Error Handling BackEnd added, logging included, order list and robot class added
This commit is contained in:
caliskanbi
parent
0385aa7792
commit
4e60cd9ad0
14
.idea/deployment.xml
generated
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14
.idea/deployment.xml
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@ -0,0 +1,14 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<project version="4">
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<component name="PublishConfigData" serverName="backend" remoteFilesAllowedToDisappearOnAutoupload="false">
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<serverData>
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<paths name="backend">
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<serverdata>
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<mappings>
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<mapping deploy="/home/lego/SMARTGARDENING" local="$PROJECT_DIR$/software" web="/" />
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</mappings>
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</serverdata>
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</paths>
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</serverData>
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</component>
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</project>
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8
.idea/sshConfigs.xml
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8
.idea/sshConfigs.xml
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@ -0,0 +1,8 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<project version="4">
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<component name="SshConfigs">
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<configs>
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<sshConfig authType="PASSWORD" host="lego-K53SV" id="40359a92-2c87-41df-943b-cfac73c7ea3d" port="22" nameFormat="DESCRIPTIVE" username="lego" useOpenSSHConfig="true" />
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</configs>
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</component>
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</project>
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14
.idea/webServers.xml
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14
.idea/webServers.xml
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@ -0,0 +1,14 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<project version="4">
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<component name="WebServers">
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<option name="servers">
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<webServer id="1b3e9e3f-7394-4cbc-a32d-b95ef2abda52" name="backend">
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<fileTransfer accessType="SFTP" host="lego-K53SV" port="22" sshConfigId="40359a92-2c87-41df-943b-cfac73c7ea3d" sshConfig="lego@lego-K53SV:22 password">
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<advancedOptions>
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<advancedOptions dataProtectionLevel="Private" keepAliveTimeout="0" passiveMode="true" shareSSLContext="true" />
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</advancedOptions>
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</fileTransfer>
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</webServer>
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</option>
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</component>
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</project>
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@ -29,4 +29,4 @@ urllib3==1.26.14
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Werkzeug==2.2.3
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zipp==3.15.0
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python-ev3dev2==2.1.0.post1
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pytest
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pytest==7.3.1
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Binary file not shown.
@ -10,73 +10,103 @@ from software.defines import Topics, MAX_PLANT_COUNT
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import json
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import uuid
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from typing import Union
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from datetime import datetime
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import logging
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from robot import Robot
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# Robot Channel Reactions
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def data_sensordata(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, mydatabase: PlantDataBase,
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order_handler: list):
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print("message received")
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# TODO: Store data in database
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robot: Robot):
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str_in = str(message.payload.decode("UTF-8"))
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payload = json.loads(str_in)
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print("Received data: ", json.dumps(payload))
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logging.info("ROBOT_DATA_SENSORDATA Received data: " + json.dumps(payload))
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drive_data = {
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"PlantID": payload['PlantID'],
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"ActionID": payload['ActionID']
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}
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order_handler.remove(payload['ActionID'])
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try:
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robot.delete_order(drive_data)
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except Exception as e:
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logging.error("Could not delete order: " + str(e))
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mydatabase.insert_measurement_data(plant_id=payload['PlantID'],
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sensordata_temp=payload['AirTemperature'],
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sensordata_humidity=payload['AirHumidity'],
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sensordata_soil_moisture=payload['SoilMoisture'],
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sensordata_brightness=payload['Brightness'])
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logging.debug("Inserted to data base: " + json.dumps(payload))
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def data_position(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, mydatabase: PlantDataBase):
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# TODO: Forward to frontend in json format
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client.publish(Topics['BACKEND_DATA_POSITION'], message.payload.decode("utf-8"))
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def data_position(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, robot: Robot):
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logging.info("ROBOT_DATA_POSITION Received data: " + json.dumps(message.payload.decode("UTF-8")))
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robot.store_position(json.loads(message.payload.decode("UTF-8"))["Position"])
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position_data = {
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"Position": robot.get_position(),
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"Timestamp": str(datetime.now())
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}
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client.publish(Topics['BACKEND_DATA_POSITION'], json.dumps(position_data))
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def data_battery(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, mydatabase: PlantDataBase):
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# TODO: Forward to frontend in json format
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client.publish(Topics['BACKEND_DATA_BATTERY'], message.payload.decode("utf-8"))
