Robot comments extended, Docu updated
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waldluis
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@ -65,7 +65,6 @@ ALLSENSORDATA = {
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"ActionID": ""
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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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@ -115,7 +114,6 @@ ALLPLANTDATA = [
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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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@ -18,6 +18,8 @@ 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 in form of SENSORDATA
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***Function is only neccessary for driving without color codes***
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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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@ -58,6 +60,8 @@ def drive_plant_thread(plantID, actionID, client: mqtt.Client):
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errorCode = os.system(f'sshpass -p maker ssh robot@ev3dev.local python3 /home/robot/Programme/plant_{plantID}.py')
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# Error handling for drive operation
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# Abort when drive operation at start when error occurs
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if errorCode != 0:
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if errorCode == 65280:
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errorMessage = "EV3 not connected"
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@ -67,19 +71,20 @@ def drive_plant_thread(plantID, actionID, client: mqtt.Client):
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logging.info(f"{errorMessage}, Drive Plant aborted, Robot at starting position")
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client.publish(Topics["ROBOT_DATA_ERROR"], f"{errorMessage}, Drive Plant aborted, Robot at starting position", qos=1)
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client.publish(Topics["ROBOT_DATA_ROBOTREADY"], "True", qos=1)
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return
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logging.info("Measuring Sensors")
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measure_send_data(plantID, actionID, client)
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# TODO How to Handle Pictures and PlantID
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logging.info("Taking Picture")
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sendPicture(client)
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# Taking Picture not fully implemented
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# logging.info("Taking Picture")
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# sendPicture(client)
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logging.info("Robot driving home")
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errorCode = os.system(f'sshpass -p maker ssh robot@ev3dev.local python3 /home/robot/Programme/drive_back.py {plantID}')
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# Error handling for drive operation
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# Abort when drive operation at start when error occurs
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if errorCode != 0:
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if errorCode == 65280:
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errorMessage = "EV3 not connected"
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@ -119,10 +124,11 @@ def drive_plant_all_thread(plantIDs: list, actionID, client: mqtt.Client):
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allPlantData["ActionID"] = actionID
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for plant in plantIDs:
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# FIXME Only possible with color codes
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logging.info(f"Robot Driving to plant {plant}")
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errorCode = os.system(f'sshpass -p maker ssh robot@ev3dev.local python3 /home/robot/Programme/drive_plant.py {plant}')
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# Error handling for drive operation
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# Abort when drive operation at start when error occurs
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if errorCode != 0:
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if errorCode == 65280:
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errorMessage = "EV3 not connected"
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@ -149,11 +155,13 @@ def drive_plant_all_thread(plantIDs: list, actionID, client: mqtt.Client):
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allPlantData["SensorData"].append(sensordata)
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# TODO How to Handle Pictures and PlantID
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logging.info("Taking Picture")
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sendPicture(client)
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# Taking Picture not fully implemented
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# logging.info("Taking Picture")
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# sendPicture(client)
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errorCode = os.system(f'sshpass -p maker ssh robot@ev3dev.local python3 /home/robot/Programme/drive_arm.py {plant}')
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# Error handling for drive operation
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# Abort when drive operation at start when error occurs
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if errorCode != 0:
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if errorCode == 65280:
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errorMessage = "EV3 not connected"
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@ -170,6 +178,8 @@ def drive_plant_all_thread(plantIDs: list, actionID, client: mqtt.Client):
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logging.info("Robot driving home")
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# Error handling for drive operation
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# Abort when drive operation at start when error occurs
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errorCode = os.system(f'sshpass -p maker ssh robot@ev3dev.local python3 /home/robot/Programme/drive_back_straight.py')
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if errorCode != 0:
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if errorCode == 65280:
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@ -215,7 +225,6 @@ def drive_plant(client: mqtt.Client, userdata, message: mqtt.MQTTMessage):
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thread.start()
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# FIXME Only possible with color codes
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def drive_plant_all(client: mqtt.Client, userdata, message: mqtt.MQTTMessage):
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"""
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Function to drive to plants according to request
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@ -254,7 +263,6 @@ def get_position(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage):
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"""
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logging.info("Received position request")
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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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@ -266,6 +274,7 @@ def get_batteryStatus(client: 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 in form of BATTERY
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Current battery level is stored in "voltage_now" file
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Reading battery level via SSH script execution
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Battery level shown in Volts:
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8,5V -> 100%
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@ -45,7 +45,7 @@ def on_connect(client: mqtt.Client, userdata, flags, rc):
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def main():
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"""
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Initialises MQTT and Sensors
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Initialises MQTT
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Runs forever and controlls all robot functions
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"""
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logging.basicConfig(filename="robot.log", filemode="a", encoding="utf-8", level=logging.DEBUG, format='%(asctime)s %(name)s %(levelname)s %(message)s',
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@ -99,6 +99,7 @@ def readSensors(sensorData):
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"""
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Read DHT22, TSL2561 and Humidity Sensor
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Dictionary is passed to ensure that values are available when errors occur
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When error occurs during reading of sensor, affected values are set to 0
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Args:
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sensorData (dictionary): Dictionary of type SENSORDATA
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@ -114,7 +115,7 @@ def readSensors(sensorData):
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try:
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sensorData["AirTemperature"], sensorData["AirHumidity"] = readDHT22()
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except Exception as e:
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sensorData["AirHumidity"] = 0 # No value returend if error occurs -> setting dummy value
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sensorData["AirHumidity"] = 0 # No value returend if error occurs -> setting safe values
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sensorData["AirTemperature"] = 0
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errorMessage = str(e) + "\n" # Appending received error message to later forward all occured errors
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@ -122,14 +123,14 @@ def readSensors(sensorData):
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try:
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sensorData["Brightness"] = readTSL2561()
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except Exception as e:
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sensorData["Brightness"] = 0 # No value returend if error occurs -> setting dummy value
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sensorData["Brightness"] = 0 # No value returend if error occurs -> setting safe value
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errorMessage = errorMessage + str(e) + "\n" # Appending received error message to later forward all occured errors
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# read YL-69
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try:
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sensorData["SoilMoisture"] = readMCP3008()
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except Exception as e:
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sensorData["SoilMoisture"] = 0 # No value returend if error occurs -> setting dummy value
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sensorData["SoilMoisture"] = 0 # No value returend if error occurs -> setting safe value
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errorMessage = errorMessage + str(e) + "\n" # Appending received error message to later forward all occured errors
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# raise combined error message
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@ -146,15 +147,13 @@ def takePicture():
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try:
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camera = PiCamera()
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except:
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# raise Exception("Camera not connected")
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pass
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raise Exception("Camera not connected")
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camera.start_preview()
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camera.capture("picture.png")
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camera.stop_preview()
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# TODO - read position with sensor
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def readPosition():
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"""
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Read and return Position
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