SoilMoisture, Camera (and GPS) added

requirements.txt

@@ -30,3 +30,7 @@ Werkzeug==2.2.3
 zipp==3.15.0
 python-ev3dev2==2.1.0.post1
 pytest
+pip==23.1.2
+# spidev==3.6
+# picamera==1.13
+numpy==1.19.5

software/roboter/raspy/defines.py

@@ -21,6 +21,7 @@ Topics = {
     "ROBOT_DATA_PICTURE": "ROBOT/DATA/PICTURE",
     "ROBOT_DATA_ERROR": "ROBOT/DATA/ERROR",
     "ROBOT_DATA_ROBOTREADY": "ROBOT/DATA/ROBOTREADY",
+    "ROBOT_DATA_PICTURE": "ROBOT/DATA/PICTURE",
 
     "BACKEND_ACTION_DRIVE": "BACKEND/ACTION/DRIVE",
     "BACKEND_ACTION_DRIVEPALL": "BACKEND/ACTION/DRIVEALL",

software/roboter/raspy/functions.py

@@ -21,7 +21,6 @@ def measure_send_data(plantID, actionID, client: mqtt.Client):
         sensorData = Sensors.readSensors()
     except Exception as e:
         logging.error(str(e))
-        # TODO Error message MQTT
         client.publish(Topics["ROBOT_DATA_ERROR"], str(e), qos=1)
 
     sensorData["PlantID"] = plantID
@@ -48,7 +47,6 @@ def drive_plant_thread(plantID, actionID, client: mqtt.Client):
         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)
-        #TODO decide about robot occupied message
         client.publish(Topics["ROBOT_DATA_ROBOTREADY"], "True", qos=1)
 
         return
@@ -56,6 +54,9 @@ def drive_plant_thread(plantID, actionID, client: mqtt.Client):
     logging.info("Measuring Sensors")
     measure_send_data(plantID, actionID, client)
 
+    # FIXME Send Picture
+    # sendPicture()
+
     logging.info("Robot driving home")
     errorCode = os.system(f'sshpass -p maker ssh robot@ev3dev.local python3 /home/robot/Programme/drive_back.py {plantID}')
 
@@ -63,25 +64,24 @@ def drive_plant_thread(plantID, actionID, client: mqtt.Client):
         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)
-        #TODO decide about robot occupied message
         client.publish(Topics["ROBOT_DATA_ROBOTREADY"], "True", qos=1)
         return
 
     logging.info("Robot home")
 
-    #TODO decide about robot occupied message
     client.publish(Topics["ROBOT_DATA_ROBOTREADY"], "True", qos=1)
 
 
 #region MQTT callbacks
 
+# TODO Test with all sensors
 def drive_plant(client: mqtt.Client, userdata, message: mqtt.MQTTMessage):
     """
     Function to drive to plant according to request
     Starting Drive in Thread to not block main programm
 
     Args:
-        clients (mqtt.Client): current mqtt client
+        client (mqtt.Client): current mqtt client
         userdata (_type_): _description_
         message (mqtt.MQTTMessage): received DRIVE message with PlantID and ActionID
     """
@@ -93,8 +93,6 @@ def drive_plant(client: mqtt.Client, userdata, message: mqtt.MQTTMessage):
     actionID = dictMessage["ActionID"]
 
     logging.info(f"Received Drive-request to plant {plantID}, ActionID: {actionID}")
-
-    #TODO decide about robot occupied message
     client.publish(Topics["ROBOT_DATA_ROBOTREADY"], "False", qos=1)
     
     thread = threading.Thread(target= drive_plant_thread, args=(plantID, actionID, client), daemon=True)
@@ -107,7 +105,7 @@ def get_position(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage):
     Function to send actual GPS position via MQTT in form of POSITION
 
     Args:
-        clients (mqtt.Client): current mqtt client
+        client (mqtt.Client): current mqtt client
         userdata (_type_): _description_
         message (mqtt.MQTTMessage): received message
     """
@@ -129,7 +127,7 @@ def get_BatteryStatus(client: mqtt.Client, userdata, message: mqtt.MQTTMessage):
     5V -> 0%
 
     Args:
-        clients (mqtt.Client): current mqtt client
+        client (mqtt.Client): current mqtt client
         userdata (_type_): _description_
         message (mqtt.MQTTMessage): received message
     """
@@ -151,4 +149,25 @@ def get_BatteryStatus(client: mqtt.Client, userdata, message: mqtt.MQTTMessage):
     }
     client.publish(Topics["ROBOT_DATA_BATTERY"], json.dumps(battery, indent=4), qos=1)
 
