DRIVE ALL ADDED

software/backend/data_functions.py

@@ -29,16 +29,15 @@ def data_sensordata(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, my
 
     try:
         robot.delete_order(drive_data)
+        mydatabase.insert_measurement_data(plant_id=payload['PlantID'],
+                                           sensordata_temp=payload['AirTemperature'],
+                                           sensordata_humidity=payload['AirHumidity'],
+                                           sensordata_soil_moisture=payload['SoilMoisture'],
+                                           sensordata_brightness=payload['Brightness'])
+        logging.debug("Inserted to data base: " + json.dumps(payload))
     except Exception as e:
         logging.error("Could not delete order: " + str(e))
 
-    mydatabase.insert_measurement_data(plant_id=payload['PlantID'],
-                                       sensordata_temp=payload['AirTemperature'],
-                                       sensordata_humidity=payload['AirHumidity'],
-                                       sensordata_soil_moisture=payload['SoilMoisture'],
-                                       sensordata_brightness=payload['Brightness'])
-    logging.debug("Inserted to data base: " + json.dumps(payload))
-
 
 def data_position(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, robot: Robot):
     logging.info("ROBOT_DATA_POSITION Received data: " + json.dumps(message.payload.decode("UTF-8")))
@@ -60,6 +59,22 @@ def data_battery(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, robot
     client.publish(Topics['BACKEND_DATA_BATTERY'], json.dumps(battery_data))
 
 
+def data_error(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, robot: Robot):
+    robot.store_last_error(message.payload.decode("UTF-8"))
+    logging.error("ROBOT_DATA_ERROR new error received from Robot: " + robot.get_last_error())
+    client.publish(Topics['BACKEND_DATA_ERROR'], message.payload.decode("UTF-8"))
+
+
+def data_robotready(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, robot: Robot):
+    robot.change_robot_status(message.payload.decode("UTF-8") == 'True')
+    if robot.get_robot_status() is True and robot.get_order_number() >= 1:
+        client.publish(Topics['ROBOT_ACTION_DRIVE'], json.dumps(robot.get_next_order()))
+        logging.info("Waiting Order send to Robot")
+
+    logging.info("ROBOT_DATA_ROBOTREADY status updated: " + str(robot.get_robot_status()))
+    client.publish(Topics['BACKEND_DATA_ROBOTREADY'], message.payload.decode("UTF-8"))
+
+
 # FrontEnd Channel Reactions
 
 def action_drive(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, mydatabase: PlantDataBase,
@@ -86,8 +101,31 @@ def action_drive(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, mydat
 
 def action_driveall(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, mydatabase: PlantDataBase,
                     robot: Robot):
+    plant_names = mydatabase.get_plant_names()
+    plant_ids = []
+    print(plant_names)
 
-    client.publish(Topics['ROBOT_ACTION_DRIVEALL'])
+    for names in plant_names:
+        _id = mydatabase.get_plant_id(names)
+        plant_ids.append(_id)
+
+    action_id = str(uuid.uuid4())
+    drive_data = {
+        "PlantID": plant_ids,
+        "ActionID": action_id
+    }
+    print(drive_data)
+    if robot.get_order_number() < 6 and robot.get_robot_status() is True:
+        robot.add_order(drive_data)
+        client.publish(Topics['ROBOT_ACTION_DRIVEALL'], json.dumps(plant_ids))
+        logging.info("BACKEND_ACTION_DRIVEALL Drive Command published: " + json.dumps(drive_data))
+    else:
+        if robot.get_order_number() < 6:
+            robot.add_order(drive_data)
+            logging.info("BACKEND_ACTION_DRIVEALL New data added to order list: " + str(drive_data))
+        elif robot.get_order_number() >= 6:
+            client.publish(Topics['BACKEND_DATA_ERROR'], "Could not add Order to list. Order discarded")
+            logging.error("Could not add Order to list. Order discarded")
 
 
 def action_getposition(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, mydatabase: PlantDataBase):
@@ -98,13 +136,19 @@ def action_getposition(client: mqtt.Client, userdata, message: mqtt.MQTTMessage,
 def action_getbattery(client: mqtt.Client, userdata, message: mqtt.MQTTMessage):
     client.publish(Topics['ROBOT_ACTION_GETBATTERY'])
     logging.info("BACKEND_ACTION_GETBATTERY message forwarded to Robot")
+    battery_data = {
+        "Battery": 66,
+        "Timestamp": str(datetime.now())
+    }
+    print(battery_data)
+    client.publish(Topics['BACKEND_DATA_BATTERY'], json.dumps(battery_data))
 
 
 def action_getalldata(client: mqtt.Client, userdata, message: Union[mqtt.MQTTMessage, list], mydatabase: PlantDataBase):
     plant_names = mydatabase.get_plant_names()
     alldata = []
     for i in plant_names:
-        alldata.append(mydatabase.get_latest_data(plant_name=i[0]))
+        alldata.append(mydatabase.get_latest_data(plant_name=i))
     client.publish(Topics['BACKEND_DATA_SENSORDATAALL'], json.dumps(alldata))
     logging.info("BACKEND_DATA_SENSORDATAALL got data from database:" + str(alldata))
 
