def on_connect(client, userdata, flags, rc):
global angle_thread, gndtime_thread, acc_err_thread, height_thread
global ignore_angle
client.subscribe("hoist")
client.subscribe("time/fromground")
client.subscribe("accelerometer/status")
client.subscribe("height/status")
print("connected")
client.publish("status", "Upper Pi client connected")
gndtime_thread = timer.setInterval(5, publish_gndtime)
gndtime_thread.start()
height_thread = timer.setInterval(.5, publish_height)
height_thread.start()
acc_err_thread = timer.setInterval(.5, accel_disconnect)
if ACC.error == True:
ignore_angle = True
acc_err_thread.start()
else:
angle_thread = timer.setInterval(0.25, publish_angle)
angle_thread.start()
if ALT.error == True:
height_thread.cancel()
print("altimeter disconnected from start")
def __init__(self, r):
self.dist = 0 # This should be in feet
self.r = r
self.rotary_count = 0
self.clk_prev = GPIO.input(clk)
self.thread = timer.setInterval(0.002, self.height)
self.thread.start()
def on_disconnect(client, userdata, rc):
global broker, backup_listen, acc_err_thread
print("Disconnected from broker")
client.loop_stop()
# Starts a new broker on backup when main loses power
run_broker = subprocess.Popen(
["mosquitto", "-c", "/etc/mosquitto/mosquitto.conf"])
time.sleep(1)
# Enables GPIO pins for hoist control
GPIO.setmode(GPIO.BCM)
GPIO.setup(UP_L, GPIO.OUT)
GPIO.setup(DOWN_L, GPIO.OUT)
GPIO.setup(UP_R, GPIO.OUT)
GPIO.setup(DOWN_R, GPIO.OUT)
# Reconnects client to backup broker
backup_listen = True
broker = backupBroker
client.connect(broker, port)
try:
timefromground_thread.cancel()
except:
pass
timefromground_thread = timer.setInterval(5, publish_timefromground)
timefromground_thread.start()
if ACC.error == True:
ignore_angle = True
try:
angle_thread.cancel()
except:
pass
acc_err_thread = timer.setInterval(.5, accel_disconnect)
acc_err_thread.start()
else:
angle_thread = timer.setInterval(0.25, publish_angle)
angle_thread.start()
def on_message(client, userdata, message):
global backup_listen, msg, topic
global angle_thread, acc_err_thread, timefromground_thread
msg = message.payload.decode("utf-8")
topic = message.topic
if backup_listen:
last_msg_timer.start()
# Keeps track of time from ground and height while connected
if topic == "time/fromground":
print('time received ', msg)
try:
HOIST.set_time(float(msg))
except:
pass
# Deals with Scenario 2 - original broker stays on
elif not backup_listen and (msg == "Switch to backup"
or msg == 'Upper Pi client disconnected'):
backup_listen = True
# Try to start publishing angle
if ACC.error == True:
ignore_angle = True
acc_err_thread = timer.setInterval(.5, accel_disconnect)
acc_err_thread.start()
else:
angle_thread = timer.setInterval(0.25, publish_angle)
angle_thread.start()
# stops listening for height
client.unsubscribe('height')
# Starts publishing time from ground
client.unsubscribe('time/fromground')
timefromground_thread = timer.setInterval(5, publish_timefromground)
timefromground_thread.start()
client.publish("status", "Backup Pi client connected")
def on_connect(client, userdata, flags, rc):
global altitude_thread
client.subscribe("altimeter/sealevelpressure")
altitude_thread = timer.setInterval(1.0, publish_all_alti)
altitude_thread.start()
print("connected")