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Location: HydroBot/hydrobot-software/hydrobot.py
a5b830d92afd
5.1 KiB
text/x-python
Added some scheduling and other updates
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import time
import _thread
from canard import can, messaging
from canard.hw import socketcan
from canard.file import jsondb
from influxdb import InfluxDBClient
import configparser
from apscheduler.schedulers.background import BackgroundScheduler
from datetime import datetime
import os
#TODO
#fix temperature offset
#database serial thing
#database time interval logging
#add system name to database
config = configparser.ConfigParser()
config.read("hydrobot.conf")
DEBUG_CAN = config.getboolean("debug", "can")
DEBUG_CAN_DETAIL = config.getboolean("debug", "can_detail")
class Database:
def __init__(self):
host = config.get("database", "host")
port = config.get("database", "port")
username = config.get("database", "username")
password = config.get("database", "password")
database = config.get("database", "database")
self.client = InfluxDBClient(host, port, username, password, database)
def log_data(self, msgdb, message):
if message == msgdb.AirSense:
json_body = [
{
"measurement": "air_temp",
"fields": {
"value": (float)(message.Temperature.value)
}
},
{
"measurement": "air_humidity",
"fields": {
"value": (float)(message.Humidity.value)
}
},
{
"measurement": "air_pressure",
"fields": {
"value": (float)(message.Pressure.value)
}
}
]
self.client.write_points(json_body)
if message == msgdb.RelayDriveIn:
json_body = [
{
"measurement": "input_1",
"fields": {
"value": (float)(message.Input1.value)
}
},
{
"measurement": "input_2",
"fields": {
"value": (float)(message.Input2.value)
}
},
{
"measurement": "input_3",
"fields": {
"value": (float)(message.Input3.value)
}
},
{
"measurement": "input_4",
"fields": {
"value": (float)(message.Input4.value)
}
}
]
self.client.write_points(json_body)
class CanBus:
def __init__(self, database):
self.database = database
self.dev = socketcan.SocketCanDev("can0")
parser = jsondb.JsonDbParser()
self.msgdb = parser.parse('hydrobot_can.json')
self.temp_msg = self.msgdb.AirSense
self.relay_msg = self.msgdb.RelayDriveIn
self.relay_send_msg = self.msgdb.RelayDriveOut
def start(self):
self.dev.start()
def start_receive(self):
_thread.start_new_thread(self.process_can, ())
def process_can(self):
while True:
frame = self.dev.recv()
message = self.msgdb.decode(frame)
if message:
if DEBUG_CAN:
print("Received CAN message! ID: " + hex(message.id))
for s in message._signals.values():
if DEBUG_CAN_DETAIL:
print(s)
print(s.value)
self.database.log_data(self.msgdb, message)
def send_can(self):
self.relay_send_msg.Nothing.value = 0
if self.relay_send_msg.Output1.value == 0:
self.relay_send_msg.Output1.value = 1
else:
self.relay_send_msg.Output1.value = 0
self.relay_send_msg.Output2.value = 1
self.relay_send_msg.Output3.value = 1
self.relay_send_msg.Output4.value = 1
if DEBUG_CAN:
print("Send CAN message! ID: " + hex(self.relay_send_msg.id))
if DEBUG_CAN_DETAIL:
print(self.relay_send_msg)
self.dev.send(self.relay_send_msg.encode())
def set_output(self, module, output, state):
print(self.msgdb)
print(module)
#msg = self.msgdb.module
print(msg)
def main():
database = Database()
canbus = CanBus(database)
canbus.start()
canbus.start_receive()
scheduler = BackgroundScheduler()
#scheduler.add_job(canbus.send_can, 'interval', seconds=10)
trigger = config.get("timer1", "trigger")
scheduler.add_job(canbus.send_can, trigger, second = 0)
trigger = config.get("timer2", "trigger")
scheduler.add_job(canbus.send_can, trigger, seconds = 10)
scheduler.start()
while True:
module = config.get("timer1", "module")
output = config.get("timer1", "output")
#canbus.set_output(module, output, 1)
time.sleep(1)
if __name__ == "__main__":
main()
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