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def data_battery(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, robot: Robot):
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logging.info("ROBOT_DATA_BATTERY Received data: " + json.dumps(message.payload.decode("UTF-8")))
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robot.store_battery(json.loads(message.payload.decode("UTF-8"))["Battery"])
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battery_data = {
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"Battery": robot.get_battery(),
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"Timestamp": str(datetime.now())
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}
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client.publish(Topics['BACKEND_DATA_BATTERY'], json.dumps(battery_data))
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# FrontEnd Channel Reactions
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def action_drive(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, mydatabase: PlantDataBase,
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order_handler: list):
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# TODO: ROBOT READY CHECK
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if len(order_handler) < 5:
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order_handler.append(uuid.uuid4())
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robot: Robot):
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plant_id = mydatabase.get_plant_id(plant_name=json.loads(message.payload.decode("UTF-8"))["PlantName"])
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action_id = str(uuid.uuid4())
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drive_data = {
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"PlantID": plant_id,
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"ActionID": action_id
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}
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if robot.get_order_number() < 5 and robot.get_robot_status() is True:
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robot.add_order(drive_data)
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client.publish(Topics['ROBOT_ACTION_DRIVE'], json.dumps(drive_data))
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logging.info("BACKEND_ACTION_DRIVE Drive Command published: " + json.dumps(drive_data))
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else:
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# TODO: What to do when no place in order_list left
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pass
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client.publish(Topics['ROBOT_ACTION_DRIVE'], message.payload.decode("utf-8"))
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if robot.get_order_number() < 5:
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robot.add_order(drive_data)
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logging.info("BACKEND_ACTION_DRIVE New data added to order list: " + str(drive_data))
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elif robot.get_order_number() >= 5:
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logging.error("Could not add Order to list. Order discarded")
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client.publish(Topics['BACKEND_DATA_ERROR'], "Could not add Order to list. Order discarded")
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def action_driveall(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, mydatabase: PlantDataBase):
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def action_driveall(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, mydatabase: PlantDataBase,
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robot: Robot):
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# TODO: Implement here
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pass
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print("HELLO")
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def action_getposition(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, mydatabase: PlantDataBase):
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client.publish(Topics['ROBOT_ACTION_GETPOSITION'])
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logging.info("BACKEND_ACTION_GETPOSITION message forwarded to Robot")
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def action_getbattery(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, mydatabase: PlantDataBase):
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def action_getbattery(client: mqtt.Client, userdata, message: mqtt.MQTTMessage):
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client.publish(Topics['ROBOT_ACTION_GETBATTERY'])
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logging.info("BACKEND_ACTION_GETBATTERY message forwarded to Robot")
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def action_getalldata(client: mqtt.Client, userdata, message: Union[mqtt.MQTTMessage, list], mydatabase: PlantDataBase):
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plant_names = mydatabase.get_plant_names()
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print(type(plant_names))
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alldata = []
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for i in plant_names:
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print("I Type: " + str(type(i)))
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print("I: " + i[0])
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alldata.append(mydatabase.get_latest_data(plant_name=i[0]))
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client.publish(Topics['BACKEND_DATA_SENSORDATAALL'], json.dumps(alldata))
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print("BACKEND_DATA_SENSORDATAALL SEND DATA:" + str(alldata))
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logging.info("BACKEND_DATA_SENSORDATAALL got data from database:" + str(alldata))
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def action_newplant(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, mydatabase: PlantDataBase):
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@ -87,8 +117,7 @@ def action_newplant(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, my
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sensordata_humidity=plant_data["AirHumidity"],
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sensordata_soil_moisture=plant_data["SoilMoisture"],
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sensordata_brightness=plant_data["Brightness"])
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print("BACKEND_ACTION_NEWPLANT RECEIVED DATA: " + str(plant_data))
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print(mydatabase.get_plant_names())
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logging.info("BACKEND_ACTION_NEWPLANT new plant data received and inserted: " + str(plant_data))
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action_getalldata(client, userdata, message, mydatabase)
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@ -100,14 +129,14 @@ def action_configureplant(client: mqtt.Client, userdata, message: mqtt.MQTTMessa
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sensordata_humidity=plant_data["AirHumidity"],
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sensordata_soil_moisture=plant_data["SoilMoisture"],
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sensordata_brightness=plant_data["Brightness"])
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print("BACKEND_ACTION_CONFIGUREPLANT RECEIVED DATA: " + str(plant_data))
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logging.info("BACKEND_ACTION_CONFIGUREPLANT configure plant data received and inserted: " + str(plant_data))
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action_getalldata(client, userdata, message, mydatabase)
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def action_deleteplant(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, mydatabase: PlantDataBase):
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delete_plant = json.loads(message.payload.decode("UTF-8"))
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mydatabase.delete_plant(plant_id=delete_plant)
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print("BACKEND_ACTION_DELETEPLANT RECEIVED DATA: " + str(delete_plant))
