Error Handling BackEnd added, logging included, order list and robot class added

.idea/deployment.xml

@@ -0,0 +1,14 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="PublishConfigData" serverName="backend" remoteFilesAllowedToDisappearOnAutoupload="false">
+    <serverData>
+      <paths name="backend">
+        <serverdata>
+          <mappings>
+            <mapping deploy="/home/lego/SMARTGARDENING" local="$PROJECT_DIR$/software" web="/" />
+          </mappings>
+        </serverdata>
+      </paths>
+    </serverData>
+  </component>
+</project>

.idea/sshConfigs.xml

@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="SshConfigs">
+    <configs>
+      <sshConfig authType="PASSWORD" host="lego-K53SV" id="40359a92-2c87-41df-943b-cfac73c7ea3d" port="22" nameFormat="DESCRIPTIVE" username="lego" useOpenSSHConfig="true" />
+    </configs>
+  </component>
+</project>

.idea/webServers.xml

@@ -0,0 +1,14 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="WebServers">
+    <option name="servers">
+      <webServer id="1b3e9e3f-7394-4cbc-a32d-b95ef2abda52" name="backend">
+        <fileTransfer accessType="SFTP" host="lego-K53SV" port="22" sshConfigId="40359a92-2c87-41df-943b-cfac73c7ea3d" sshConfig="lego@lego-K53SV:22 password">
+          <advancedOptions>
+            <advancedOptions dataProtectionLevel="Private" keepAliveTimeout="0" passiveMode="true" shareSSLContext="true" />
+          </advancedOptions>
+        </fileTransfer>
+      </webServer>
+    </option>
+  </component>
+</project>

requirements.txt

@@ -29,4 +29,4 @@ urllib3==1.26.14
 Werkzeug==2.2.3
 zipp==3.15.0
 python-ev3dev2==2.1.0.post1
-pytest
+pytest==7.3.1

software/backend/data_functions.py

@@ -10,73 +10,103 @@ from software.defines import Topics, MAX_PLANT_COUNT
 import json
 import uuid
 from typing import Union
+from datetime import datetime
+import logging
+from robot import Robot
 
 
 # Robot Channel Reactions
 
 def data_sensordata(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, mydatabase: PlantDataBase,
-                    order_handler: list):
-    print("message received")
-    # TODO: Store data in database
+                    robot: Robot):
     str_in = str(message.payload.decode("UTF-8"))
     payload = json.loads(str_in)
-    print("Received data: ", json.dumps(payload))
+    logging.info("ROBOT_DATA_SENSORDATA Received data: " + json.dumps(payload))
+    drive_data = {
+        "PlantID": payload['PlantID'],
+        "ActionID": payload['ActionID']
+    }
 
-    order_handler.remove(payload['ActionID'])
+    try:
+        robot.delete_order(drive_data)
+    except Exception as e:
+        logging.error("Could not delete order: " + str(e))
 
     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))
 
 
-def data_position(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, mydatabase: PlantDataBase):
-    # TODO: Forward to frontend in json format
-    client.publish(Topics['BACKEND_DATA_POSITION'], message.payload.decode("utf-8"))
+def data_position(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, robot: Robot):
+    logging.info("ROBOT_DATA_POSITION Received data: " + json.dumps(message.payload.decode("UTF-8")))
+    robot.store_position(json.loads(message.payload.decode("UTF-8"))["Position"])
+    position_data = {
+        "Position": robot.get_position(),
+        "Timestamp": str(datetime.now())
+    }
+    client.publish(Topics['BACKEND_DATA_POSITION'], json.dumps(position_data))
 
 
-def data_battery(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, mydatabase: PlantDataBase):
-    # TODO: Forward to frontend in json format
-    client.publish(Topics['BACKEND_DATA_BATTERY'], message.payload.decode("utf-8"))
+def data_battery(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, robot: Robot):
+    logging.info("ROBOT_DATA_BATTERY Received data: " + json.dumps(message.payload.decode("UTF-8")))
+    robot.store_battery(json.loads(message.payload.decode("UTF-8"))["Battery"])
+    battery_data = {
+        "Battery": robot.get_battery(),
+        "Timestamp": str(datetime.now())
+    }
+    client.publish(Topics['BACKEND_DATA_BATTERY'], json.dumps(battery_data))
 
