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Robot UML update

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This commit is contained in:
waldluis 2023-08-31 10:23:02 +02:00
parent 1778a211bb
commit 5e14633f42
2 changed files with 1059 additions and 128 deletions
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1175
documentation/SmartGardeningProjekt.mdj
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12
software/roboter/raspy/functions.py
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@ -68,7 +68,7 @@ def drive_plant_thread(plantID, actionID, client: mqtt.Client):
else: else:
errorMessage = "Motor or Sensor unplugged" 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_ERROR"], f"{errorMessage}, Drive Plant aborted, Robot at starting position", qos=1)
client.publish(Topics["ROBOT_DATA_ROBOTREADY"], "True", qos=1) client.publish(Topics["ROBOT_DATA_ROBOTREADY"], "True", qos=1)
return return
@ -91,7 +91,7 @@ def drive_plant_thread(plantID, actionID, client: mqtt.Client):
else: else:
errorMessage = "Motor or Sensor unplugged" 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_ERROR"], f"{errorMessage}, Drive Plant aborted, Robot at plant {plantID}", qos=1)
client.publish(Topics["ROBOT_DATA_ROBOTREADY"], "True", qos=1) client.publish(Topics["ROBOT_DATA_ROBOTREADY"], "True", qos=1)
return return
@ -135,7 +135,7 @@ def drive_plant_all_thread(plantIDs: list, actionID, client: mqtt.Client):
else: else:
errorMessage = "Motor or Sensor unplugged" 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_ERROR"], f"{errorMessage}, Drive Plant aborted, Robot at starting position", qos=1)
client.publish(Topics["ROBOT_DATA_ROBOTREADY"], "True", qos=1) client.publish(Topics["ROBOT_DATA_ROBOTREADY"], "True", qos=1)
return return
@ -168,7 +168,7 @@ def drive_plant_all_thread(plantIDs: list, actionID, client: mqtt.Client):
else: else:
errorMessage = "Motor or Sensor unplugged" 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_ERROR"], f"{errorMessage}, Drive Plant aborted, Robot at plant {plant}", qos=1)
client.publish(Topics["ROBOT_DATA_ROBOTREADY"], "True", qos=1) client.publish(Topics["ROBOT_DATA_ROBOTREADY"], "True", qos=1)
return return
@ -188,7 +188,7 @@ def drive_plant_all_thread(plantIDs: list, actionID, client: mqtt.Client):
else: else:
errorMessage = "Motor or Sensor unplugged" 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_ERROR"], f"{errorMessage}, Drive Plant aborted, Robot at plant {plant}", qos=1)
client.publish(Topics["ROBOT_DATA_ROBOTREADY"], "True", qos=1) client.publish(Topics["ROBOT_DATA_ROBOTREADY"], "True", qos=1)
return 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()) batteryLevel = int(os.popen('sshpass -p maker ssh robot@ev3dev.local cat /sys/devices/platform/battery/power_supply/lego-ev3-battery/voltage_now').read())
except: except:
logging.error("EV3 not connected") 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 return
batteryLevel = round(batteryLevel / 1000000, 2) # Conversion to Volt batteryLevel = round(batteryLevel / 1000000, 2) # Conversion to Volt