Functions excluded out of mainProg, added defines.py to raspy

software/roboter/raspy/defines.py

@@ -0,0 +1,119 @@
+"""
+created by caliskan at 19.04.2023
+
+contains all constants for the backend architecture of the smart garden project
+"""
+
+MQTT_BROKER_LOCAL = "lorem ipsum"
+MQTT_BROKER_GLOBAL = "mqtt.eclipseprojects.io"
+RASPI_CLIENT_ID = "smart_farming_raspi"
+BACKEND_CLIENT_ID = "smart_farming_server"
+
+# Topics:
+Topics = {
+    "ROBOT_ACTION_DRIVE": "ROBOT/ACTION/DRIVE",
+    "ROBOT_ACTION_GETPOSITION": "ROBOT/ACTION/GETPOSITION",
+    "ROBOT_ACTION_GETBATTERY": "ROBOT/ACTION/GETBATTERY",
+
+    "ROBOT_DATA_SENSORDATA": "ROBOT/DATA/SENSORDATA",
+    "ROBOT_DATA_BATTERY": "ROBOT/DATA/BATTERY",
+    "ROBOT_DATA_POSITION": "ROBOT/DATA/POSITION",
+    "ROBOT_DATA_PICTURE": "ROBOT/DATA/PICTURE",
+
+    "BACKEND_ACTION_DRIVE": "BACKEND/ACTION/DRIVE",
+    "BACKEND_ACTION_GETPOSITION": "BACKEND/ACTION/GETPOSITION",
+    "BACKEND_ACTION_GETBATTERY": "BACKEND/ACTION/GETBATTERY",
+    "BACKEND_ACTION_GETALLDATA": "BACKEND/ACTION/GETALLDATA",
+
+    "BACKEND_DATA_SENSORDATA": "BACKEND/DATA/SENSORDATA",
+    "BACKEND_DATA_SENSORDATAALL": "BACKEND/DATA/SENSORDATA_ALL",
+    "BACKEND_DATA_POSITION": "BACKEND/DATA/POSITION",
+    "BACKEND_DATA_BATTERY": "BACKEND/DATA/BATTERY",
+    "BACKEND_DATA_PICTURE": "BACKEND/DATA/PICTURE"
+
+}
+
+
+# MQTT Messages:
+
+# region Robot -> Backend
+SENSORDATA = {
+    "AirTemperature": 0.0,
+    "AirHumidity" : 0.0,
+    "SoilMoisture" : 0.0,
+    "Brightness" : 0,
+    "PlantID": 0,
+    "ActionID": 0
+}
+
+# TODO When sensor is available
+POSITION = {
+    "Position": ""
+}
+
+BATTERY = {
+    "Battery": 0.0
+}
+
+# endregion
+
+# region Backend -> Robot
+
+DRIVE = {
+    "PlantID": 0,
+    "ActionID": 0
+}
+
+# GETPOSITION -> no message needed
+
+# GETBATTERY -> no message needed
+
+# endregion
+
+# region Backend -> Frontend
+
+PLANTDATA = {
+    "AirTemperature": 0.0,
+    "AirHumidity" : 0.0,
+    "SoilMoisture" : 0.0,
+    "Brightness" : 0,
+    "PlantID": 0,
+    "Timestamp": "",
+    "MeasurementID": 0
+}
+
+ALLPLANTDATA = [
+    PLANTDATA,
+    PLANTDATA,
+    PLANTDATA,
+    PLANTDATA,
+    PLANTDATA,
+    PLANTDATA
+]
+
+# TODO When sensor is available
+POSITION = {
+    "Position": "",
+    "Timestamp": ""
+}
+
+BATTERY = {
+    "Battery": 0.0,
+    "Timestamp": ""
+}
+
+# endregion
+
+# region Frontend -> Backend
+
+DRIVE = {
+    "PlantID": 0
+}
+
+# GETPOSITION -> no message needed
+
+# GETBATTERY -> no message needed
+
+# GETALLDATA -> no message needed
+
+# endregion