 
 # FrontEnd Channel Reactions
 
 def action_drive(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, mydatabase: PlantDataBase,
-                 order_handler: list):
-    # TODO: ROBOT READY CHECK
-    if len(order_handler) < 5:
-        order_handler.append(uuid.uuid4())
+                 robot: Robot):
+    plant_id = mydatabase.get_plant_id(plant_name=json.loads(message.payload.decode("UTF-8"))["PlantName"])
+    action_id = str(uuid.uuid4())
+    drive_data = {
+        "PlantID": plant_id,
+        "ActionID": action_id
+    }
+
+    if robot.get_order_number() < 5 and robot.get_robot_status() is True:
+        robot.add_order(drive_data)
+        client.publish(Topics['ROBOT_ACTION_DRIVE'], json.dumps(drive_data))
+        logging.info("BACKEND_ACTION_DRIVE Drive Command published: " + json.dumps(drive_data))
     else:
-        # TODO: What to do when no place in order_list left
-        pass
-    client.publish(Topics['ROBOT_ACTION_DRIVE'], message.payload.decode("utf-8"))
+        if robot.get_order_number() < 5:
+            robot.add_order(drive_data)
+            logging.info("BACKEND_ACTION_DRIVE New data added to order list: " + str(drive_data))
+        elif robot.get_order_number() >= 5:
+            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):
+def action_driveall(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, mydatabase: PlantDataBase,
+                    robot: Robot):
     # TODO: Implement here
-    pass
+    print("HELLO")
 
 
 def action_getposition(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, mydatabase: PlantDataBase):
     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, mydatabase: PlantDataBase):
+def action_getbattery(client: mqtt.Client, userdata, message: mqtt.MQTTMessage):
     client.publish(Topics['ROBOT_ACTION_GETBATTERY'])
+    logging.info("BACKEND_ACTION_GETBATTERY message forwarded to Robot")
 
 
 def action_getalldata(client: mqtt.Client, userdata, message: Union[mqtt.MQTTMessage, list], mydatabase: PlantDataBase):
     plant_names = mydatabase.get_plant_names()
-    print(type(plant_names))
     alldata = []
     for i in plant_names:
-        print("I Type: " + str(type(i)))
-        print("I: " + i[0])
         alldata.append(mydatabase.get_latest_data(plant_name=i[0]))
     client.publish(Topics['BACKEND_DATA_SENSORDATAALL'], json.dumps(alldata))
-    print("BACKEND_DATA_SENSORDATAALL SEND DATA:" + str(alldata))
+    logging.info("BACKEND_DATA_SENSORDATAALL got data from database:" + str(alldata))
 
 
 def action_newplant(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, mydatabase: PlantDataBase):
@@ -87,8 +117,7 @@ def action_newplant(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, my
                                        sensordata_humidity=plant_data["AirHumidity"],
                                        sensordata_soil_moisture=plant_data["SoilMoisture"],
                                        sensordata_brightness=plant_data["Brightness"])
-    print("BACKEND_ACTION_NEWPLANT RECEIVED DATA: " + str(plant_data))
-    print(mydatabase.get_plant_names())
+    logging.info("BACKEND_ACTION_NEWPLANT new plant data received and inserted: " + str(plant_data))
     action_getalldata(client, userdata, message, mydatabase)
 
 
@@ -100,14 +129,14 @@ def action_configureplant(client: mqtt.Client, userdata, message: mqtt.MQTTMessa
                                        sensordata_humidity=plant_data["AirHumidity"],
                                        sensordata_soil_moisture=plant_data["SoilMoisture"],
                                        sensordata_brightness=plant_data["Brightness"])
-    print("BACKEND_ACTION_CONFIGUREPLANT RECEIVED DATA: " + str(plant_data))
+    logging.info("BACKEND_ACTION_CONFIGUREPLANT configure plant data received and inserted: " + str(plant_data))
     action_getalldata(client, userdata, message, mydatabase)
 
 
 def action_deleteplant(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, mydatabase: PlantDataBase):
     delete_plant = json.loads(message.payload.decode("UTF-8"))
     mydatabase.delete_plant(plant_id=delete_plant)
-    print("BACKEND_ACTION_DELETEPLANT RECEIVED DATA: " + str(delete_plant))
+    logging.info("BACKEND_ACTION_DELETEPLANT delete plant data received and deleted: " + str(delete_plant))
     action_getalldata(client, userdata, message, mydatabase)
 
