Skip to content

Vicente Castellano Gómez / robotAmbientales

Go to a project
Commit 754f3408 by Vicente Castellano Gómez
Options

- Funcando de una vezzzzzz

parent 6b9b7537
Inline Side-by-side
Showing with 148 additions and 59 deletions
conexion.py
import paho.mqtt.client as mqtt
import json
#import paho.mqtt.client as mqtt
import ujson
from umqtt.robust import MQTTClient
class Conexion:
def __init__(self, topics,on_msg):
def __init__(self, topics:list,on_msg):
with open(file="conexionConfig.json",mode='r') as f:
data = json.load(f)
with open("conexionConfig.json",'r') as f:
data = ujson.load(f)
self.__broker_address = data['ipbroker']
self.__port = int(data['portbroker'])
......@@ -19,6 +20,7 @@ class Conexion:
#self.__topic = ["A3-467/GrupoL","map"]
self.__topic = topics
#def on_message(client, userdata, message):
# print("message received " ,str(message.payload.decode("utf-8")))
......@@ -30,29 +32,34 @@ class Conexion:
#broker_address="192.168.0.19"
#broker_address="iot.eclipse.org"
print("creating new instance")
client = mqtt.Client(mqtt.CallbackAPIVersion.VERSION2)
#self.client = mqtt.Client(mqtt.CallbackAPIVersion.VERSION2)
self.client = MQTTClient("RobotPACO",self.__broker_address)
self.client.set_callback(on_msg)
self.client.connect()
#client.on_message = on_message
#client.on_message=on_message #attach function to callback
client.on_message = on_msg
print("connecting to broker")
client.connect(self.__broker_address,self.__port) #connect to broker
client.loop_start() #start the loop
#client.on_message = on_msg
if(len(self.__topic) == 0):
print(f" Subscrito a {self.__topic}")
else:
for tp in self.__topic:
client.subscribe(tp)
print(f" Subscrito a {tp}")
"""
for tp,df in zip(topics,on_msg):
self.client.message_callback_add(tp,df)
print(f" Funcion {df} adjunta a {tp}")
print("connecting to broker")
self.client.connect(self.__broker_address,self.__port) #connect to broker
"""
for tp in topics:
self.client.subscribe(tp)
print("Subscrito a ",tp)
#print(f" Subscrito a {tp}")
#self.__client = self.__connect_mqtt()
#self.inicializar()
#self.__client.loop_start()
#self.client.loop_start() #start the loop
#self.subscribe(cliente=client,topic=self.__topic)
self.__client = client
print("Inicializado")
#self.__listaPendientes = listaPendientes
......@@ -62,31 +69,39 @@ class Conexion:
def publicar(self,topic,msg):
client = mqtt.Client(mqtt.CallbackAPIVersion.VERSION2)
client.connect(self.__broker_address, self.__port)
result = client.publish(topic,msg)
client.disconnect()
#client = mqtt.Client(mqtt.CallbackAPIVersion.VERSION2)
#client.connect(self.__broker_address, self.__port)
print("Enviar a topic",topic," mensage ",msg)
self.client.publish(topic,msg)
#client.disconnect()
#result = self.__client.publish(self.__topic[0],msg)
# result: [0, 1]
status = result[0]
if status == 0:
print(f"Send `{msg}` to topic `{topic}`")
else:
print(f"Failed to send message to topic {topic}")
def desconectar(self):
self.__client.loop_stop()
self.__client.disconnect()
self.client.loop_stop()
self.client.disconnect()
print("Desconectado")
def desubscribir(self,topic):
self.__client.unsubscribe(topic)
print(f"Desubscrito topic : {topic}")
