Implemented the (not yet fully working) communication class. Added error handling to move.py and fixed the node list in planettest.py.
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d3rped
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7cff115075
commit
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5 changed files with 161 additions and 31 deletions
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@ -1,27 +1,153 @@
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#!/usr/bin/env python3
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# Suggestion: Do not import the ev3dev.ev3 module in this file
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class Communication:
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from planet import Planet, Direction
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from enum import Enum
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"""
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Class to hold the MQTT client
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Feel free to add functions, change the constructor and the example send_message() to satisfy your requirements and thereby solve the task according to the specifications
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Documentation:
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On start do the following (make part of __init__):
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(1) subscribe to explorer/<N>
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(2) publish to explorer/<N>: SYN ready
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Next receive the planet name and starting coordinates
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(1) receive from explorer/<N>: ACK <Name> <X>,<Y>
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(2) subscribe to planet/<Name>
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on_message:
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Called when a message has been received on a topic that the client subscribes to and the message does not match an existing topic filter callback. Use message_callback_add() to define a callback that will be called for specific topic filters. on_message will serve as fallback when none matched.
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client
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the client instance for this callback
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userdata
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the private user data as set in Client() or user_data_set()
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message
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an instance of MQTTMessage. This is a class with members topic, payload, qos, retain.
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mqtt message Documentation:
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| Members:
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| topic : String. topic that the message was published on.
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| payload : String/bytes the message payload.
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| qos : Integer. The message Quality of Service 0, 1 or 2.
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| retain : Boolean. If true, the message is a retained message and not fresh.
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| mid : Integer. The message id.
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"""
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def __init__(self, mqtt_client, planet):
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def str2dir(string):
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return {
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'N': Direction.NORTH,
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'E': Direction.EAST,
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'S': Direction.SOUTH,
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'W': Direction.WEST
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}.get(string)
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def dir2str(direction):
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return {
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Direction.NORTH: 'N',
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Direction.EAST: 'E',
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Direction.SOUTH: 'S',
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Direction.WEST: 'W'
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}.get(direction)
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def str2tuple(string_a, string_b):
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return (eval(string_a), eval(string_b))
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def tupel2str(int_a, int_b):
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return str(int_a) + ',' + str(int_b)
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class Command(str, Enum):
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SEND = "SYN " # SYN is short for synchronize
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RECEIVE = "ACK " # ACK is short for acknowledge
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READY = "ready"
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PATH = "path "
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TARGET = "target "
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COMPLETE = "exploration completed!"
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NOTICE = "notice"
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class Communication:
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""" Initializes communication module, connect to server, subscribe, etc. """
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def __init__(self, mqtt_client):
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# THESE TWO VARIABLES MUST NOT BE CHANGED
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self.msg_queue = []
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self.planetname = None
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self.planet = Planet()
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self.client = mqtt_client
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self.client.on_message = self.on_message
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# ADD YOUR VARIABLES HERE
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self.uid = '122'
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passwd = '7KMuWPT2UE'
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self.client.username_pw_set(self.uid, password=passwd)
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try:
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self.client.connect('robolab.inf.tu-dresden.de', port=8883)
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except OSError:
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print("ERROR: check your network connection.")
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self.subscribetochannel("explorer/" + self.uid)
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self.encode_message(Command.READY, None)
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self.client.loop_start()
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# THIS FUNCTIONS SIGNATURE MUST NOT BE CHANGED
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def on_message(self, client, data, message):
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""" Handles the callback if any message arrived """
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pass
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def on_message(self, client, data, message):
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self.msg_queue.append(message)
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# Example
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def send_message(self, topic, message):
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""" Sends given message to specified channel """
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pass
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def subscribetochannel(self, channelname):
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self.client.subscribe(channelname, qos=1)
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def encode_message(self, msgtype, msgdata):
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if(msgtype == Command.READY):
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print("ENC: Case 1")
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self.msg_queue.append(("explorer/" + self.uid, Command.SEND + Command.READY))
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if(msgtype == Command.TARGET):
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print("ENC: Case 2")
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self.msg_queue.append("explorer/" + self.uid, Command.SEND + Command.TARGET + "reached!")