 
@@ -118,4 +147,20 @@ def action_countplants(client: mqtt.Client, userdata, message: mqtt.MQTTMessage,
         "MaxCount": MAX_PLANT_COUNT
     }
     client.publish(Topics["BACKEND_DATA_PLANTCOUNT"], json.dumps(count_payload))
-    print("BACKEND_DATA_PLANTCOUNT SEND DATA: " + str(count_payload))
+    logging.info("BACKEND_DATA_PLANTCOUNT forwarded plant count to FrontEnd: " + str(count_payload))
+
+
+def data_error(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, robot: Robot):
+    robot.store_last_error(message.payload.decode("UTF-8"))
+    logging.error("ROBOT_DATA_ERROR new error received from Robot: " + robot.get_last_error())
+    client.publish(Topics['BACKEND_DATA_ERROR'], message.payload.decode("UTF-8"))
+
+
+def data_robotready(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, robot: Robot):
+    robot.change_robot_status(message.payload.decode("UTF-8") == 'True')
+    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()))
+    client.publish(Topics['BACKEND_DATA_ROBOTREADY'], message.payload.decode("UTF-8"))

software/backend/dev_test_examples/mqtt_publisher.py

@@ -1,10 +1,12 @@
 import paho.mqtt.client as mqtt
+
+import software.defines
 from software.defines import MQTT_BROKER_LOCAL
 from random import randrange, uniform
 import time
 import json
 from software.defines import Topics, PLANTDATA
-mqttBroker = "192.168.178.182"
+mqttBroker = software.defines.MQTT_BROKER_GLOBAL
 
 
 def on_connect(client, userdata, flags, rc):
@@ -20,17 +22,10 @@ client.on_connect = on_connect
 client.connect(mqttBroker)
 
 plantdata = {
-    "AirTemperature": 20.4,
-    "AirHumidity": 7.0,
-    "SoilMoisture": 5.0,
-    "Brightness": 39,
-    "PlantID": 2,
-    "Timestamp": "hallo",
-    "MeasurementID": 187
+    "PlantName": "Kemal"
 }
 
 print(type(PLANTDATA))
-while True:
-    client.publish("TEST", json.dumps(plantdata))
-    print(json.dumps(plantdata))
-    time.sleep(2)
+client.publish("BACKEND/ACTION/GETBATTERY", json.dumps(plantdata))
+print(json.dumps(plantdata))
+time.sleep(2)

software/backend/main.py

@@ -12,17 +12,17 @@ import paho.mqtt.client as mqtt
 from software.defines import MQTT_BROKER_LOCAL, MQTT_BROKER_GLOBAL, Topics, BACKEND_CLIENT_ID, DATABASE_NAME
 from plantdatabase import PlantDataBase
 import data_functions
+import logging
+import sys
+from robot import Robot
 
-# inits
-mydatabase = PlantDataBase(database_name=DATABASE_NAME)
-mydatabase.create_tables()
-order_handler = []  # will contain UUIDS with Order IDs
 
-
-def on_connect(_client: mqtt.Client, _userdata, _flags, _rc):
+def on_connect(_client: mqtt.Client, _userdata, _flags, _rc, _mydatabase, _robot):
     """
     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 _client: mqtt client object
     :param _userdata:
     :param _flags:
@@ -37,25 +37,25 @@ def on_connect(_client: mqtt.Client, _userdata, _flags, _rc):
         # From Robot:
         _client.subscribe(Topics['ROBOT_DATA_SENSORDATA'])
         _client.message_callback_add(Topics['ROBOT_DATA_SENSORDATA'], lambda client, userdata, message: data_functions.
-                                     data_sensordata(client, userdata, message, mydatabase, order_handler))
+                                     data_sensordata(client, userdata, message, _mydatabase, _robot))
 
