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SHH error handling, sensors class changed to functions

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This commit is contained in:
Luis Waldhauser 2023-05-06 12:17:29 +02:00
parent 20bad535eb
commit a6259e5392
3 changed files with 113 additions and 94 deletions
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39
software/roboter/raspy/functions.py
View File

@ -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

5
software/roboter/raspy/mainProg.py
View File

@ -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()

153
software/roboter/raspy/raspy_sensors.py
View File

@ -1,94 +1,103 @@
#from picamera import PiCamera
# from picamera import PiCamera
import adafruit_dht
import adafruit_tsl2561
import board
import json
class RaspySensors:
"""
Class to handle all sensors
# 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():
"""
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
return picture
#Air Temperature & Humidity
self.dht22 = adafruit_dht.DHT22(board.D4, use_pulseio=False)
# TODO - read position with sensor
def readPosition():
"""
Read and return Position
#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
Returns:
_type_: _description_
"""
return self.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()