update code logging and readconfig
RangeOfGlitching
3 years ago
parent
d2f433c80f
commit
434d048547
@ -1,136 +0,0 @@
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#!/usr/bin/env python3
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#coding:utf-8
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import sys
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import orjson
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import paho.mqtt.client as mqtt
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from traceback import print_tb
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import rospy
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from std_msgs.msg import String
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from std_msgs.msg import Float64
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from std_msgs.msg import Header
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from mavros_msgs.srv import ParamGet
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from sensor_msgs.msg import NavSatFix
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from sensor_msgs.msg import Imu
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from sensor_msgs.msg import Range
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from geometry_msgs.msg import Vector3
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import time
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mqtt_config = {"host": "192.168.50.27", "port": 1883, "topic": "data/sensor"}
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data ={}
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# Ros
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def callBack_imu(IMU):
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gyro_x=str(IMU.linear_acceleration.x)
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gyro_y=str(IMU.linear_acceleration.y)
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gyro_z=str(IMU.linear_acceleration.z)
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accel_x=str(IMU.angular_velocity.x)
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accel_y=str(IMU.angular_velocity.y)
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accel_z=str(IMU.angular_velocity.z)
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dataImuUpdate = {"gyro_x": gyro_x, "gyro_y": gyro_y,"gyro_z":gyro_z, "accel_x": accel_x, "accel_y": accel_y, "accel_z": accel_z}
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data.update(dataImuUpdate)
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# print ('gyro_x:'+gyro_x+'\n'+'gyro_y:'+gyro_y+'\n'+'gyro_z:'+gyro_z +'\n')
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print ('accel_x:'+accel_x+'\n'+'accel_y:'+accel_y+'\n'+'accel_z:'+accel_z +'\n')
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def callBack_gps(GPS):
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lat=int(GPS.latitude*10000000) #change the scale to centimeters
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lon=int(GPS.longitude*10000000)
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alt=int(GPS.altitude*100)
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dataGpsUpdate = {"lat": lat, "lon": lon, "alt": alt}
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data.update(dataGpsUpdate)
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# dataJsonFormate = orjson.dumps(data)
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# mqtt_Pub(message=dataJsonFormate)
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# print ('lat:'+lat+'\n'+'lon:'+lon+'\n')
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def callBack_compass_hdg(Compass):
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heading = int(Compass.data*100)
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dataGpsUpdate = {"heading": heading}
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data.update(dataGpsUpdate)
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dataJsonFormate = orjson.dumps(data)
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mqtt_Pub(message=dataJsonFormate)
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def callBack_state(state):
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mode = state.mode
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dataGpsUpdate = {"mode": mode}
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data.update(dataGpsUpdate)
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# get parameter
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def GetParam(self,param_name):
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param = self.get_param_srv(param_name)
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if param.success:
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if param.value.integer != 0:
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value = param.value.integer
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else:
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value = param.value.real
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else:
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rospy.logwarn("Parameter "+param_name+" not read")
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value = 0
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return value
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# MQTT
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def initialise_clients(clientname):
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# callback assignment
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initialise_client = mqtt.Client(clientname, False)
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initialise_client.topic_ack = []
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return initialise_client
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# publish a message
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def mqtt_Pub(message, topics = mqtt_config["topic"], waitForAck=False):
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mid = client.publish(topics, message, 0)[1]
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# print(f"just published {message} to topic")
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if waitForAck:
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while mid not in client.topic_ack:
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print("wait for ack")
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time.sleep(0.25)
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client.topic_ack.remove(mid)
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def on_publish(self, userdata, mid):
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client.topic_ack.append(mid)
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def on_connect(self, userdata, flags, rc):
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print("Connected with result code " + str(rc))
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if __name__ == '__main__':
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# Mqtt
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client = initialise_clients("client1")
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client.on_publish = on_publish
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client.on_connect = on_connect
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client.connect(mqtt_config["host"], mqtt_config["port"], 60)
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client.loop_start()
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# Ros
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nodeName = 'save_data_py'
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rospy.init_node(nodeName)
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ros_namespace = ""
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if not rospy.has_param("namespace"):
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print("using default namespace")
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else:
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rospy.get_param("namespace", ros_namespace)
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print("using namespace "+ros_namespace)
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ros_namespace="/drone1"
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# topicName = 'data_topic'
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# subscriber = rospy.Subscriber(ros_namespace+'/mavros/imu/data_raw',Imu,callBack_imu) #從topic獲取string再呼叫callback