         _client.subscribe(Topics['ROBOT_DATA_POSITION'])
         _client.message_callback_add(Topics['ROBOT_DATA_POSITION'], data_functions.data_position)
 
         _client.subscribe(Topics['ROBOT_DATA_BATTERY'])
         _client.message_callback_add(Topics['ROBOT_DATA_BATTERY'], lambda client, userdata, message: data_functions.
-                                     data_battery(client, userdata, message, mydatabase))
+                                     data_battery(client, userdata, message))
 
         # client.subscribe('Robot/Data/Picture')
 
         # From FrontEnd:
         _client.subscribe(Topics['BACKEND_ACTION_DRIVE'])
         _client.message_callback_add(Topics['BACKEND_ACTION_DRIVE'], lambda client, userdata, message: data_functions.
-                                     action_drive(client, userdata, message, mydatabase, order_handler))
+                                     action_drive(client, userdata, message, _mydatabase, _robot))
 
         _client.subscribe(Topics['BACKEND_ACTION_DRIVEALL'])
-        _client.message_callback_add(Topics['BACKEND_ACTION_DRIVE'], lambda client, userdata, message: data_functions.
-                                     action_driveall(client, userdata, message, mydatabase))
+        _client.message_callback_add(Topics['BACKEND_ACTION_DRIVEALL'], lambda client, userdata, message: data_functions.
+                                     action_driveall(client, userdata, message, _mydatabase, _robot))
 
         _client.subscribe(Topics['BACKEND_ACTION_GETPOSITION'])
         _client.message_callback_add(Topics['BACKEND_ACTION_GETPOSITION'], data_functions.action_getposition)
@@ -66,35 +66,54 @@ def on_connect(_client: mqtt.Client, _userdata, _flags, _rc):
         _client.subscribe(Topics['BACKEND_ACTION_GETALLDATA'])
         _client.message_callback_add(Topics['BACKEND_ACTION_GETALLDATA'],
                                      lambda client, userdata, message: data_functions.
-                                     action_getalldata(client, userdata, message, mydatabase))
+                                     action_getalldata(client, userdata, message, _mydatabase))
 
         _client.subscribe(Topics['BACKEND_ACTION_NEWPLANT'])
         _client.message_callback_add(Topics['BACKEND_ACTION_NEWPLANT'], lambda client, userdata, message: data_functions.
-                                     action_newplant(client, userdata, message, mydatabase))
+                                     action_newplant(client, userdata, message, _mydatabase))
 
         _client.subscribe(Topics['BACKEND_ACTION_CONFIGUREPLANT'])
         _client.message_callback_add(Topics['BACKEND_ACTION_CONFIGUREPLANT'], lambda client, userdata, message: data_functions.
-                                     action_configureplant(client, userdata, message, mydatabase))
+                                     action_configureplant(client, userdata, message, _mydatabase))
 
         _client.subscribe(Topics['BACKEND_ACTION_DELETEPLANT'])
         _client.message_callback_add(Topics['BACKEND_ACTION_DELETEPLANT'],
                                      lambda client, userdata, message: data_functions.
-                                     action_deleteplant(client, userdata, message, mydatabase))
+                                     action_deleteplant(client, userdata, message, _mydatabase))
 
         _client.subscribe(Topics['BACKEND_ACTION_PLANTCOUNT'])
         _client.message_callback_add(Topics['BACKEND_ACTION_PLANTCOUNT'], lambda client, userdata, message: data_functions.
-                                     action_countplants(client, userdata, message, mydatabase))
+                                     action_countplants(client, userdata, message, _mydatabase))
+
+        _client.subscribe(Topics['ROBOT_DATA_ERROR'])
+        _client.message_callback_add(Topics['ROBOT_DATA_ERROR'], lambda client, userdata, message: data_functions.
+                                     data_error(client, userdata, message, _robot))
 
