def IRCallback(): # egyszerre csak egy peldany fut belole, nem hiv meg parhuzamosan tobbet az IR szenzor
global last_time, reset_active
global RFID_warehouse_error_running
global pause_event
# print("IR event triggered")
if reset_active: # szoval, ha active a reset, es vissza ert a helyere
print("reset sequence done")
EndDemo(3.5) # blocking
reset_active = False # a reset flaget hozza helyre
if systemStarted:
client.publish(carManagement, stopReset, qos=1) # a reset flag-et az auton is billentse be ??
elif not RFID_warehouse_error_running and (time.time() - last_time) > 15:
if ml.GetLap() == 1:
client.publish(carManagement, "stop", qos=1)
#client.publish(carStatus, stopped, qos=1) # uj
client.publish(errorStatus, "rfid_error", qos=1) # uj
RFID_warehouse_error_running = True
if not gateway_error_running and not gateway_power_error_running:
fm.applyScenario(faultmanagerscreen.ScenarioRFIDWarehouse)
publish_to_faultmanager(fm)
lc.setAnimation('rfid',ledcontrol.LEDAnimationError())
for i in range(100): # 10mp
time.sleep(0.1)
if (not systemStarted) or reset_active: # ha system shutdown vagy reset event erkezett kozben
return
pause_event.wait()
if (not systemStarted) or reset_active: # hs system shutdown vagy reset event erkezett kozben
return
lc.setAnimation('rfid',ledcontrol.LEDAnimationGood())
client.publish(errorStatus, "rfid_error_reset", qos=1) # uj
RFID_warehouse_error_running = False
#kiirni metodusba
#nagyon csunya majd kitalalni valamit
if not (gateway_power_error_running or gateway_error_running \
or belt_plc_error_running):
client.publish(carManagement, start, qos=1)
#client.publish(carStatus, moving, qos=1) # uj
if not (gateway_power_error_running or gateway_error_running \
or belt_plc_error_running):
reset_error()
last_time = time.time()
def on_message(client, userdata, msg):
global stop_active, reset_active, pause_event
global fill_paused # ez is ronda... rosz... csunya...
global shutdown_timer # ez rosszabb
global publish_no_trigger # uj
print("Topic: ", msg.topic + " Message: " + str(msg.payload))
if msg.topic == carManagement:
if msg.payload == "start":
stop_active = False
print(obstacle)
print(stop_active)
elif msg.payload == "stop":
stop_active = True
elif msg.payload == "stopAndBlink":
publish_no_trigger = 1 # uj
stop_active = True
lc.setAnimation("battery", ledcontrol.LEDAnimationError())
time.sleep(10)
pause_event.wait() # wait for pause to set
lc.setAnimation("battery", ledcontrol.LEDAnimationGood())
client.publish("forklift_power_error_reset", 0)
elif msg.payload == "startFill":
fill_paused = False # ezt is csak azert, ha a resume full nem jott volna meg, akkor ez a resz ne bugoljon be
blc.startFill(
True, False
) # ez se csinaljon auto unpause-t, mert akkor ha megall a vonalon mielott toltene, es pause-t kap, akkor elkezdene feltoltodni
elif msg.payload == "stopFill": # ez csak pause
fill_paused = True
blc.pause()
elif msg.payload == "resumeFill":
fill_paused = False
blc.resume()
elif msg.payload == "emptyBottle":
fill_paused = False # csak iderakom mert csak
blc.startEmpty(
True, False
) # ne legyen auto unpause amikor indul ez az anim, azert, hogy ha akkor pauseolunk amikor a vonalra er, ne menjen le az anim, amig nem tolunk unpause-t
elif msg.payload == "startReset": # ezt kapod akkor, ha futas kozben megnyomtak a start gombot, azaz az autonak a helyere kell mennie
fill_paused = False # hogyha pause_fill utan jon a reset, akkor ezt is reseteljuk, es ne ragadjon be
blc.startWipe() # letorli szepen a flakon ledeket
lc.setAnimation(
"battery",
carconfig.getResetAnimation()) # azt a villogast csinalja
stop_active = False # elinditja az autot, ha esetleg meg lenne allva