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subscriber = rospy.Subscriber(ros_namespace+'/mavros/global_position/global',NavSatFix,callBack_gps) #從topic獲取string再呼叫callback
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subscriber = rospy.Subscriber(ros_namespace+'/mavros/global_position/compass_hdg',Float64,callBack_compass_hdg) #從topic獲取string再呼叫callback
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# subscriber = rospy.Subscriber(ros_namespace+"/mavros/next_command",String,callBack_message)
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#subscriber = rospy.Subscriber(ros_namespace+'/mavros/mavros_msgs/State',Header,callBack_state)
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# ID = rospy.get_param(ros_namespace+'/leader/droneID')
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# subscriber = rospy.Subscriber('/mavros/rangefinder/rangefinder',Range,callBack_rng) #從topic獲取string再呼叫callback
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# ID = rospy.GetParam("droneID")
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# print(ID)
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rospy.spin()
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@ -1,21 +1,22 @@
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MQTT_ROS:
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MQTT:
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msg_format: Json
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MQTTClientNamePub: Drone650Pub
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MQTTClientNameSub: Drone650Sub
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host: 192.168.50.27
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MQTTClientNamePub: Drone550Pub
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host: 192.168.50.118
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port: 1883
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keepalive: 60
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willTopic: CheckDoneConnect
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willTopicQOS: 1
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lwt: Drone650 Gone Offline
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lwt: Dron550 Gone Offline
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willRetain: False
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# Mqtt topic
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Flight_Information_topicToMqtt: drone/leader/Flight_Information
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Fly_Formation_topicToMqtt: drone/leader/Formation
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Flight_Information_topicToMqtt: Drone550/Flight_Information
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Fly_Formation_topicToMqtt: Drone550/Formation
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# Change formate qos
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Fly_Formation_topicToMqtt_QOS: 2
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#ROS
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ROSClientNamePub: Drone650Pub
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ROSClientNameSub: Drone650Sub
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ROS:
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ROSClientNamePub: Drone550Pub
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ROStopicName_Flight_Information: Flight_Information_reciver
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ROStopicName_Fly_Formation: Fly_Formation_reciver
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LOG:
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logFileName: pub.log
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@ -0,0 +1,21 @@
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MQTT:
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msg_format: Json
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MQTTClientNameSub: Drone550Sub
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host: 192.168.50.118
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port: 1883
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keepalive: 60
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willTopic: CheckDoneConnect
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willTopicQOS: 1
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lwt: Dron550 Gone Offline
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willRetain: False
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# Mqtt topic
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Flight_Information_topicToMqtt: Drone550/Flight_Information
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Fly_Formation_topicToMqtt: Drone550/Formation
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# Change formate qos
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Fly_Formation_topicToMqtt_QOS: 2
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ROS:
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ROSClientNameSub: Drone550Sub
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ROStopicName_Flight_Information: Flight_Information_reciver
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ROStopicName_Fly_Formation: Fly_Formation_reciver
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LOG:
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logFileName: sub.log
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@ -1,65 +1,107 @@
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import yaml
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class MQTT_ROS_Config:
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"""
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MQTT_ROS_Config configuration class
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"""
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# class variables
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sectionName='MQTT_ROS'
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options={
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'msg_format': (str,True),
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'MQTTClientNamePub': (str,True),
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'MQTTClientNameSub': (str,True),
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'host': (str,True),
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'port': (int,True),
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'keepalive': (int,True),
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'willTopic':(str,True),
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'lwt':(str, True),
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'willRetain':(bool,False),
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'willTopicQOS':(int,True),
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'Flight_Information_topicToMqtt': (str,False),
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'Fly_Formation_topicToMqtt': (str,False),
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'Fly_Formation_topicToMqtt_QOS':(int,False),
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'ROSClientNamePub': (str,False),
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'ROSClientNameSub': (str,False),
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'ROStopicName_Flight_Information': (str,False),
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'ROStopicName_Fly_Formation': (str,False)}
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#constructor
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class Config:
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def __init__(self, inFileName):
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#read YAML config and get EV3 section
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infile=open(inFileName,'r')
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ymlcfg=yaml.safe_load(infile)
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infile.close()
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eccfg=ymlcfg.get(self.sectionName,None)
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if eccfg is None: raise Exception('Missing {} section in cfg file'.format(self.sectionName))
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self.sectionNames = ["MQTT","ROS", "LOG"]
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self.options = {}
