def on_disconnect(client, userdata, rc):
global angle_thread, gndtime_thread, height_thread
global broker, port
# Stops hoist and stops publishing angle
HOIST.stop()
try:
angle_thread.cancel()
gndtime_thread.cancel()
height_thread.cancel()
except NameError:
pass
print("client disconnected. Reason code", rc)
# Attempts to reconnect to broker (self)
time.sleep(3)
client.connect(broker, port, keepalive=5)
def accel_disconnect(recourse="now"):
global angle_error_count, angle_thread, acc_err_thread
# This to reattempt taking + publishing angle for 2 sec before
# reporting disconnect to UI
if recourse == "retry":
angle_error_count += 1
# Stops publishing accel data if disconnected for over 2sec
if angle_error_count == 8:
HOIST.stop()
try:
angle_thread.cancel()
except:
pass
print("accelerometer disconnect - 2s")
client.publish("accelerometer/status", "Backup disconnected")
# Immediately reports accel disconnected to UI
else:
client.publish("accelerometer/status", "Backup disconnected")
client.on_disconnect = on_disconnect
client.will_set("status", "Backup Pi client disconnectetd", retain=False)
# Subscribes to "hoist" first time connected
client.connect(broker, port, keepalive=5)
try:
while True:
client.loop_start()
# Enters with either Scenario 1 or 2
if backup_listen:
if (last_msg_timer.countup() >= 1):
# timer starts in on_message received
HOIST.stop()
elif topic == "hoist":
print(msg)
if msg == "Off":
HOIST.stop()
elif msg == "Disable leveling":
ignore_angle = True
try:
acc_err_thread.cancel()
except NameError:
pass
elif msg == "Make level":