Functions excluded out of mainProg, added defines.py to raspy
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119
software/roboter/raspy/defines.py
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119
software/roboter/raspy/defines.py
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"""
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created by caliskan at 19.04.2023
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contains all constants for the backend architecture of the smart garden project
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"""
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MQTT_BROKER_LOCAL = "lorem ipsum"
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MQTT_BROKER_GLOBAL = "mqtt.eclipseprojects.io"
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RASPI_CLIENT_ID = "smart_farming_raspi"
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BACKEND_CLIENT_ID = "smart_farming_server"
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# Topics:
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Topics = {
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"ROBOT_ACTION_DRIVE": "ROBOT/ACTION/DRIVE",
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"ROBOT_ACTION_GETPOSITION": "ROBOT/ACTION/GETPOSITION",
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"ROBOT_ACTION_GETBATTERY": "ROBOT/ACTION/GETBATTERY",
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"ROBOT_DATA_SENSORDATA": "ROBOT/DATA/SENSORDATA",
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"ROBOT_DATA_BATTERY": "ROBOT/DATA/BATTERY",
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"ROBOT_DATA_POSITION": "ROBOT/DATA/POSITION",
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"ROBOT_DATA_PICTURE": "ROBOT/DATA/PICTURE",
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"BACKEND_ACTION_DRIVE": "BACKEND/ACTION/DRIVE",
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"BACKEND_ACTION_GETPOSITION": "BACKEND/ACTION/GETPOSITION",
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"BACKEND_ACTION_GETBATTERY": "BACKEND/ACTION/GETBATTERY",
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"BACKEND_ACTION_GETALLDATA": "BACKEND/ACTION/GETALLDATA",
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"BACKEND_DATA_SENSORDATA": "BACKEND/DATA/SENSORDATA",
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"BACKEND_DATA_SENSORDATAALL": "BACKEND/DATA/SENSORDATA_ALL",
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"BACKEND_DATA_POSITION": "BACKEND/DATA/POSITION",
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"BACKEND_DATA_BATTERY": "BACKEND/DATA/BATTERY",
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"BACKEND_DATA_PICTURE": "BACKEND/DATA/PICTURE"
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}
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# MQTT Messages:
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# region Robot -> Backend
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SENSORDATA = {
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"AirTemperature": 0.0,
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"AirHumidity" : 0.0,
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"SoilMoisture" : 0.0,
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"Brightness" : 0,
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"PlantID": 0,
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"ActionID": 0
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}
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# TODO When sensor is available
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POSITION = {
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"Position": ""
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}
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BATTERY = {
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"Battery": 0.0
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}
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# endregion
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# region Backend -> Robot
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DRIVE = {
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"PlantID": 0,
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"ActionID": 0
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}
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# GETPOSITION -> no message needed
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# GETBATTERY -> no message needed
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# endregion
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# region Backend -> Frontend
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PLANTDATA = {
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"AirTemperature": 0.0,
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"AirHumidity" : 0.0,
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"SoilMoisture" : 0.0,
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"Brightness" : 0,
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"PlantID": 0,
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"Timestamp": "",
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"MeasurementID": 0
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}
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ALLPLANTDATA = [
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PLANTDATA,
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PLANTDATA,
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PLANTDATA,
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PLANTDATA,
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PLANTDATA,
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PLANTDATA
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]
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# TODO When sensor is available
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POSITION = {
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"Position": "",
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"Timestamp": ""
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}
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BATTERY = {
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"Battery": 0.0,
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"Timestamp": ""
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}
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# endregion
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# region Frontend -> Backend
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DRIVE = {
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"PlantID": 0
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}
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# GETPOSITION -> no message needed
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# GETBATTERY -> no message needed
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# GETALLDATA -> no message needed
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# endregion
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120
software/roboter/raspy/functions.py
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120
software/roboter/raspy/functions.py
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import paho.mqtt.client as mqtt
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import json
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import threading
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import os
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import raspy_sensors as RaspySensors
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from defines import Topics
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def measure_send_data(plantID, actionID, client: mqtt.Client):
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"""
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Reads all sensors and publishes data via MQTT
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Args:
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plantID (_type_): plant to measure
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actionID (_type_): current ID of driving action
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client (mqtt.Client): current mqtt client for publishing
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"""
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sensor = RaspySensors()
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sensorData = sensor.readSensors()
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sensorData["PlantID"] = plantID
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sensorData["ActionID"] = actionID
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client.publish(Topics["ROBOT_DATA_SENSORDATA"], json.dumps(sensorData, indent=4))
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def drive_plant_thread(plantID, actionID, client: mqtt.Client):
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"""
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Function to drive to plant according to number from MQTT message in thread
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Meassure and publish data via MQTT
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Drive home to starting point
