 # Testing
-
 def main():
     value = SENSORDATA
     try: