From 5e14633f42f956c621b239b3b4508e6e4150f24d Mon Sep 17 00:00:00 2001 From: waldluis Date: Thu, 31 Aug 2023 10:23:02 +0200 Subject: [PATCH] Robot UML update --- documentation/SmartGardeningProjekt.mdj | 1175 ++++++++++++++++++++--- software/roboter/raspy/functions.py | 12 +- 2 files changed, 1059 insertions(+), 128 deletions(-) diff --git a/documentation/SmartGardeningProjekt.mdj b/documentation/SmartGardeningProjekt.mdj index ccbb515..2dfa539 100644 --- a/documentation/SmartGardeningProjekt.mdj +++ b/documentation/SmartGardeningProjekt.mdj @@ -61,9 +61,9 @@ "$ref": "AAAAAAGHA6OtsNB4UQo=" }, "font": "Arial;13;0", - "left": 38.55908203125, + "left": 40.72998046875, "top": 13, - "width": 52.9873046875, + "width": 58.07177734375, "height": 13, "text": "Messfahrt" }, @@ -76,7 +76,7 @@ "font": "Arial;13;1", "left": 21, "top": 13, - "width": 12.55908203125, + "width": 14.72998046875, "height": 13, "text": "sd" } @@ -2196,9 +2196,9 @@ "$ref": "AAAAAAGHMigXU5G+9zU=" }, "font": "Arial;13;0", - "left": 46.55908203125, + "left": 48.72998046875, "top": 13, - "width": 97.73828125, + "width": 108.65625, "height": 13, "text": "Raspy-ev3-Thread" }, @@ -2211,7 +2211,7 @@ "font": "Arial;13;1", "left": 29, "top": 13, - "width": 12.55908203125, + "width": 14.72998046875, "height": 13, "text": "sd" } @@ -6331,7 +6331,7 @@ "font": "Arial;13;1", "left": 725, "top": 63, - "width": 350.81591796875, + "width": 353.7041015625, "height": 13, "text": "RaspberryPi" }, @@ -6366,7 +6366,7 @@ "font": "Arial;13;0", "left": 720, "top": 56, - "width": 360.81591796875, + "width": 363.7041015625, "height": 25, "stereotypeLabel": { "$ref": "AAAAAAGH3D4F4EfBrX4=" @@ -6393,7 +6393,7 @@ "font": "Arial;13;0", "left": 720, "top": 81, - "width": 360.81591796875, + "width": 363.7041015625, "height": 10 }, { @@ -6418,7 +6418,7 @@ "font": "Arial;13;0", "left": 725, "top": 96, - "width": 350.81591796875, + "width": 353.7041015625, "height": 13, "text": "+main()", "horizontalAlignment": 0 @@ -6435,7 +6435,7 @@ "font": "Arial;13;0", "left": 725, "top": 111, - "width": 350.81591796875, + "width": 353.7041015625, "height": 13, "text": "+on_connect(client: mqtt.Client, userdata, flags, rc)", "horizontalAlignment": 0 @@ -6452,7 +6452,7 @@ "font": "Arial;13;0", "left": 725, "top": 126, - "width": 350.81591796875, + "width": 353.7041015625, "height": 13, "text": "+drive_plant(client: mqtt.Client, userdata, message)", "horizontalAlignment": 0 @@ -6469,7 +6469,7 @@ "font": "Arial;13;0", "left": 725, "top": 141, - "width": 350.81591796875, + "width": 353.7041015625, "height": 13, "text": "+drive_plant_all(client: mqtt.Client, userdata, message)", "horizontalAlignment": 0 @@ -6486,7 +6486,7 @@ "font": "Arial;13;0", "left": 725, "top": 156, - "width": 350.81591796875, + "width": 353.7041015625, "height": 13, "text": "+get_position(client: mqtt.Client, userdata, message)", "horizontalAlignment": 0 @@ -6503,7 +6503,7 @@ "font": "Arial;13;0", "left": 725, "top": 171, - "width": 350.81591796875, + "width": 353.7041015625, "height": 13, "text": "+get_batteryStatus(client: mqtt.Client, userdata, message)", "horizontalAlignment": 0 @@ -6520,7 +6520,7 @@ "font": "Arial;13;0", "left": 725, "top": 186, - "width": 350.81591796875, + "width": 353.7041015625, "height": 13, "text": "+measure_send_data(plantID, actionID, client: mqtt.Client)", "horizontalAlignment": 0 @@ -6537,7 +6537,7 @@ "font": "Arial;13;0", "left": 725, "top": 201, - "width": 350.81591796875, + "width": 353.7041015625, "height": 13, "text": "+drive_plant_thread(plantID, actionID, client: mqtt.Client)", "horizontalAlignment": 0 @@ -6554,17 +6554,34 @@ "font": "Arial;13;0", "left": 725, "top": 216, - "width": 350.81591796875, + "width": 353.7041015625, "height": 13, - "text": "+drive_plant_all_thread(plantIDs, actionID, client: mqtt.client)", + "text": "+drive_plant_all_thread(plantIDs, actionID, client: mqtt.Client)", + "horizontalAlignment": 0 + }, + { + "_type": "UMLOperationView", + "_id": "AAAAAAGKSqeFfXyxcSs=", + "_parent": { + "$ref": "AAAAAAGH3D4F4EfGEDY=" + }, + "model": { + "$ref": "AAAAAAGKSqeFSXyuFZE=" + }, + "font": "Arial;13;0", + "left": 725, + "top": 231, + "width": 353.7041015625, + "height": 13, + "text": "+sendPicture(client: mqtt.Client)", "horizontalAlignment": 0 } ], "font": "Arial;13;0", "left": 720, "top": 91, - "width": 360.81591796875, - "height": 143 + "width": 363.7041015625, + "height": 158 }, { "_type": "UMLReceptionCompartmentView", @@ -6603,7 +6620,7 @@ "containerChangeable": true, "left": 720, "top": 56, - "width": 360.81591796875, + "width": 363.7041015625, "height": 264, "nameCompartment": { "$ref": "AAAAAAGH3D4F4EfA0gE=" @@ -6662,9 +6679,9 @@ "font": "Arial;13;1", "left": 805, "top": 455, - "width": 191.8388671875, + "width": 192.56884765625, "height": 13, - "text": "Roboter" + "text": "EV3-Roboter" }, { "_type": "LabelView", @@ -6697,7 +6714,7 @@ "font": "Arial;13;0", "left": 800, "top": 448, - "width": 201.8388671875, + "width": 202.56884765625, "height": 25, "stereotypeLabel": { "$ref": "AAAAAAGH3D4gT0frdC4=" @@ -6724,7 +6741,7 @@ "font": "Arial;13;0", "left": 800, "top": 473, - "width": 201.8388671875, + "width": 202.56884765625, "height": 10 }, { @@ -6749,7 +6766,7 @@ "font": "Arial;13;0", "left": 805, "top": 488, - "width": 191.8388671875, + "width": 192.56884765625, "height": 13, "text": "+plant_1.py()", "horizontalAlignment": 0 @@ -6766,7 +6783,7 @@ "font": "Arial;13;0", "left": 805, "top": 503, - "width": 191.8388671875, + "width": 192.56884765625, "height": 13, "text": "+plant_2.py()", "horizontalAlignment": 0 @@ -6783,7 +6800,7 @@ "font": "Arial;13;0", "left": 805, "top": 518, - "width": 191.8388671875, + "width": 192.56884765625, "height": 13, "text": "+plant_3.py()", "horizontalAlignment": 0 @@ -6800,7 +6817,7 @@ "font": "Arial;13;0", "left": 805, "top": 533, - "width": 191.8388671875, + "width": 192.56884765625, "height": 13, "text": "+plant_4.py()", "horizontalAlignment": 0 @@ -6817,7 +6834,7 @@ "font": "Arial;13;0", "left": 805, "top": 548, - "width": 191.8388671875, + "width": 192.56884765625, "height": 13, "text": "+plant_5.py()", "horizontalAlignment": 0 @@ -6834,7 +6851,7 @@ "font": "Arial;13;0", "left": 805, "top": 563, - "width": 191.8388671875, + "width": 192.56884765625, "height": 13, "text": "+plant_6.py()", "horizontalAlignment": 0 @@ -6851,9 +6868,9 @@ "font": "Arial;13;0", "left": 805, "top": 578, - "width": 191.8388671875, + "width": 192.56884765625, "height": 13, - "text": "+drive_back.py(plantNumber: int)", + "text": "+drive_back.py(plantID: int)", "horizontalAlignment": 0 }, { @@ -6868,9 +6885,9 @@ "font": "Arial;13;0", "left": 805, "top": 593, - "width": 191.8388671875, + "width": 192.56884765625, "height": 13, - "text": "+drive_arm.py(plantNumber)", + "text": "+drive_arm.py(plantID: int)", "horizontalAlignment": 0 }, { @@ -6885,7 +6902,7 @@ "font": "Arial;13;0", "left": 805, "top": 608, - "width": 191.8388671875, + "width": 192.56884765625, "height": 13, "text": "+drive_back_straight.py()", "horizontalAlignment": 0 @@ -6902,16 +6919,16 @@ "font": "Arial;13;0", "left": 805, "top": 623, - "width": 191.8388671875, + "width": 192.56884765625, "height": 13, - "text": "+drive_plant.py(plantNumber)", + "text": "+drive_plant.py(plantID: int)", "horizontalAlignment": 0 } ], "font": "Arial;13;0", "left": 800, "top": 483, - "width": 201.8388671875, + "width": 202.56884765625, "height": 158 }, { @@ -6951,7 +6968,7 @@ "containerChangeable": true, "left": 800, "top": 448, - "width": 201.8388671875, + "width": 202.56884765625, "height": 264, "nameCompartment": { "$ref": "AAAAAAGH3D4gT0fq8KA=" @@ -7260,7 +7277,7 @@ }, "font": "Arial;13;0", "left": 600, - "top": 96, + "top": 72, "width": 76.2099609375, "height": 13, "alpha": -1.6421030809202524, @@ -7283,7 +7300,7 @@ "visible": null, "font": "Arial;13;0", "left": 639, - "top": 52, + "top": 28, "height": 13, "alpha": 1.5707963267948966, "distance": 30, @@ -7304,7 +7321,7 @@ "visible": false, "font": "Arial;13;0", "left": 639, - "top": 97, + "top": 73, "height": 13, "alpha": -1.5707963267948966, "distance": 15, @@ -7325,7 +7342,7 @@ "visible": false, "font": "Arial;13;0", "left": 584, - "top": 67, + "top": 43, "height": 13, "alpha": 0.5235987755982988, "distance": 30, @@ -7346,7 +7363,7 @@ "visible": false, "font": "Arial;13;0", "left": 587, - "top": 53, + "top": 29, "height": 13, "alpha": 0.7853981633974483, "distance": 40, @@ -7367,7 +7384,7 @@ "visible": false, "font": "Arial;13;0", "left": 580, - "top": 94, + "top": 70, "height": 13, "alpha": -0.5235987755982988, "distance": 25, @@ -7388,7 +7405,7 @@ "visible": false, "font": "Arial;13;0", "left": 694, - "top": 67, + "top": 43, "height": 13, "alpha": -0.5235987755982988, "distance": 30, @@ -7408,7 +7425,7 @@ "visible": false, "font": "Arial;13;0", "left": 691, - "top": 53, + "top": 29, "height": 13, "alpha": -0.7853981633974483, "distance": 40, @@ -7428,7 +7445,7 @@ "visible": false, "font": "Arial;13;0", "left": 698, - "top": 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+ "top": 246, "height": 13, "alpha": 0.7853981633974483, "distance": 40, @@ -7637,7 +7654,7 @@ "visible": false, "font": "Arial;13;0", "left": 698, - "top": 165, + "top": 205, "height": 13, "alpha": -0.5235987755982988, "distance": 25, @@ -7658,7 +7675,7 @@ "visible": false, "font": "Arial;13;0", "left": 584, - "top": 192, + "top": 