Class Diagram Updated

.idea/webServers.xml

@@ -3,7 +3,7 @@
   <component name="WebServers">
     <option name="servers">
       <webServer id="1b3e9e3f-7394-4cbc-a32d-b95ef2abda52" name="backend">
-        <fileTransfer accessType="SFTP" host="192.168.137.197" port="22" sshConfigId="8ca8aafc-5b14-4074-b370-599a5b56368a" sshConfig="lego@192.168.137.197:22 password">
+        <fileTransfer accessType="SFTP" host="lego-K53SV" port="22" sshConfigId="40359a92-2c87-41df-943b-cfac73c7ea3d" sshConfig="lego@lego-K53SV:22 password">
           <advancedOptions>
             <advancedOptions dataProtectionLevel="Private" keepAliveTimeout="0" passiveMode="true" shareSSLContext="true" />
           </advancedOptions>

software/Frontend/src/app/Plants/plant-card/plant-card.component.html

@@ -24,8 +24,8 @@
     </div>
   </div>
   <div class="item-IMG">
-    <img class="IMG-Plants" src="assets/images/gruppe1.jpg" alt="Plant is not available">
+    <img class="IMG-Plants" src="assets/images/Pflanze.png" alt="Plant is not available">
-    <img class="IMG-Plants" src="assets/images/gruppe2.jpg" alt="Plant is not available">
+    <img class="IMG-Plants" src="assets/images/Pflanze.png" alt="Plant is not available">
   </div>
   <div class="item-delete">
     <button class="item-Configure" mat-icon-button color="primary" (click)="onConfigurePlant()">

software/Frontend/src/app/Plants/plants.component.ts

@@ -19,7 +19,6 @@ export class PlantsComponent {
   filteredOptions: Observable<string[]>;
   plants$: Observable<Plant[]> = this.storeService.currentPlants;
 
-
   constructor(public dialog: MatDialog, public storeService: StoreService, private mqttRequestService: MqttRequestService) {
     // sobald es eine änderung bei den pflanzenNamen gibt, wird bei der suchleiste ein neuer filter eingesetzt
     this.options$.subscribe(response => {
@@ -58,12 +57,10 @@ export class PlantsComponent {
     this.selectedPlant = value;
   }
 
-
   onOptionDefault() {
     this.selectedPlant = 'undefined';
   }
 
-
   private _filter(value: string, options: string[]): string[] {
     const filterValue = value.toLowerCase();
 

software/Frontend/src/app/Robot/robot.component.html

@@ -1,7 +1,7 @@
 <div class="container"
   *ngIf="robotBatteryResponse$ !== undefined && (robotBatteryResponse$ |async) !== undefined; else errorLoadingData">
   <div class="robotImage">
-    <img src="assets/images/gruppe1.jpg" alt="Plant is not available">
+    <img src="assets/images/Robot.png" alt="Plant is not available">
   </div>
   <div class="robotAkku">
     <h1 class="akkuMsg">Robot Akku:</h1>

software/Frontend/src/app/Service/Mqtt/mqtt-request.service.ts

@@ -66,19 +66,6 @@ export class MqttRequestService {
       console.error('Error:', err);
     });
 
-    // this.mqttService.subscribeToTopic("BACKEND/DATA/POSITION").subscribe(data => {
-    //   if (typeof data !== "object") {
-    //     const payload = JSON.parse(data) as Position;
-    //     this.mqttSetDataService.setRobotPosition(payload);
-    //   }
-    // }, err => {
-    //   this.dialog.open(ErrorDialogComponent, {
-    //     data: err,
-    //     width: '400px',
-    //   });
-    //   console.error('Error:', err);
-    // });
-
     this.mqttService.subscribeToTopic("BACKEND/DATA/BATTERY").subscribe(data => {
       if (typeof data !== "object") {
         const payload = JSON.parse(data) as RobotBattery;
@@ -119,22 +106,6 @@ export class MqttRequestService {
       console.error('Error:', err);
     });
 
-    // this.mqttService.subscribeToTopic("BACKEND/DATA/PICTURE").subscribe(data => {
-    //   if (typeof data !== "object") {
-    //     const payload = JSON.parse(data) as Plant;
-    //     this.mqttSetDataService.setDataPlant(payload);
-    //   }
-    // }, err => {
-    //   console.error('Error:', err);
-    // });
-
-    //Request to get ALL DATA every 10sec!!
-    // this.timerSubscription = timer(0, 10000).pipe(
-    //   map(() => {
-    //     this.mqttService.publishToTopic('BACKEND/ACTION/GETALLDATA');
-    //   })
-    // ).subscribe();
-
     //Publish to the Topic to recieve the first Data
     this.publishToPLANTCOUNT();
     this.publishToGETBATTERY();
@@ -145,18 +116,14 @@ export class MqttRequestService {
   publishToGETALLDATA() {
     this.mqttService.publishToTopic('BACKEND/ACTION/GETALLDATA', JSON.stringify(this.storeService.getAllPlantNames()));
   }
-  publishToDRIVE() {
+
-    this.mqttService.publishToTopic('BACKEND/ACTION/DRIVE');
-  }
   publishToGETBATTERY() {
     this.mqttService.publishToTopic('BACKEND/ACTION/GETBATTERY');
   }
+
   publishToROBOTREADY() {
     this.mqttService.publishToTopic('BACKEND/ACTION/ROBOTREADY');
   }
-  publishToGETPOSITION() {
-    this.mqttService.publishToTopic('BACKEND/ACTION/GETPOSITION');
-  }
 
