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Docu small changes and MQTT topics added to robot

master
waldluis 1 year ago
parent
9b32acdc68
commit
6e66611e06
4 changed files with 330 additions and 20 deletions
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  1. BIN
      documentation/Definitions.docx
  2. 240
    3
      documentation/Kommunikation.mdj
  3. 77
    15
      software/roboter/raspy/mainProg.py
  4. 13
    2
      software/roboter/raspy/raspySensors.py

BIN
documentation/Definitions.docx View File


+ 240
- 3
documentation/Kommunikation.mdj View File

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software/roboter/raspy/mainProg.py View File

#region global Varaibles #region global Varaibles
sensors = RaspySensors() sensors = RaspySensors()


sensorData = {
"Air Temperature [°C]" : 0,
"Air Humidity [%]" : 0,
"Earth Humidity [%]" : 0,
"Brightness [Lux]" : 0,
"Plant ID": 0,
"Action ID": 0
}

gpsPosition = {
"Position": 0,
"Action ID": 0
}

batteryStatus = {
"Battery": 0,
"Action ID": 0
}



#endregion #endregion


#region #region


def measureSendData():
'''Measure Data via sensor class and send via MQTT'''
def measureSendData(plantID, actionID):
'''Measure data for one plant via sensor class and send via MQTT'''
sensorData = sensors.readSensors() sensorData = sensors.readSensors()
client.publish("Robot/Data", json.dumps(sensorData, indent=4))
sensorData["Plant_ID"] = plantID
sensorData["Action_ID"] = actionID
client.publish("Robot/Data/SensorData", json.dumps(sensorData, indent=4))


#endregion #endregion


#region MQTT callbacks #region MQTT callbacks

#Testing
def send_data_json(client, userdata, message): def send_data_json(client, userdata, message):
strIn = str(message.payload.decode("UTF-8")) strIn = str(message.payload.decode("UTF-8"))
dataDict = json.loads(strIn) dataDict = json.loads(strIn)
print("Received data: ", json.dumps(dataDict)) print("Received data: ", json.dumps(dataDict))


#Function for all Plants or one which changes according to request
def drive_plant_1(clients, userdata, message):
#TODO Start drive forward
print("Driving to plant 1")
measureSendData()
#TODO Start Drive Back Function

def drive_plant(clients, userdata, message):
'''Function to drive to plant according to request'''
#[ ]TODO handle MQTT message
print(f"Driving to plant {message}")
#[ ]TODO Start drive forward -> Thread

print(f"Measuring data at Plant {message}")
measureSendData() # With threads not here

print("Driving back to start position") print("Driving back to start position")
#[ ]TODO Start Drive Back Function in Thread

print("Back at starting Position")

def get_position(clients, userdata, message):
'''Callback function for GPS position request
Function to send actual GPS position via MQTT'''

#[ ]TODO handle MQTT message
gpsPosition["Position"] = sensors.readPosition()
gpsPosition["Action_ID"] = message
client.publish("Robot/Data/Position", json.dumps(gpsPosition, indent=4))



def get_BatteryStatus(clients, userdata, message):
'''Callback function for battery status request
Function to read battery status from ev3 and send via MQTT'''

#[ ]TODO handle MQTT message
batteryStatus["Battery"] = sensors.readBattery()
batteryStatus["Action ID"] = message
client.publish("Robot/Data/Battery", json.dumps(batteryStatus, indent=4))

batteryStatus()








mqttBroker = "mqtt.eclipseprojects.io" mqttBroker = "mqtt.eclipseprojects.io"
client = mqtt.Client("Smartphone_temp")
client = mqtt.Client("Robot")


dataDict = {}
dataDict = {} #Testing


client.message_callback_add("Robot/Data", send_data_json)
client.message_callback_add("Robot/Plant/1", drive_plant_1)
#Add callbacks
client.message_callback_add("Robot/Data", send_data_json) #Testing
client.message_callback_add("Robot/Action/Drive", drive_plant)
client.message_callback_add("Robot/Action/GetPosition", get_position)
client.message_callback_add("Robot/Action/GetBattery", get_BatteryStatus)


client.connect(mqttBroker) client.connect(mqttBroker)
client.subscribe("Robot/Data")
client.subscribe("Robot/Plant/1")

#Subscribe to topics
client.subscribe("Robot/Data") #Testing
client.subscribe("Robot/Action/Drive")
client.subscribe("Robot/Action/GetPosition")
client.subscribe("Robot/Action/GetBattery")


client.loop_forever() client.loop_forever()

+ 13
- 2
software/roboter/raspy/raspySensors.py View File



class RaspySensors: class RaspySensors:
'''Class to handle all sensors''' '''Class to handle all sensors'''

def __init__(self) -> None: def __init__(self) -> None:
'''Init all Sensors''' '''Init all Sensors'''
#Message if Error
#[ ]TODO Message if Error


#Air Temperature & Humidity #Air Temperature & Humidity
"Air Temperature [°C]" : 0, "Air Temperature [°C]" : 0,
"Air Humidity [%]" : 0, "Air Humidity [%]" : 0,
"Earth Humidity [%]" : 0, "Earth Humidity [%]" : 0,
"Brightness [Lux]" : 0
"Brightness [Lux]" : 0,
"Plant ID": 0,
"Action ID": 0
} }


def readSensors(self): def readSensors(self):


return self.sensorData return self.sensorData
#[ ]TODO - take picture function
def takePicture(self): def takePicture(self):
'''Take picture and return image''' '''Take picture and return image'''
return self.image return self.image
#[ ]TODO
def readPosition(self): def readPosition(self):
'''Read and return Position''' '''Read and return Position'''
return self.position return self.position
#[ ]TODO
def readBattery(self):
'''Read and return battery of ev3'''
return self.battery




#for Testing only #for Testing only

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