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Vicente Castellano Gómez / robotAmbientales

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Commit d3a6ecda by almagosi
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Probably finally final commit

parent 2e04393a
Inline Side-by-side
Showing with 123 additions and 70 deletions
conexion.py
......@@ -3,8 +3,10 @@ import json
class Conexion:
def on_message(client,userdata,message):
print(f'MENSAGE PERDIDO - Recive Topic:{message.topic} Mensage:{str(message.payload.decode("utf-8"))}')
def __init__(self, topics,on_msg):
def __init__(self, topics:list,on_msg:list):
with open(file="conexionConfig.json",mode='r') as f:
......@@ -20,6 +22,7 @@ class Conexion:
self.__topic = topics
#def on_message(client, userdata, message):
# print("message received " ,str(message.payload.decode("utf-8")))
# print("message topic=",message.topic)
......@@ -30,29 +33,30 @@ 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)
#client.on_message = on_message
#client.on_message=on_message #attach function to callback
client.on_message = on_msg
#client.on_message = on_msg
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")
client.connect(self.__broker_address,self.__port) #connect to broker
client.loop_start() #start the loop
self.client.connect(self.__broker_address,self.__port) #connect to broker
if(len(self.__topic) == 0):
print(f" Subscrito a {self.__topic}")
else:
for tp in self.__topic:
client.subscribe(tp)
for tp in topics:
self.client.subscribe(tp)
print(f" Subscrito a {tp}")
#self.__client = self.__connect_mqtt()
#self.inicializar()
#self.__client.loop_start()
self.client.on_message = self.on_message
self.client.loop_start() #start the loop
#self.subscribe(cliente=client,topic=self.__topic)
self.__client = client
print("Inicializado")
#self.__listaPendientes = listaPendientes
......@@ -62,10 +66,10 @@ 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)
result = self.client.publish(topic,msg)
#client.disconnect()
#result = self.__client.publish(self.__topic[0],msg)
# result: [0, 1]
status = result[0]
......@@ -75,12 +79,12 @@ class Conexion:
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)
self.client.unsubscribe(topic)
print(f"Desubscrito topic : {topic}")
......
conexionConfig.json
{
"ipbroker" :"192.168.0.19",
"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_interfaz.py
import mensajeInterfaz as msg
import time
msgInterfaz = msg.MensageInterfaz()
msgInterfaz = msg.MensajeInterfaz()
mapa = msgInterfaz.getMapa()
print(f"Mapa recibido {mapa}")
......@@ -13,7 +13,10 @@ while(not msgInterfaz.pedidoSolicitado):
posicion = msgInterfaz.getPosicion()
print(f"Posicion Recibida {posicion}")
print(f'Posicion x = {posicion[0]} : y = {posicion[1]}')
pedido = ((4,5),(7,9))
msgInterfaz.sendPedido(pedido)
print("Pedido enviado")
time.sleep(60)
\ No newline at end of file
main_map.py
......@@ -6,4 +6,4 @@ mapa = "0202000105030705000200041109060110031000000200080101100110000106010701"
while(True):
cn.send_mqtt_message("map",mapa)
print("Enviado")
time.sleep(60)
\ No newline at end of file
time.sleep(30)
\ No newline at end of file
main_robot.py
import mensajeRobot as msg
msgRobot = msg.MensageRobot()
msgRobot = msg.MensajeRobot()
mapa = msgRobot.getMapa()
print(f"Mapa recibido {mapa}")
......@@ -10,3 +10,4 @@ msgRobot.sendPosicion(posicion)
pedido = msgRobot.getPedido()
print(f"Pedido recibido {pedido}")
print(pedido[0][0],pedido[0][1],pedido[1][0],pedido[1][1])
\ No newline at end of file
mensajeInterfaz.py
......@@ -6,46 +6,55 @@ import json
class MensageInterfaz:
class MensajeInterfaz:
def __init__(self) -> None:
def filtrarMensage(topic,mensaje):
if(topic == self.prefMsg['mapa']):
self.mapa = mensaje
while(not self.sinc):
time.sleep(1)
def on_message_default(client,userdata,message):
print(f'Recive Topic:{message.topic} Mensage:{str(message.payload.decode("utf-8"))}')
mensaje = str(message.payload.decode("utf-8"))
if(mensaje.split(self.sepMsg)[0] == self.prefMsg['pedido']):
self.pedidoSolicitado = True
self.__enviarMapa()
self.conex.desubscribir(topic)
if(mensaje.split(self.sepMsg)[0] == self.prefMsg['posicion']):
mensaje = str(message.payload.decode("utf-8"))
sspos = mensaje.split(self.sepMsg)[1].split(",")
ssx = int(sspos[0].split("(")[1])
ssy = int(sspos[1].split(")")[0])
self.posicion = (ssx,ssy)
else:
if(topic == self.topicSubs[-1]):
if(mensaje != str(self.__class__)):
self.sinc = True
else:
if(mensaje.split(self.sepMsg)[0] != self.prefMsg['pedido']):
self.pedidoSolicitado = True
if(mensaje.split(self.sepMsg)[0] != self.prefMsg['posicion']):
self.posicion = list(mensaje.split(self.sepMsg)[1])
def on_message_mapa(client,userdata,message):
print(f'Recive Topic:{message.topic} Mensage:{str(message.payload.decode("utf-8"))}')
self.mapa = str(message.payload.decode("utf-8"))
while(not self.sinc):
time.sleep(2)
self.__enviarMapa()
self.conex.desubscribir(message.topic)
def on_message(client, userdata, message):
def on_message_sinc(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")))
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")))
with open(file="conexionConfig.json",mode='r') as f:
data = json.load(f)
#self.topicSubs = ["A3-467/GrupoL/Robot"]
self.topicSubs = data['topicSubsInterfaz']
print(f'Topics a subscribir {self.topicSubs}')
#self.topicSend = ["A3-467/GrupoL/Interfaz"]
self.topicSend = data['topicSendInterfaz']
print(f'Topics a enviar {self.topicSend}')
#self.prefMsg = {"mapa":'map',
# "pedido":'ped',
......@@ -54,7 +63,8 @@ class MensageInterfaz:
self.prefMsg = data['prefijoMensajes']
self.sepMsg = data['separadorMensaje']
self.conex = cn.Conexion(self.topicSubs,on_msg=on_message)
defs = [on_message_default,on_message_mapa,on_message_sinc]
self.conex = cn.Conexion(self.topicSubs,on_msg=defs)
self.mapa = ""
self.posicion : list
self.pedidoSolicitado = False
......@@ -63,13 +73,14 @@ class MensageInterfaz:
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 __enviarMapa(self):
self.conex.publicar(self.topicSend,self.prefMsg['mapa'] + self.sepMsg + self.mapa)
self.conex.publicar(self.topicSend[0],str(self.prefMsg['mapa'] + self.sepMsg + self.mapa))
def getMapa(self):
......@@ -79,7 +90,11 @@ class MensageInterfaz:
def sendPedido(self,pedido):
self.conex.publicar(self.topicSend,self.prefMsg['pedido'] + self.sepMsg + str(pedido))
msg = ""
for pos in pedido:
for num in pos:
msg = msg + str(num)
self.conex.publicar(self.topicSend[0],self.prefMsg['pedido'] + self.sepMsg + msg)
self.pedidoSolicitado = False
......@@ -94,6 +109,3 @@ class MensageInterfaz:
\ No newline at end of file
mensajeRobot.py
......@@ -11,21 +11,34 @@ class MensajeRobot:
def __init__(self) -> None:
def on_message(client, userdata, message):
def on_message_default(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
else:
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)
#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',
......@@ -34,7 +47,8 @@ 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=defs)
self.mensaje = ""
self.sinc = False
self.__sincronizacion()
......@@ -42,31 +56,47 @@ class MensajeRobot:
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']}")
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))
......
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