   publishToNEWPLANT(plant: Plant) {
     this.mqttService.publishToTopic('BACKEND/ACTION/NEWPLANT', JSON.stringify(plant));
@@ -173,6 +140,7 @@ export class MqttRequestService {
   publishToPLANTCOUNT() {
     this.mqttService.publishToTopic('BACKEND/ACTION/PLANTCOUNT');
   }
+
   /**
   * publishToINPUT wird die Spracheingabe übermittelt, die dann mit
   * mehreren if else anweisungen einen Request an das Backend sendet und

software/Frontend/src/app/Service/Mqtt/mqtt-set-data.service.ts

@@ -32,5 +32,4 @@ export class MqttSetDataService {
   setPlantCount(data: PlantCount): void {
     this.storeService.setPlantCount(data);
   }
-
 }

software/Frontend/src/app/Service/Mqtt/mqtt.service.ts

@@ -10,8 +10,8 @@ export class MqttService {
 
   // Connection zu dem MQTT Broker
   constructor() {
-    // this.client = connect('wss://mqtt.eclipseprojects.io:443/mqtt'); //Je nachdem welchen Link der Broker hat
+    this.client = connect('wss://mqtt.eclipseprojects.io:443/mqtt'); //Online Broker
-    this.client = connect('mqtt://192.168.137.197:1883', { clientId: 'kemal' });
+    // this.client = connect('mqtt://192.168.137.197:1883', { clientId: 'kemal' }); //lokaler Broker
   }
 
   public subscribeToTopic(topic: string): Observable<any> {

software/Frontend/src/app/app.component.html

@@ -28,7 +28,6 @@
   <img class="img-item" src="assets/images/logo.png" alt="not available">
 </header>
 
-
 <body>
   <router-outlet></router-outlet>
 </body>

software/Frontend/src/app/dialog/map-plant-dialog/map-plant-dialog.component.html

@@ -1,6 +1,6 @@
 <div class="container">
   <p class="item-header" mat-dialog-title>Map</p>
-  <img class="item-img" src="assets/images/gruppe1.jpg" alt="not available">
+  <img class="item-img" src="assets/images/Map.png" alt="not available">
   <div class="item-button" mat-dialog-actions>
     <button mat-button mat-dialog-close>Close</button>
   </div>

software/backend/data_functions.py

@@ -3,6 +3,7 @@ created by caliskan at 19.04.2023
 
 This file contains all functions, which handle the different cases.
 Every function should return json format with the wanted data from the database
+The functions are called, when data is received on the according channel
 """
 import paho.mqtt.client as mqtt
 from plantdatabase import PlantDataBase
@@ -19,105 +20,249 @@ from robot import Robot
 
 def data_sensordata(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, mydatabase: PlantDataBase,
                     robot: Robot):
+    """
+    This function is used to store received data from the robot inside the plant_database
+    USAGE FOR DATA OF ONE PLANT
+    :param client: mqtt client
+    :param userdata:
+    :param message: received data
+    :param mydatabase: database information
+    :param robot: robot object
+    :return: none
+    """
+
+    # Load the message and convert to json
     str_in = str(message.payload.decode("UTF-8"))
     payload = json.loads(str_in)
+
     logging.info("ROBOT_DATA_SENSORDATA Received data: " + json.dumps(payload))
     drive_data = {
-        "PlantID": payload['PlantID'],
+        "PlantID": [payload['PlantID']],
         "ActionID": payload['ActionID']
     }
 
     try:
+        # Delete order from order list
         robot.delete_order(drive_data)
+        # Save data in database
         mydatabase.insert_measurement_data(plant_id=payload['PlantID'],
                                            sensordata_temp=payload['AirTemperature'],
                                            sensordata_humidity=payload['AirHumidity'],
                                            sensordata_soil_moisture=payload['SoilMoisture'],
                                            sensordata_brightness=payload['Brightness'])
         logging.debug("Inserted to data base: " + json.dumps(payload))
+
+        # Send received data to frontend
+        action_getalldata(client, userdata, message, mydatabase)
+    except Exception as e:
+        logging.error("Could not delete order: " + str(e))
+
+
+def data_sensordataall(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, mydatabase: PlantDataBase,
+                       robot: Robot):
+    """
+    This function is used to store received data from the robot inside the plant_database
+    USAGE FOR DATA OF ALL PLANTS
+    :param client:
+    :param userdata:
+    :param message:
+    :param mydatabase:
+    :param robot:
+    :return: none
+    """
+
+    # Load the message and convert to json
+    str_in = str(message.payload.decode("UTF-8"))
+    payload = json.loads(str_in)
+    logging.info("ROBOT_DATA_SENSORDATAALL Received data: " + json.dumps(payload))
+
+    # Create list of plant_ids and create dataset
+    plant_ids = []
+    for i in payload['SensorData']:
+        plant_ids.append(i["PlantID"])
+    drive_data = {
+        "PlantID": plant_ids,
+        "ActionID": payload['ActionID']
+    }
+
+    try:
+        # Delete order from order list
+        robot.delete_order(drive_data)
+
+        # Insert all received data files in plant_database
+        for i in payload['SensorData']:
+            mydatabase.insert_measurement_data(plant_id=i['PlantID'],
+                                               sensordata_temp=i['AirTemperature'],
+                                               sensordata_humidity=i['AirHumidity'],
+                                               sensordata_soil_moisture=i['SoilMoisture'],
+                                               sensordata_brightness=i['Brightness'])
+            logging.debug("Inserted to data base: " + json.dumps(payload))
+
+        # Send all the plant data to the frontend
+        action_getalldata(client, userdata, message, mydatabase)
     except Exception as e:
         logging.error("Could not delete order: " + str(e))
 
 
 def data_position(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, robot: Robot):
+    """
+    This function is used to receive the robot position and insert it in the robot object
+    :param client: mqtt client
+    :param userdata:
+    :param message: received data
+    :param robot: robot object to store position
+    :return: none
+    """
+
     logging.info("ROBOT_DATA_POSITION Received data: " + json.dumps(message.payload.decode("UTF-8")))
+
+    # Store received position data in robot object
     robot.store_position(json.loads(message.payload.decode("UTF-8"))["Position"])
     position_data = {
         "Position": robot.get_position(),
         "Timestamp": str(datetime.now())
     }
+    # Send the position as a json object to the frontend channel
     client.publish(Topics['BACKEND_DATA_POSITION'], json.dumps(position_data))
 
 
 def data_battery(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, robot: Robot):
+    """
+    This function is used to receive the robot position and insert it in the robot object
+    :param client: mqtt client object
+    :param userdata:
+    :param message: received data
+    :param robot: robot object to store the received information
+    :return: none
+    """
+
     logging.info("ROBOT_DATA_BATTERY Received data: " + str(json.dumps(message.payload.decode("UTF-8"))))
+    # Store battery status in robot object
     robot.store_battery(json.loads(message.payload.decode("UTF-8"))["Battery"])
     battery_data = {
         "Battery": robot.get_battery(),
         "Timestamp": str(datetime.now())
     }
+    # Send Battery status and Robot-Ready Status as json objects to frontend
     client.publish(Topics['BACKEND_DATA_BATTERY'], json.dumps(battery_data))
+    client.publish(Topics['BACKEND_DATA_ROBOTREADY'], str(robot.get_robot_status()))
 
 
 def data_error(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, robot: Robot):
+    """
+    This function is called when the robot sends an error message and forwards it to the frontend
+    :param client: mqtt client
+    :param userdata:
+    :param message: received error message
+    :param robot: robot objectg
+    :return: none
+    """
+
+    # Store last error in robot object
     robot.store_last_error(message.payload.decode("UTF-8"))
+    # Write error into server log
     logging.error("ROBOT_DATA_ERROR new error received from Robot: " + robot.get_last_error())
+    # Send error data to FrontEnd Channel to display it to the user
     client.publish(Topics['BACKEND_DATA_ERROR'], message.payload.decode("UTF-8"))
 
 
 def data_robotready(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, robot: Robot):
+    """
+    This function is used to update the Robot-Ready Status of the Robot and inform the FrontEnd about it
+    :param client:  mqtt client
+    :param userdata:
+    :param message: received data
+    :param robot: robot object
+    :return: none
+    """
+
+    # Update the robot status
     robot.change_robot_status(message.payload.decode("UTF-8") == 'True')
+
+    # If possible send new waiting order to the robot
     if robot.get_robot_status() is True and robot.get_order_number() >= 1:
         client.publish(Topics['ROBOT_ACTION_DRIVE'], json.dumps(robot.get_next_order()))
         logging.info("Waiting Order send to Robot")
 
     logging.info("ROBOT_DATA_ROBOTREADY status updated: " + str(robot.get_robot_status()))
-    client.publish(Topics['BACKEND_DATA_ROBOTREADY'], message.payload.decode("UTF-8"))
+
+    # Send new robot-ready status to frontend channel
+    client.publish(Topics['BACKEND_DATA_ROBOTREADY'], str(robot.get_robot_status()))
 
 
 # FrontEnd Channel Reactions
 
 def action_drive(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, mydatabase: PlantDataBase,
                  robot: Robot):
-    plant_id = mydatabase.get_plant_id(plant_name=json.loads(message.payload.decode("UTF-8"))["PlantName"])
+    """
+    This function is called when a drive command from the FrontEnd is received and forwards the order to the robot or
+    stores it in the order list.
+    :param client: mqtt client object
+    :param userdata:
+    :param message: information of plant to drive to
+    :param mydatabase: plant_database
+    :param robot: robot object
+    :return: none
+    """
+    # Get PlantID from received PlantName
+    plant_id = mydatabase.get_plant_id(plant_name=json.loads(str(message.payload.decode("UTF-8"))))
+
+    # Generate a new ActionID
     action_id = str(uuid.uuid4())
     drive_data = {
         "PlantID": plant_id,
         "ActionID": action_id
     }
 
+    # Store order in order list or discard if list already contains 5 orders
     if robot.get_order_number() < 6 and robot.get_robot_status() is True:
-        robot.add_order(drive_data)
+        robot.add_order({"PlantID": [plant_id], "ActionID": action_id})
+        # Send order to robot, if robot is available
         client.publish(Topics['ROBOT_ACTION_DRIVE'], json.dumps(drive_data))
         logging.info("BACKEND_ACTION_DRIVE Drive Command published: " + json.dumps(drive_data))
     else:
         if robot.get_order_number() < 6:
+            # Add to order list if robot not available
             robot.add_order(drive_data)
             logging.info("BACKEND_ACTION_DRIVE New data added to order list: " + str(drive_data))
         elif robot.get_order_number() >= 6:
+            # Discard order if list full
             logging.error("Could not add Order to list. Order discarded")
             client.publish(Topics['BACKEND_DATA_ERROR'], "Could not add Order to list. Order discarded")
 
 
 def action_driveall(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, mydatabase: PlantDataBase,
                     robot: Robot):
+    """
+    This function is called when the frontend sends a drive_all command which lets the robot drive to all registered plants.
+    Same as action_drive(), but for all plants.
+    :param client:
+    :param userdata:
+    :param message:
+    :param mydatabase:
+    :param robot:
+    :return: none
+    """
+
+    # Get all plantnames from the database and extract the id from them
     plant_names = mydatabase.get_plant_names()
     plant_ids = []
-    print(plant_names)
 
     for names in plant_names:
-        _id = mydatabase.get_plant_id(names)
+        _id = mydatabase.get_plant_id(names[0])
         plant_ids.append(_id)
 
+    # Create a new order number
     action_id = str(uuid.uuid4())
     drive_data = {
         "PlantID": plant_ids,
         "ActionID": action_id
     }
-    print(drive_data)
+
+    # Send drive command to Robot if possible (same as action_drive())
     if robot.get_order_number() < 6 and robot.get_robot_status() is True:
         robot.add_order(drive_data)
-        client.publish(Topics['ROBOT_ACTION_DRIVEALL'], json.dumps(plant_ids))
+        client.publish(Topics['ROBOT_ACTION_DRIVEALL'], json.dumps(drive_data))
         logging.info("BACKEND_ACTION_DRIVEALL Drive Command published: " + json.dumps(drive_data))
     else:
         if robot.get_order_number() < 6:
@@ -129,63 +274,153 @@ def action_driveall(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, my
 
 
 def action_getposition(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, mydatabase: PlantDataBase):
+    """
+    This function is called when the frontend demands the robots position from the backend. It forwards the command to
+    the robot.
+    :param client: mqtt client object
+    :param userdata:
+    :param message:
+    :param mydatabase:
+    :return: none
+    """
+
+    # Send command to robot
     client.publish(Topics['ROBOT_ACTION_GETPOSITION'])
     logging.info("BACKEND_ACTION_GETPOSITION message forwarded to Robot")
 
 
 def action_getbattery(client: mqtt.Client, userdata, message: mqtt.MQTTMessage):
+    """
+    This function is called when the frontend demands the robots battery status from the backend. It forwards the
+    command to the robot to get new information.
+    :param client: mqtt client object
+    :param userdata:
+    :param message:
+    :return: none
+    """
+
+    # Send command to robot
     client.publish(Topics['ROBOT_ACTION_GETBATTERY'])
     logging.info("BACKEND_ACTION_GETBATTERY message forwarded to Robot")
-    battery_data = {
-        "Battery": 66,
-        "Timestamp": str(datetime.now())
-    }
-    print(battery_data)
-    client.publish(Topics['BACKEND_DATA_BATTERY'], json.dumps(battery_data))
 
 
 def action_getalldata(client: mqtt.Client, userdata, message: Union[mqtt.MQTTMessage, list], mydatabase: PlantDataBase):
+    """
+    This function is called when the frontend demands the last data of the registered plants. It gets the last data from
+    the local database and forwards it to the frontend
+    :param client: mqtt client object
+    :param userdata:
+    :param message:
+    :param mydatabase: database object, where the plant data is stored
+    :return: none
+    """
+
+    # get the all PlantNames
     plant_names = mydatabase.get_plant_names()
     alldata = []
+
+    # Get the latest data from all registered plant names by using the plant names
     for i in plant_names:
-        alldata.append(mydatabase.get_latest_data(plant_name=i))
+        alldata.append(mydatabase.get_latest_data(plant_name=i[0]))
+
+    # Send the data as a list to the frontends channel
     client.publish(Topics['BACKEND_DATA_SENSORDATAALL'], json.dumps(alldata))
     logging.info("BACKEND_DATA_SENSORDATAALL got data from database:" + str(alldata))
 
