Added functions to main.py and broker_functions.py--on_connect() takes no arguments

Author: Juliana Mashon

api_functions.py

@@ -28,10 +28,11 @@ def set_info(self, endpoint, field, value, id=None):
     def env(self, id=None, field=None, new_val=None):
         if id is None:
             data = self.api_connect.get('farmware_envs', id=None)
-            print(data)
+            print(data) # ?
         else:
             data = self.api_connect.get('farmware_envs', id)
-            print(data)
+            print(data) # ?
+        # return ...
 
     def log(self, message, type=None, channel=None):
         log_message = {

broker_connect.py

@@ -46,10 +46,10 @@ def on_connect(self, *_args):
         self.client.subscribe(f"bot/{self.token['token']['unencoded']['bot']}/#")
 
     def on_message(self, _client, _userdata, msg):
-        print('-'*100)
-        # Print channel
-        print(f"Channel: {msg.topic} ({datetime.now().strftime("%Y-%m-%d %H:%M:%S")})\n")
-        # Print message
+        print('-' * 100)
+        # print channel
+        print(f'{msg.topic} ({datetime.now().strftime("%Y-%m-%d %H:%M:%S")})\n')
+        # print message
         print(json.dumps(json.loads(msg.payload), indent=4))
 
     def listen(self):

broker_functions.py

@@ -146,10 +146,6 @@ def shutdown(self):
     def calibrate_camera(self):
         calibrate_message = {
             **RPC_REQUEST,
-            "args": {
-                "label": "3fcd2d32-302b-46c9-9448-b4f30c3a9bb1",
-                "priority": 600
-            },
             "body": {
                 "kind": "execute_script",
                 "args": {
@@ -169,6 +165,19 @@ def calibrate_camera(self):
         # return ...
 
     # photo_grid() --> sequence (broker message)
+    def photo_grid(self):
+        photo_grid_message = {
+            **RPC_REQUEST,
+            "body": {
+                "kind": "execute",
+                "args": {
+                    "sequence_id": 24372
+                }
+            }
+        }
+
+        self.broker_connect.publish(photo_grid_message)
+        # return ...
 
     def control_servo(self, pin, angle):
         if angle < 0 or angle > 180:
@@ -379,15 +388,8 @@ def axis_length(self, axis='all'):
     def mount_tool(self, x, y, z):
         mount_tool_message = {
             **RPC_REQUEST,
-            "args": {
-                "label": "6a6b10a6-46a8-4b97-8b66-c55021c02bbd",
-                "priority": 600
-            },
             "body": {
                 "kind": "execute",
-                "args": {
-                    "sequence_id": 24350
-                },
                 "body": {
                     "kind": "parameter_application",
                     "args": {
@@ -422,7 +424,7 @@ def mount_tool(self, x, y, z):
     # lua() --> sequence (broker message)
     # if_statement() --> sequence (broker message)
 
-    def assertion(self, code, type, id=''):
+    def assertion(self, code, as_type, id=''):
         assertion_message = {
             **RPC_REQUEST,
             "body": {
@@ -435,7 +437,7 @@ def assertion(self, code, type, id=''):
                             "sequence_id": id # Recovery sequence ID
                         }
                     },
-                    "assertion_type": type # If test fails, do this
+                    "assertion_type": as_type # If test fails, do this
                 }
             }
         }

main.py

@@ -28,18 +28,95 @@ def get_info(self, endpoint, id=None):
     def set_info(self, endpoint, field, value, id=None):
         return self.api.set_info(endpoint, field, value, id)
 
-    def connect(self):
-        self.broker.broker_connect.connect()
+    def env(self, id=None, field=None, new_val=None):
+        return self.api.env(id, field, new_val)
+    
+    def log(self, message, type=None, channel=None):
+        return self.api.log(message, type, channel)
+    
+    def safe_z(self):
+        return self.api.safe_z()
+    
+    def garden_size(self):
+        return self.api.garden_size()
+    
+    def group(self, id):
+        return self.api.group(id)
+    
+    def curve(self, id):
+        return self.api.curve(id)
+    
+    def read_status(self):
+        return self.broker.read_status()
+    
+    def read_sensor(self, id, mode, label='---'):
+        return self.broker.read_sensor(id, mode, label)
+    
+    def message(self, message, type=None, channel=None):
+        return self.broker.message(message, type, channel)
 
-    def disconnect(self):
-        self.broker.broker_connect.disconnect()
-        return print("Disconnected from message broker.")
+    def debug(self, message):
+        return self.broker.debug(message)
 
-    def on(self, id):
-        self.broker.on(id)
+    def toast(self, message):
+        return self.broker.toast(message)
+
+    def wait(self, time):
+        return self.broker.wait(time)
+
+    def e_stop(self):
+        return self.broker.e_stop()
+
+    def unlock(self):
+        return self.broker.unlock()
+
+    def reboot(self):
+        return self.broker.reboot()
+
+    def shutdown(self):
+        return self.broker.shutdown()
+
+    def calibrate_camera(self):
+        return self.broker.calibrate_camera()
+
+    def control_servo(self, pin, angle):
+        return self.broker.control_servo(pin, angle)
+
+    def control_peripheral(self, id, value, mode=None):
+        return self.broker.control_peripheral(id, value, mode)
 
     def toggle_peripheral(self, id):
-        self.broker.toggle_peripheral(id)
+        return self.broker.toggle_peripheral(id)
+
+    def on(self, id):
+        return self.broker.on(id)
+
+    def off(self, id):
+        return self.broker.off(id)
+
+    def take_photo(self):
+        return self.broker.take_photo()
+
+    def soil_height(self):
+        return self.broker.soil_height()
+
+    def detect_weeds(self):
+        return self.broker.detect_weeds()
+
+    def move(self, x, y, z):
+        return self.broker.move(x, y, z)
+
+    def set_home(self, axis='all'):
+        return self.broker.set_home(axis)
+
+    def find_home(self, axis='all', speed=100):
+        return self.broker.find_home(axis, speed)
+
+    def axis_length(self, axis='all'):
+        return self.broker.axis_length(axis)
+
+    def mount_tool(self, x, y, z):
+        return self.broker.mount_tool(x, y, z)
 
-    def listen(self):
-        self.broker.broker_connect.listen()
+    def assertion(self, code, as_type, id=''):
+        return self.broker.assertion(code, as_type, id)