reset_active = True # vonal skippeles be
elif msg.payload == "stopReset": # ezt a demo megallitasa utan kell kapni
lc.setAnimation(
"battery",
ledcontrol.LEDAnimationGood()) # megalllitja azt a villogast
blc.setDefault() # felkapcsolja a legalso piros ledet
reset_active = False # vonal skippeles ki
elif msg.payload == "terminate": # stop_system-nel van
stop_active = True
fill_paused = False # hogyha a terminate pause fill alatt jon, akkor azt is resetelni kell
reset_active = False # vonal skippeles ki
pause_event.set() # unblock paused stuff
lc.setAnimation("battery", ledcontrol.LEDAnimationOff())
blc.setOff() # auto unpause
elif msg.payload == "initLED": # start_system
stop_active = True # pause -> gateway kapcsolat megszakad -> terminate -> start_system-re az auto elindulna, ugyhogy allitsuk meg
fill_paused = False # tank animacio unpause lock ki
reset_active = False # vonal skippeles ki
pause_event.set(
) # unblock paused stuff.... ilyent start_system-re kapunk
lc.setAnimation("battery", ledcontrol.LEDAnimationGood())
blc.setDefault()
elif msg.payload == "pause":
pause_event.clear() # sets blocking
blc.pause()
elif msg.payload == "unpause":
pause_event.set()
if not fill_paused: # ez azert van, hogyha volt egy pause/unpause a tank liquid error alatt, akkor ne induljon el a feltoltes
blc.resume()
# azert nem a terminate-t hasznalom, mert nem akarok abba meg plusz dologokat beleirogatni, eleg ha az csak az auto lelkivilagalval foglalkozik
# tovabba ott az uzenetek se teljesen utalnak arra, hogy minek kellene tortennie
# illetve ennek akkor is mukodnie kell, ha a gateway nem elerheto valamilyen okbol (becrashelt, kilepett, stb.)
# ha lehal a gateway akkor nincs broker es akkor nincs shutdown
elif msg.topic == "start_system": # cancel shutdown timer
if shutdown_timer:
shutdown_timer.cancel()
print("Shutdown canceled")
elif msg.topic == "stop_system": # start shutdown timer
shutdown_timer = threading.Timer(15, shutdown_system)
shutdown_timer.start()
print("System shutdown in 15s! Use start_system to cancel.")
def on_message(client, userdata, msg):
print("Topic: " + msg.topic + " Message: " + msg.payload)
global belt_plc_error_running
global gateway_error_running
global gateway_power_error_running
global RFID_warehouse_error_running
global forklift_power_error_running
global forklift_obstacle_error_running
global liquid_error_running
global temp
global systemStarted
global reset_active
global fm,lc,ml
global shutdown_timer
if not systemStarted:
if msg.topic == "start_system":
if shutdown_timer:
shutdown_timer.cancel() # cancel shutting down
print("System shutdown canceled")
systemStarted = True
lc.setAllAnimation(ledcontrol.LEDAnimationGood())
client.publish(carManagement, "initLED", qos=1)
pause_event.set() # ha esetleg valahogy netalantan ez bebugolt volna clear allapotban, akkor reseteljuk, mert kulonben nem indul a demo
else:
if msg.topic == "stop_system":
#kell egy "clear" logika
systemStarted = False
ml._Init()
#vagy megallitjuk azonnal, vagy a helyere visszuk
client.publish(carManagement, terminate, qos=1)
lc.setAllAnimation(ledcontrol.LEDAnimationOff())
ResetAllErrors() # internal flags
reset_error() # faultmanager board according to internal flags and publishses it
reset_active = False # ha reset kozben csaptunk ra a stop_system-re, akkor kovetkezo inditasnal egy ilyen fel-reset-fel-nem-reset allapot keletkezett, ezt fixalja ez a sor
pause_event.set() # unblocking stuff, this should be reseted on system stop as well
shutdown_timer = threading.Timer(15,shutdown_system) # start system shutdown timer
shutdown_timer.start()
print("System shutdown in 15s! Use start_system to cancel.")
