113 lines
2.8 KiB
Python
113 lines
2.8 KiB
Python
import paho.mqtt.client as mqtt
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import json
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from raspySensors import RaspySensors
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#region global Varaibles
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sensors = RaspySensors()
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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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#endregion
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#region
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def measureSendData(plantID, actionID):
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'''Measure data for one plant via sensor class and send via MQTT'''
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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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client.publish("Robot/Data/SensorData", json.dumps(sensorData, indent=4))
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#endregion
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#region MQTT callbacks
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#Testing
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def send_data_json(client, userdata, message):
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strIn = str(message.payload.decode("UTF-8"))
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dataDict = json.loads(strIn)
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print("Received data: ", json.dumps(dataDict))
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def drive_plant(clients, userdata, message):
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'''Function to drive to plant according to request'''
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#[ ]TODO handle MQTT message
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print(f"Driving to plant {message}")
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#[ ]TODO Start drive forward -> Thread
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print(f"Measuring data at Plant {message}")
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measureSendData() # With threads not here
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print("Driving back to start position")
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#[ ]TODO Start Drive Back Function in Thread
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print("Back at starting Position")
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def get_position(clients, userdata, message):
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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 handle MQTT message
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gpsPosition["Position"] = sensors.readPosition()
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gpsPosition["Action_ID"] = message
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client.publish("Robot/Data/Position", json.dumps(gpsPosition, indent=4))
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def get_BatteryStatus(clients, userdata, message):
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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'''
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#[ ]TODO handle MQTT message
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batteryStatus["Battery"] = sensors.readBattery()
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batteryStatus["Action ID"] = message
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client.publish("Robot/Data/Battery", json.dumps(batteryStatus, indent=4))
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batteryStatus()
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#endregion
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mqttBroker = "mqtt.eclipseprojects.io"
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client = mqtt.Client("Robot")
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dataDict = {} #Testing
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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("Robot/Action/Drive", drive_plant)
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client.message_callback_add("Robot/Action/GetPosition", get_position)
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client.message_callback_add("Robot/Action/GetBattery", get_BatteryStatus)
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client.connect(mqttBroker)
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#Subscribe to topics
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client.subscribe("Robot/Data") #Testing
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client.subscribe("Robot/Action/Drive")
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client.subscribe("Robot/Action/GetPosition")
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client.subscribe("Robot/Action/GetBattery")
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client.loop_forever() |