 
 def action_newplant(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, mydatabase: PlantDataBase):
+    """
+    This function is called when the frontend wants to register a new plant. The information of the new plant is
+    delivered from the frontend and used to register the plant
+    :param client: mqtt client object
+    :param userdata:
+    :param message: data from the frontend
+    :param mydatabase: local database
+    :return: none
+    """
+
+    # Load the plant data as json
     plant_data = json.loads(message.payload.decode("UTF-8"))
+
+    # Insert the plant in the database
     mydatabase.insert_plant(plantname=plant_data["PlantName"], plant_id=plant_data["PlantID"])
+
+    # Insert a first measurement value in the database
     mydatabase.insert_measurement_data(plant_id=plant_data["PlantID"],
                                        sensordata_temp=plant_data["AirTemperature"],
                                        sensordata_humidity=plant_data["AirHumidity"],
                                        sensordata_soil_moisture=plant_data["SoilMoisture"],
                                        sensordata_brightness=plant_data["Brightness"])
     logging.info("BACKEND_ACTION_NEWPLANT new plant data received and inserted: " + str(plant_data))
+
+    # Send all new plant data to the frontend to update it
     action_getalldata(client, userdata, message, mydatabase)
 
 
 def action_configureplant(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, mydatabase: PlantDataBase):
+    """
+    This function is called when a parameter of a plant is changed by the frontend. It updates the information in the
+    database and sends the updated data to the frontend
+    :param client: mqtt client object
+    :param userdata:
+    :param message: received data from frontend
+    :param mydatabase: local database
+    :return: none
+    """
+
+    # Load the received data as json
     plant_data = json.loads(message.payload.decode("UTF-8"))
+
+    # Update the plant in the database
     mydatabase.configure_plant(plant_id=plant_data["PlantID"], plantname=plant_data["PlantName"])
+    # Insert  measurement_data into the database (from frontend)
     mydatabase.insert_measurement_data(plant_id=plant_data["PlantID"],
                                        sensordata_temp=plant_data["AirTemperature"],
                                        sensordata_humidity=plant_data["AirHumidity"],
                                        sensordata_soil_moisture=plant_data["SoilMoisture"],
                                        sensordata_brightness=plant_data["Brightness"])
     logging.info("BACKEND_ACTION_CONFIGUREPLANT configure plant data received and inserted: " + str(plant_data))
+
+    # Update the frontend with the current data
     action_getalldata(client, userdata, message, mydatabase)
 
 
 def action_deleteplant(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, mydatabase: PlantDataBase):
+    """
+    This function is called when the frontend wants to delete a registered plant from the database.
+    :param client:
+    :param userdata:
+    :param message: Received data from the frontend
+    :param mydatabase: local database object
+    :return: none
+    """
+
+    # Load the Plant-Name from the message
     delete_plant = json.loads(message.payload.decode("UTF-8"))
+
+    # Delete the plant
     mydatabase.delete_plant(plant_id=delete_plant)
     logging.info("BACKEND_ACTION_DELETEPLANT delete plant data received and deleted: " + str(delete_plant))
+
+    # Send current data to frontend to update it
     action_getalldata(client, userdata, message, mydatabase)
 
 
 def action_countplants(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, mydatabase: PlantDataBase):
+    """
+    This function is called when the frontend requires the count of the currently registerd plants. It sends the number
+    and maximal possible plant number to the frontend as a json object
+    :param client: mqtt client object
+    :param userdata:
+    :param message:
+    :param mydatabase: local database
+    :return: none
+    """
+
+    # Count plants
     count = mydatabase.plant_count()
+
+    # Create Object and send to the FrontEnd
     count_payload = {
         "CurrentCount": count,
         "MaxCount": MAX_PLANT_COUNT

software/backend/defines.py

@@ -1,10 +1,11 @@
 """
 created by caliskan at 19.04.2023
 
-contains all constants for the backend architecture of the smart garden project
+contains all constants for the backend architecture of the smart garden project. This file contains no executable script
+and is only for documentation purpose
 """
 
-MQTT_BROKER_LOCAL = "192.168.137.197"
+MQTT_BROKER_LOCAL = "192.168.0.102"
 MQTT_BROKER_GLOBAL = "mqtt.eclipseprojects.io"
 RASPI_CLIENT_ID = "smart_farming_raspi"
 BACKEND_CLIENT_ID = "smart_farming_server"

software/backend/dev_test_examples/json_test.py

@@ -0,0 +1,12 @@
+
+test_dict = {
+    "PlantData": [ {"PlantID":1, "Test": 0}, {"PlantID": 2, "Test": 0}],
+    "ActionID": "SUIIII"
+}
+
+
+plant_ids = []
+for i in test_dict["PlantData"]:
+    plant_ids.append(i["PlantID"])
+
+print(plant_ids)

software/backend/main.py

@@ -21,13 +21,13 @@ def on_connect(_client: mqtt.Client, _userdata, _flags, _rc, _mydatabase, _robot
     """
     This method gets called, when it connects to a mqtt broker.
     It is used to subscribe to the specific topics
-    :param _robot:
+    :param _robot: robot object for
-    :param _mydatabase:
+    :param _mydatabase: object, that contains the custom plant database and methods for its usage
     :param _client: mqtt client object
     :param _userdata:
     :param _flags:
     :param _rc: connection flag
-    :return:
+    :return: none
     """
     if _rc == 0:
         print("connected")
@@ -39,6 +39,9 @@ def on_connect(_client: mqtt.Client, _userdata, _flags, _rc, _mydatabase, _robot
         _client.message_callback_add(Topics['ROBOT_DATA_SENSORDATA'], lambda client, userdata, message: data_functions.
                                      data_sensordata(client, userdata, message, _mydatabase, _robot))
 