#"Demo felelesztese alvo modbol", Demot meg nem inditottak el
#elif msg.topic == "restart_system" and not reset_active:
elif msg.topic == "restart_system" and not ml.IsRunning():
#ml._Init()
ml.SetRunning(True)
client.publish(carManagement, start, qos=1)
reset_error()
temp = 0
elif ml.IsRunning():
#nem kell kikopni az errort, mert itt generaljuk
if msg.topic == "forklift_obstacle_error":
forklift_obstacle_error_running = True
client.publish(errorStatus, "forklift_obstacle_error", qos=1) # uj
if not (gateway_power_error_running or gateway_error_running\
or belt_plc_error_running):
fm.applyScenario(faultmanagerscreen.ScenarioForkliftObstacle)
publish_to_faultmanager(fm)
if ml.GetNext() == 1: # ha a szalagon van epp
client.publish("obstacle_belt_stop","belt_pause",qos=1)
elif msg.topic == "forklift_obstacle_error_reset":
forklift_obstacle_error_running = False
client.publish(errorStatus, "forklift_obstacle_error_reset", qos=1) # uj
if not (gateway_error_running or gateway_power_error_running\
or belt_plc_error_running):
reset_error()
if ml.GetNext() == 1: # ha a szalagon van epp
client.publish("obstacle_belt_stop","belt_resume",qos=1)
elif msg.topic == "forklift_power_error_reset":
forklift_power_error_running = False
client.publish(errorStatus, "forklift_power_error_reset", qos=1) # uj
#IsConsolErrorRunning metodus a demoerror classhoz
if not (gateway_error_running or gateway_power_error_running\
or belt_plc_error_running):
client.publish(carManagement, start, qos=1)
reset_error()
elif msg.topic == "no_liquid_error":
liquid_error_running = True
client.publish(errorStatus, "no_liquid_error", qos=1) # uj
client.publish(carManagement, stop, qos=1)
if not gateway_power_error_running and not gateway_error_running:
fm.applyScenario(faultmanagerscreen.ScenarioNoLiquidError)
publish_to_faultmanager(fm)
elif msg.topic == "no_liquid_error_reset":
liquid_error_running = False
client.publish(errorStatus, "no_liquid_error_reset", qos=1) # uj
if not gateway_power_error_running and not gateway_error_running:
client.publish(carManagement, start, qos=1)
client.publish(carManagement, resumeFill, qos=1)
reset_error()
elif msg.topic == "belt_plc_error":
belt_plc_error_running = True
if not gateway_error_running and not gateway_power_error_running:
client.publish(carManagement, stop, qos=1)
client.publish(errorStatus, "belt_plc_error", qos=1) # uj
if ml.GetNext() == 1:
client.publish(carManagement, stopFill, qos=1)
fm.applyScenario(faultmanagerscreen.ScenarioBeltPlcError)
publish_to_faultmanager(fm)
elif msg.topic=="belt_plc_error_reset":
belt_plc_error_running = False
if not gateway_error_running and not gateway_power_error_running:
client.publish(carManagement, start, qos=1)
client.publish(errorStatus, "belt_plc_error_reset", qos=1) # uj
if ml.GetNext() == 1:
client.publish(carManagement, "resumeFill", qos=1)
reset_error()
elif msg.topic == "gateway_error":
gateway_error_running = True
if not (gateway_power_error_running or belt_plc_error_running):
client.publish(carManagement, stop, qos=1)
client.publish(errorStatus, "gateway_error", qos=1) # uj
#valami belt check metodusba ezeket kikellene szervezni
if ml.GetNext() == 1:
client.publish(carManagement, stopFill, qos=1)
fm.applyScenario(faultmanagerscreen.ScenarioGatewayError)
lc.setAnimation('gw',ledcontrol.LEDAnimationError())
publish_to_faultmanager(fm)
elif msg.topic == "gateway_error_reset":
