SHH error handling, sensors class changed to functions

software/roboter/raspy/functions.py

@@ -14,8 +14,14 @@ def measure_send_data(plantID, actionID, client: mqtt.Client):
         actionID (_type_): current ID of driving action
         client (mqtt.Client): current mqtt client for publishing
     """
-    sensor = Sensors.RaspySensors()
-    sensorData = sensor.readSensors()
+    try:
+        sensorData = Sensors.readSensors()
+        
+    except Exception as e:
+        print(str(e))
+
+    
+
     sensorData["PlantID"] = plantID
     sensorData["ActionID"] = actionID
     client.publish(Topics["ROBOT_DATA_SENSORDATA"], json.dumps(sensorData, indent=4))
@@ -33,16 +39,30 @@ def drive_plant_thread(plantID, actionID, client: mqtt.Client):
         client (mqtt.Client): current mqtt client for publishing
     """
     # FIXME Change to color code driving
-    os.system(f'sshpass -p maker ssh robot@ev3dev.local python3 /home/robot/Programme/plant_{plantID}.py')
-    # os.system(f'sshpass -p maker ssh robot@ev3dev.local python3 /home/robot/Programme/drive_plant.py {plantID}')
+    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:
+        print(f"Robot Error {errorCode} occurred")
+        print("Drive Plant aborted, Robot at starting position")
+        return
+   
     print("Measuring Sensors")
 
     #FIXME Sensor not working
-    # measure_send_data(plantID, actionID, client)
+    measure_send_data(plantID, actionID, client)
+
 
     print("Robot driving home")
-    os.system(f'sshpass -p maker ssh robot@ev3dev.local python3 /home/robot/Programme/drive_back.py {plantID}')
+    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:
+        print(f"Robot Error {errorCode} occurred")
+        print(f"Drive Home aborted, Robot at plant {plantID}")
+        return
+
     print("Robot home")
 
     #TODO decide about robot occupied message
@@ -51,13 +71,6 @@ def drive_plant_thread(plantID, actionID, client: mqtt.Client):
 
 #region MQTT callbacks
 
-#Testing
-def send_data_json(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage):
-    strIn = str(message.payload.decode("UTF-8"))
-    dataDict = json.loads(strIn)
-    print("Received data: ", json.dumps(dataDict))
-
-
 def drive_plant(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage):
     """
     Function to drive to plant according to request

software/roboter/raspy/mainProg.py

@@ -10,7 +10,7 @@ Interaction with the EV3 via SSH
 
 import paho.mqtt.client as mqtt
 import functions
-from raspy_sensors import RaspySensors
+
 from defines import Topics, RASPI_CLIENT_ID, MQTT_BROKER_GLOBAL
 
 
@@ -27,13 +27,11 @@ def on_connect(client: mqtt.Client, userdata, flags, rc):
     """
     if rc == 0:
          #Add callbacks
-        client.message_callback_add("ROBOT/DATA", functions.send_data_json)       #Testing
         client.message_callback_add(Topics["ROBOT_ACTION_DRIVE"], functions.drive_plant)
         client.message_callback_add(Topics["ROBOT_ACTION_GETPOSITION"], functions.get_position)
         client.message_callback_add(Topics["ROBOT_ACTION_GETBATTERY"], functions.get_BatteryStatus)
 
         #Subscribe to topics
-        client.subscribe("ROBOT/DATA")      #Testing
         client.subscribe(Topics["ROBOT_ACTION_DRIVE"])
         client.subscribe(Topics["ROBOT_ACTION_GETPOSITION"])
         client.subscribe(Topics["ROBOT_ACTION_GETBATTERY"])
@@ -50,7 +48,6 @@ def main():
     client = mqtt.Client(RASPI_CLIENT_ID)
     client.on_connect = on_connect
     client.connect(MQTT_BROKER_GLOBAL)
-    # dataDict = {}       #Testing
 
     # CHECK forever or start
     client.loop_start()

software/roboter/raspy/raspy_sensors.py

@@ -1,94 +1,103 @@
-#from picamera import PiCamera
+# from picamera import PiCamera
 import adafruit_dht
 import adafruit_tsl2561
 import board
 import json
 
