Added PythonDoc and simplified drive thread
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waldluis
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@ -1,98 +1,104 @@
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"""
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created by waldluis
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This file contains the main script for the RaspberryPi of smart garden project
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It has the task to control the EV3 robot and take measurements with the mounted sensor
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The sensor data is published to MQTT topics to be available for the backend server
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Used protocol for interaction: mqtt (paho-mqtt module)
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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 signal
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import time
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from raspy_sensors import RaspySensors
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from software.defines import Topics
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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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#sensors:RaspySensors()
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leftRight = 50
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plantID = 0
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sensorData = {
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"Air Temperature [°C]" : 0,
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"Air Humidity [%]" : 0,
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"Earth Humidity [%]" : 0,
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"Brightness [Lux]" : 0,
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"Plant ID": 0,
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"Action ID": 0
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}
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gpsPosition = {
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"Position": 0,
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"Action ID": 0
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}
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batteryStatus = {
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"Battery": 0,
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"Action ID": 0
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}
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sensors: RaspySensors
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#endregion
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#region global functions
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def measure_send_data(plantID, actionID):
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'''Measure data for one plant via sensor class and send via MQTT'''
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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["Plant_ID"] = plantID
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sensorData["Action_ID"] = actionID
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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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measure_send_data(plantID, actionID, client)
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def drive_home():
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'''Function to drive robot back to starting position in thread'''
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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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This method gets called, when it connects to a mqtt broker.
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It is used to subscribe to the specific topics
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def drive_plant_thread():
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'''Function to drive to plant according to number from MQTT message in thread'''
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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("Raising Signal to meassure")
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signal.raise_signal(signal.SIGUSR1)
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#TODO alles hier ohne weitere Threads
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Args:
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client (mqtt.Client): current mqtt client
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userdata (_type_): _description_
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flags (_type_): _description_
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rc (_type_): _description_
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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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#Subscribe to topics
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client.subscribe("ROBOT/DATA") #Testing
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client.subscribe(Topics["ROBOT_ACTION_DRIVE"])
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client.subscribe(Topics["ROBOT_ACTION_GETPOSITION"])
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client.subscribe(Topics["ROBOT_ACTION_GETBATTERY"])
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def init_mqtt():
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'''Initialise MQTT client'''
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mqttBroker = "mqtt.eclipseprojects.io"
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global client
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client = mqtt.Client("Robot")
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print("MQTT initialized")
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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.connect(mqttBroker) #Has to be before subscribing
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#Subscribe to topics
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client.subscribe("ROBOT/DATA") #Testing
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client.subscribe(Topics["ROBOT_ACTION_DRIVE"])
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client.subscribe(Topics["ROBOT_ACTION_GETPOSITION"])
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client.subscribe(Topics["ROBOT_ACTION_GETBATTERY"])
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def signal_measure(signum, frame):
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'''Signal function to measure one plant and start driving home'''
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print("Measuring Sensors")
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#measure_send_data()
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print("Driving Home")
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drive_home()
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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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@ -102,30 +108,43 @@ def send_data_json(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage):
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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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'''Function to drive to plant according to request
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Starting Drive in Thread'''
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global plantID, leftRight
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#TODO define MQTT message
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plantID = int(message.payload.decode("UTF-8"))
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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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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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thread = threading.Thread(target= drive_plant_thread, daemon=True)
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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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'''Callback function for GPS position request
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Function to send actual GPS position via MQTT'''
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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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#[ ]TODO Write Sensor Function
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client.publish("ROBOT/DATA/POSITION", json.dumps(gpsPosition, indent=4))
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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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@ -134,13 +153,17 @@ def get_BatteryStatus(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage)
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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): _description_
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clients (mqtt.Client): current mqtt client
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userdata (_type_): _description_
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message (mqtt.MQTTMessage): _description_
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message (mqtt.MQTTMessage): received message
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"""
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#[ ]TODO read Battery
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client.publish("ROBOT/DATA/BATTERY", json.dumps(batteryStatus, indent=4))
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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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@ -152,13 +175,15 @@ def main():
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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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#TODO on_connect
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init_mqtt()
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print("MQTT initialized")
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signal.signal(signal.SIGUSR1, signal_measure)
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# CHECK if global
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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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# dataDict = {} #Testing
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# CHECK forever or start
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client.loop_start()
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print("Starting Loop")
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@ -5,10 +5,17 @@ import board
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import json
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class RaspySensors:
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'''Class to handle all sensors'''
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"""
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Class to handle all sensors
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Returns:
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_type_: _description_
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"""
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def __init__(self) -> None:
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'''Init all Sensors'''
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"""
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Init all Sensors
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"""
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#[ ]TODO Message if Error
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@ -20,46 +27,65 @@ class RaspySensors:
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#global Variables
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self.sensorData ={
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"Air Temperature [°C]" : 0,
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"Air Humidity [%]" : 0,
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"Earth Humidity [%]" : 0,
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"Brightness [Lux]" : 0,
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"Plant ID": 0,
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"Action ID": 0
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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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def readSensors(self):
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'''Read all Sensors and return Dictionary with data'''
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"""
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Read all Sensors and return Dictionary with data
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Returns:
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sensordata (dict): all data of sensors
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"""
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#read DHT22
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#if Error reading Data try again
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while True:
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try:
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self.sensorData["Air Temperature [°C]"] = self.dht22.temperature
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self.sensorData["Air Humidity [%]"] = self.dht22.humidity
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self.sensorData["AirTemperature"] = self.dht22.temperature
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self.sensorData["AirHumidity"] = self.dht22.humidity
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except:
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continue
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break
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#read TSL2561
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self.sensorData["Brightness [Lux]"] = round(self.tsl2561.lux, 2)
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self.sensorData["Brightness"] = round(self.tsl2561.lux, 2)
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return self.sensorData
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#[ ]TODO - take picture function
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#TODO - take picture function
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def takePicture(self):
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'''Take picture and return image'''
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"""
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Take picture and return image
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Returns:
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_type_: _description_
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"""
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return self.image
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#[ ]TODO
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#TODO - read position with sensor
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def readPosition(self):
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'''Read and return Position'''
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"""
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Read and return Position
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Returns:
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_type_: _description_
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"""
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return self.position
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#[ ]TODO
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#TODO - read battery from EV3
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def readBattery(self):
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'''Read and return battery of ev3'''
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"""
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Read and return battery of ev3
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Returns:
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_type_: _description_
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"""
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return self.battery
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