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self.inFileName = inFileName
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def setAttribute(self):
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with open(self.inFileName,"r") as f:
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self.ymlcfg=yaml.safe_load(f)
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ecfgs = [self.ymlcfg.get(name) for name in self.sectionNames]
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if None in ecfgs:
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nameIndex = ecfgs.index(None)
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raise Exception("Missing {} section in cfg file".format(self.sectionNames[nameIndex]))
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#iterate over options
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for opt in self.options:
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if opt in eccfg:
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optval=eccfg[opt]
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#verify parameter type
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if type(optval) != self.options[opt][0]:
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raise Exception('Parameter "{}" has wrong type'.format(opt))
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#create attributes on the fly
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setattr(self,opt,optval)
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else:
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if self.options[opt][1]:
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raise Exception('Missing mandatory parameter "{}"'.format(opt))
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for opts, ecfg in zip(self.options, ecfgs):
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for opt in self.options[opts]:
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if opt in ecfg:
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optval=ecfg[opt]
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#verify parameter type
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if type(optval) != self.options[opts][opt][0]:
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raise Exception("Parameter {} has wrong type".format(self.opt))
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#create attributes on the fly
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setattr(self,opt,optval)
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else:
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setattr(self,opt,None)
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#string representation for class data
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if self.options[opts][opt][1]:
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raise Exception("Missing mandatory parameter {}".format(self.opt))
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else:
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setattr(self,opt,None)
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def __str__(self):
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return str(yaml.dump(self.ymlcfg, default_flow_style=False))
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class Read_PUB_Config(Config):
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def setAttribute(self):
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super().setAttribute()
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def __init__(self, inFileName):
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super().__init__(inFileName)
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self.options = {
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self.sectionNames[0]:{
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"msg_format": (str,True),
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"MQTTClientNamePub": (str,True),
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"host": (str,True),
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"port": (int,True),
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"keepalive": (int,True),
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"willTopic":(str,True),
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"lwt":(str, True),
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"willRetain":(bool,False),
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"willTopicQOS":(int,True),
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"Flight_Information_topicToMqtt": (str,False),
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"Fly_Formation_topicToMqtt": (str,False),
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"Fly_Formation_topicToMqtt_QOS":(int,False)},
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self.sectionNames[1]:{
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"ROSClientNamePub": (str,False),
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"ROStopicName_Flight_Information": (str,False),
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"ROStopicName_Fly_Formation": (str,False)},
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self.sectionNames[2]:{
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"logFileName":(str,False)}}
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self.setAttribute()
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def __str__(self):
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return str(yaml.dump(self.__dict__,default_flow_style=False))
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return super().__str__()
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class Read_SUB_Config(Config):
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def setAttribute(self):
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super().setAttribute()
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def __init__(self, inFileName):
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super().__init__(inFileName)
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self.options = {
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self.sectionNames[0]:{
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"msg_format": (str,True),
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"MQTTClientNameSub": (str,True),
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"host": (str,True),
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"port": (int,True),
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"keepalive": (int,True),
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"willTopic":(str,True),
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"lwt":(str, True),
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"willRetain":(bool,False),
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"willTopicQOS":(int,True),
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"Flight_Information_topicToMqtt": (str,False),
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"Fly_Formation_topicToMqtt": (str,False),
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"Fly_Formation_topicToMqtt_QOS":(int,False)},
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self.sectionNames[1]:{
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"ROSClientNameSub": (str,False),
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"ROStopicName_Flight_Information": (str,False),
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"ROStopicName_Fly_Formation": (str,False)},
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self.sectionNames[2]:{
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"logFileName":(str,False)}}
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self.setAttribute()
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def __str__(self):
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return super().__str__()
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if __name__ == '__main__':
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cfg=MQTT_ROS_Config("mqttConfig.yml")
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print(cfg)
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if __name__ == "__main__":
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cfg=SUB_Config("mqttConfig_PUB.yml")
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cfg.setAttribute()
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print(cfg.msg_format)
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