gateway_error_running = False
lc.setAnimation('gw',ledcontrol.LEDAnimationGood())
client.publish(errorStatus, "gateway_error_reset", qos=1) # uj
print(IsErrorActive())
if not IsErrorActive():
client.publish(carManagement, start, qos=1)
if ml.GetNext() == 1:
client.publish(carManagement, resumeFill, qos=1)
reset_error()
elif msg.topic == "gateway_power_error":
gateway_power_error_running = True
client.publish(carManagement, stop, qos=1)
client.publish(errorStatus, "gateway_power_error", qos=1) # uj
#valami belt check metodusba ezeket kikellene szervezni
if ml.GetNext() == 1:
client.publish(carManagement, stopFill, qos=1)
fm.applyScenario(faultmanagerscreen.ScenarioGatewayPowerError)
lc.setAnimation('gw_power',ledcontrol.LEDAnimationError())
publish_to_faultmanager(fm)
elif msg.topic == "gateway_power_error_reset":
gateway_power_error_running = False
lc.setAnimation('gw_power',ledcontrol.LEDAnimationGood())
client.publish(errorStatus, "gateway_power_error_reset", qos=1) # uj
#kitenni majd a metodusba
if not (gateway_error_running or belt_plc_error_running):
client.publish(carManagement, start, qos=1)
if ml.GetNext() == 1:
client.publish(carManagement, resumeFill, qos=1)
reset_error()
elif msg.topic == carManagement:
if msg.payload == "update": # ilyent akkor kapunk, ha az auto at haladt egy meroleges vonalon
#ezt majd atkell helyezni de a kocsi egyelore ezt tudja publisholni
ml.UpdatePosition(temp)
temp += 1
#muszaj kulon szaloninditani kulonben nem kulon kuldi az mqtt uzeneteket
t = threading.Thread(target=ScenarioTest)
t.setDaemon(True)
t.start()
if temp > 2: # 0,1,2
temp = 0
#ugytunik nem hasznaljuk mar, kiveheto
if msg.payload == "ready":
pass
#client.publish(carManagement, start)
elif msg.topic == positionManagement:
try:
inputpos = int(msg.payload)
#if inputpos == 1:
#ml.UpdatePosition(input)
except ValueError: # ha sima except van it, akkor a KeyboardInterrupt-ot is elkapja
traceback.print_exc()
logging.debug("Konvertalasi hiba, payload: %s" % msg.payload)
#ha futas kozben nyomjak a resetet
#az IR sensorra hagytam nem a szamlalasra
elif msg.topic == "restart_system":
reset_active = True
ml.SetRunning(False)
client.publish(carManagement, startReset, qos=1)
ResetAllErrors() # internal flags
reset_error() # fault manager screen
lc.setAllAnimation(ledcontrol.LEDAnimationGood()) # ledek
temp = 0
elif msg.topic == "console":
if msg.payload == "stop":
client.publish(carManagement, "pause", qos=1)
pause_event.clear() # stuff will be blocked
elif msg.payload == "start":
client.publish(carManagement, "unpause", qos=1)
pause_event.set() # unblocking stuff
from RPi import GPIO
import ledcontrol
from bottleledcontrol import BottleLedControl
import configloader
# first
carconfig = configloader.ConfigLoader(
"/etc/carconfig.json"
) # any exception this function throws should kill the program
#init / setup metodusba
GPIO.setmode(GPIO.BCM)
lc = ledcontrol.LEDControl(
carconfig.getLedconfig(), ledcontrol.LEDAnimationGood(),
carconfig.getLedInversion(
)) # inicializaljuk a ledvezerlot a car descriptionnak megfeleloen
lc.start()
blc = BottleLedControl(12, BottleLedControl.ANIMATION_OFF)
blc.start()
carManagement = "carManagement"
carStatus = "carStatus" # uj
moving = "car_moving" # uj
stopped = "car_stopped" # uj
carFlag = 0 # uj , 0: stopped; 1: moving
publish_no_trigger = 0 # uj , forklift_power_error publish skip
stop_active = True
