Bug fixes, drive_all started

software/roboter/raspy/defines.py

@@ -12,6 +12,7 @@ BACKEND_CLIENT_ID = "smart_farming_server"
 # Topics:
 Topics = {
     "ROBOT_ACTION_DRIVE": "ROBOT/ACTION/DRIVE",
+    "ROBOT_ACTION_DRIVEALL": "ROBOT/ACTION/DRIVEALL",
     "ROBOT_ACTION_GETPOSITION": "ROBOT/ACTION/GETPOSITION",
     "ROBOT_ACTION_GETBATTERY": "ROBOT/ACTION/GETBATTERY",
 

software/roboter/raspy/functions.py

@@ -68,10 +68,19 @@ def drive_plant_thread(plantID, actionID, client: mqtt.Client):
         return
 
     logging.info("Robot home")
+    client.publish(Topics["ROBOT_DATA_ROBOTREADY"], "True", qos=1)
+
+
+# TODO thread all plants
+def drive_plant_all(plantID, actionID, client: mqtt.Client):
+
+    # TODO loop through plantID array
 
+    logging.info("Robot home")
     client.publish(Topics["ROBOT_DATA_ROBOTREADY"], "True", qos=1)
 
 
+
 #region MQTT callbacks
 
 def drive_plant(client: mqtt.Client, userdata, message: mqtt.MQTTMessage):
@@ -96,6 +105,21 @@ def drive_plant(client: mqtt.Client, userdata, message: mqtt.MQTTMessage):
     thread.start()
 
 
+# TODO Drive all Plants
+# TODO plantID array
+# TODO only possible with color codes
+def drive_plant_all(client: mqtt.Client, userdata, message: mqtt.MQTTMessage):
+    dictMessage = json.loads(str(message.payload.decode("UTF-8")))
+
+    plantID = dictMessage["PlantID"]
+    actionID = dictMessage["ActionID"]
+
+    logging.info(f"Received Drive-request to plants {plantID}, ActionID: {actionID}")
+    client.publish(Topics["ROBOT_DATA_ROBOTREADY"], "False", qos=1)
+    
+    thread = threading.Thread(target= drive_plant_all, args=(plantID, actionID, client), daemon=True)
+    thread.start()
+
 def get_position(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage):
     """
     Callback function for GPS position request

software/roboter/raspy/raspy_sensors.py

@@ -81,9 +81,9 @@ def readMCP3008():
     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
+    percentage = round(((1100 - percentage) / 1100) *100, 2)   # 680 -> 100% moisture, 1780 -> 0% moisture
 
-    if percentage > 1 or percentage < 0:                # If not connected values above 100% appear  
+    if percentage > 100 or percentage < 0:                # If not connected values above 100% appear  
         percentage = 0
         raise Exception("YL69 not connected")
 
@@ -171,7 +171,7 @@ def readPosition():
 def main():
     value = SENSORDATA
     try:
-        readSensors()
+        readMCP3008()
     except Exception as e:
         print(str(e))