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requirements fixed

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This commit is contained in:
caliskanbi 2023-05-15 10:52:18 +02:00
commit 93b4075c35
5 changed files with 128 additions and 27 deletions
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6
requirements.txt
View File

@ -29,4 +29,8 @@ urllib3==1.26.14
Werkzeug==2.2.3
zipp==3.15.0
python-ev3dev2==2.1.0.post1
pytest==7.3.1
pytest==7.3.1
pip==23.1.2
# spidev==3.6
# picamera==1.13
numpy==1.19.5

9
software/roboter/raspy/defines.py
View File

@ -19,6 +19,9 @@ Topics = {
"ROBOT_DATA_BATTERY": "ROBOT/DATA/BATTERY",
"ROBOT_DATA_POSITION": "ROBOT/DATA/POSITION",
"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",
@ -36,6 +39,8 @@ Topics = {
"BACKEND_DATA_BATTERY": "BACKEND/DATA/BATTERY",
"BACKEND_DATA_PICTURE": "BACKEND/DATA/PICTURE",
"BACKEND_DATA_PLANTCOUNT": "BACKEND/DATA/PLANTCOUNT",
"BACKEND_DATA_ERROR": "BACKEND/DATA/ERROR",
"BACKEND_DATA_ROBOTREADY": "BACKEND/DATA/ROBOTREADY"
}
@ -49,7 +54,7 @@ SENSORDATA = {
"SoilMoisture": 0.0,
"Brightness": 0,
"PlantID": 0,
"ActionID": 0
"ActionID": ""
}
# TODO When sensor is available
@ -67,7 +72,7 @@ BATTERY = {
DRIVE = {
"PlantID": 0,
"ActionID": 0
"ActionID": ""
}
# GETPOSITION -> no message needed

67
software/roboter/raspy/functions.py
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@ -20,12 +20,12 @@ def measure_send_data(plantID, actionID, client: mqtt.Client):
try:
sensorData = Sensors.readSensors()
except Exception as e:
print(str(e))
# TODO Error message MQTT
logging.error(str(e))
client.publish(Topics["ROBOT_DATA_ERROR"], str(e), qos=1)
sensorData["PlantID"] = plantID
sensorData["ActionID"] = actionID
client.publish(Topics["ROBOT_DATA_SENSORDATA"], json.dumps(sensorData, indent=4))
client.publish(Topics["ROBOT_DATA_SENSORDATA"], json.dumps(sensorData, indent=4), qos=1)
def drive_plant_thread(plantID, actionID, client: mqtt.Client):
@ -43,49 +43,56 @@ def drive_plant_thread(plantID, actionID, client: mqtt.Client):
errorCode = os.system(f'sshpass -p maker ssh robot@ev3dev.local python3 /home/robot/Programme/plant_{plantID}.py')
# errorCode = os.system(f'sshpass -p maker ssh robot@ev3dev.local python3 /home/robot/Programme/drive_plant.py {plantID}')
# TODO Error Message
if errorCode != 0:
logging.error(f"Robot Error {errorCode} occurred")
logging.error("Drive Plant aborted, Robot at starting position")
logging.info("Drive Plant aborted, Robot at starting position")
client.publish(Topics["ROBOT_DATA_ERROR"], "Drive Plant aborted, Robot at starting position", qos=1)
client.publish(Topics["ROBOT_DATA_ROBOTREADY"], "True", qos=1)
return
logging.info("Measuring Sensors")
measure_send_data(plantID, actionID, client)
logging.info("Taking Picture")
sendPicture(client)
logging.info("Robot driving home")
errorCode = os.system(f'sshpass -p maker ssh robot@ev3dev.local python3 /home/robot/Programme/drive_back.py {plantID}')
# TODO Error Message
if errorCode != 0:
logging.error(f"Robot Error {errorCode} occurred")
logging.error(f"Drive Home aborted, Robot at plant {plantID}")
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)
client.publish(Topics["ROBOT_DATA_ROBOTREADY"], "True", qos=1)
return
logging.info("Robot home")
#TODO decide about robot occupied message
#client.publish("ROBOT/DATA/OCCUPIED", "false")
client.publish(Topics["ROBOT_DATA_ROBOTREADY"], "True", qos=1)
#region MQTT callbacks
def drive_plant(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage):
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
"""
dictMessage = json.loads(str(message.payload.decode("UTF-8")))
plantID = dictMessage["PlantID"]
actionID = dictMessage["ActionID"]
logging.info(f"Received Drive-request to plant {plantID}, ActionID: {actionID}")
client.publish(Topics["ROBOT_DATA_ROBOTREADY"], "False", qos=1)
thread = threading.Thread(target= drive_plant_thread, args=(plantID, actionID, clients), daemon=True)
thread = threading.Thread(target= drive_plant_thread, args=(plantID, actionID, client), daemon=True)
thread.start()
@ -95,19 +102,21 @@ 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
"""
logging.info("Received position request")
# TODO Write GPS Sensor Function
position = {
"Position": ""
}
clients.publish(Topics["ROBOT_DATA_POSITION"], json.dumps(position, indent=4))
clients.publish(Topics["ROBOT_DATA_POSITION"], json.dumps(position, indent=4), qos=1)
def get_BatteryStatus(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage):
def get_BatteryStatus(client: mqtt.Client, userdata, message: mqtt.MQTTMessage):
"""
Callback function for battery status request
Function to read battery status from ev3 and send via MQTT in form of BATTERY
@ -115,7 +124,7 @@ def get_BatteryStatus(clients: 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
"""
@ -125,7 +134,7 @@ def get_BatteryStatus(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage)
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")
#TODO Error Message
client.publish(Topics["ROBOT_DATA_ERROR"], "Robot not connected", qos=1)
return
batteryLevel = round(batteryLevel / 1000000, 2) # Voltage
@ -135,6 +144,28 @@ def get_BatteryStatus(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage)
battery = {
"Battery": batteryLevel
}
clients.publish(Topics["ROBOT_DATA_BATTERY"], json.dumps(battery, indent=4))
client.publish(Topics["ROBOT_DATA_BATTERY"], json.dumps(battery, indent=4), qos=1)
logging.info(f"Battery done {batteryLevel}")
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)
return
with open("picture.png", "rb") as f:
file = f.read()
byteArr = bytearray(file)
client.publish(Topics["ROBOT_DATA_PICTURE"], byteArr)
logging.info("Picture Published")
#endregion

2
software/roboter/raspy/mainProg.py
View File

@ -57,7 +57,7 @@ def main():
# CHECK forever or start
client.loop_start()
logging.info("Starting Loop")
logging.info("Robot initialised")
while True:
pass

71
software/roboter/raspy/raspy_sensors.py
View File

@ -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 +136,22 @@ def readSensors():
return sensorData
# TODO - take picture function
def takePicture():
"""
Take picture and return picture
Returns:
_type_: _description_
"""
picture = ""
try:
camera = PiCamera()
except:
raise Exception("Camera not connected")
camera.start_preview()
camera.capture("picture.png")
camera.stop_preview()
return picture
return
# TODO - read position with sensor
@ -118,3 +164,18 @@ def readPosition():
"""
position = ""
return position
# Testing
def main():
value = SENSORDATA
try:
readSensors()
except Exception as e:
print(str(e))
print(value)
if __name__ == "__main__":
main()