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+import pymysql
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+import rospy
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+import paho.mqtt.client as mqtt
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+from std_msgs.msg import String
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+from geometry_msgs.msg import PoseStamped, PoseWithCovarianceStamped
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+from move_base_msgs.msg import MoveBaseActionResult
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+import json
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+import threading
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+from time import sleep as sl
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+from datetime import datetime as dt
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+from concurrent.futures import ThreadPoolExecutor
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+
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+
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+class CowdungCartSchedule(object):
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+ def __init__(self):
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+ self.db = pymysql.connect(host='52.69.200.169', port=3306, user='cowdungcart', password='skyeye', database='CowdungCart', charset='utf8')
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+ self.cursor = self.db.cursor()
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+ self.client = mqtt.Client()
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+ self.goalStatus = "Got new plan"
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+ self.pool = ThreadPoolExecutor(10)
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+
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+
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+ def queryMySQL(self):
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+ while True:
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+ sl(60)
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+ current_time = dt.now()
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+ time = dt.strftime(current_time, "%H:%M")
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+
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+ def query_job(time):
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+ #重新連線資料庫,即時更新
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+ db = pymysql.connect(host='52.69.200.169', port=3306, user='cowdungcart', password='skyeye', database='CowdungCart', charset='utf8')
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+ cursor = db.cursor()
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+ #搜尋排程時間
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+ sql = "select time1, time2, time3, time4, time5, time6, time7 from schedule order by datetime desc limit 1"
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+ cursor.execute(sql)
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+ schedules = cursor.fetchall()[0]
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+
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+ for schedule in schedules:
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+ print(schedule)
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+ #將排程時間與現在時間做比對
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+ if schedule == time:
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+ #搜尋目標點座標
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+ sql = "select goal_change_x, goal_change_y from goal"
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+ cursor.execute(sql)
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+ goals = cursor.fetchall()
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+ #循環遍歷目標點
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+ for goal in goals:
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+ self.goalPublish(goal)
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+ while True:
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+ if self.goalStatus == 'Goal reached.':
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+ self.goalStatus = "Got new plan"
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+ break
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+ # 重新連線資料庫,即時更新
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+ db = pymysql.connect(host='52.69.200.169', port=3306, user='cowdungcart',
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+ password='skyeye', database='CowdungCart', charset='utf8')
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+ cursor = db.cursor()
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+ # 開始監測感測器的值
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+ # 超音波糞便高度
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+ sonic_sql = "select sonic from sonic order by datetime desc limit 1"
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+ cursor.execute(sonic_sql)
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+ sonic = cursor.fetchall()[0]
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+ # 水位
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+ water_level_sql = "select water_level from water_level order by datetime desc limit 1"
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+ cursor.execute(water_level_sql)
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+ water_level = cursor.fetchall()[0][0]
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+ cursor.close()
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+ db.close()
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+ sl(35)
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+ print("----------------------------------------------------")
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+
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+ print(water_level)
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+ if water_level == 'top' or sonic == '':
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+ # 記住當下車子的位置
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+ currentPose = (self.currentPoseX, self.currentPoseY)
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+ # 發送基站前的目標點
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+ basePose = (-0.585351440576172, -0.5214363581840141)
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+ self.goalPublish(basePose)
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+ # 如果到達基站跳出循環
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+ while True:
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+ if self.goalStatus == 'Goal reached.':
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+ self.goalStatus = "Got new plan"
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+ break
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+ # MQTT
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+ pass
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+ # 回到原來紀錄位置
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+ self.goalPublish(currentPose)
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+ # 如果到達之前記錄位置跳出循環
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+ while True:
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+ if self.goalStatus == 'Goal reached.':
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+ self.goalStatus = "Got new plan"
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+ break
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+ # 往原來的目標點前進
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+ self.goalPublish(goal)
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+ # 如果到達原來目標點跳出循環
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+ while True:
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+ if self.goalStatus == 'Goal reached.':
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+ break
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+
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+ cursor.close()
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+ db.close()
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+ self.pool.submit(query_job, time)
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+
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+
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+
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+ def goalPublish(self, goal):
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+ # 定义发布器pub,发布的题目是chatter,消息类型是String,然后queue_size是在订阅者接受消息不够快的时候保留的消息的数量,如果对qos要求低的话可以设为0,不设置的话会出个报警,不过不会出错
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+ # pub = rospy.Publisher('chatter', String, queue_size=10)
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+ pub = rospy.Publisher('move_base_simple/goal', PoseStamped, queue_size=10)
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+ # 接下来这里初始化了一个名为talker的节点,节点的名字不能以‘ / ’开头,因为之后会自动给你加一个。anonymous参数在为True的时候会在原本节点名字的后面加一串随机数,来保证可以同时开启多个同样的节点,如果为false的话就只能开一个
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+ #rospy.init_node('goalPublish', anonymous=True)
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+ # 这里初始化一个Rate对象,通过后面的sleep()可以设定循环的频率
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+ rate = rospy.Rate(10) # 10hz
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+
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+ ps = PoseStamped()
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+ ps.header.seq = 0
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+ ps.header.stamp.secs = 0
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+ ps.header.stamp.nsecs = 0
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+ ps.header.frame_id = 'map'
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+ ps.pose.position.x = float(goal[0])
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+ ps.pose.position.y = float(goal[1])
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+ ps.pose.position.z = 0.0
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+ ps.pose.orientation.x = 0.0
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+ ps.pose.orientation.y = 0.0
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+ ps.pose.orientation.z = 0.2
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+ ps.pose.orientation.w = 0.1
