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fix self and set_battery
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@DarioDelCs
DarioDelCs committed Jul 1, 2023
1 parent 2cdbad8 commit 3de0156
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Showing 2 changed files with 47 additions and 44 deletions.
4 changes: 2 additions & 2 deletions test_anomaly.py
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Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,7 @@
client = mqtt.Client()
client.connect(mqtt_address, mqtt_port, 60)
# Crea un mensaje JSON
mensaje = { "id_car": 1,
mensaje = { "id_car": 10,
"order": 1,
"route": 0}

Expand All @@ -28,7 +28,7 @@
client.publish("PTIN2023/CAR/STARTROUTE", mensaje_json)

# Crea un mensaje JSON
mensaje = { "id_car": 1,
mensaje = { "id_car": 10,
"hehe": 0}

mensaje["hehe"] = input("Escriu l'anomalia que vols testejar: ")
Expand Down
87 changes: 45 additions & 42 deletions virtualCar_anomaly.py
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Original file line number Diff line number Diff line change
Expand Up @@ -26,10 +26,14 @@
7 : "alert - possible avaria de camí o qualsevol situació anormal."
}

mqtt_address = os.environ.get('MQTT_ADDRESS')
mqtt_port = int(os.environ.get('MQTT_PORT'))
num_cars = int(os.environ.get('NUM_CARS'))
car_speed = int(os.environ.get('CAR_SPEED'))
mqtt_address = "147.83.159.195"
mqtt_port = 24183
num_cars = 10
car_speed = 10
#mqtt_address = os.environ.get('MQTT_ADDRESS')
#mqtt_port = int(os.environ.get('MQTT_PORT'))
#num_cars = int(os.environ.get('NUM_CARS'))
#car_speed = int(os.environ.get('CAR_SPEED'))

# ------------------------------------------------------------------------------ #

Expand Down Expand Up @@ -75,12 +79,12 @@ def move_car(self, angle, distance, battery_level, autonomy):
battery_usage = distance_traveled / 0.10 # Assuming the car uses 0.10 units of battery per meter

# Update the battery level
battery_level -= battery_usage
self.battery_level -= battery_usage

# Update the autonomy based on the distance traveled and the battery usage
autonomy -= distance_traveled / 100 * battery_level * 20
self.autonomy -= distance_traveled / 100 * self.battery_level * 20

stats = "CAR: %d | Battery level: %.2f | Autonomy: %.2f | " % (self.ID, battery_level, autonomy)
stats = "CAR: %d | Battery level: %.2f | Autonomy: %.2f | " % (self.ID, self.battery_level, self.autonomy)

# Send signal to the car to move in the appropriate direction based on the angle
if angle > math.pi/4 and angle < 3*math.pi/4:
Expand All @@ -99,7 +103,7 @@ def move_car(self, angle, distance, battery_level, autonomy):
# Turn right
print(stats + "Turning right")

return battery_level, autonomy
return self.battery_level, self.autonomy

def start_car(self):
x1, y1 = self.coordinates[0][1], self.coordinates[0][0]
Expand Down Expand Up @@ -141,7 +145,7 @@ def send_location(self, id, location, status, battery, autonomy):
},
"status_num": status,
"status": status_car[status],
"battery": battery,
"battery": self.battery_level,
"autonomy": autonomy}

# Code the JSON message as a string
Expand Down Expand Up @@ -197,8 +201,7 @@ def on_connect(self, client, userdata, flags, rc):
client.subscribe("PTIN2023/#")

def on_message(self, client, userdata, msg):

if msg.topic == "PTIN2023/CAR/STARTROUTE":
if msg.topic == "PTIN2023/CAR/STARTROUTE":

if(is_json(msg.payload.decode('utf-8'))):

Expand Down Expand Up @@ -267,14 +270,14 @@ def control(self):

if self.car_return:
# Anomalia bateria baixa (<10%, >5%)
if anomalia == "set_battery_10":
if self.anomalia == "set_battery_10":

battery = 10
anomalia_forcada = False
description = ("ATENCIÓ: Nivell de bateria baix, " + battery + "%. Accions: Retornant a la colmena...")
send_anomaly_report(self, self.ID, description)
self.battery_level = 10
self.anomalia_forcada = False
description = ("ATENCIÓ: Nivell de bateria baix, " + str(self.battery_level) + "%. Accions: Retornant a la colmena...")
self.send_anomaly_report(self.ID, description)
self.update_status(self.ID, 5)
self.start_dron()
self.start_car()

self.update_status(self.ID, 6)
self.start_coordinates = False
Expand All @@ -283,23 +286,23 @@ def control(self):
self.car_return = False