self.client.unsubscribe(topic)
#print(f"Desubscrito topic : {topic}")
def checkMensages(self):
self.client.check_msg()
# Función para enviar mensajes MQTT al broker
def publicarOut( topic, msg):
# client = mqtt.Client(mqtt.CallbackAPIVersion.VERSION2)
# client.connect(self.__broker_address, self.__port)
print("Enviar a topic", topic, " mensage ", msg)
client = MQTTClient("PACO", "192.168.48.245")
client.connect()
client.publish(topic, msg)
"""
def send_mqtt_message( topic,message):
client = mqtt.Client(mqtt.CallbackAPIVersion.VERSION2)
client = MQTTClient("PACO",)
client.connect("192.168.0.19" , 1883)
client.publish(topic, message)
client.disconnect()
......@@ -120,4 +135,6 @@ def send_mqtt_message( topic,message):
# client = connect_mqtt()
# subscribe(client)
# client.loop_forever()
"""
conexionConfig.json
{
"ipbroker" :"192.168.0.19",
"ipbroker" :"192.168.48.245",
"portbroker" : "1883",
"topicSubsRobot" : ["A3-467/GrupoL/Robot","A3-467/GrupoL/Sinc"],
"topicSubsInterfaz" : ["A3-467/GrupoL/Interfaz","map","A3-467/GrupoL/Sinc"],
"topicSendRobot" : "A3-467/GrupoL/Interfaz",
"topicSendInterfaz" : "A3-467/GrupoL/Robot",
"topicSubsRobot" : ["A3-467/GrupoL/Robot","A3-467/GrupoL/SincRobot"],
"topicSubsInterfaz" : ["A3-467/GrupoL/Interfaz","map","A3-467/GrupoL/SincInterfaz"],
"topicSendRobot" : ["A3-467/GrupoL/Interfaz","A3-467/GrupoL/SincInterfaz"],
"topicSendInterfaz" : ["A3-467/GrupoL/Robot","A3-467/GrupoL/SincRobot"],
"separadorMensaje" : ":",
"prefijoMensajes" : {
"mapa":"map",
"pedido":"ped",
"posicion":"pos"
"posicion":"pos",
"sinc" : "Sincronizar"
}
}
\ No newline at end of file
main.py
......@@ -2,9 +2,37 @@
from robot import Robot
import camino
from camino import MovGiro as mov
from umqtt.robust import MQTTClient
import conexion as cn
def sub_cp(topic, msg):
print("Recibido topic", topic.decode(), " mensage ", msg.decode())
subs = ["A3-467/GrupoL/Robot","A3-467/GrupoL/SincRobot"]
send = ["A3-467/GrupoL/Interfaz","A3-467/GrupoL/SincInterfaz"]
#cx = cn.Conexion(subs,on_msg=sub_cp)
#cx.publicar(send[0],"BBBBBBBBBB")
cx = cn.Conexion(subs,sub_cp)
print("Creado")
while True:
cx.checkMensages()
"""
import mensajeRobot as m
mR = m.MensajeRobot()
print("creada conexion")
mapa = mR.getMapa()
print(mapa)
pos = (4,4)
mR.sendPosicion(pos)
"""
"""
robot = Robot()
mapa = "0202000105030705000200041109060110031000000200080101100110000106010701"
#robot.calibraSensorColor()
......@@ -15,3 +43,4 @@ robot.recorreRuta(mov,cas)
robot.recogePaquete()
"""
\ No newline at end of file
mensajeRobot.py
#from typing import Any
import conexion as cn
import time
import json
import ujson
class MensajeRobot:
def __init__(self) -> None:
print("Inicizlizando")
def __init__(self) -> None:
def on_message(client, userdata, message):
print(f'Recive Topic:{message.topic} Mensage:{str(message.payload.decode("utf-8"))}')
if(message.topic == self.topicSubs[-1]):
if(str(message.payload.decode("utf-8")) != str(self.__class__)):
self.sinc = True
def sub_cp(topic,msg):
print("Recibido topic", topic, " mensage ", msg)
if(topic == self.topicSubs[-2]):
self.sinc = True
else:
self.mensaje = str(message.payload.decode("utf-8"))