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+ # rospy.loginfo(ps)
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+ # pub.publish(ps)
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+ # while not rospy.is_shutdown():
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+ # # hello_str = "hello world %s" % rospy.get_time()
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+ # rospy.loginfo(ps)
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+ # #这里把hello_str发布出去了
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+ # pub.publish(ps)
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+ # rate.sleep()
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+ i = 0
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+ while i < 2:
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+ rospy.loginfo(ps)
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+ pub.publish(ps)
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+ rate.sleep()
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+ i += 1
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+
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+
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+ def mqttPublish(self, command):
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+ print (json.dumps(command))
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+ #要發布的主題和內容
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+ topic = 'AISKY/AppleFarm/MK-G/b8:27:eb:b4:59:3e'
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+
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+ self.client.publish(topic, json.dumps(command))
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+
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+
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+
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+ def workOn(self):
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+ #ROS結果回調函數
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+ def result_callback(data):
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+ rospy.loginfo(rospy.get_caller_id() + "I heard %s", data)
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+ self.goalStatus = data.status.text
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+ print(self.goalStatus)
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+
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+ #ROS目標位置回調函數
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+ def pose_callback(data):
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+ # rospy.loginfo(rospy.get_caller_id() + "I heard %s", data)
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+ print(data.pose.pose.position.x, data.pose.pose.position.y, sep=',')
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+ self.currentPoseX = data.pose.pose.position.x
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+ self.currentPoseY = data.pose.pose.position.y
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+
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+ #ROS訂閱
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+ def listener():
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+
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+ rospy.init_node('goalAction', anonymous=False)
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+ # 这里初始化了一个订阅器,订阅了move_base/result这个主题,接收的消息类型为MoveBaseActionResult,每次接收到消息,就会开一个新线程来呼叫callback,每个订阅器只能有一个callback,另外似乎可以做到通过一个订阅器订阅多个主题或多个类型不同的消息,但我认为应该尽量避免这么做,尤其是涉及时间敏感度比较高的主题的时候,消息时间同步这类的事情很难处理
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+ rospy.Subscriber("move_base/result", MoveBaseActionResult, result_callback)
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+ #初始化目標點位置訂閱器,獲取車子當下座標位置
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+ rospy.Subscriber("amcl_pose", PoseWithCovarianceStamped, pose_callback)
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+ # spin() simply keeps python from exiting until this node is stopped
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+ # spin()的功能是让程序在手动停止前一直循环
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+ # rospy.spin()
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+
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+ # MQTT當地端程式連線伺服器得到回應時,要做的動作
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+ def on_connect(client, userdata, flags, rc):
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+ print("Waiting for MQTT message...")
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+ # 將訂閱主題寫在on_connet中
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+ # 如果我們失去連線或重新連線時
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+ # 地端程式將會重新訂閱
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+ client.subscribe('AISKY/AppleFarm/MK-G/b8:27:eb:b4:59:3e/Log')
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+
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+
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+ # MQTT當接收到從伺服器發送的訊息時要進行的動作
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+ def on_message(client, userdata, msg):
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+ msg = msg
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+
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+ def message_job(msg):
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+ db = pymysql.connect(host='52.69.200.169', port=3306, user='cowdungcart', password='skyeye',
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+ database='CowdungCart', charset='utf8')
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+ cursor = db.cursor()
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+ # 轉換編碼utf-8才看得懂中文
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+ print(msg.topic + " " + msg.payload.decode('utf-8'))
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+
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+ payload = msg.payload.decode('utf-8')
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+ current_time = dt.now()
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+ time = dt.strftime(current_time, "%Y-%m-%d %H:%M:%S")
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+ if payload:
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+ p = json.loads(payload)
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+ if p['command'] == 'sonic':
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+ sql = "insert into actuator(sonic, datetime) values('%s', '%s')" % (p['rqnn'], time)
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+ cursor.execute(sql)
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+ db.commit()
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+
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+ else:
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+ pass
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+ cursor.close()
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+ db.close()
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+
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+ self.pool.submit(message_job, msg)
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+
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+ # message_thread = threading.Thread(target=message_job, args=(msg,))
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+ # message_thread.daemon = True
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+ # message_thread.start()
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+
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+
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+ def thread_job(self):
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+ # 設定連線的動作
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+ self.client.on_connect = on_connect
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+ # 設定接收訊息的動作
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+ self.client.on_message = on_message
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+ # 設定登入帳號密碼
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+ self.client.username_pw_set("aisky-client", "aiskyc")
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+ # 設定連線資訊(IP, Port, 連線時間)
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+ self.client.connect("60.250.156.234", 1883, 60)
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+ # 開始連線,執行設定的動作和處理重新連線問題
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+ # 也可以手動使用其他loop函式來進行連接
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+ self.client.loop_forever()
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+
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+ #創建執行序監聽MQTT訂閱消息
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+ mqtt_subscribe_thread = threading.Thread(target=thread_job, args=(self,))
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+ mqtt_subscribe_thread.daemon = True
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+ mqtt_subscribe_thread.start()
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+ #睡1秒等執行敘跑完才跑主程式
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+ sl(1)
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+ #創建ROS訂閱
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+ listener()
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+ self.queryMySQL()
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+ self.cursor.close()
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+ self.db.close()
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+ self.pool.shutdown(wait=True)
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+
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+
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+if __name__ == '__main__':
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+ cowdungcart = CowdungCartSchedule()
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+ try:
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+ cowdungcart.workOn()
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+ except KeyboardInterrupt:
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+ cowdungcart.pool.shutdown(wait=True)
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+ cowdungcart.cursor.close()
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+ cowdungcart.db.close()
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