def moveCamera(msg):
message_json = format(msg.payload.decode("UTF-8"))
print(message_json)
msg = json.loads(message_json)
message = msg['msg']
y_speed = msg['y']
x_speed = msg['x']
enginePowers = msg['enginePowers']
formFactor = msg['formFactor']
#if message == current_message:
# return
#else:
# self.servo15.stop()
# self.servo14.stop()
# self.dcmotor.stop()
#UltraSonic sensor
#distanceObj = UltrasonicSensor()
#dist = distanceObj.distance()
#current_distance = dist
#print ("Measured Distance = %.1f cm" % dist)
if message == "sonic_left":
servo15.moveForward()
if message == "sonic_right":
servo15.moveBack()
if message == "sonic_down":
servo14.moveForward()
if message == "sonic_up":
servo14.moveBack()
# if message == "camera_left":
# servo13.moveForward()
# client2 = mqtt.Client()
# client2.on_connect = on_connect
# client2.on_message = on_message2
# client2.on_publish = on_publish
# client2.connect(MQTT_SERVER, 1883, 60)
# client2.publish(MQTT_PATH, '{"msg":"from python","x":0,"y":0,"status":'+str(current_distance)+'}')
# client2.disconnect()
# if message == "camera_right":
# servo13.moveBack()
if message == "camera_forward":
servo15.init()
if message == "ultrasonic_align":
servo14.init(150) #altitude
servo15.init(120) #horizon
if message == "forward":
dcmotor.setPower(rightEngine=rightEngine, leftEngine=leftEngine)
dcmotor.forward(speed=y_speed)
if message == "right":
dcmotor.setPower(rightEngine=rightEngine, leftEngine=leftEngine)
dcmotor.right(speed=x_speed)
if message == "left":
dcmotor.setPower(rightEngine=rightEngine, leftEngine=leftEngine)
dcmotor.left(speed=x_speed)
if message == "back":
dcmotor.setPower(rightEngine=rightEngineBack,
leftEngine=leftEngineBack)
dcmotor.back(speed=y_speed)
if message == "stop":
dcmotor.stop()
if message == "robot_one":
robot.robotIsRight = True
robot.startProgram()
if message == "toggle_light":
ledObj = Led()
if msg['status'] == 1:
ledObj.lightsOn()
else:
ledObj.lightsOff()
if message == "robot_mode_full_stop":
robot.robotIsRight = False
robot.motorStop()
if message == "switch-motor-engine":
relayObj = Relay()
relayObj.switchRelay(status=msg['status'])
