Add counter, MQTT

config.yml

@@ -5,6 +5,10 @@ core:
   server: Hyper-Vd
   loopspeed: 60 # fps
 
+mqtt:
+  enabled: True
+  server: 172.31.108.4
+
 arm:
   ip: 192.168.1.145
   tool:

jukebox-web

@@ -1 +1 @@
-Subproject commit 4b5cb19bd87a8aa1f3b43962e54c0336247cb291
+Subproject commit 08eebd400b752488527f917e1b05a11931b1fbba

led_control.py

@@ -471,7 +471,7 @@ class LEDSystem():
                 if not self.showtoggle:
                     self.changecount = self.fadeorder(self.rings[ring][2],self.rings[ring][2]+24, self.changecount, 0,100,0)
                 else:
-                    self.changecount = self.fadeorder(self.rings[ring][2],self.rings[ring][2]+24, self.changecount, 0,50,100)
+                    self.changecount = self.fadeorder(self.rings[ring][2],self.rings[ring][2]+24, self.changecount, 100,20,100)
             else:
                 self.changecount = self.animation_time / 2 # 100hz
                 self.showtoggle = not self.showtoggle

pick_count.pkl

@@ -0,0 +1 @@
+<EFBFBD>K7.

requirements.txt

@@ -22,6 +22,7 @@ ghostscript
 pyzbar
 segno
 pyModbusTCP
+paho-mqtt
 
 # Development
 matplotlib

run.py

@@ -30,6 +30,8 @@ from search import JukeboxSearch
 from pyModbusTCP.client import ModbusClient
 from uptime import uptime
 import fileserver
+import paho.mqtt.client as mqtt
+import pickle
 
 # set to false to run without real hardware for development
 real = False
@@ -74,6 +76,13 @@ arm_position_process = None
 start_animation = False
 failcount = 0
 timecount = 0
+secondsclock = 0
+unacked_publish = set()
+mqttc = mqtt.Client(mqtt.CallbackAPIVersion.VERSION2)
+counter_file = 'pick_count.pkl'
+
+
+mqttc.user_data_set(unacked_publish)
 
 def arm_start_callback(res):
     fprint("Arm action complete.")
@@ -121,6 +130,28 @@ def send_data(type, call, data, client_id="*"):
     out["data"] = data
     to_server_queue.put((client_id, json.dumps(out)))    
 
+def initialize_counter():
+    global counter
+    try:
+        with open(counter_file, 'rb') as file:
+            counter = pickle.load(file)
+            if not isinstance(counter, int):
+                raise ValueError("Counter is not an integer")
+    except (FileNotFoundError, ValueError, pickle.PickleError):
+        counter = 101
+        save_counter()
+
+# Save the counter to the file
+def save_counter():
+    with open(counter_file, 'wb') as file:
+        pickle.dump(counter, file)
+
+# Increment the counter
+def increment_counter():
+    global counter
+    counter += 1
+    save_counter()
+
 def check_server():
         #print("HI")
     global cable_list
@@ -455,11 +486,36 @@ def setup_server(pool, manager):
     fprint("Starting websocket server...", sendqueue=to_server_queue)
     websocket_process = server.start_websocket_server(to_server_queue, from_server_queue)
     
-    fprint("Starting image file server...", sendqueue=to_server_queue)
+    fprint("Starting file server...", sendqueue=to_server_queue)
     image_server_process = Process(target=fileserver.run_server, args=(config["cables"]["port"], config["cables"]["directory"]))
     image_server_process.start()
+
+    if config["mqtt"]["enabled"]:
+        global mqttc
+        global unacked_publish
+        mqttc.on_publish = on_publish
+
+        mqttc.user_data_set(unacked_publish)
+        mqttc.connect(config["mqtt"]["server"])
+        mqttc.loop_start()
+    
+    initialize_counter()
+
     return True
 
+def mqtt_send(msg, name):
+    global config
+    if config["mqtt"]["enabled"]:
+        global mqttc
+        global unacked_publish
+        msg_info = mqttc.publish("jukebox/" + name, msg, qos=1)
+        unacked_publish.add(msg_info.mid)
+        while len(unacked_publish):
+            sleep(0.01)
+
+            # Due to race-condition described above, the following way to wait for all publish is safer
+        msg_info.wait_for_publish()
+        
 def handle_error(error):
 	print(error, flush=True)
 
@@ -518,6 +574,24 @@ def get_open_spot(sensordata):
     return False
     
 
+def on_publish(client, userdata, mid, reason_code, properties):
+    # reason_code and properties will only be present in MQTTv5. It's always unset in MQTTv3
+    try:
+        userdata.remove(mid)
+    except KeyError:
+        print("on_publish() is called with a mid not present in unacked_publish")
+        print("This is due to an unavoidable race-condition:")
+        print("* publish() return the mid of the message sent.")
+        print("* mid from publish() is added to unacked_publish by the main thread")
+        print("* on_publish() is called by the loop_start thread")
+        print("While unlikely (because on_publish() will be called after a network round-trip),")
+        print(" this is a race-condition that COULD happen")
+        print("")
+        print("The best solution to avoid race-condition is using the msg_info from publish()")
+        print("We could also try using a list of acknowledged mid rather than removing from pending list,")
+        print("but remember that mid could be re-used !")
+
+
 def mainloop_server(pool, manager):
     # NON-blocking loop
     global real
@@ -548,10 +622,12 @@ def mainloop_server(pool, manager):
     global start_animation
     global failcount
     global timecount
+    global secondsclock
 
     if mode != oldmode:
         print(" ***** Running mode:", mode, "***** ")
         oldmode = mode
+        mqtt_send(mode, "mode")
         if mode == "Startup": # very first loop
             pass
 
@@ -561,8 +637,10 @@ def mainloop_server(pool, manager):
     # check for messages
     check_server()
 
+    
     # do every loop!
     checkpoint = None
+    val = None
     if not arm_updates.empty():
         val = arm_updates.get()
         
@@ -610,6 +688,16 @@ def mainloop_server(pool, manager):
         else:
             pass
 
+    # every 1 second
+    if secondsclock >= config["core"]["loopspeed"]:
+        secondsclock = 1
+        
+
+
+
+
+    else:
+        secondsclock += 1
     # if start_animation is False and ring_animation is not None and ledsys.mode != "Idle" and real:
     #     ledsys.mainloop(None, ring_animation, arm_position=arm_position)
 
@@ -801,7 +889,9 @@ def mainloop_server(pool, manager):
                     killme.set(1)
                 else:
                     fprint("Movement requested. Keep clear of the machine!")
-
+                    mqtt_send("start", "cycle_start")
+                    increment_counter()
+                    mqtt_send(counter, "pick_count_total")
                     if get_cable > -1:
                         global sensors
                         if action == "pickup":
@@ -838,7 +928,7 @@ def mainloop_server(pool, manager):
         # complete
         if arm_ready == True:
             mode = "Idle"
-            
+            mqtt_send("start", "cycle_end")
         else:
             # getting cable and bringing to tray
             # led animation