# Anomalia bateria baixa (<5%)
elif anomalia == "set_battery_5":
battery = 5
anomalia_forcada = False
description = ("CRÍTIC: Nivell de bateria baix, " + battery + "%. Accions: Buscant refugi de forma immediata...")
send_anomaly_report(self, self.ID, description)
elif self.anomalia == "set_battery_5":
self.battery_level = 5
self.anomalia_forcada = False
description = ("CRÍTIC: Nivell de bateria baix, " + str(self.battery_level) + "%. Accions: Buscant refugi de forma immediata...")
self.send_anomaly_report(self.ID, description)
self.update_status(self.ID, 8)
self.start_dron()
self.start_car()

self.update_status(self.ID, 6)
self.start_coordinates = False

self.coordinates = None
self.car_return = False

elif anomalia == "breakdown" or anomalia == "unncomunicate":
description = ("CRÍTIC: El Drone ha sofert un problema tècnic. Codi d'error: " + anomalia + ". Accions: Es requereix que un tècnic es desplaçi a l'útima localització del drone.")
send_anomaly_report(self, self.ID, description)
elif self.anomalia == "breakdown" or self.anomalia == "unncomunicate":
description = ("CRÍTIC: El Drone ha sofert un problema tècnic. Codi d'error: " + self.anomalia + ". Accions: Es requereix que un tècnic es desplaçi a l'útima localització del drone.")
self.send_anomaly_report(self.ID, description)

else:
# En proceso de descarga ~ 10s
Expand All @@ -312,14 +315,14 @@ def control(self):

else:
# Anomalia bateria baixa (<10%, >5%)
if anomalia == "set_battery_10":
if self.anomalia == "set_battery_10":

battery = 10
anomalia_forcada = False
description = ("ATENCIÓ: Nivell de bateria baix, " + battery + "%. Accions: Retornant a la colmena...")
send_anomaly_report(self, self.ID, description)
self.battery_level = 10
self.anomalia_forcada = False
description = ("ATENCIÓ: Nivell de bateria baix, " + str(self.battery_level) + "%. Accions: Retornant a la colmena...")
self.send_anomaly_report(self.ID, description)
self.update_status(self.ID, 5)
self.start_dron()
self.start_car()

self.update_status(self.ID, 6)
self.start_coordinates = False
Expand All @@ -328,23 +331,23 @@ def control(self):
self.car_return = False

# Anomalia bateria baixa (<5%)
elif anomalia == "set_battery_5":
battery = 5
anomalia_forcada = False
description = ("CRÍTIC: Nivell de bateria baix, " + battery + "%. Accions: Buscant refugi de forma immediata...")
send_anomaly_report(self, self.ID, description)
elif self.anomalia == "set_battery_5":
self.battery_level = 5
self.anomalia_forcada = False
description = ("CRÍTIC: Nivell de bateria baix, " + str(self.battery_level) + "%. Accions: Buscant refugi de forma immediata...")
self.send_anomaly_report(self.ID, description)
self.update_status(self.ID, 8)
self.start_dron()
self.start_car()

self.update_status(self.ID, 6)
self.start_coordinates = False

self.coordinates = None
self.car_return = False

elif anomalia == "breakdown" or anomalia == "unncomunicate":
description = ("CRÍTIC: El Drone ha sofert un problema tècnic. Codi d'error: " + anomalia + ". Accions: Es requereix que un tècnic es desplaçi a l'útima localització del drone.")
send_anomaly_report(self, self.ID, description)
elif self.anomalia == "breakdown" or self.anomalia == "unncomunicate":
description = ("CRÍTIC: El Drone ha sofert un problema tècnic. Codi d'error: " + self.anomalia + ". Accions: Es requereix que un tècnic es desplaçi a l'útima localització del drone.")
self.send_anomaly_report(self.ID, description)

else:
# En espera
Expand Down Expand Up @@ -394,7 +397,7 @@ def control(self):

threads = []

for i in range(1, num_cars+1):
for i in range(10, num_cars+1):
car = vcar(i)
API = Thread(target=car.start)
CTL = Thread(target=car.control)
Expand Down

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