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Args:
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plantID (_type_): plant to measure
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actionID (_type_): current ID of driving action
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client (mqtt.Client): current mqtt client for publishing
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"""
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os.system(f'sshpass -p maker ssh robot@ev3dev.local python3 /home/robot/Programme/plant_{plantID}.py')
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print("Measuring Sensors")
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#FIXME Sensor not working
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# measure_send_data(plantID, actionID, client)
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print("Robot driving home")
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if plantID % 2 == 0:
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leftRight = -50 #rotating left
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else:
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leftRight = 50 #rotating right
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os.system(f'sshpass -p maker ssh robot@ev3dev.local python3 /home/robot/Programme/drive_back.py {leftRight}')
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print("Robot home")
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#TODO decide about robot occupied message
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#client.publish("ROBOT/DATA/OCCUPIED", "false")
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#region MQTT callbacks
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#Testing
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def send_data_json(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage):
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strIn = str(message.payload.decode("UTF-8"))
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dataDict = json.loads(strIn)
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print("Received data: ", json.dumps(dataDict))
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def drive_plant(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage):
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"""
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Function to drive to plant according to request
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Starting Drive in Thread
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Args:
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clients (mqtt.Client): current mqtt client
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userdata (_type_): _description_
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message (mqtt.MQTTMessage): received message
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"""
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dictMessage = json.loads(str(message.payload.decode("UTF-8")))
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plantID = dictMessage["PlantID"]
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actionID = dictMessage["ActionID"]
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print(f"received drive to plant {plantID}")
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thread = threading.Thread(target= drive_plant_thread, args=(plantID, actionID, clients), daemon=True)
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thread.start()
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def get_position(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage):
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"""
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Callback function for GPS position request
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Function to send actual GPS position via MQTT
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Args:
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clients (mqtt.Client): current mqtt client
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userdata (_type_): _description_
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message (mqtt.MQTTMessage): received message
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"""
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# TODO Write GPS Sensor Function
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position = {
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"Position": ""
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}
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clients.publish(Topics["ROBOT_DATA_POSITION"], json.dumps(position, indent=4))
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def get_BatteryStatus(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage):
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"""
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Callback function for battery status request
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Function to read battery status from ev3 and send via MQTT
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Args:
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clients (mqtt.Client): current mqtt client
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userdata (_type_): _description_
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message (mqtt.MQTTMessage): received message
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"""
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battery = {
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"Battery": 0.0
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}
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#TODO read Battery
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clients.publish(Topics["ROBOT_DATA_BATTERY"], json.dumps(battery, indent=4))
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#endregion
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@ -9,71 +9,10 @@ Interaction with the EV3 via SSH
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"""
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import paho.mqtt.client as mqtt
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import json
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import threading
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import os
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import time
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import functions
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from raspy_sensors import RaspySensors
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from defines import Topics, RASPI_CLIENT_ID, MQTT_BROKER_GLOBAL
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from software.defines import Topics, RASPI_CLIENT_ID, MQTT_BROKER_GLOBAL
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#region global Varaibles
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# FIXME Sensor not working
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#sensors: RaspySensors
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#endregion
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#region global functions
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# TODO auslagern
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def measure_send_data(plantID, actionID, client: mqtt.Client):
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"""
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Reads all sensors and publishes data via MQTT
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Args:
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plantID (_type_): plant to measure
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actionID (_type_): current ID of driving action
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client (mqtt.Client): current mqtt client for publishing
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"""
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sensorData = sensors.readSensors()
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sensorData["PlantID"] = plantID
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sensorData["ActionID"] = actionID
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client.publish(Topics["ROBOT_DATA_SENSORDATA"], json.dumps(sensorData, indent=4))
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# TODO auslagern
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def drive_plant_thread(plantID, actionID, client: mqtt.Client):
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"""
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Function to drive to plant according to number from MQTT message in thread
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Meassure and publish data via MQTT
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Drive home to starting point
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Args:
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plantID (_type_): plant to measure
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actionID (_type_): current ID of driving action
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client (mqtt.Client): current mqtt client for publishing