@@ -148,19 +192,3 @@ def action_countplants(client: mqtt.Client, userdata, message: mqtt.MQTTMessage,
     }
     client.publish(Topics["BACKEND_DATA_PLANTCOUNT"], json.dumps(count_payload))
     logging.info("BACKEND_DATA_PLANTCOUNT forwarded plant count to FrontEnd: " + str(count_payload))
-
-
-def data_error(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, robot: Robot):
-    robot.store_last_error(message.payload.decode("UTF-8"))
-    logging.error("ROBOT_DATA_ERROR new error received from Robot: " + robot.get_last_error())
-    client.publish(Topics['BACKEND_DATA_ERROR'], message.payload.decode("UTF-8"))
-
-
-def data_robotready(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, robot: Robot):
-    robot.change_robot_status(message.payload.decode("UTF-8") == 'True')
-    if robot.get_robot_status() is True and robot.get_order_number() >= 1:
-        client.publish(Topics['ROBOT_ACTION_DRIVE'], json.dumps(robot.get_next_order()))
-        logging.info("Waiting Order send to Robot")
-
-    logging.info("ROBOT_DATA_ROBOTREADY status updated: " + str(robot.get_robot_status()))
-    client.publish(Topics['BACKEND_DATA_ROBOTREADY'], message.payload.decode("UTF-8"))

software/backend/dev_test_examples/mqtt_publisher.py

@@ -1,7 +1,7 @@
 import paho.mqtt.client as mqtt
 
 import software.backend.defines
-from software.backend.defines import MQTT_BROKER_LOCAL
+from software.backend.defines import MQTT_BROKER_GLOBAL
 from random import randrange, uniform
 import time
 import json
@@ -19,14 +19,14 @@ def on_connect(client, userdata, flags, rc):
 client = mqtt.Client()
 client.on_connect = on_connect
 
-client.connect("mqtt://192.168.137.197", 1883)
+client.connect(MQTT_BROKER_GLOBAL, 1883)
 
 plantdata = {
-    "Battery": 10
+    "PlantName": "Ipne"
 }
 
 
 print(type(PLANTDATA))
-client.publish(Topics['ROBOT_DATA_BATTERY'], json.dumps(plantdata))
+client.publish(Topics['BACKEND_ACTION_DRIVE'], json.dumps(plantdata))
 print(json.dumps(plantdata))
 time.sleep(2)

software/backend/main.py

@@ -46,7 +46,13 @@ def on_connect(_client: mqtt.Client, _userdata, _flags, _rc, _mydatabase, _robot
         _client.message_callback_add(Topics['ROBOT_DATA_BATTERY'], lambda client, userdata, message: data_functions.
                                      data_battery(client, userdata, message, _robot))
 
-        # client.subscribe('Robot/Data/Picture')
+        _client.subscribe(Topics['ROBOT_DATA_ERROR'])
+        _client.message_callback_add(Topics['ROBOT_DATA_ERROR'], lambda client, userdata, message: data_functions.
+                                     data_error(client, userdata, message, _robot))
+
+        _client.subscribe(Topics['ROBOT_DATA_ROBOTREADY'])
+        _client.message_callback_add(Topics['ROBOT_DATA_ROBOTREADY'], lambda client, userdata, message: data_functions.
+                                     data_robotready(client, userdata, message, _robot))
 
         # From FrontEnd:
         _client.subscribe(Topics['BACKEND_ACTION_DRIVE'])
@@ -85,13 +91,6 @@ def on_connect(_client: mqtt.Client, _userdata, _flags, _rc, _mydatabase, _robot
         _client.message_callback_add(Topics['BACKEND_ACTION_PLANTCOUNT'], lambda client, userdata, message: data_functions.
                                      action_countplants(client, userdata, message, _mydatabase))
 
-        _client.subscribe(Topics['ROBOT_DATA_ERROR'])
-        _client.message_callback_add(Topics['ROBOT_DATA_ERROR'], lambda client, userdata, message: data_functions.
-                                     data_error(client, userdata, message, _robot))
-
-        _client.subscribe(Topics['ROBOT_DATA_ROBOTREADY'])
-        _client.message_callback_add(Topics['ROBOT_DATA_ROBOTREADY'], lambda client, userdata, message: data_functions.
-                                     data_robotready(client, userdata, message, _robot))
         # END TOPIC SUBSCRIPTIONS
     else:
         print("connection failed")
@@ -101,7 +100,7 @@ def main():
     robot = Robot()
     my_database = PlantDataBase(database_name=DATABASE_NAME)
     my_database.create_tables()
-    mqttclient = mqtt.Client(BACKEND_CLIENT_ID, transport="websockets")
+    mqttclient = mqtt.Client(BACKEND_CLIENT_ID)
     mqttclient.on_connect = lambda client, userdata, flags, rc: on_connect(_client=client,
                                                                            _userdata=userdata,
                                                                            _flags=flags,

software/backend/plantdatabase.py

@@ -2,6 +2,7 @@
 import sqlite3
 from typing import Optional
 import logging
+from itertools import chain
 
 
 class PlantDataBase:
@@ -139,7 +140,7 @@ class PlantDataBase:
     def get_plant_names(self) -> list:
         try:
             self.cur.execute("SELECT PlantName FROM plants")
-            return self.cur.fetchall()
+            return [row[0] for row in self.cur.fetchall()]
         except Exception as e:
             logging.error("Could not get plant names: " + str(e))