-class RaspySensors:
+
+# TODO 
+def readDHT22():
+    # Air Temperature & Humidity
+    try:
+        dht22 = adafruit_dht.DHT22(board.D4, use_pulseio=False)
+    except:
+        raise Exception("DHT22 not connected")
+    
+    # read DHT22
+    # if Error reading Data try again
+    while True:
+        try:
+            sensorData["AirTemperature"] = dht22.temperature
+            sensorData["AirHumidity"] = dht22.humidity
+        except:
+            continue
+
+        break
+
+# TODO
+def readTSL2561():
+    # Brightness
+    try:
+        tsl2561 = adafruit_tsl2561.TSL2561(board.I2C())
+    except:
+        raise Exception("TSL2561 not connected")
+    
+    # read TSL2561
+    if type(tsl2561.lux) == type(None):  # Max Value 40.000 -> above error
+        sensorData["Brightness"] = 40000
+    else:
+        sensorData["Brightness"] = int(tsl2561.lux)
+
+
+# TODO SoilMoisture Sensor Function
+
+
+# TODO Function for all sensors
+def readSensors():
     """
-    Class to handle all sensors
+    Read all Sensors and return Dictionary with data
 
+    Returns:
+        sensordata (dict): all data of sensors
+    """
+    
+
+    # global Variables
+    sensorData = {
+        "AirTemperature": 0.0,
+        "AirHumidity": 0.0,
+        "SoilMoisture": 0.0,
+        "Brightness": 0,
+        "PlantID": 0,
+        "ActionID": 0,
+    }
+
+    print("TEST")
+
+
+    return sensorData
+
+
+# TODO - take picture function
+def takePicture():
+    """
+    Take picture and return picture
     Returns:
         _type_: _description_
     """
+    picture = ""
 
-    def __init__(self):
-        """
-        Init all Sensors
-        """
-        #TODO Message if Error
-
-        
-        #Air Temperature & Humidity
-        self.dht22 = adafruit_dht.DHT22(board.D4, use_pulseio=False)
-
-        #Brightness
-        self.tsl2561 = adafruit_tsl2561.TSL2561(board.I2C())
-
-        #global Variables
-        self.sensorData ={
-            "AirTemperature": 0.0,
-            "AirHumidity" : 0.0,
-            "SoilMoisture" : 0.0,
-            "Brightness" : 0,
-            "PlantID": 0,
-            "ActionID": 0
-        }
-
-    def readSensors(self):
-        """
-        Read all Sensors and return Dictionary with data
-
-        Returns:
-            sensordata (dict): all data of sensors
-        """
-
-        #read DHT22
-        #if Error reading Data try again
-        while True:
-            try:
-                self.sensorData["AirTemperature"] = self.dht22.temperature
-                self.sensorData["AirHumidity"] = self.dht22.humidity
-            except:
-                continue
-            
-            break
-
-        #read TSL2561
-        if type(self.tsl2561.lux) == type(None):            #Max Value 40.000 -> above error
-            self.sensorData["Brightness"] = 40000
-        else:
-            self.sensorData["Brightness"] = int(self.tsl2561.lux)
-
-        #TODO SoilMoisture Sensor
-
-        return self.sensorData
-    
-    #TODO - take picture function
-    def takePicture(self):
-        """
-        Take picture and return picture
-        Returns:
-            _type_: _description_
-        """
-        return self.picture
-    
-    #TODO - read position with sensor
-    def readPosition(self):
-        """
-        Read and return Position
+    return picture
 
-        Returns:
-            _type_: _description_
-        """
-        return self.position    
+
+# TODO - read position with sensor
+def readPosition():
+    """
+    Read and return Position
+
+    Returns:
+        _type_: _description_
+     """
+    position = ""
+    return position
 
 
-#for Testing only
+# for Testing only
 def main():
     sensors = RaspySensors()
     test = sensors.readSensors()
     print("Data:" + json.dumps(test))
 
-if __name__ == "__main__": 
-    main()   
+
+if __name__ == "__main__":
+    main()