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"""
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os.system(f'sshpass -p maker ssh robot@ev3dev.local python3 /home/robot/Programme/plant_{plantID}.py')
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#CHECK if working properly
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print("Measuring Sensors")
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#FIXME Sensor not working
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# measure_send_data(plantID, actionID, client)
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print("Robot driving home")
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if plantID % 2 == 0:
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leftRight = -50 #rotating left
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else:
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leftRight = 50 #rotating right
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os.system(f'sshpass -p maker ssh robot@ev3dev.local python3 /home/robot/Programme/drive_back.py {leftRight}')
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print("Robot home")
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#TODO decide about robot occupied message
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#client.publish("ROBOT/DATA/OCCUPIED", "false")
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def on_connect(client: mqtt.Client, userdata, flags, rc):
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"""
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@ -88,10 +27,10 @@ def on_connect(client: mqtt.Client, userdata, flags, rc):
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"""
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if rc == 0:
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#Add callbacks
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client.message_callback_add("ROBOT/DATA", send_data_json) #Testing
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client.message_callback_add(Topics["ROBOT_ACTION_DRIVE"], drive_plant)
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client.message_callback_add(Topics["ROBOT_ACTION_GETPOSITION"], get_position)
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client.message_callback_add(Topics["ROBOT_ACTION_GETBATTERY"], get_BatteryStatus)
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client.message_callback_add("ROBOT/DATA", functions.send_data_json) #Testing
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client.message_callback_add(Topics["ROBOT_ACTION_DRIVE"], functions.drive_plant)
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client.message_callback_add(Topics["ROBOT_ACTION_GETPOSITION"], functions.get_position)
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client.message_callback_add(Topics["ROBOT_ACTION_GETBATTERY"], functions.get_BatteryStatus)
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#Subscribe to topics
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client.subscribe("ROBOT/DATA") #Testing
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@ -102,89 +41,12 @@ def on_connect(client: mqtt.Client, userdata, flags, rc):
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print("MQTT initialized")
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#endregion
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# TODO auslagern
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#region MQTT callbacks
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#Testing
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def send_data_json(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage):
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strIn = str(message.payload.decode("UTF-8"))
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dataDict = json.loads(strIn)
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print("Received data: ", json.dumps(dataDict))
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# CHECK if working properly
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def drive_plant(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage):
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"""
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Function to drive to plant according to request
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Starting Drive in Thread
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Args:
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clients (mqtt.Client): current mqtt client
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userdata (_type_): _description_
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message (mqtt.MQTTMessage): received message
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"""
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dictMessage = json.loads(str(message.payload.decode("UTF-8")))
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plantID = dictMessage["PlantID"]
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actionID = dictMessage["ActionID"]
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print(f"received drive to plant {plantID}")
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thread = threading.Thread(target= drive_plant_thread, args=(plantID, actionID, clients), daemon=True)
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thread.start()
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def get_position(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage):
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"""
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Callback function for GPS position request
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Function to send actual GPS position via MQTT
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Args:
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clients (mqtt.Client): current mqtt client
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userdata (_type_): _description_
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message (mqtt.MQTTMessage): received message
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"""
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# TODO Write Sensor Function
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position = {
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"Position": ""
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}
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clients.publish(Topics["ROBOT_DATA_POSITION"], json.dumps(position, indent=4))
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def get_BatteryStatus(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage):
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"""
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Callback function for battery status request
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Function to read battery status from ev3 and send via MQTT
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Args:
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clients (mqtt.Client): current mqtt client
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userdata (_type_): _description_
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message (mqtt.MQTTMessage): received message
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"""
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battery = {
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"Battery": 0.0
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}
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#TODO read Battery
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clients.publish(Topics["ROBOT_DATA_BATTERY"], json.dumps(battery, indent=4))
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#endregion
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def main():
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"""
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Initialises MQTT and Sensors
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Runs forever and controlls all robot functions
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"""
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# CHECK if global
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# FIXME Sensor not working
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# global sensors
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# sensors = RaspySensors()
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client = mqtt.Client(RASPI_CLIENT_ID)
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client.on_connect = on_connect
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client.connect(MQTT_BROKER_GLOBAL)
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@ -57,6 +57,8 @@ class RaspySensors:
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#read TSL2561
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self.sensorData["Brightness"] = round(self.tsl2561.lux, 2)
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#TODO SoilMoisture Sensor
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return self.sensorData
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#TODO - take picture function
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