software/roboter/raspy/functions.py

@@ -0,0 +1,120 @@
+import paho.mqtt.client as mqtt
+import json
+import threading
+import os
+import raspy_sensors as RaspySensors
+from defines import Topics
+
+def measure_send_data(plantID, actionID, client: mqtt.Client):
+    """
+    Reads all sensors and publishes data via MQTT
+
+    Args:
+        plantID (_type_): plant to measure
+        actionID (_type_): current ID of driving action
+        client (mqtt.Client): current mqtt client for publishing
+    """
+    sensor = RaspySensors()
+    sensorData = sensor.readSensors()
+    sensorData["PlantID"] = plantID
+    sensorData["ActionID"] = actionID
+    client.publish(Topics["ROBOT_DATA_SENSORDATA"], json.dumps(sensorData, indent=4))
+
+
+def drive_plant_thread(plantID, actionID, client: mqtt.Client):
+    """
+    Function to drive to plant according to number from MQTT message in thread
+    Meassure and publish data via MQTT
+    Drive home to starting point
+
+    Args:
+        plantID (_type_): plant to measure
+        actionID (_type_): current ID of driving action 
+        client (mqtt.Client): current mqtt client for publishing
+    """
+    os.system(f'sshpass -p maker ssh robot@ev3dev.local python3 /home/robot/Programme/plant_{plantID}.py')
+
+    print("Measuring Sensors")
+
+    #FIXME Sensor not working
+    # measure_send_data(plantID, actionID, client)
+
+    print("Robot driving home")
+    if plantID % 2 == 0:
+        leftRight = -50         #rotating left
+    else:
+        leftRight = 50          #rotating right
+    os.system(f'sshpass -p maker ssh robot@ev3dev.local python3 /home/robot/Programme/drive_back.py {leftRight}')
+    print("Robot home")
+
+    #TODO decide about robot occupied message
+    #client.publish("ROBOT/DATA/OCCUPIED", "false")
+
+
+#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
+    Starting Drive in Thread
+
+    Args:
+        clients (mqtt.Client): current mqtt client
+        userdata (_type_): _description_
+        message (mqtt.MQTTMessage): received message
+    """
+    dictMessage = json.loads(str(message.payload.decode("UTF-8")))
+    plantID = dictMessage["PlantID"]
+    actionID = dictMessage["ActionID"]
+
+    print(f"received drive to plant {plantID}")
+    
+    thread = threading.Thread(target= drive_plant_thread, args=(plantID, actionID, clients), daemon=True)
+    thread.start()
+
+
+def get_position(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage):
+    """
+    Callback function for GPS position request
+    Function to send actual GPS position via MQTT
+
+    Args:
+        clients (mqtt.Client): current mqtt client
+        userdata (_type_): _description_
+        message (mqtt.MQTTMessage): received message
+    """
+    # TODO Write GPS Sensor Function
+    position = {
+        "Position": ""
+    }
+
+    clients.publish(Topics["ROBOT_DATA_POSITION"], json.dumps(position, indent=4))
+
+
+def get_BatteryStatus(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage):
+    """
+    Callback function for battery status request
+    Function to read battery status from ev3 and send via MQTT
+
+    Args:
+        clients (mqtt.Client): current mqtt client
+        userdata (_type_): _description_
+        message (mqtt.MQTTMessage): received message
+    """
+
+    battery = {
+        "Battery": 0.0
+    }
+
+    #TODO read Battery
+    clients.publish(Topics["ROBOT_DATA_BATTERY"], json.dumps(battery, indent=4))
+
+    
+#endregion

software/roboter/raspy/mainProg.py

@@ -9,71 +9,10 @@ Interaction with the EV3 via SSH
  """
 
 import paho.mqtt.client as mqtt
-import json
-import threading
-import os
-import time
+import functions
 from raspy_sensors import RaspySensors
+from defines import Topics, RASPI_CLIENT_ID, MQTT_BROKER_GLOBAL
 
