def get_peripheral_reported_sensor_value(
self, peripheral: str, variable: str
) -> Any:
"""Gets reported sensor value from shared peripheral state."""
return get_nested_dict_safely(
self.peripherals, [peripheral, "sensor", "reported", variable]
)
def get_peripheral_desired_actuator_value(
self, peripheral: str, variable: str
) -> Any:
"""Gets desired actuator value from shared peripheral state."""
return get_nested_dict_safely(
self.peripherals, [peripheral, "actuator", "desired", variable]
)
def publish_environment_variables(self, publish_all: bool = False) -> None:
"""Publishes environment variables."""
self.logger.debug(f"Publishing {'all' if publish_all else 'changed'} environment variables")
# Get environment variables
keys = ["reported_sensor_stats", "individual", "instantaneous"]
environment_variables = accessors.get_nested_dict_safely(
self.state.environment, keys
)
# Ensure environment variables is a dict
if environment_variables == None:
environment_variables = {}
# For each value, only publish the ones that have changed.
for name, value in environment_variables.items():
if publish_all:
self.prev_environment_variables[name] = copy.deepcopy(value)
self.pubsub.publish_environment_variable(name, value)
elif self.prev_environment_variables.get(name) != value:
self.prev_environment_variables[name] = copy.deepcopy(value)
self.pubsub.publish_environment_variable(name, value)
def publish_environment_variables(self) -> None:
"""Publishes environment variables."""
self.logger.debug("Publishing environment variables")
# Get environment variables
keys = ["reported_sensor_stats", "individual", "instantaneous"]
environment_variables = accessors.get_nested_dict_safely(
self.state.environment, keys)
# Ensure environment variables is a dict
if environment_variables == None:
environment_variables = {}
# Keep a copy of the first set of values (usually None). Why?
if self.prev_environment_variables == {}:
self.environment_variables = copy.deepcopy(environment_variables)
# For each value, only publish the ones that have changed.
for name, value in environment_variables.items():
if self.prev_environment_variables.get(name) != value:
self.environment_variables[name] = copy.deepcopy(value)
self.pubsub.publish_environment_variable(name, value)
def publish(self):
if self.iot is None:
return
# Safely get vars dict
vars_dict = get_nested_dict_safely(
self.state.environment,
["reported_sensor_stats", "individual", "instantaneous"],
)
# Check if vars is empty, if so turn into a dict
if vars_dict == None:
vars_dict = {}
# Keep a copy of the first set of values (usually None).
if self.prev_vars is None:
self.prev_vars = copy.deepcopy(vars_dict)
# for each value, only publish the ones that have changed.
for var in vars_dict:
if self.prev_vars[var] != vars_dict[var]:
self.prev_vars[var] = copy.deepcopy(vars_dict[var])
self.iot.publish_env_var(var, vars_dict[var])
def get_controller_value(self, controller: str, variable: str) -> Any:
"""Gets controller value from shared controller state."""
return get_nested_dict_safely(self.controllers, [controller, variable])
def get_environment_desired_actuator_value(self, variable: str) -> Any:
"""Gets desired actuator value from shared environment state."""
return get_nested_dict_safely(
self.environment, ["actuator", "desired", variable]
)
def get_peripheral_value(self, peripheral: str, variable: str) -> Any:
""" Gets peripheral value from shared peripheral state. """
return get_nested_dict_safely(self.peripherals, [peripheral, variable])
def get_environment_reported_sensor_value(self, variable: str) -> Any:
"""Gets reported sensor value from shared environment state."""
return get_nested_dict_safely(
self.environment, ["sensor", "reported", variable]
)
def get_peripheral_reported_actuator_value(self, peripheral, variable):
""" Gets reported actuator value from shared peripheral state. """
return get_nested_dict_safely(
self.peripherals, [peripheral, "actuator", "reported", variable])
def get_peripheral_desired_sensor_value(self, peripheral, variable):
""" Gets desired sensor value from shared peripheral state. """
return get_nested_dict_safely(
self.peripherals, [peripheral, "sensor", "desired", variable])
def get_environment_reported_actuator_value(self, variable):
""" Gets reported actuator value from shared environment state. """
return get_nested_dict_safely(self.environment,
["actuator", "reported", variable])
def get_environment_desired_sensor_value(self, variable):
""" Gets desired sensor value from shared environment state. """
return get_nested_dict_safely(self.environment,
["sensor", "desired", variable])
