Robot comments extended, Docu updated

software/roboter/raspy/defines.py

@@ -65,7 +65,6 @@ ALLSENSORDATA = {
     "ActionID": ""
 }
 
-# TODO When sensor is available
 POSITION = {
     "Position": ""
 }
@@ -115,7 +114,6 @@ ALLPLANTDATA = [
     PLANTDATA
 ]
 
-# TODO When sensor is available
 POSITION = {
     "Position": "",
     "Timestamp": ""

software/roboter/raspy/functions.py

@@ -18,6 +18,8 @@ def measure_send_data(plantID, actionID, client: mqtt.Client):
     """
     Reads all sensors and publishes data via MQTT in form of SENSORDATA
 
+    ***Function is only neccessary for driving without color codes*** 
+
     Args:
         plantID (_type_): plant to measure
         actionID (_type_): current ID of driving action
@@ -58,6 +60,8 @@ def drive_plant_thread(plantID, actionID, client: mqtt.Client):
 
     errorCode = os.system(f'sshpass -p maker ssh robot@ev3dev.local python3 /home/robot/Programme/plant_{plantID}.py')
 
+    # Error handling for drive operation
+    # Abort when drive operation at start when error occurs
     if errorCode != 0:
         if errorCode == 65280:
             errorMessage = "EV3 not connected"
@@ -67,19 +71,20 @@ def drive_plant_thread(plantID, actionID, client: mqtt.Client):
         logging.info(f"{errorMessage}, Drive Plant aborted, Robot at starting position")
         client.publish(Topics["ROBOT_DATA_ERROR"], f"{errorMessage}, Drive Plant aborted, Robot at starting position", qos=1)
         client.publish(Topics["ROBOT_DATA_ROBOTREADY"], "True", qos=1)
-
         return
    
     logging.info("Measuring Sensors")
     measure_send_data(plantID, actionID, client)
 
-    # TODO How to Handle Pictures and PlantID
-    logging.info("Taking Picture")
-    sendPicture(client)
+    # Taking Picture not fully implemented
+        # logging.info("Taking Picture")
+        # sendPicture(client)
 
     logging.info("Robot driving home")
     errorCode = os.system(f'sshpass -p maker ssh robot@ev3dev.local python3 /home/robot/Programme/drive_back.py {plantID}')
 
+    # Error handling for drive operation
+    # Abort when drive operation at start when error occurs
     if errorCode != 0:
         if errorCode == 65280:
             errorMessage = "EV3 not connected"
@@ -119,10 +124,11 @@ def drive_plant_all_thread(plantIDs: list, actionID, client: mqtt.Client):
     allPlantData["ActionID"] = actionID
 
     for plant in plantIDs:
-        # FIXME Only possible with color codes
         logging.info(f"Robot Driving to plant {plant}")
         errorCode = os.system(f'sshpass -p maker ssh robot@ev3dev.local python3 /home/robot/Programme/drive_plant.py {plant}')
 
+        # Error handling for drive operation
+        # Abort when drive operation at start when error occurs
         if errorCode != 0:
             if errorCode == 65280:
                 errorMessage = "EV3 not connected"
@@ -149,11 +155,13 @@ def drive_plant_all_thread(plantIDs: list, actionID, client: mqtt.Client):
         allPlantData["SensorData"].append(sensordata)
 
 
-        # TODO How to Handle Pictures and PlantID
-        logging.info("Taking Picture")
-        sendPicture(client)
+        # Taking Picture not fully implemented
+        # logging.info("Taking Picture")
+        # sendPicture(client)
 
         errorCode = os.system(f'sshpass -p maker ssh robot@ev3dev.local python3 /home/robot/Programme/drive_arm.py {plant}')
+        # Error handling for drive operation
+        # Abort when drive operation at start when error occurs
         if errorCode != 0:
             if errorCode == 65280:
                 errorMessage = "EV3 not connected"
@@ -170,6 +178,8 @@ def drive_plant_all_thread(plantIDs: list, actionID, client: mqtt.Client):
 
 
     logging.info("Robot driving home")
+    # Error handling for drive operation
+    # Abort when drive operation at start when error occurs
     errorCode = os.system(f'sshpass -p maker ssh robot@ev3dev.local python3 /home/robot/Programme/drive_back_straight.py')
     if errorCode != 0:
         if errorCode == 65280:
@@ -215,7 +225,6 @@ def drive_plant(client: mqtt.Client, userdata, message: mqtt.MQTTMessage):
     thread.start()
 