+        _client.subscribe(Topics['ROBOT_DATA_ALL'])
+        _client.message_callback_add(Topics['ROBOT_DATA_ALL'], lambda client, userdata, message: data_functions.
+                                     data_sensordataall(client, userdata, message, _mydatabase, _robot))
         _client.subscribe(Topics['ROBOT_DATA_POSITION'])
         _client.message_callback_add(Topics['ROBOT_DATA_POSITION'], data_functions.data_position)
 
@@ -97,10 +100,15 @@ def on_connect(_client: mqtt.Client, _userdata, _flags, _rc, _mydatabase, _robot
 
 
 def main():
+    # Create Robot Object
     robot = Robot()
+
+    # Connect to Plant_Database and create tables if database did not exist
     my_database = PlantDataBase(database_name=DATABASE_NAME)
     my_database.create_tables()
-    mqttclient = mqtt.Client(BACKEND_CLIENT_ID)
+
+    # Create MQTT Client and connect to local broker
+    mqttclient = mqtt.Client(BACKEND_CLIENT_ID, """transport="websockets""""")  # transport websockets required for local broker
     mqttclient.on_connect = lambda client, userdata, flags, rc: on_connect(_client=client,
                                                                            _userdata=userdata,
                                                                            _flags=flags,
@@ -108,10 +116,14 @@ def main():
                                                                            _mydatabase=my_database,
                                                                            _robot=robot)
     mqttclient.connect(MQTT_BROKER_GLOBAL)
+
+    # Initialize logger and save in server.log file
     logging.basicConfig(filename="server.log", filemode="a", encoding="utf-8", level=logging.DEBUG,
                         format='%(asctime)s %(name)s %(levelname)s %(message)s',
                         datefmt="%d-%m-%Y %H:%M:%S")
     logging.getLogger().addHandler(logging.StreamHandler(sys.stdout))
+
+    # Starting mqttclient infinite loop
     mqttclient.loop_forever()
 
 

software/backend/plantdatabase.py

@@ -2,30 +2,47 @@
 import sqlite3
 from typing import Optional
 import logging
-from itertools import chain
 
 
 class PlantDataBase:
     """
-    Class to create Makeathon database
+    Class of a PlantDataBase Object. It contains functions specifically for the plantdatabase.
+    Usage:
+    - First declare object
+    - Then use create_tables() to create the tables (NECESSARY !!)
+    - After that use the methods of this class
     """
 
     def __init__(self, database_name: str):
-        self.db_file = database_name  # 'backend_database.db'
+        """
+        Only Constructor of the Class. Pass name of database to connect to. If not available it will create a new one.
+        :param database_name: Name of the SQLITE database file system
+        """
+        self.db_file = database_name  # 'backend_database.db' usually used name
         self.conn = None
         try:
+            # connect or create new database if not available
             self.conn = sqlite3.connect(self.db_file, check_same_thread=False)
         except sqlite3.Error as e:
             logging.error("Database init error: " + str(e))
+
+        # cursor on the database
         self.cur = self.conn.cursor()
 
     def create_tables(self):
+        """
+        Use this method to create the plants and measurement_values tables. Call this function before using the data
+        handling methods below
+        :return: True if successfully, False if not
+        """
         try:
+            # Create plants table if not already existing
             table_config = "CREATE TABLE IF NOT EXISTS plants " \
                            "(PlantID INTEGER PRIMARY KEY," \
                            "PlantName TEXT)"
             self.cur.execute(table_config)
 
+            # Create measurement_values_table if not already existing
             table_config = "CREATE TABLE IF NOT EXISTS measurement_values " \
                            "(measurementID INTEGER PRIMARY KEY," \
                            "Timestamp DATETIME DEFAULT (datetime('now', 'localtime'))," \
@@ -43,6 +60,12 @@ class PlantDataBase:
             return False
 
     def insert_plant(self, plantname: str, plant_id: int) -> bool:
+        """
+        Insert a new plant with an id and a plantname
+        :param plantname: name of plant
+        :param plant_id: id of plant (position in the bed, must be unique!!)
+        :return: True if successfully, False if not
+        """
         try:
             self.cur.execute("INSERT INTO plants (PlantName, PlantID) VALUES (?,?)", (plantname, plant_id))
             self.conn.commit()
@@ -52,6 +75,12 @@ class PlantDataBase:
             return False
 
     def configure_plant(self, plant_id: int, plantname: str) -> bool:
+        """
+        Change a plants parameters in the database by using its PlantID as a search criteria
+        :param plant_id: id of plant
+        :param plantname: name of plant
+        :return: True if successfully, False if not
+        """
         try:
             self.cur.execute("UPDATE plants SET PlantID = ?, PlantName = ? WHERE PlantID= ?",
                              (plant_id, plantname, plant_id))
@@ -62,6 +91,11 @@ class PlantDataBase:
             return False
 