232, "height": 13, "alpha": -0.5235987755982988, "distance": 30, @@ -7678,7 +7695,7 @@ "visible": false, "font": "Arial;13;0", "left": 587, - "top": 206, + "top": 246, "height": 13, "alpha": -0.7853981633974483, "distance": 40, @@ -7698,7 +7715,7 @@ "visible": false, "font": "Arial;13;0", "left": 580, - "top": 165, + "top": 205, "height": 13, "alpha": 0.5235987755982988, "distance": 25, @@ -7742,7 +7759,7 @@ "tail": { "$ref": "AAAAAAGH3D4F4Ee/GtY=" }, - "points": "720:184;559:184", + "points": "720:224;559:224", "showVisibility": true, "nameLabel": { "$ref": "AAAAAAGH3EYx30+CpXk=" @@ -7800,7 +7817,7 @@ }, "font": "Arial;13;0", "left": 592, - "top": 225, + "top": 257, "width": 92.12353515625, "height": 13, "alpha": 1.5707963267948966, @@ -7823,7 +7840,7 @@ "visible": null, "font": "Arial;13;0", "left": 638, - "top": 240, + "top": 272, "height": 13, "alpha": 1.5707963267948966, "distance": 30, @@ -7844,7 +7861,7 @@ "visible": false, "font": "Arial;13;0", "left": 639, - "top": 195, + "top": 227, "height": 13, "alpha": -1.5707963267948966, "distance": 15, @@ -7865,7 +7882,7 @@ "visible": false, "font": "Arial;13;0", "left": 694, - "top": 224, + "top": 256, "height": 13, "alpha": 0.5235987755982988, "distance": 30, @@ -7886,7 +7903,7 @@ "visible": false, "font": "Arial;13;0", "left": 691, - "top": 238, + "top": 270, "height": 13, "alpha": 0.7853981633974483, "distance": 40, @@ -7907,7 +7924,7 @@ "visible": false, "font": "Arial;13;0", "left": 698, - "top": 197, + "top": 229, "height": 13, "alpha": -0.5235987755982988, "distance": 25, @@ -7928,7 +7945,7 @@ "visible": false, "font": "Arial;13;0", "left": 584, - "top": 224, + "top": 256, "height": 13, "alpha": -0.5235987755982988, "distance": 30, @@ -7948,7 +7965,7 @@ "visible": false, "font": "Arial;13;0", "left": 587, - "top": 238, + "top": 270, "height": 13, "alpha": -0.7853981633974483, "distance": 40, @@ -7968,7 +7985,7 @@ "visible": false, "font": "Arial;13;0", "left": 580, - "top": 197, + "top": 229, "height": 13, "alpha": 0.5235987755982988, "distance": 25, @@ -8012,7 +8029,7 @@ "tail": { "$ref": "AAAAAAGH3D4F4Ee/GtY=" }, - "points": "720:216;559:216", + "points": "720:248;559:248", "showVisibility": true, "nameLabel": { "$ref": "AAAAAAGH3Eatp1K/1Gk=" @@ -8070,7 +8087,7 @@ }, "font": "Arial;13;0", "left": 595, - "top": 257, + "top": 281, "width": 87.05810546875, "height": 13, "alpha": 1.5707963267948966, @@ -8093,7 +8110,7 @@ "visible": null, "font": "Arial;13;0", "left": 638, - "top": 272, + "top": 296, "height": 13, "alpha": 1.5707963267948966, "distance": 30, @@ -8114,7 +8131,7 @@ "visible": false, "font": "Arial;13;0", "left": 639, - "top": 227, + "top": 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"alpha": 0.5235987755982988, "distance": 25, @@ -8282,7 +8299,7 @@ "tail": { "$ref": "AAAAAAGH3D4F4Ee/GtY=" }, - "points": "720:248;559:248", + "points": "720:272;559:272", "showVisibility": true, "nameLabel": { "$ref": "AAAAAAGH3Eb/CliL9oQ=" @@ -9959,9 +9976,9 @@ "$ref": "AAAAAAGH3EsB6JzZhr0=" }, "font": "Arial;13;0", - "left": 603, - "top": 127, - "width": 74.03271484375, + "left": 595, + "top": 95, + "width": 90.6572265625, "height": 13, "alpha": -1.4994881513497438, "distance": 14.035668847618199, @@ -9969,7 +9986,7 @@ "$ref": "AAAAAAGH3EsB6Jzd7Ys=" }, "edgePosition": 1, - "text": "+MQTT calls" + "text": "+DriveAll JSON" }, { "_type": "EdgeLabelView", @@ -9983,7 +10000,7 @@ "visible": null, "font": "Arial;13;0", "left": 639, - "top": 84, + "top": 52, "height": 13, "alpha": 1.5707963267948966, "distance": 30, @@ -10004,7 +10021,7 @@ "visible": false, "font": "Arial;13;0", "left": 639, - "top": 129, + "top": 97, "height": 13, "alpha": -1.5707963267948966, "distance": 15, @@ -10025,7 +10042,7 @@ "visible": false, "font": "Arial;13;0", "left": 584, - "top": 99, + "top": 67, "height": 13, "alpha": 0.5235987755982988, "distance": 30, @@ -10046,7 +10063,7 @@ "visible": false, "font": "Arial;13;0", "left": 587, - "top": 85, + "top": 53, "height": 13, "alpha": 0.7853981633974483, "distance": 40, @@ -10067,7 +10084,7 @@ "visible": false, "font": "Arial;13;0", "left": 580, - "top": 126, + "top": 94, "height": 13, "alpha": -0.5235987755982988, "distance": 25, @@ -10088,7 +10105,7 @@ "visible": false, "font": "Arial;13;0", "left": 694, - "top": 99, + "top": 67, "height": 13, "alpha": -0.5235987755982988, "distance": 30, @@ -10108,7 +10125,7 @@ "visible": false, "font": "Arial;13;0", "left": 691, - "top": 85, + "top": 53, "height": 13, "alpha": -0.7853981633974483, "distance": 40, @@ -10128,7 +10145,7 @@ "visible": false, "font": "Arial;13;0", "left": 698, - "top": 126, + "top": 94, "height": 13, "alpha": 0.5235987755982988, "distance": 25, @@ -10172,7 +10189,7 @@ "tail": { "$ref": "AAAAAAGH3D3wxkeVQAs=" }, - "points": "559:120;720:120", + "points": "559:88;720:88", "showVisibility": true, "nameLabel": { "$ref": "AAAAAAGH3EsB6JzesLE=" @@ -10681,7 +10698,7 @@ }, "visible": false, "font": "Arial;13;0", - "left": 1132, + "left": 1133, "top": 166, "height": 13, "alpha": 1.5707963267948966, @@ -10702,7 +10719,7 @@ }, "visible": null, "font": "Arial;13;0", - "left": 1132, + "left": 1133, "top": 151, "height": 13, "alpha": 1.5707963267948966, @@ -10723,7 +10740,7 @@ }, "visible": false, "font": "Arial;13;0", - "left": 1132, + "left": 1133, "top": 196, "height": 13, "alpha": -1.5707963267948966, @@ -10744,7 +10761,7 @@ }, "visible": false, "font": "Arial;13;0", - "left": 1105, + "left": 1108, "top": 166, "height": 13, "alpha": 0.5235987755982988, @@ -10765,7 +10782,7 @@ }, "visible": false, "font": "Arial;13;0", - "left": 1108, + "left": 1111, "top": 152, "height": 13, "alpha": 0.7853981633974483, @@ -10786,7 +10803,7 @@ }, "visible": false, "font": "Arial;13;0", 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"AAAAAAGKSqwh19rhXAM=" + }, + "tailMultiplicityLabel": { + "$ref": "AAAAAAGKSqwh19riTPg=" + }, + "headRoleNameLabel": { + "$ref": "AAAAAAGKSqwh19rj/5g=" + }, + "headPropertyLabel": { + "$ref": "AAAAAAGKSqwh19rkKOo=" + }, + "headMultiplicityLabel": { + "$ref": "AAAAAAGKSqwh19rl6CM=" + }, + "tailQualifiersCompartment": { + "$ref": "AAAAAAGKSqwh19rmSyU=" + }, + "headQualifiersCompartment": { + "$ref": "AAAAAAGKSqwh19rnDE4=" + } } ] }, @@ -11428,7 +12255,7 @@ "_parent": { "$ref": "AAAAAAGH3D3wxUeT3SY=" }, - "name": "MQTT calls", + "name": "DriveAll JSON", "end1": { "_type": "UMLAssociationEnd", "_id": "AAAAAAGH3EsB6JzaQhg=", @@ -11450,6 +12277,64 @@ }, "navigable": "navigable" } + }, + { + "_type": "UMLAssociation", + "_id": "AAAAAAGKSquLxsPvFq8=", + "_parent": { + "$ref": "AAAAAAGH3D3wxUeT3SY=" + }, + "name": "GetPosition", + "end1": { + "_type": "UMLAssociationEnd", + "_id": "AAAAAAGKSquLx8Pw/vY=", + "_parent": { + "$ref": "AAAAAAGKSquLxsPvFq8=" + }, + "reference": { + "$ref": "AAAAAAGH3D3wxUeT3SY=" + } + }, + "end2": { + "_type": "UMLAssociationEnd", + "_id": "AAAAAAGKSquLx8PxuJg=", + "_parent": { + "$ref": "AAAAAAGKSquLxsPvFq8=" + }, + "reference": { + "$ref": "AAAAAAGH3D4F30e9Sco=" + }, + "navigable": "navigable" + } + }, + { + "_type": "UMLAssociation", + "_id": "AAAAAAGKSqwh1trYQUs=", + "_parent": { + "$ref": "AAAAAAGH3D3wxUeT3SY=" + }, + "name": "GetBattery", + "end1": { + "_type": "UMLAssociationEnd", + "_id": "AAAAAAGKSqwh1trZtsc=", + "_parent": { + "$ref": "AAAAAAGKSqwh1trYQUs=" + }, + "reference": { + "$ref": "AAAAAAGH3D3wxUeT3SY=" + } + }, + "end2": { + "_type": "UMLAssociationEnd", + "_id": "AAAAAAGKSqwh1traQNA=", + "_parent": { + "$ref": "AAAAAAGKSqwh1trYQUs=" + }, + "reference": { + "$ref": "AAAAAAGH3D4F30e9Sco=" + }, + "navigable": "navigable" + } } ] }, @@ -11686,6 +12571,35 @@ }, "navigable": "navigable" } + }, + { + "_type": "UMLAssociation", + "_id": "AAAAAAGKSqnMv4eM6Uc=", + "_parent": { + "$ref": "AAAAAAGH3D4F30e9Sco=" + }, + "name": "AllSensordata JSON", + "end1": { + "_type": "UMLAssociationEnd", + "_id": "AAAAAAGKSqnMv4eNHno=", + "_parent": { + "$ref": "AAAAAAGKSqnMv4eM6Uc=" + }, + "reference": { + "$ref": "AAAAAAGH3D4F30e9Sco=" + } + }, + "end2": { + "_type": "UMLAssociationEnd", + "_id": "AAAAAAGKSqnMv4eO+oQ=", + "_parent": { + "$ref": "AAAAAAGKSqnMv4eM6Uc=" + }, + "reference": { + "$ref": "AAAAAAGH3D3wxUeT3SY=" + }, + "navigable": "navigable" + } } ], "operations": [ @@ -11979,8 +12893,7 @@ "_parent": { "$ref": "AAAAAAGJAjP+sRpxSo8=" }, - "name": "plantIDs", - "type": "" + "name": "plantIDs" }, { "_type": "UMLParameter", @@ -11988,8 +12901,7 @@ "_parent": { "$ref": "AAAAAAGJAjP+sRpxSo8=" }, - "name": "actionID", - "type": "" + "name": "actionID" }, { "_type": "UMLParameter", @@ -11998,7 +12910,26 @@ "$ref": "AAAAAAGJAjP+sRpxSo8=" }, "name": "client", - "type": "mqtt.client" + "type": "mqtt.Client" + } + ] + }, + { + "_type": "UMLOperation", + "_id": "AAAAAAGKSqeFSXyuFZE=", + "_parent": { + "$ref": "AAAAAAGH3D4F30e9Sco=" + }, + "name": "sendPicture", + "parameters": [ + { + "_type": "UMLParameter", + "_id": "AAAAAAGKSqfW3n4vxrI=", + "_parent": { + "$ref": "AAAAAAGKSqeFSXyuFZE=" + }, + "name": "client", + "type": "mqtt.Client" } ] } @@ -12074,7 +13005,7 @@ "_parent": { "$ref": "AAAAAAGH3D8NZUg3DpE=" }, - "name": "plantNumber", + "name": "plantID", "type": "int" } ] @@ -12093,8 +13024,8 @@ "_parent": { "$ref": "AAAAAAGIcawCCjubWmE=" }, - "name": "plantNumber", - "type": "" + "name": "plantID", + "type": "int" } ] }, @@ -12120,8 +13051,8 @@ "_parent": { "$ref": "AAAAAAGIcaziEz6gmiQ=" }, - "name": "plantNumber", - "type": "" + "name": "plantID", + "type": "int" } ] } diff --git a/software/roboter/raspy/functions.py b/software/roboter/raspy/functions.py index 5e967d9..541baa6 100644 --- a/software/roboter/raspy/functions.py +++ b/software/roboter/raspy/functions.py @@ -68,7 +68,7 @@ def drive_plant_thread(plantID, actionID, client: mqtt.Client): else: errorMessage = "Motor or Sensor unplugged" - logging.info(f"{errorMessage}, Drive Plant aborted, Robot at starting position") + logging.error(f"{errorMessage}, Drive Plant aborted, Robot at starting position") client.publish(Topics["ROBOT_DATA_ERROR"], f"{errorMessage}, Drive Plant aborted, Robot at starting position", qos=1) client.publish(Topics["ROBOT_DATA_ROBOTREADY"], "True", qos=1) return @@ -91,7 +91,7 @@ def drive_plant_thread(plantID, actionID, client: mqtt.Client): else: errorMessage = "Motor or Sensor unplugged" - logging.info(f"{errorMessage}, Drive Plant aborted, Robot at starting position") + logging.error(f"{errorMessage}, Drive Plant aborted, Robot at starting position") client.publish(Topics["ROBOT_DATA_ERROR"], f"{errorMessage}, Drive Plant aborted, Robot at plant {plantID}", qos=1) client.publish(Topics["ROBOT_DATA_ROBOTREADY"], "True", qos=1) return @@ -135,7 +135,7 @@ def drive_plant_all_thread(plantIDs: list, actionID, client: mqtt.Client): else: errorMessage = "Motor or Sensor unplugged" - logging.info(f"{errorMessage}, Drive Plant aborted, Robot at starting position") + logging.error(f"{errorMessage}, Drive Plant aborted, Robot at starting position") client.publish(Topics["ROBOT_DATA_ERROR"], f"{errorMessage}, Drive Plant aborted, Robot at starting position", qos=1) client.publish(Topics["ROBOT_DATA_ROBOTREADY"], "True", qos=1) return @@ -168,7 +168,7 @@ def drive_plant_all_thread(plantIDs: list, actionID, client: mqtt.Client): else: errorMessage = "Motor or Sensor unplugged" - logging.info(f"{errorMessage}, Drive Plant aborted, Robot at plant {plant}") + logging.error(f"{errorMessage}, Drive Plant aborted, Robot at plant {plant}") client.publish(Topics["ROBOT_DATA_ERROR"], f"{errorMessage}, Drive Plant aborted, Robot at plant {plant}", qos=1) client.publish(Topics["ROBOT_DATA_ROBOTREADY"], "True", qos=1) return @@ -188,7 +188,7 @@ def drive_plant_all_thread(plantIDs: list, actionID, client: mqtt.Client): else: errorMessage = "Motor or Sensor unplugged" - logging.info(f"{errorMessage}, Drive Plant aborted, Robot at starting position") + logging.error(f"{errorMessage}, Drive Plant aborted, Robot at starting position") client.publish(Topics["ROBOT_DATA_ERROR"], f"{errorMessage}, Drive Plant aborted, Robot at plant {plant}", qos=1) client.publish(Topics["ROBOT_DATA_ROBOTREADY"], "True", qos=1) return @@ -292,7 +292,7 @@ def get_batteryStatus(client: 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()) except: logging.error("EV3 not connected") - client.publish(Topics["ROBOT_DATA_ERROR"], "Robot not connected", qos=1) + client.publish(Topics["ROBOT_DATA_ERROR"], "EV3 not connected", qos=1) return batteryLevel = round(batteryLevel / 1000000, 2) # Conversion to Volt