 
-# FIXME Only possible with color codes
 def drive_plant_all(client: mqtt.Client, userdata, message: mqtt.MQTTMessage):
     """
     Function to drive to plants according to request
@@ -254,7 +263,6 @@ def get_position(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage):
     """
     logging.info("Received position request")
 
-    # TODO Write GPS Sensor Function
     position = {
         "Position": ""
     }
@@ -266,6 +274,7 @@ def get_batteryStatus(client: mqtt.Client, userdata, message: mqtt.MQTTMessage):
     """
     Callback function for battery status request
     Function to read battery status from EV3 and send via MQTT in form of BATTERY
+    Current battery level is stored in "voltage_now" file
     Reading battery level via SSH script execution
     Battery level shown in Volts:
     8,5V -> 100%

software/roboter/raspy/mainProg.py

@@ -45,7 +45,7 @@ def on_connect(client: mqtt.Client, userdata, flags, rc):
 
 def main():
     """
-    Initialises MQTT and Sensors
+    Initialises MQTT
     Runs forever and controlls all robot functions
     """
     logging.basicConfig(filename="robot.log", filemode="a", encoding="utf-8", level=logging.DEBUG, format='%(asctime)s %(name)s %(levelname)s %(message)s',

software/roboter/raspy/raspy_sensors.py

@@ -99,6 +99,7 @@ def readSensors(sensorData):
     """
     Read DHT22, TSL2561 and Humidity Sensor
     Dictionary is passed to ensure that values are available when errors occur
+    When error occurs during reading of sensor, affected values are set to 0
 
     Args:
         sensorData (dictionary): Dictionary of type SENSORDATA
@@ -114,7 +115,7 @@ def readSensors(sensorData):
     try:
         sensorData["AirTemperature"], sensorData["AirHumidity"] = readDHT22()   
     except Exception as e:
-        sensorData["AirHumidity"] = 0                   # No value returend if error occurs -> setting dummy value
+        sensorData["AirHumidity"] = 0                   # No value returend if error occurs -> setting safe values
         sensorData["AirTemperature"] = 0
         errorMessage = str(e) + "\n"                    # Appending received error message to later forward all occured errors
 
@@ -122,14 +123,14 @@ def readSensors(sensorData):
     try:
         sensorData["Brightness"] = readTSL2561()
     except Exception as e:
-        sensorData["Brightness"] = 0                   # No value returend if error occurs -> setting dummy value
+        sensorData["Brightness"] = 0                   # No value returend if error occurs -> setting safe value
         errorMessage = errorMessage + str(e) + "\n"    # Appending received error message to later forward all occured errors
 
     # read YL-69
     try:
         sensorData["SoilMoisture"] = readMCP3008()
     except Exception as e:
-        sensorData["SoilMoisture"] = 0                 # No value returend if error occurs -> setting dummy value
+        sensorData["SoilMoisture"] = 0                 # No value returend if error occurs -> setting safe value
         errorMessage = errorMessage + str(e) + "\n"    # Appending received error message to later forward all occured errors
 
     # raise combined error message
@@ -146,15 +147,13 @@ def takePicture():
     try:
         camera = PiCamera()
     except:
-        # raise Exception("Camera not connected")
-        pass
+        raise Exception("Camera not connected")
     
     camera.start_preview()
     camera.capture("picture.png")
     camera.stop_preview()
 
 
-# TODO - read position with sensor
 def readPosition():
     """
     Read and return Position