+        _client.subscribe(Topics['ROBOT_DATA_ROBOTREADY'])
+        _client.message_callback_add(Topics['ROBOT_DATA_ROBOTREADY'], lambda client, userdata, message: data_functions.
+                                     data_robotready(client, userdata, message, _robot))
         # END TOPIC SUBSCRIPTIONS
     else:
         print("connection failed")
 
 
 def main():
-    client = mqtt.Client(BACKEND_CLIENT_ID)
-    client.on_connect = on_connect
-    client.connect(MQTT_BROKER_GLOBAL)
-    client.loop_forever()
+    robot = Robot()
+    my_database = PlantDataBase(database_name=DATABASE_NAME)
+    my_database.create_tables()
+    mqttclient = mqtt.Client(BACKEND_CLIENT_ID)
+    mqttclient.on_connect = lambda client, userdata, flags, rc: on_connect(_client=client,
+                                                                           _userdata=userdata,
+                                                                           _flags=flags,
+                                                                           _rc=rc,
+                                                                           _mydatabase=my_database,
+                                                                           _robot=robot)
+    mqttclient.connect(MQTT_BROKER_GLOBAL)
+    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))
+    mqttclient.loop_forever()
 
 
 if __name__ == "__main__":

software/backend/plantdatabase.py

@@ -1,6 +1,7 @@
 # file to create a database via python script
 import sqlite3
 from typing import Optional
+import logging
 
 
 class PlantDataBase:
@@ -13,9 +14,8 @@ class PlantDataBase:
         self.conn = None
         try:
             self.conn = sqlite3.connect(self.db_file, check_same_thread=False)
-            print(sqlite3.version)
         except sqlite3.Error as e:
-            print(e)
+            logging.error("Database init error: " + str(e))
         self.cur = self.conn.cursor()
 
     def create_tables(self):
@@ -38,32 +38,36 @@ class PlantDataBase:
             self.cur.execute(table_config)
             return True
         except sqlite3.Warning as e:
-            return e
+            logging.error("Could not create tables: " + str(e))
+            return False
 
-    def insert_plant(self, plantname: str, plant_id: int):
+    def insert_plant(self, plantname: str, plant_id: int) -> bool:
         try:
             self.cur.execute("INSERT INTO plants (PlantName, PlantID) VALUES (?,?)", (plantname, plant_id))
             self.conn.commit()
             return True
-        except (sqlite3.NotSupportedError, sqlite3.Warning) as e:
-            return e
+        except Exception as e:
+            logging.error("Could not insert plant: " + str(e))
+            return False
 
-    def configure_plant(self, plant_id: int, plantname: str):
+    def configure_plant(self, plant_id: int, plantname: str) -> bool:
         try:
             self.cur.execute("UPDATE plants SET PlantID = ?, PlantName = ? WHERE PlantID= ?",
                              (plant_id, plantname, plant_id))
             self.conn.commit()
             return True
-        except (sqlite3.NotSupportedError, sqlite3.Warning) as e:
-            return e
+        except Exception as e:
+            logging.error("Could not configure plant: " + str(e))
+            return False
 
     def delete_plant(self, plant_id):
         try:
             self.cur.execute('DELETE FROM plants WHERE PlantID = ?', (plant_id,))
             self.conn.commit()
             return True
-        except (sqlite3.NotSupportedError, sqlite3.Warning) as e:
-            return e
+        except Exception as e:
+            logging.error("Could not delete plant: " + str(e))
+            return False
 
     def insert_measurement_data(self, plant_id,
                                 sensordata_temp,
@@ -72,13 +76,14 @@ class PlantDataBase:
                                 sensordata_brightness) -> bool:
         try:
             self.cur.execute(f"INSERT INTO measurement_values (PlantID, AirTemperature, AirHumidity,"
-                             f"SoilMoisture, Brightness) VALUES "
-                             f"({plant_id}, {sensordata_temp}, {sensordata_humidity}, {sensordata_soil_moisture}"
-                             f", {sensordata_brightness})")
+                            f"SoilMoisture, Brightness) VALUES "
+                            f"({plant_id}, {sensordata_temp}, {sensordata_humidity}, {sensordata_soil_moisture}"
+                            f", {sensordata_brightness})")
             self.conn.commit()
             return True
-        except (sqlite3.NotSupportedError, sqlite3.Warning) as e:
-            return e
+        except Exception as e:
+            logging.error("Could not insert measurement data: " + str(e))
+            return False
 
     def get_latest_data(self, plant_name: Optional[str] = None, plant_id: Optional[int] = None):
         """
@@ -108,27 +113,42 @@ class PlantDataBase:
                 "PlantName": plant_name
             }
             return json_file
-        except (sqlite3.Warning, TypeError) as e:
-            return e
 
