Docu small changes and MQTT topics added to robot
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waldluis
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@ -3504,7 +3504,8 @@
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@ -5,31 +5,86 @@ from raspySensors import RaspySensors
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#region global Varaibles
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sensors = RaspySensors()
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sensorData = {
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"Air Temperature [°C]" : 0,
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"Air Humidity [%]" : 0,
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"Earth Humidity [%]" : 0,
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"Brightness [Lux]" : 0,
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"Plant ID": 0,
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"Action ID": 0
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}
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gpsPosition = {
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"Position": 0,
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"Action ID": 0
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}
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batteryStatus = {
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"Battery": 0,
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"Action ID": 0
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}
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#endregion
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#region
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def measureSendData():
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'''Measure Data via sensor class and send via MQTT'''
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def measureSendData(plantID, actionID):
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'''Measure data for one plant via sensor class and send via MQTT'''
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sensorData = sensors.readSensors()
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client.publish("Robot/Data", json.dumps(sensorData, indent=4))
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sensorData["Plant_ID"] = plantID
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sensorData["Action_ID"] = actionID
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client.publish("Robot/Data/SensorData", json.dumps(sensorData, indent=4))
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#endregion
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#region MQTT callbacks
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#Testing
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def send_data_json(client, userdata, message):
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strIn = str(message.payload.decode("UTF-8"))
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dataDict = json.loads(strIn)
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print("Received data: ", json.dumps(dataDict))
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#Function for all Plants or one which changes according to request
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def drive_plant_1(clients, userdata, message):
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#TODO Start drive forward
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print("Driving to plant 1")
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measureSendData()
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#TODO Start Drive Back Function
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def drive_plant(clients, userdata, message):
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'''Function to drive to plant according to request'''
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#[ ]TODO handle MQTT message
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print(f"Driving to plant {message}")
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#[ ]TODO Start drive forward -> Thread
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print(f"Measuring data at Plant {message}")
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measureSendData() # With threads not here
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print("Driving back to start position")
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#[ ]TODO Start Drive Back Function in Thread
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print("Back at starting Position")
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def get_position(clients, userdata, message):
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'''Callback function for GPS position request
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Function to send actual GPS position via MQTT'''
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#[ ]TODO handle MQTT message
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gpsPosition["Position"] = sensors.readPosition()
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gpsPosition["Action_ID"] = message
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client.publish("Robot/Data/Position", json.dumps(gpsPosition, indent=4))
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def get_BatteryStatus(clients, userdata, message):
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'''Callback function for battery status request
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Function to read battery status from ev3 and send via MQTT'''
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#[ ]TODO handle MQTT message
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batteryStatus["Battery"] = sensors.readBattery()
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batteryStatus["Action ID"] = message
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client.publish("Robot/Data/Battery", json.dumps(batteryStatus, indent=4))
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batteryStatus()
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@ -37,15 +92,22 @@ def drive_plant_1(clients, userdata, message):
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mqttBroker = "mqtt.eclipseprojects.io"
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client = mqtt.Client("Smartphone_temp")
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client = mqtt.Client("Robot")
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dataDict = {}
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dataDict = {} #Testing
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client.message_callback_add("Robot/Data", send_data_json)
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client.message_callback_add("Robot/Plant/1", drive_plant_1)
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#Add callbacks
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client.message_callback_add("Robot/Data", send_data_json) #Testing
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client.message_callback_add("Robot/Action/Drive", drive_plant)
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client.message_callback_add("Robot/Action/GetPosition", get_position)
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client.message_callback_add("Robot/Action/GetBattery", get_BatteryStatus)
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client.connect(mqttBroker)
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client.subscribe("Robot/Data")
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client.subscribe("Robot/Plant/1")
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#Subscribe to topics
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client.subscribe("Robot/Data") #Testing
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client.subscribe("Robot/Action/Drive")
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client.subscribe("Robot/Action/GetPosition")
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client.subscribe("Robot/Action/GetBattery")
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client.loop_forever()
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@ -6,9 +6,10 @@ import json
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class RaspySensors:
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'''Class to handle all sensors'''
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def __init__(self) -> None:
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'''Init all Sensors'''
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#Message if Error
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#[ ]TODO Message if Error
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#Air Temperature & Humidity
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@ -22,7 +23,9 @@ class RaspySensors:
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"Air Temperature [°C]" : 0,
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"Air Humidity [%]" : 0,
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"Earth Humidity [%]" : 0,
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"Brightness [Lux]" : 0
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"Brightness [Lux]" : 0,
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"Plant ID": 0,
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"Action ID": 0
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}
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def readSensors(self):
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@ -44,14 +47,22 @@ class RaspySensors:
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return self.sensorData
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#[ ]TODO - take picture function
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def takePicture(self):
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'''Take picture and return image'''
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return self.image
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#[ ]TODO
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def readPosition(self):
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'''Read and return Position'''
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return self.position
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#[ ]TODO
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def readBattery(self):
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'''Read and return battery of ev3'''
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return self.battery
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#for Testing only
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def main():
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