Autostart added, EV3 error handling improved

software/roboter/raspy/autostart.sh

@@ -0,0 +1,9 @@
+#!/bin/bash
+
+# Script to automatically start the robot operating programm 
+# Has to be included to autostart of the RaspberryPi
+
+cd ~/Documents/GIT/projektarbeit_duelger_waldhauser_caliskan/
+source .venv/bin/activate
+cd software/roboter/raspy
+python3 mainProg.py

software/roboter/raspy/functions.py

@@ -6,7 +6,6 @@ import logging
 import raspy_sensors as Sensors
 from defines import Topics, SENSORDATA, ALLSENSORDATA
 
-import time
 
 def measure_send_data(plantID, actionID, client: mqtt.Client):
     """
@@ -47,9 +46,13 @@ def drive_plant_thread(plantID, actionID, client: mqtt.Client):
     # errorCode = os.system(f'sshpass -p maker ssh robot@ev3dev.local python3 /home/robot/Programme/drive_plant.py {plantID}')
 
     if errorCode != 0:
-        logging.error(f"Robot Error {errorCode} occurred")
-        logging.info("Drive Plant aborted, Robot at starting position")
-        client.publish(Topics["ROBOT_DATA_ERROR"], "Drive Plant aborted, Robot at starting position", qos=1)
+        if errorCode == 65280:
+            errorMessage = "EV3 not connected"
+        else:
+            errorMessage = "Motor or Sensor unplugged"
+         
+        logging.info(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
@@ -65,9 +68,13 @@ def drive_plant_thread(plantID, actionID, client: mqtt.Client):
     errorCode = os.system(f'sshpass -p maker ssh robot@ev3dev.local python3 /home/robot/Programme/drive_back.py {plantID}')
 
     if errorCode != 0:
-        logging.error(f"Robot Error {errorCode} occurred")
-        logging.info(f"Drive Home aborted, Robot at plant {plantID}")
-        client.publish(Topics["ROBOT_DATA_ERROR"], f"Drive Home aborted, Robot at plant {plantID}", qos=1)
+        if errorCode == 65280:
+            errorMessage = "EV3 not connected"
+        else:
+            errorMessage = "Motor or Sensor unplugged"
+         
+        logging.info(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
 
@@ -98,10 +105,15 @@ def drive_plant_all_thread(plantIDs: list, actionID, client: mqtt.Client):
         # FIXME Only possible with color codes
         logging.info(f"Robot Driving to plant {plant}")
         errorCode = os.system(f'sshpass -p maker ssh robot@ev3dev.local python3 /home/robot/Programme/drive_plant.py {plant}')
+
         if errorCode != 0:
-            logging.error(f"Robot Error {errorCode} occurred")
-            logging.info("Drive Plant aborted, Robot at starting position")
-            client.publish(Topics["ROBOT_DATA_ERROR"], "Drive Plant aborted, Robot at starting position", qos=1)
+            if errorCode == 65280:
+                errorMessage = "EV3 not connected"
+            else:
+                errorMessage = "Motor or Sensor unplugged"
+         
+            logging.info(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
     
@@ -125,9 +137,13 @@ def drive_plant_all_thread(plantIDs: list, actionID, client: mqtt.Client):
 
         errorCode = os.system(f'sshpass -p maker ssh robot@ev3dev.local python3 /home/robot/Programme/drive_arm.py {plant}')
         if errorCode != 0:
-            logging.error(f"Robot Error {errorCode} occurred")
-            logging.info("Drive Plant aborted, Robot at starting position")
-            client.publish(Topics["ROBOT_DATA_ERROR"], f"Rotate arm aborted, Robot at plant {plant}", qos=1)
+            if errorCode == 65280:
+                errorMessage = "EV3 not connected"
+            else:
+                errorMessage = "Motor or Sensor unplugged"
+         
+            logging.info(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
 
@@ -138,9 +154,13 @@ def drive_plant_all_thread(plantIDs: list, actionID, client: mqtt.Client):
     logging.info("Robot driving home")
     errorCode = os.system(f'sshpass -p maker ssh robot@ev3dev.local python3 /home/robot/Programme/drive_back_straight.py')
     if errorCode != 0:
-        logging.error(f"Robot Error {errorCode} occurred")
-        logging.info(f"Drive Home aborted, Robot at plant {plant}")
-        client.publish(Topics["ROBOT_DATA_ERROR"], f"Drive Home aborted, Robot at plant {plant}", qos=1)
+        if errorCode == 65280:
+            errorMessage = "EV3 not connected"
+        else:
+            errorMessage = "Motor or Sensor unplugged"
+         
+        logging.info(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
 
@@ -231,7 +251,7 @@ def get_batteryStatus(client: mqtt.Client, userdata, message: mqtt.MQTTMessage):
     try:
         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("Robot not connected")
+        logging.error("EV3 not connected")
         client.publish(Topics["ROBOT_DATA_ERROR"], "Robot not connected", qos=1)
         return