-    def delete_data(self, table_name):
-        self.cur.execute(f'DELETE FROM {table_name}')
-        self.conn.commit()
-        return True
+        except Exception as e:
+            logging.error("Could not get measurement values: " + str(e))
 
-    # TODO: Kemals Scheiß implementieren
+    def delete_data(self, table_name):
+        try:
+            self.cur.execute(f'DELETE FROM {table_name}')
+            self.conn.commit()
+            return True
+        except Exception as e:
+            logging.error("Could not delete data: " + str(e))
 
     def plant_count(self) -> int:
         """
         returns the number of plants registered in the database
         :return:
         """
-        self.cur.execute("SELECT COUNT(*) FROM plants")
-        return self.cur.fetchone()[0]
+        try:
+            self.cur.execute("SELECT COUNT(*) FROM plants")
+            return self.cur.fetchone()[0]
+        except Exception as e:
+            logging.error("Could not count plants: " + str(e))
 
     def get_plant_names(self) -> list:
-        self.cur.execute("SELECT PlantName FROM plants")
-        return self.cur.fetchall()
+        try:
+            self.cur.execute("SELECT PlantName FROM plants")
+            return self.cur.fetchall()
+        except Exception as e:
+            logging.error("Could not get plant names: " + str(e))
+
+    def get_plant_id(self, plant_name: str) -> int:
+        try:
+            self.cur.execute("SELECT PlantID FROM plants WHERE PlantName=?", (plant_name,))
+            return self.cur.fetchone()[0]
+        except Exception as e:
+            logging.error("Could not get plant id: " + str(e))
 
     def __del__(self):
         self.conn.close()

software/backend/robot.py

@@ -0,0 +1,47 @@
+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
+    """
+    def __init__(self):
+        self.robot_ready = True
+        self.order_handler = []
+        self.battery = 0
+        self.position = ""
+        self.last_error = ""
+
+    def change_robot_status(self, status: bool):
+        self.robot_ready = status
+
+    def add_order(self, drivedata):
+        self.order_handler.append(drivedata)
+
+    def delete_order(self, drivedata):
+        self.order_handler.remove(drivedata)
+
+    def get_next_order(self):
+        return self.order_handler[0]
+
+    def get_order_number(self):
+        return len(self.order_handler)
+
+    def store_battery(self, battery):
+        self.battery = battery
+
+    def store_position(self, position):
+        self.position = position
+
+    def store_last_error(self, error):
+        self.last_error = error
+
+    def get_battery(self):
+        return self.battery
+
+    def get_position(self):
+        return self.position
+
+    def get_last_error(self):
+        return self.last_error
+
+    def get_robot_status(self):
+        return self.robot_ready

software/defines.py

@@ -21,6 +21,8 @@ Topics = {
     "ROBOT_DATA_BATTERY": "ROBOT/DATA/BATTERY",
     "ROBOT_DATA_POSITION": "ROBOT/DATA/POSITION",
     "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_DRIVEALL": "BACKEND/ACTION/DRIVEALL",
@@ -38,7 +40,8 @@ Topics = {
     "BACKEND_DATA_BATTERY": "BACKEND/DATA/BATTERY",
     "BACKEND_DATA_PICTURE": "BACKEND/DATA/PICTURE",
     "BACKEND_DATA_PLANTCOUNT": "BACKEND/DATA/PLANTCOUNT",
-
+    "BACKEND_DATA_ERROR": "BACKEND/DATA/ERROR",
+    "BACKEND_DATA_ROBOTREADY": "BACKEND/DATA/ROBOTREADY"
 
 }