Added PythonDoc and simplified drive thread

software/roboter/raspy/mainProg.py

@@ -1,98 +1,104 @@
+"""
+created by waldluis
+
+This file contains the main script for the RaspberryPi of smart garden project
+It has the task to control the EV3 robot and take measurements with the mounted sensor
+The sensor data is published to MQTT topics to be available for the backend server
+Used protocol for interaction: mqtt (paho-mqtt module)
+Interaction with the EV3 via SSH
+ """
+
 import paho.mqtt.client as mqtt
 import json
 import threading
 import os
-import signal
 import time
 from raspy_sensors import RaspySensors
-from software.defines import Topics
+from software.defines import Topics, RASPI_CLIENT_ID, MQTT_BROKER_GLOBAL
 
 #region global Varaibles 
-#sensors:RaspySensors()
-leftRight = 50
-plantID = 0
-
-sensorData = {
-    "Air Temperature [°C]" : 0,
-    "Air Humidity [%]" : 0,
-    "Earth Humidity [%]" : 0,
-    "Brightness [Lux]" : 0,
-    "Plant ID": 0,
-    "Action ID": 0
-}
-
-gpsPosition = {
-    "Position": 0,
-    "Action ID": 0
-}
-
-batteryStatus = {
-    "Battery": 0,
-    "Action ID": 0
-}
+
+sensors: RaspySensors
 
 
 #endregion
 
 #region global functions
 
-def measure_send_data(plantID, actionID):
-    '''Measure data for one plant via sensor class and send via MQTT'''
+# 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["Plant_ID"] = plantID
-    sensorData["Action_ID"] = actionID
+    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")
+    measure_send_data(plantID, actionID, client)
 
-def drive_home():
-    '''Function to drive robot back to starting position in thread'''
     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):
+    """
+    This method gets called, when it connects to a mqtt broker.
+    It is used to subscribe to the specific topics
 
-def drive_plant_thread():
-    '''Function to drive to plant according to number from MQTT message in thread'''
-    os.system(f'sshpass -p maker ssh robot@ev3dev.local python3 /home/robot/Programme/plant_{plantID}.py')
-    print("Raising Signal to meassure")
-    signal.raise_signal(signal.SIGUSR1)
-    #TODO alles hier ohne weitere Threads
-
-
-def init_mqtt():
-    '''Initialise MQTT client'''
-    mqttBroker = "mqtt.eclipseprojects.io"
-    global client
-    client = mqtt.Client("Robot")
-
-    #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.connect(mqttBroker)      #Has to be before subscribing
-
-    #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"])
-
+    Args:
+        client (mqtt.Client): current mqtt client
+        userdata (_type_): _description_
+        flags (_type_): _description_
+        rc (_type_): _description_
+    """
+    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)
+
+        #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"])
+
+        print("MQTT initialized")    
     
 
-
-def signal_measure(signum, frame):
-    '''Signal function to measure one plant and start driving home'''
-    print("Measuring Sensors")
-    #measure_send_data()
-    print("Driving Home")
-    drive_home()
-
 #endregion
 
+# TODO auslagern
 #region MQTT callbacks
 
 #Testing
@@ -102,30 +108,43 @@ def send_data_json(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage):
     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'''
-    global plantID, leftRight
-    #TODO define MQTT message
-    plantID = int(message.payload.decode("UTF-8"))
+    """
+    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}")
     
-    if plantID % 2 == 0:
-        leftRight = -50         #rotating left
-    else:
-        leftRight = 50          #rotating right
-
-    thread = threading.Thread(target= drive_plant_thread, daemon=True)
+    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'''
+    """
+    Callback function for GPS position request
+    Function to send actual GPS position via MQTT
 
-    #[ ]TODO Write Sensor Function
-    client.publish("ROBOT/DATA/POSITION", json.dumps(gpsPosition, indent=4))
+    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):
@@ -134,13 +153,17 @@ def get_BatteryStatus(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage)
     Function to read battery status from ev3 and send via MQTT
 
     Args:
-        clients (mqtt.Client): _description_
+        clients (mqtt.Client): current mqtt client
         userdata (_type_): _description_
-        message (mqtt.MQTTMessage): _description_
+        message (mqtt.MQTTMessage): received message
     """
 
-    #[ ]TODO read Battery
-    client.publish("ROBOT/DATA/BATTERY", json.dumps(batteryStatus, indent=4))
+    battery = {
+        "Battery": 0.0
+    }
+
+    #TODO read Battery
+    clients.publish(Topics["ROBOT_DATA_BATTERY"], json.dumps(battery, indent=4))
 
     
 #endregion
@@ -152,13 +175,15 @@ def main():
     Initialises MQTT and Sensors
     Runs forever and controlls all robot functions
     """
-
-    #TODO on_connect
-    init_mqtt()
-    print("MQTT initialized")
-    signal.signal(signal.SIGUSR1, signal_measure)
+    # CHECK if global
+    global sensors
+    sensors = RaspySensors()
+    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()
 
     print("Starting Loop")

software/roboter/raspy/raspy_sensors.py

@@ -5,10 +5,17 @@ import board
 import json
 
 class RaspySensors:
-    '''Class to handle all sensors'''
+    """
+    Class to handle all sensors
+
+    Returns:
+        _type_: _description_
+    """
 
     def __init__(self) -> None:
-        '''Init all Sensors'''
+        """
+        Init all Sensors
+        """
         #[ ]TODO Message if Error
 
         
@@ -20,46 +27,65 @@ class RaspySensors:
 
         #global Variables
         self.sensorData ={
-            "Air Temperature [°C]" : 0,
-            "Air Humidity [%]" : 0,
-            "Earth Humidity [%]" : 0,
-            "Brightness [Lux]" : 0,
-            "Plant ID": 0,
-            "Action ID": 0
+            "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'''
+        """
+        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["Air Temperature [°C]"] = self.dht22.temperature
-                self.sensorData["Air Humidity [%]"] = self.dht22.humidity
+                self.sensorData["AirTemperature"] = self.dht22.temperature
+                self.sensorData["AirHumidity"] = self.dht22.humidity
             except:
                 continue
             
             break
 
         #read TSL2561
-        self.sensorData["Brightness [Lux]"] = round(self.tsl2561.lux, 2)
+        self.sensorData["Brightness"] = round(self.tsl2561.lux, 2)
 
         return self.sensorData
     
-    #[ ]TODO - take picture function
+    #TODO - take picture function
     def takePicture(self):
-        '''Take picture and return image'''
+        """
+        Take picture and return image
+        Returns:
+            _type_: _description_
+        """
         return self.image
     
-    #[ ]TODO
+    #TODO - read position with sensor
     def readPosition(self):
-        '''Read and return Position'''
+        """
+        Read and return Position
+
+        Returns:
+            _type_: _description_
+        """
         return self.position
     
-    #[ ]TODO
+    #TODO - read battery from EV3
     def readBattery(self):
-        '''Read and return battery of ev3'''
+        """
+        Read and return battery of ev3
+
+        Returns:
+            _type_: _description_
+        """
         return self.battery