     def delete_plant(self, plant_id):
+        """
+        Delete a plant from the database
+        :param plant_id: PlantID of plant to delete
+        :return: True if successfully, False if not
+        """
         try:
             self.cur.execute('DELETE FROM plants WHERE PlantID = ?', (plant_id,))
             self.conn.commit()
@@ -75,6 +109,15 @@ class PlantDataBase:
                                 sensordata_humidity,
                                 sensordata_soil_moisture,
                                 sensordata_brightness) -> bool:
+        """
+        Insert a measurement value of plantID
+        :param plant_id: plantID of plant
+        :param sensordata_temp: Temperature
+        :param sensordata_humidity: Air Humidity value
+        :param sensordata_soil_moisture: Soil Moisture value
+        :param sensordata_brightness: brightness value
+        :return: True if successfully, False if not
+        """
         try:
             self.cur.execute(f"INSERT INTO measurement_values (PlantID, AirTemperature, AirHumidity,"
                             f"SoilMoisture, Brightness) VALUES "
@@ -88,10 +131,11 @@ class PlantDataBase:
 
     def get_latest_data(self, plant_name: Optional[str] = None, plant_id: Optional[int] = None):
         """
-        Gets the newest parameter of specific plant and returns all parameters in json format
+        Gets the newest parameter of specific plant and returns all parameters in json format.
-        :param plant_id:
+        Either pass plant_name OR plant_id, BOTH passed -> ERROR
-        :param plant_name:
+        :param plant_id: PlantID of plant
-        :return:
+        :param plant_name: Name of Plant
+        :return: JSON with data if successfully, else none
         """
         try:
             if plant_name is not None and plant_id is None:
@@ -119,6 +163,11 @@ class PlantDataBase:
             logging.error("Could not get measurement values: " + str(e))
 
     def delete_data(self, table_name):
+        """
+        Delete all data from a specific tabel
+        :param table_name: tabel you want to delete
+        :return: True if successfully, False if not
+        """
         try:
             self.cur.execute(f'DELETE FROM {table_name}')
             self.conn.commit()
@@ -129,7 +178,7 @@ class PlantDataBase:
     def plant_count(self) -> int:
         """
         returns the number of plants registered in the database
-        :return:
+        :return: Count of registered plants as int
         """
         try:
             self.cur.execute("SELECT COUNT(*) FROM plants")
@@ -138,13 +187,22 @@ class PlantDataBase:
             logging.error("Could not count plants: " + str(e))
 
     def get_plant_names(self) -> list:
+        """
+        Use this method to get a list of the Names of all registered plants
+        :return: list containing plantNames
+        """
         try:
             self.cur.execute("SELECT PlantName FROM plants")
-            return [row[0] for row in self.cur.fetchall()]
+            return self.cur.fetchall()
         except Exception as e:
             logging.error("Could not get plant names: " + str(e))
 
     def get_plant_id(self, plant_name: str) -> int:
+        """
+        Use this method to get the PlantID of a registered plant by its name
+        :param plant_name: name of registered plant
+        :return: ID of plant as int
+        """
         try:
             self.cur.execute("SELECT PlantID FROM plants WHERE PlantName=?", (plant_name,))
             return self.cur.fetchone()[0]
@@ -152,4 +210,7 @@ class PlantDataBase:
             logging.error("Could not get plant id: " + str(e))
 
     def __del__(self):
+        """
+        Destructor of Class. Disconnects from database.
+        """
         self.conn.close()

software/backend/robot.py

@@ -1,7 +1,7 @@
 class Robot:
     """
     This class contains the features of the robot. It is used as an interface for the main to avoid global variables and
-    store them instead in an instance of this robot object
+    store them instead an instance of this robot object. It saves the orders and some basic information of the robots status
     """
     def __init__(self):
         self.robot_ready = True

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
@@ -48,7 +50,7 @@ def drive_plant_thread(plantID, actionID, client: mqtt.Client):
     Meassure and publish data via MQTT
     Drive home to starting point
 
-    ***If color codes are working properly this function is not needed anymore***
+    ***Function is only neccessary for driving without color codes*** 
 
     Args:
         plantID (_type_): plant to measure
@@ -58,35 +60,38 @@ 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"
         else:
             errorMessage = "Motor or Sensor unplugged"
          
-        logging.info(f"{errorMessage}, Drive Plant aborted, Robot at starting position")
+        logging.error(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
+    # Taking Picture not fully implemented
-    logging.info("Taking Picture")
+        # logging.info("Taking Picture")
-    sendPicture(client)
+        # 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"
         else:
             errorMessage = "Motor or Sensor unplugged"
          
-        logging.info(f"{errorMessage}, Drive Plant aborted, Robot at starting position")
+        logging.error(f"{errorMessage}, Drive Plant aborted, Robot at starting position")
         client.publish(Topics["ROBOT_DATA_ERROR"], f"{errorMessage}, Drive Plant aborted, Robot at plant {plantID}", qos=1)
         client.publish(Topics["ROBOT_DATA_ROBOTREADY"], "True", qos=1)
         return
@@ -111,7 +116,7 @@ def drive_plant_all_thread(plantIDs: list, actionID, client: mqtt.Client):
         client (mqtt.Client): current MQTT client
     """
 
-    allPlantData = {
+    allPlantData = {                        # Sensordata for all plants
         "SensorData": [],
         "ActionID": ""
     }
@@ -119,17 +124,18 @@ 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"
             else:
                 errorMessage = "Motor or Sensor unplugged"
          