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logging.info("BACKEND_ACTION_DELETEPLANT delete plant data received and deleted: " + str(delete_plant))
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action_getalldata(client, userdata, message, mydatabase)
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@ -118,4 +147,20 @@ def action_countplants(client: mqtt.Client, userdata, message: mqtt.MQTTMessage,
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"MaxCount": MAX_PLANT_COUNT
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}
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client.publish(Topics["BACKEND_DATA_PLANTCOUNT"], json.dumps(count_payload))
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print("BACKEND_DATA_PLANTCOUNT SEND DATA: " + str(count_payload))
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logging.info("BACKEND_DATA_PLANTCOUNT forwarded plant count to FrontEnd: " + str(count_payload))
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def data_error(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, robot: Robot):
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robot.store_last_error(message.payload.decode("UTF-8"))
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logging.error("ROBOT_DATA_ERROR new error received from Robot: " + robot.get_last_error())
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client.publish(Topics['BACKEND_DATA_ERROR'], message.payload.decode("UTF-8"))
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def data_robotready(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, robot: Robot):
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robot.change_robot_status(message.payload.decode("UTF-8") == 'True')
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if robot.get_robot_status() is True and robot.get_order_number() >= 1:
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client.publish(Topics['ROBOT_ACTION_DRIVE'], json.dumps(robot.get_next_order()))
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logging.info("Waiting Order send to Robot")
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logging.info("ROBOT_DATA_ROBOTREADY status updated: " + str(robot.get_robot_status()))
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client.publish(Topics['BACKEND_DATA_ROBOTREADY'], message.payload.decode("UTF-8"))
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@ -1,10 +1,12 @@
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import paho.mqtt.client as mqtt
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import software.defines
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from software.defines import MQTT_BROKER_LOCAL
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from random import randrange, uniform
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import time
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import json
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from software.defines import Topics, PLANTDATA
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mqttBroker = "192.168.178.182"
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mqttBroker = software.defines.MQTT_BROKER_GLOBAL
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def on_connect(client, userdata, flags, rc):
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@ -20,17 +22,10 @@ client.on_connect = on_connect
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client.connect(mqttBroker)
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plantdata = {
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"AirTemperature": 20.4,
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"AirHumidity": 7.0,
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"SoilMoisture": 5.0,
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"Brightness": 39,
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"PlantID": 2,
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"Timestamp": "hallo",
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"MeasurementID": 187
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"PlantName": "Kemal"
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}
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print(type(PLANTDATA))
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while True:
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client.publish("TEST", json.dumps(plantdata))
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client.publish("BACKEND/ACTION/GETBATTERY", json.dumps(plantdata))
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print(json.dumps(plantdata))
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time.sleep(2)
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@ -12,17 +12,17 @@ import paho.mqtt.client as mqtt
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from software.defines import MQTT_BROKER_LOCAL, MQTT_BROKER_GLOBAL, Topics, BACKEND_CLIENT_ID, DATABASE_NAME
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from plantdatabase import PlantDataBase
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import data_functions
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# inits
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mydatabase = PlantDataBase(database_name=DATABASE_NAME)
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mydatabase.create_tables()
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order_handler = [] # will contain UUIDS with Order IDs
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import logging
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import sys
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from robot import Robot
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def on_connect(_client: mqtt.Client, _userdata, _flags, _rc):
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def on_connect(_client: mqtt.Client, _userdata, _flags, _rc, _mydatabase, _robot):
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"""
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This method gets called, when it connects to a mqtt broker.
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It is used to subscribe to the specific topics
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:param _robot:
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:param _mydatabase:
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:param _client: mqtt client object
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:param _userdata:
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:param _flags:
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@ -37,25 +37,25 @@ def on_connect(_client: mqtt.Client, _userdata, _flags, _rc):
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# From Robot:
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_client.subscribe(Topics['ROBOT_DATA_SENSORDATA'])
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_client.message_callback_add(Topics['ROBOT_DATA_SENSORDATA'], lambda client, userdata, message: data_functions.
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data_sensordata(client, userdata, message, mydatabase, order_handler))
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data_sensordata(client, userdata, message, _mydatabase, _robot))
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_client.subscribe(Topics['ROBOT_DATA_POSITION'])
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_client.message_callback_add(Topics['ROBOT_DATA_POSITION'], data_functions.data_position)
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_client.subscribe(Topics['ROBOT_DATA_BATTERY'])
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_client.message_callback_add(Topics['ROBOT_DATA_BATTERY'], lambda client, userdata, message: data_functions.
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data_battery(client, userdata, message, mydatabase))
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data_battery(client, userdata, message))
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# client.subscribe('Robot/Data/Picture')
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# From FrontEnd:
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_client.subscribe(Topics['BACKEND_ACTION_DRIVE'])
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_client.message_callback_add(Topics['BACKEND_ACTION_DRIVE'], lambda client, userdata, message: data_functions.
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action_drive(client, userdata, message, mydatabase, order_handler))
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action_drive(client, userdata, message, _mydatabase, _robot))
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_client.subscribe(Topics['BACKEND_ACTION_DRIVEALL'])
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_client.message_callback_add(Topics['BACKEND_ACTION_DRIVE'], lambda client, userdata, message: data_functions.
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action_driveall(client, userdata, message, mydatabase))
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_client.message_callback_add(Topics['BACKEND_ACTION_DRIVEALL'], lambda client, userdata, message: data_functions.
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action_driveall(client, userdata, message, _mydatabase, _robot))
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_client.subscribe(Topics['BACKEND_ACTION_GETPOSITION'])
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_client.message_callback_add(Topics['BACKEND_ACTION_GETPOSITION'], data_functions.action_getposition)
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@ -66,35 +66,54 @@ def on_connect(_client: mqtt.Client, _userdata, _flags, _rc):
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_client.subscribe(Topics['BACKEND_ACTION_GETALLDATA'])
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_client.message_callback_add(Topics['BACKEND_ACTION_GETALLDATA'],
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lambda client, userdata, message: data_functions.
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action_getalldata(client, userdata, message, mydatabase))
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action_getalldata(client, userdata, message, _mydatabase))
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_client.subscribe(Topics['BACKEND_ACTION_NEWPLANT'])
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_client.message_callback_add(Topics['BACKEND_ACTION_NEWPLANT'], lambda client, userdata, message: data_functions.
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action_newplant(client, userdata, message, mydatabase))
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action_newplant(client, userdata, message, _mydatabase))
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_client.subscribe(Topics['BACKEND_ACTION_CONFIGUREPLANT'])
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_client.message_callback_add(Topics['BACKEND_ACTION_CONFIGUREPLANT'], lambda client, userdata, message: data_functions.
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action_configureplant(client, userdata, message, mydatabase))
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action_configureplant(client, userdata, message, _mydatabase))
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_client.subscribe(Topics['BACKEND_ACTION_DELETEPLANT'])
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_client.message_callback_add(Topics['BACKEND_ACTION_DELETEPLANT'],
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lambda client, userdata, message: data_functions.
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action_deleteplant(client, userdata, message, mydatabase))
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action_deleteplant(client, userdata, message, _mydatabase))
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_client.subscribe(Topics['BACKEND_ACTION_PLANTCOUNT'])
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_client.message_callback_add(Topics['BACKEND_ACTION_PLANTCOUNT'], lambda client, userdata, message: data_functions.
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action_countplants(client, userdata, message, mydatabase))
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action_countplants(client, userdata, message, _mydatabase))
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_client.subscribe(Topics['ROBOT_DATA_ERROR'])
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_client.message_callback_add(Topics['ROBOT_DATA_ERROR'], lambda client, userdata, message: data_functions.
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data_error(client, userdata, message, _robot))
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_client.subscribe(Topics['ROBOT_DATA_ROBOTREADY'])
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_client.message_callback_add(Topics['ROBOT_DATA_ROBOTREADY'], lambda client, userdata, message: data_functions.
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data_robotready(client, userdata, message, _robot))
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# END TOPIC SUBSCRIPTIONS
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else:
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print("connection failed")
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def main():
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client = mqtt.Client(BACKEND_CLIENT_ID)
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client.on_connect = on_connect
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client.connect(MQTT_BROKER_GLOBAL)
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client.loop_forever()
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robot = Robot()
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my_database = PlantDataBase(database_name=DATABASE_NAME)
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my_database.create_tables()
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mqttclient = mqtt.Client(BACKEND_CLIENT_ID)
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mqttclient.on_connect = lambda client, userdata, flags, rc: on_connect(_client=client,
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_userdata=userdata,
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_flags=flags,
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_rc=rc,
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_mydatabase=my_database,
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||||
_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__":
|
||||
|
||||
@ -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,
|
||||
@ -77,8 +81,9 @@ class PlantDataBase:
|
||||
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
|
||||
|
||||
except Exception as e:
|
||||
logging.error("Could not get measurement values: " + str(e))
|
||||
|
||||
def delete_data(self, table_name):
|
||||
try:
|
||||
self.cur.execute(f'DELETE FROM {table_name}')
|
||||
self.conn.commit()
|
||||
return True
|
||||
|
||||
# TODO: Kemals Scheiß implementieren
|
||||
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:
|
||||
"""
|
||||
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:
|
||||
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()
|
||||
|
||||
47
software/backend/robot.py
Normal file
47
software/backend/robot.py
Normal file
@ -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
|
||||
Binary file not shown.
@ -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"
|
||||
|
||||
}
|
||||
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user