Clean

Node-RED/svg.save

-  <g id="fanuc1">
-    <rect id="fanuc1"
-        x="1000" y="-2000"
-        style="fill:rosybrown;stroke:black;stroke-width:1px"  
-        width="1600" height="800" 
-        transform="matrix(1 0 0 1 -800 -400)"
-    />
-    <text id="fanuc1"
-        x="1000" y="-2000"
-        style="fill:black;font-family:Arial;font-size:350px" 
-        xml:space="preserve" 
-        transform="matrix(1 0 0 1 -600 0)">Fanuc 1
-    </text>
-  </g>
\ No newline at end of file

data_processing/computeDataFunc.py

-import json
-import numpy as np
-
-def compute2Point(P1,P2,offset):
-    centre = [(P2["x"] - P1["x"])/2 + P1["x"], (P2["y"] - P1["y"])/2 + P1["y"]]
-    v = [(P2["x"] - P1["x"]), P2["y"] - P1["y"]]
-    
-    theta = np.arctan2(v[0],v[1])
-    #print(theta*180/np.pi)
-    #vecteur = [v[0] * np.cos(theta) - v[1]*np.sin(theta),v[0] * np.cos(theta) + v[1]*np.sin(theta)]
-    #centre.append(np.arctan2(vecteur[0],vecteur[1])*(180/np.pi))
-    #centre.append(vecteur)
-    centre.append((theta*180/np.pi) - offset)
-    
-    #print("angle = ",centre[2])
-    return centre
-
-def getDataPos(client,org,tag : str):
-    dataPos = {}
-    query = f'''from(bucket: "SAC40")
-                    |> range(start: -1m, stop: now())
-                    |> filter(fn: (r) => r["_measurement"] == "Position")
-                    |> filter(fn: (r) => r["TAG_ID"] == "{tag}")
-                    |> filter(fn: (r) => r["_field"] == "json")
-                    |> aggregateWindow(every: 10m, fn: last, createEmpty: false)
-                    |> yield(name: "last")'''
-    #print(query)
-    tables = client.query_api().query(query, org)
-    for table in tables:
-        for row in table.records:
-            dataPos = json.loads(row.values["_value"])
-    #print(dataPos)
-    return dataPos
\ No newline at end of file

data_processing/jsCompute.js

-// def compute2Point(P1,P2,offset):
-//     centre = [(P2["x"] - P1["x"])/2 + P1["x"], (P2["y"] - P1["y"])/2 + P1["y"]]
-//     v = [(P2["x"] - P1["x"]), P2["y"] - P1["y"]]
-    
-//     theta = np.arctan2(v[0],v[1])
-//     #print(theta*180/np.pi)
-//     vecteur = [v[0] * np.cos(theta) - v[1]*np.sin(theta),v[0] * np.cos(theta) + v[1]*np.sin(theta)]
-//     #centre.append(np.arctan2(vecteur[0],vecteur[1])*(180/np.pi))
-//     #centre.append(vecteur)
-//     centre.append((theta*180/np.pi) - offset)
-    
-//     #print("angle = ",centre[2])
-//     return centre
+const config = global.get("config") || [];
 
+
+function compute2Point(P1, P2, alpha) {
+    var centre = [(P2.x - P1.x) / 2 + P1.x, (P2.y - P1.y) / 2 + P1.y, 0];
+    var theta = Math.atan((P2.x - P1.x), P2.y - P1.y);
+    centre[2] = (theta * 180) / Math.PI;
+    return centre;
+}
+
+function logArrayElements(element, index, array) {
+
+    var P1 = flow.get(element.TAG_1);
+    var P2 = flow.get(element.TAG_2);
+    var centre = compute2Point(P1, P2, element.alpha);
+
+    var res = {};
+    res.id = element.Ressource;
+    res.x = centre[0];
+    res.y = centre[1];
+    res.a = centre[2];
+    res.quality = Math.min(P1.quality, P1.quality);
+
+    msg.topic = "/AIP/RESSOURCES/" + element.Ressource;
+    msg.payload = res;
+    node.send(msg);
+    node.done();
+}
+
+config.forEach(logArrayElements);
\ No newline at end of file

data_processing/mainProcess.py

-#!/usr/bin/env python
-from mqtt_client import MyMQTTClass 
-from computeDataFunc import *
-from multiprocessing import Process
-import asyncio,json
-import numpy as np
-
-
-f = open('/home/pi/aip_sac4.0/bindData.json', 'r')
-listeLine = f.read().splitlines()
-
-config = []
-
-for i in listeLine:
-    config.append(json.loads(i))
-
-MQTT_listener = []
-ThreadList = []
-
-for ressource in config:
-    #print(ressource)
-    i = 0
-    MQTT_listener.append(MyMQTTClass())
-    ThreadList.append(Process(target = MQTT_listener[0].run,args=(ressource["Ressource"],ressource["TAG_1"],ressource["TAG_2"],ressource["alpha"])))
-    i = i + 1
-
-
-if __name__ == "__main__":
-    for i in ThreadList:
-        i.start()
-    for i in ThreadList:
-        i.join()
\ No newline at end of file

data_processing/mqtt_client.py

-#!/usr/bin/env python
-from computeDataFunc import *
-from paho.mqtt import client as mqtt
-
-
-class MyMQTTClass(mqtt.Client):
-
-    def on_connect(self, mqttc, obj, flags, rc):
-        #print("rc: "+str(rc))
-        self.subscribe("/AIP/DWM/" + self.ID1, 0)
-        self.subscribe("/AIP/DWM/" + self.ID2, 1)
-        self.pos1 = {}
-        self.pos2 = {}
-        self.i = 0
-
-    # def on_connect_fail(self, mqttc, obj):
-    #     print("Connect failed")
-
-    def on_message(self, mqttc, obj, msg):
-        #print(str(msg.payload))
-        pos = (json.loads(msg.payload))
-        if(pos["id"] == self.ID1):
-            self.pos1 = pos
-            self.i = self.i + 1
-        elif(pos["id"] == self.ID2):
-            self.pos2 = pos
-            self.i = self.i + 1
-
-            
-    # def on_publish(self, mqttc, obj, mid):
-    #     print("mid: "+str(mid))
-
-    #def on_subscribe(self, mqttc, obj, mid, granted_qos):
-    #    print("Subscribed: "+str(mid)+" "+str(granted_qos))
-
-    # def on_log(self, mqttc, obj, level, string):
-    #     print(string)
-
-    def run(self,res:str,ID1:str,ID2:str,alpha:float):
-        self.connect("127.0.0.1", 1883, 60)
-        self.ID1 = ID1
-        self.ID2 = ID2
-        self.ressource = res
-        self.alpha = alpha
-
-        rc = 0
-        while rc == 0:
-            rc = self.loop()
-            #print(len(self.data))
-            if(self.pos1 != {} and self.pos2 != {} and self.i > 2):
-                print(self.pos1)
-                print(self.pos2)
-                c = compute2Point(self.pos1,self.pos2,self.alpha)
-                #print("Angle : ",c[2])
-                tmp =      {  "seat"        : 0,
-                                "id"        : self.ressource,
-                                "x"         : c[0],
-                                "y"         : c[1],
-                                "a"         : c[2],
-                                "quality"   : 100}
-                print(tmp)
-                self.publish("/AIP/RESSOURCES/" + self.ressource,json.dumps(tmp),0,True)
-                self.i = 0
-        return rc
-
-if __name__ == '__main__':
-    mqttc = MyMQTTClass()
-    rc = mqttc.run("FANUC1","43A0","2CE5")
-
-
-#print("rc: "+str(rc))