Drive all sensor test and Bugfix

software/roboter/raspy/functions.py

@@ -6,6 +6,8 @@ import logging
 import raspy_sensors as Sensors
 from defines import Topics, SENSORDATA, ALLSENSORDATA
 
+import time
+
 def measure_send_data(plantID, actionID, client: mqtt.Client):
     """
     Reads all sensors and publishes data via MQTT in form of SENSORDATA
@@ -15,7 +17,8 @@ def measure_send_data(plantID, actionID, client: mqtt.Client):
         actionID (_type_): current ID of driving action
         client (mqtt.Client): current mqtt client for publishing
     """
-    sensorData = SENSORDATA
+    sensordata = {}
+    sensordata |= SENSORDATA
 
     try:
         sensorData = Sensors.readSensors()
@@ -84,12 +87,15 @@ def drive_plant_all_thread(plantIDs: list, actionID, client: mqtt.Client):
         client (mqtt.Client): current MQTT client
     """
 
-    allPlantData = ALLSENSORDATA
+    allPlantData = {
+        "SensorData": [],
+        "ActionID": ""
+    }
+        
     allPlantData["ActionID"] = actionID
-    logging.debug(f"plants {plantIDs}, type {type(plantIDs)}")
 
     for plant in plantIDs:
-         # FIXME Only possible with color codes
+        # 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:
@@ -103,11 +109,17 @@ def drive_plant_all_thread(plantIDs: list, actionID, client: mqtt.Client):
         # TODO Test error handling
         logging.info("Measuring Sensors")
         try:
-            allPlantData["PlantData"].append(Sensors.readSensors())
+            sensordata = {}
+            sensordata |= SENSORDATA
+            sensordata = Sensors.readSensors()
+            sensordata["PlantID"] = plant
+            allPlantData["SensorData"].append(sensordata)
         except Exception as e:
             logging.error(str(e))
             client.publish(Topics["ROBOT_DATA_ERROR"], str(e), qos=1)
 
+        time.sleep(3)
+        
 
         # TODO How to Handle Pictures and PlantID
         logging.info("Taking Picture")
@@ -124,6 +136,7 @@ def drive_plant_all_thread(plantIDs: list, actionID, client: mqtt.Client):
     logging.info("All Plants measured, sending data")
     client.publish(Topics["ROBOT_DATA_ALL"], json.dumps(allPlantData, indent=4), qos=1)
 
+
     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:

software/roboter/raspy/raspy_sensors.py

@@ -104,7 +104,8 @@ def readSensors():
     Returns:
         dict: Sensordata
     """
-    sensorData = SENSORDATA
+    sensorData = {}
+    sensorData |= SENSORDATA
     errorMessage = ""
 
     # read DHT22
@@ -171,7 +172,7 @@ def readPosition():
 def main():
     value = SENSORDATA
     try:
-        readMCP3008()
+        value |= readSensors()
     except Exception as e:
         print(str(e))