-from software.defines import Topics, RASPI_CLIENT_ID, MQTT_BROKER_GLOBAL
-
-
-
-#region global Varaibles 
-
-# FIXME Sensor not working
-#sensors: RaspySensors
-
-
-#endregion
-
-#region global functions
-
-# TODO auslagern
-def measure_send_data(plantID, actionID, client: mqtt.Client):
-    """
-    Reads all sensors and publishes data via MQTT
-
-    Args:
-        plantID (_type_): plant to measure
-        actionID (_type_): current ID of driving action
-        client (mqtt.Client): current mqtt client for publishing
-    """
-    sensorData = sensors.readSensors()
-    sensorData["PlantID"] = plantID
-    sensorData["ActionID"] = actionID
-    client.publish(Topics["ROBOT_DATA_SENSORDATA"], json.dumps(sensorData, indent=4))
-
-# TODO auslagern
-def drive_plant_thread(plantID, actionID, client: mqtt.Client):
-    """
-    Function to drive to plant according to number from MQTT message in thread
-    Meassure and publish data via MQTT
-    Drive home to starting point
-
-    Args:
-        plantID (_type_): plant to measure
-        actionID (_type_): current ID of driving action 
-        client (mqtt.Client): current mqtt client for publishing
-    """
-    os.system(f'sshpass -p maker ssh robot@ev3dev.local python3 /home/robot/Programme/plant_{plantID}.py')
-    #CHECK if working properly
-
-    print("Measuring Sensors")
-
-    #FIXME Sensor not working
-    # measure_send_data(plantID, actionID, client)
-
-    print("Robot driving home")
-    if plantID % 2 == 0:
-        leftRight = -50         #rotating left
-    else:
-        leftRight = 50          #rotating right
-    os.system(f'sshpass -p maker ssh robot@ev3dev.local python3 /home/robot/Programme/drive_back.py {leftRight}')
-    print("Robot home")
-
-    #TODO decide about robot occupied message
-    #client.publish("ROBOT/DATA/OCCUPIED", "false")
 
 def on_connect(client: mqtt.Client, userdata, flags, rc):
     """
@@ -88,10 +27,10 @@ def on_connect(client: mqtt.Client, userdata, flags, rc):
     """
     if rc == 0:
          #Add callbacks
-        client.message_callback_add("ROBOT/DATA", send_data_json)       #Testing
-        client.message_callback_add(Topics["ROBOT_ACTION_DRIVE"], drive_plant)
-        client.message_callback_add(Topics["ROBOT_ACTION_GETPOSITION"], get_position)
-        client.message_callback_add(Topics["ROBOT_ACTION_GETBATTERY"], get_BatteryStatus)
+        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
@@ -102,89 +41,12 @@ def on_connect(client: mqtt.Client, userdata, flags, rc):
         print("MQTT initialized")    
     
 
-#endregion
-
-# TODO auslagern
-#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))
-
-
-# CHECK if working properly
-def drive_plant(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage):
-    """
-    Function to drive to plant according to request
-    Starting Drive in Thread
-
-    Args:
-        clients (mqtt.Client): current mqtt client
-        userdata (_type_): _description_
-        message (mqtt.MQTTMessage): received message
-    """
-    dictMessage = json.loads(str(message.payload.decode("UTF-8")))
-    plantID = dictMessage["PlantID"]
-    actionID = dictMessage["ActionID"]
-
-    print(f"received drive to plant {plantID}")
-    
-    thread = threading.Thread(target= drive_plant_thread, args=(plantID, actionID, clients), daemon=True)
-    thread.start()
-
-
-def get_position(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage):
-    """
-    Callback function for GPS position request
-    Function to send actual GPS position via MQTT
-
-    Args:
-        clients (mqtt.Client): current mqtt client
-        userdata (_type_): _description_
-        message (mqtt.MQTTMessage): received message
-    """
-    # TODO Write Sensor Function
-    position = {
-        "Position": ""
-    }
-
-    clients.publish(Topics["ROBOT_DATA_POSITION"], json.dumps(position, indent=4))
-
-
-def get_BatteryStatus(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage):
-    """
-    Callback function for battery status request
-    Function to read battery status from ev3 and send via MQTT
-
-    Args:
-        clients (mqtt.Client): current mqtt client
-        userdata (_type_): _description_
-        message (mqtt.MQTTMessage): received message
-    """
-
-    battery = {
-        "Battery": 0.0
-    }
-
-    #TODO read Battery
-    clients.publish(Topics["ROBOT_DATA_BATTERY"], json.dumps(battery, indent=4))
-
-    
-#endregion
-
-
 
 def main():
     """
     Initialises MQTT and Sensors
     Runs forever and controlls all robot functions
     """
-    # CHECK if global
-    # FIXME Sensor not working
-    # global sensors
-    # sensors = RaspySensors()
     client = mqtt.Client(RASPI_CLIENT_ID)
     client.on_connect = on_connect
     client.connect(MQTT_BROKER_GLOBAL)

software/roboter/raspy/raspy_sensors.py

@@ -57,6 +57,8 @@ class RaspySensors:
         #read TSL2561
         self.sensorData["Brightness"] = round(self.tsl2561.lux, 2)
 
+        #TODO SoilMoisture Sensor
+
         return self.sensorData
     
     #TODO - take picture function