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DRIVE ALL ADDED

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caliskanbi 2023-06-08 01:42:43 +02:00
parent 445373a668
commit a13b150dfe
5 changed files with 67 additions and 39 deletions
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software/backend/backend_database.db
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78
software/backend/data_functions.py
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@ -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"))

8
software/backend/dev_test_examples/mqtt_publisher.py
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@ -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)

17
software/backend/main.py
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@ -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,

3
software/backend/plantdatabase.py
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@ -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))