Robobot SVN version 1179

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Update note

What to do

• Changes to the "mqtt-client" are detailed to allow for a selective merge with your version.

 Updated original version is available in SVN repository.

• For other changes, follow the hhh

Changes in mqtt-client

• mqtt client do no longer listen to start button (now reserved for ip_disp, that starts the mqtt-client)
• new check to see if mqtt-client is running already
• stop button now functional

In mqtt-client.py

• line 44 setproctitle("mqtt-client") moved to __main__

• __main__ (end of file) is modified to

  if __name__ == "__main__":
   if service.process_running("mqtt-client"):
     print("% mqtt-client is already running - terminating")
     print("%   if it is partially crashed in the background, then try:")
     print("%     pkill mqtt-client")
     print("%   or, if that fails use the most brutal kill")
     print("%     pkill -9 mqtt-client")
   else:
     # set title of process, so that it is not just called Python
     setproctitle("mqtt-client")
     print("% Starting")
     # where is the MQTT data server:
     service.setup('localhost') # localhost
     if service.connected:
       loop()
     service.terminate()
   print("% Main Terminated")

• The press start button test is removed in the loop() function near "if state == 0:"

   e.g. change
     start = gpio.start() or service.args.now
   to
     start = True
   
   

In uservice.py

• importing psutil
• the runAlive function is modified to test stop button every 50ms, as

   def runAlive(self):
       loop = 0;
       while not self.stop:
       # tell interface that we are alive
       if loop % 10 == 0:
           service.send(service.topicCmd + "ti/alive",str(service.startTime))
           # print(f"% sent Alive {datetime.now()}")
       if gpio.test_stop_button():
           self.terminate()
       t.sleep(0.05)
       loop += 1
       

• A new function to test if a process is running is added:

   def process_running(self, process_name):
       for process in psutil.process_iter(['pid', 'name']):
       if process.info['name'] == process_name:
           return True
       return False
       

• better shut-down when pressing stop.

   sends (in function "def terminate(self)":
     ...
     edge.lineControl(0, 0) # make sure line control is off
     service.send(service.topicCmd + "ti/rc","0 0") # stop robot control loop
     service.send(service.topicCmd + "T0/stop","") # should not be needed

In sgpio.py

• removed all references to gpio13 (the start button)
• removed the "def start(self):" function
• renamed the "def stop(self):" function to "def test_stop_button(self):"

In ulog.py

• In the three functions starting with "def write..." a new test is added to avoid a crash during shutdown

   from uservice import service
   if not service.stop:
     # do the write
     ...

ip_disp

• listening to pin 13 only
• turning on LED 16 as red when start is pressed