+# TODO Test needed
+def sendPicture(client: mqtt.Client):
+    """
+    Takes picture and publish via MQTT
+
+    Args:
+        client (mqtt.Client): current mqtt client
+    """
+    try:
+        Sensors.takePicture()
+    except Exception as e:
+        logging.error(str(e))
+        client.publish(Topics["ROBOT_DATA_ERROR"], str(e), qos=1)
+
+    with open("picture.txt", "rb") as f:
+        file = f.read()
+        byteArr = bytearray(file)
+        print(byteArr)
+        client.publish(Topics["ROBOT_DATA_IMAGE"], byteArr)
+        print("Published")
+
 #endregion

software/roboter/raspy/raspy_sensors.py

@@ -3,6 +3,8 @@ import adafruit_dht
 import adafruit_tsl2561
 import board
 import json
+import spidev
+from picamera import PiCamera
 from defines import SENSORDATA
 
 
@@ -34,7 +36,7 @@ def readDHT22():
 
 def readTSL2561():
     """
-    Reads TSL2561 brightness in Lux
+    Reads TSL2561 brightness in Lux and returns integer value
 
     Raises:
         Exception: If TSL2561 not connected properly
@@ -57,8 +59,36 @@ def readTSL2561():
     return brightness
 
 
+def readMCP3008():
+    """
+    Reads YL-69 via MCP3008 ADC soil moisture in percent and returns float value
+    
+    Raises:
+        Exception: If YL-69 not connected properly
+
+    Returns:
+        float: soil moisture [%]
+    """
+
+    channel = 0                                         # Input channel into MCP3008 ADC
+    try:
+        spi = spidev.SpiDev()
+        spi.open(0,0)
+        spi.max_speed_hz = 1000000
+    except:
+        raise Exception("YL69 not connected")
+
+    val = spi.xfer2([1,(8+channel) << 4, 0])
+    data = ((val[1] & 3) << 9) +val[2]
+    percentage = data - 680                             # Return values between ~1780 and ~680
+    percentage = round((1100 - percentage) / 1100, 2)   # 680 -> 100% moisture, 1780 -> 0% moisture
+
+    if percentage > 1 or percentage < 0:                # If not connected values above 100% appear  
+        percentage = 0
+        raise Exception("YL69 not connected")
+
+    return percentage
 
-# TODO SoilMoisture Sensor Function
 
 
 # TODO Function for all sensors
@@ -69,6 +99,7 @@ def readSensors():
     Raises:
         Exception: DHT22 not connected
         Exception: TSL2561 not connected
+        Exception: YL69 not connected
 
     Returns:
         dict: Sensordata
@@ -76,6 +107,7 @@ def readSensors():
     sensorData = SENSORDATA
     errorMessage = ""
 
+    # read DHT22
     try:
         sensorData["AirTemperature"], sensorData["AirHumidity"] = readDHT22()   
     except Exception as e:
@@ -83,12 +115,20 @@ def readSensors():
         sensorData["AirTemperature"] = 0
         errorMessage = str(e) + "\n"
 
+    # read TSL2561
     try:
         sensorData["Brightness"] = readTSL2561()
     except Exception as e:
         sensorData["Brightness"] = 0                   # otherwise old value
         errorMessage = errorMessage + str(e) + "\n"
 
+    # read YL-69
+    try:
+        sensorData["SoilMoisture"] = readMCP3008()
+    except Exception as e:
+        sensorData["SoilMoisture"] = 0
+        errorMessage = errorMessage + str(e) + "\n"
+
     # combined error message
     if errorMessage != "":
         raise Exception(errorMessage)
@@ -96,16 +136,25 @@ def readSensors():
     return sensorData
 
 
-# TODO - take picture function
+# TODO - Test needed
 def takePicture():
     """
     Take picture and return picture
     Returns:
         _type_: _description_
     """
-    picture = ""
+    try:
+        camera = PiCamera()
+    except:
+        raise Exception("Camera not connected")
+        return
     
-    return picture
+    camera.start_preview()
+    camera.capture("picture.png")
+    print("Camera on")
+    camera.stop_preview()
+
+    return 
 
 
 # TODO - read position with sensor
@@ -118,3 +167,18 @@ def readPosition():
      """
     position = ""
     return position
+
+
+# Testing
+
+def main():
+    value = SENSORDATA
+    try:
+        takePicture()
+    except Exception as e:
+        print(str(e))
+
+    print(value)
+
+if __name__ == "__main__":
+    main()