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if(msgtype == Command.COMPLETE):
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print("ENC: Case 3")
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self.msg_queue.append("explorer/" + self.uid, Command.SEND + Command.COMPLETE)
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if(msgtype == Command.PATH):
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print("ENC: Case 4")
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self.msg_queue.append(("planet/" + self.planetname, Command.SEND + Command.PATH + self.pathtostring(msgdata[0], msgdata[1], msgdata[2])))
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def process_messages(self):
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for messages in self.msg_queue:
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if(type(messages) == tuple):
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print("Sending Message:", messages)
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self.client.publish(messages[0], payload=messages[1], qos=1)
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elif(messages.payload.decode('utf-8').startswith(Command.RECEIVE)):
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print("Received Message:", messages.payload.decode('utf-8'))
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self.comexec(messages.payload.decode('utf-8')[4:])
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self.msg_queue.pop(0)
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def comexec(self, message):
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if not any([message.startswith(instruction) for instruction in Command]): # is planet name and starting position
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print("EXEC: Case 1")
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[self.planetname, startnode] = message.rsplit(' ')
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self.subscribetochannel(self.planetname)
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self.planet.setcurnode(str2tuple(*startnode.rsplit(',')))
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elif message.startswith(Command.PATH):
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print("EXEC: Case 2")
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self.stringtopath(*message[5:].rsplit(' '))
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elif message.startswith(Command.TARGET):
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print("EXEC: Case 3")
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self.navto = self.planet.shortest_path(self.planet.getcurnode(), str2tuple(*message[7:].rsplit(',')))
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elif message.startswith(Command.NOTICE):
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print("EXEC: Case 4")
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print(message)
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def stringtopath(self, start, target, block, weight):
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snode = (str2tuple(*start[:-2].rsplit(',')), str2dir(start[-1:]))
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tnode = (str2tuple(*target[:-2].rsplit(',')), str2dir(target[-1:]))
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self.planet.add_path(snode, tnode, int(weight))
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def pathtostring(self, start, target, blocked):
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if(blocked):
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path = "blocked"
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else:
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path = "free"
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return tupel2str(*start[0]) + ',' + dir2str(start[1]) + ' ' + tupel2str(*target[0]) + ',' + dir2str(target[1]) + ' ' + path
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@ -19,10 +19,6 @@ def run():
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clean_session=False,
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protocol=mqtt.MQTTv31)
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# the execution of all code shall be started from within this function
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# ADD YOUR OWN IMPLEMENTATION HEREAFTER
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print("Hello World!")
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# DO NOT EDIT
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if __name__ == '__main__':
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10
src/move.py
10
src/move.py
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@ -7,10 +7,13 @@ from sensor import Sensor
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class Move:
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def __init__(self, planet):
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try:
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self._wheel_l = Wheel('outB')
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self._wheel_r = Wheel('outC')
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self._sensor = Sensor()
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self._bumper = ev3.TouchSensor()
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except:
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print("ERROR: Cannot find Motor/Sensor")
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'''
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determine maximum and minimum brightness of lines/white space
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@ -42,11 +45,8 @@ class Move:
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self._wheel_l.run()
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self._wheel_r.run()
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while(self._bumper.value() == False):
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# this does not work... why?
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# self._wheel_l.speed_set(ne)
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# self._wheel_r.speed_set(newspeed)
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self._wheel_l._motor.duty_cycle_sp = 48 - self._sensor.getbrightness()
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self._wheel_r._motor.duty_cycle_sp = self._sensor.getbrightness()
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self._wheel_l.speed_set(48 - self._sensor.getbrightness())
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self._wheel_r.speed_set(self._sensor.getbrightness())
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if(isknownstation == False):
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pass #run odometry stuff here
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self._wheel_l.stop()
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@ -50,6 +50,7 @@ class Planet:
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def __init__(self):
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""" Initializes the data structure """
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self._planetmap = {}
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self._curnode = None
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self.target = None
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# Adds a bidirectional path defined between the start and end coordinates to the map and assigns the weight to it.
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def get_paths(self) -> Dict[Tuple[int, int], Dict[Direction, Tuple[Tuple[int, int], Direction, Weight]]]:
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return self._planetmap
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def setcurnode(self, node):
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self._curnode = node
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def getcurnode(self):
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return self._curnode
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'''
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Returns a shortest path between two nodes.
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Used Algorithm: Dijkstra's Algorithm
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@ -71,6 +71,7 @@ class YourFirstTestPlanet(unittest.TestCase):
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self.planet.add_path(((1, 0), Direction.NORTH), ((2, 2), Direction.SOUTH), 2)
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self.planet.add_path(((1, 0), Direction.EAST), ((3, 0), Direction.WEST), 1)
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self.planet.add_path(((2, 2), Direction.NORTH), ((2, 3), Direction.SOUTH), 3)
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self.planet.add_path(((2, 2), Direction.NORTH), ((3, 2), Direction.SOUTH), 1)
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self.planet.add_path(((3, 0), Direction.EAST), ((4, 0), Direction.WEST), -1)
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self.planet.add_path(((3, 2), Direction.NORTH), ((3, 2), Direction.SOUTH), 1)
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