self.mensaje = str(msg.decode('utf-8'))
def on_message_default(client,userdata,message):
#print(f'Recive Topic:{message.topic} Mensage:{str(message.payload.decode("utf-8"))}')
self.mensaje = str(message.payload.decode("utf-8"))
if(self.mensaje.split(self.sepMsg)[0] != self.prefMsg['mapa']):
print("EL MAPA EL MAPA EL MAPA")
def on_message_sinc(client,userdata,message):
#print(f'Recive Topic:{message.topic} Mensage:{str(message.payload.decode("utf-8"))}')
self.sinc = True
#def on_message(client, userdata, message):
# print(f'Recive Topic:{message.topic} Mensage:{str(message.payload.decode("utf-8"))}')
# filtrarMensage(message.topic,str(message.payload.decode("utf-8")))
#if(message.topic == self.topicSubs[-1]):
# if(str(message.payload.decode("utf-8")) != str(self.__class__)):
# self.sinc = True
#else:
# self.mensaje = str(message.payload.decode("utf-8"))
with open(file="conexionConfig.json",mode='r') as f:
data = json.load(f)
with open("conexionConfig.json",'r') as f:
data = ujson.load(f)
#self.topicSubs = ["A3-467/GrupoL/Robot"]
self.topicSubs = data['topicSubsRobot']
#print(f'Topics a subscribir {self.topicSubs}')
#self.topicSend = ["A3-467/GrupoL/Interfaz"]
self.topicSend = data['topicSendRobot']
#print(f'Topics a enviar {self.topicSend}')
#self.prefMsg = {"mapa":'map',
# "pedido":'ped',
......@@ -34,39 +55,58 @@ class MensajeRobot:
self.prefMsg = data['prefijoMensajes']
self.sepMsg = data['separadorMensaje']
self.conex = cn.Conexion(self.topicSubs,on_msg=on_message)
defs = [on_message_default,on_message_sinc]
self.conex = cn.Conexion(self.topicSubs,on_msg=sub_cp)
self.mensaje = ""
print("sincronizando")
self.sinc = False
self.__sincronizacion()
#self.sinc = True
def __sincronizacion(self):
while(not self.sinc):
self.conex.publicar(self.topicSubs[-1],str(self.__class__))
time.sleep(5)
self.conex.publicar(self.topicSend[-1],self.prefMsg['sinc'])
time.sleep(2)
print("SINCRONIZADO")
self.conex.desubscribir(self.topicSubs[-1])
self.conex.publicar(self.topicSubs[-1],str(self.__class__))
self.conex.publicar(self.topicSend[-1],self.prefMsg['sinc'])
def getMapa(self):
while(self.mensaje.split(self.sepMsg)[0] != self.prefMsg['mapa']):
time.sleep(1)
time.sleep(2)
return self.mensaje.split(self.sepMsg)[1]
def getPedido(self):
self.conex.publicar(self.topicSend,self.prefMsg['pedido'] + self.sepMsg)
self.conex.publicar(self.topicSend[0],self.prefMsg['pedido'] + self.sepMsg)
while(self.mensaje.split(self.sepMsg)[0] != self.prefMsg['pedido']):
print(f"Esperando Pedido - {self.mensaje.split(self.sepMsg)[0],self.prefMsg['pedido']}")
#print(f"Esperando Pedido - {self.mensaje.split(self.sepMsg)[0],self.prefMsg['pedido']}")
time.sleep(1)
return self.mensaje.split(self.sepMsg)[1]
ped = []
pos = []
i = 0
for c in self.mensaje.split(self.sepMsg)[1]:
pos.append(int(c))
if( i%2 == 1):
ped.append(pos)
pos = []
i = i+1
return ped
def sendPosicion(self,posicion):
self.conex.publicar(self.topicSend,self.prefMsg['posicion'] + self.sepMsg + str(posicion))
self.conex.publicar(self.topicSend[0],self.prefMsg['posicion'] + self.sepMsg + str(posicion))
......
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or sign in to comment