-            logging.info(f"{errorMessage}, Drive Plant aborted, Robot at starting position")
+            logging.error(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
@@ -149,27 +155,32 @@ def drive_plant_all_thread(plantIDs: list, actionID, client: mqtt.Client):
         allPlantData["SensorData"].append(sensordata)
 
 
-        # TODO How to Handle Pictures and PlantID
+        # Taking Picture not fully implemented
-        logging.info("Taking Picture")
+        # logging.info("Taking Picture")
-        sendPicture(client)
+        # 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"
             else:
                 errorMessage = "Motor or Sensor unplugged"
          
-            logging.info(f"{errorMessage}, Drive Plant aborted, Robot at starting position")
+            logging.error(f"{errorMessage}, Drive Plant aborted, Robot at plant {plant}")
             client.publish(Topics["ROBOT_DATA_ERROR"], f"{errorMessage}, Drive Plant aborted, Robot at plant {plant}", qos=1)
             client.publish(Topics["ROBOT_DATA_ROBOTREADY"], "True", qos=1)
             return
 
+    # End of drive and measure operation
     logging.info("All Plants measured, sending data")
     client.publish(Topics["ROBOT_DATA_ALL"], json.dumps(allPlantData, indent=4), qos=1)
 
 
     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:
@@ -177,7 +188,7 @@ def drive_plant_all_thread(plantIDs: list, actionID, client: mqtt.Client):
         else:
             errorMessage = "Motor or Sensor unplugged"
          
-        logging.info(f"{errorMessage}, Drive Plant aborted, Robot at starting position")
+        logging.error(f"{errorMessage}, Drive Plant aborted, Robot at starting position")
         client.publish(Topics["ROBOT_DATA_ERROR"], f"{errorMessage}, Drive Plant aborted, Robot at plant {plant}", qos=1)
         client.publish(Topics["ROBOT_DATA_ROBOTREADY"], "True", qos=1)
         return
@@ -196,7 +207,7 @@ def drive_plant(client: mqtt.Client, userdata, message: mqtt.MQTTMessage):
     Function to drive to plant according to request
     Starting Drive in Thread to not block main programm
 
-    ***If color codes are working properly this function is not needed anymore***
+     ***Function is only neccessary for driving without color codes*** 
 
     Args:
         client (mqtt.Client): current mqtt client
@@ -215,7 +226,6 @@ 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
@@ -240,7 +250,7 @@ def drive_plant_all(client: mqtt.Client, userdata, message: mqtt.MQTTMessage):
     thread.start()
 
 
-def get_position(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage):
+def get_position(client: mqtt.Client, userdata, message: mqtt.MQTTMessage):
     """
     Callback function for GPS position request
     Function to send actual GPS position via MQTT in form of POSITION
@@ -254,18 +264,18 @@ def get_position(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage):
     """
     logging.info("Received position request")
 
-    # TODO Write GPS Sensor Function
     position = {
         "Position": ""
     }
 
-    clients.publish(Topics["ROBOT_DATA_POSITION"], json.dumps(position, indent=4), qos=1)
+    client.publish(Topics["ROBOT_DATA_POSITION"], json.dumps(position, indent=4), qos=1)
 
 
 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%
@@ -282,7 +292,7 @@ def get_batteryStatus(client: mqtt.Client, userdata, message: mqtt.MQTTMessage):
         batteryLevel = int(os.popen('sshpass -p maker ssh robot@ev3dev.local cat /sys/devices/platform/battery/power_supply/lego-ev3-battery/voltage_now').read())
     except:
         logging.error("EV3 not connected")
-        client.publish(Topics["ROBOT_DATA_ERROR"], "Robot not connected", qos=1)
+        client.publish(Topics["ROBOT_DATA_ERROR"], "EV3 not connected", qos=1)
         return
 
     batteryLevel = round(batteryLevel / 1000000, 2)       # Conversion to Volt

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

@@ -42,7 +42,7 @@ def readDHT22():
 
 def readTSL2561():
     """
-    Reads TSL2561 brightness in Lux and returns integer value
+    Reads TSL2561 brightness via I2C in Lux and returns integer value
 
     Raises:
         Exception: If TSL2561 not connected properly
@@ -67,7 +67,7 @@ def readTSL2561():
 
 def readMCP3008():
     """
-    Reads YL-69 via MCP3008 ADC soil moisture in percent and returns float value
+    Reads YL-69 via MCP3008 ADC and SPI soil moisture in percent and returns float value
     
     Raises:
         Exception: If YL-69 not connected properly
@@ -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
 
@@ -122,17 +123,17 @@ 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
+    # raise combined error message, successfull values still available
     if errorMessage != "":
         raise Exception(errorMessage)
     
@@ -146,15 +147,13 @@ def takePicture():
     try:
         camera = PiCamera()
     except:
-        # raise Exception("Camera not connected")
+        raise Exception("Camera not connected")
-        pass
     
     camera.start_preview()
     camera.capture("picture.png")
     camera.stop_preview()
 
 
-# TODO - read position with sensor
 def readPosition():
     """
     Read and return Position