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Robot Docu extended and main to mainProg added

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This commit is contained in:
waldluis 2023-04-18 16:50:34 +02:00
parent bbc895c7dd
commit f29e567f07
2 changed files with 37 additions and 21 deletions
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documentation/Robot.docx
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software/roboter/raspy/mainProg.py
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@ -4,6 +4,7 @@ from raspySensors import RaspySensors
#region global Varaibles #region global Varaibles
sensors = RaspySensors() sensors = RaspySensors()
client = mqtt.Client()
sensorData = { sensorData = {
"Air Temperature [°C]" : 0, "Air Temperature [°C]" : 0,
@ -27,9 +28,9 @@ batteryStatus = {
#endregion #endregion
#region #region global functions
def measureSendData(plantID, actionID): def measure_send_data(plantID, actionID):
'''Measure data for one plant via sensor class and send via MQTT''' '''Measure data for one plant via sensor class and send via MQTT'''
sensorData = sensors.readSensors() sensorData = sensors.readSensors()
sensorData["Plant_ID"] = plantID sensorData["Plant_ID"] = plantID
@ -37,6 +38,26 @@ def measureSendData(plantID, actionID):
client.publish("Robot/Data/SensorData", json.dumps(sensorData, indent=4)) client.publish("Robot/Data/SensorData", json.dumps(sensorData, indent=4))
def init_mqtt():
'''Initialise MQTT client'''
mqttBroker = "mqtt.eclipseprojects.io"
client = mqtt.Client("Robot")
#Add callbacks
client.message_callback_add("Robot/Data", send_data_json) #Testing
client.message_callback_add("Robot/Action/Drive", drive_plant)
client.message_callback_add("Robot/Action/GetPosition", get_position)
client.message_callback_add("Robot/Action/GetBattery", get_BatteryStatus)
#Subscribe to topics
client.subscribe("Robot/Data") #Testing
client.subscribe("Robot/Action/Drive")
client.subscribe("Robot/Action/GetPosition")
client.subscribe("Robot/Action/GetBattery")
client.connect(mqttBroker)
#endregion #endregion
#region MQTT callbacks #region MQTT callbacks
@ -56,12 +77,12 @@ def drive_plant(clients, userdata, message):
#[ ]TODO Start drive forward -> Thread #[ ]TODO Start drive forward -> Thread
print(f"Measuring data at Plant {message}") print(f"Measuring data at Plant {message}")
measureSendData() # With threads not here measure_send_data() # With Signal not here
print("Driving back to start position") print("Driving back to start position")
#[ ]TODO Start Drive Back Function in Thread #[ ]TODO Start Drive Back Function in Thread
print("Back at starting Position") print("Back at starting Position") #Signal
def get_position(clients, userdata, message): def get_position(clients, userdata, message):
@ -74,8 +95,8 @@ def get_position(clients, userdata, message):
client.publish("Robot/Data/Position", json.dumps(gpsPosition, indent=4)) client.publish("Robot/Data/Position", json.dumps(gpsPosition, indent=4))
def get_BatteryStatus(clients, userdata, message): def get_BatteryStatus(clients, userdata, message):
'''Callback function for battery status request '''Callback function for battery status request
Function to read battery status from ev3 and send via MQTT''' Function to read battery status from ev3 and send via MQTT'''
@ -91,23 +112,18 @@ def get_BatteryStatus(clients, userdata, message):
#endregion #endregion
mqttBroker = "mqtt.eclipseprojects.io"
client = mqtt.Client("Robot")
def main():
init_mqtt()
dataDict = {} #Testing dataDict = {} #Testing
#Add callbacks client.loop_start()
client.message_callback_add("Robot/Data", send_data_json) #Testing
client.message_callback_add("Robot/Action/Drive", drive_plant)
client.message_callback_add("Robot/Action/GetPosition", get_position)
client.message_callback_add("Robot/Action/GetBattery", get_BatteryStatus)
client.connect(mqttBroker) while True:
pass
#Subscribe to topics
client.subscribe("Robot/Data") #Testing
client.subscribe("Robot/Action/Drive")
client.subscribe("Robot/Action/GetPosition")
client.subscribe("Robot/Action/GetBattery")
client.loop_forever()
if __name__ == "__main__":
main()