Fixed last will message for API

Some preparations for new feautures

CaSSAndRA/app.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 
-#Version:0.118.0 Add move command to api
+#Version:0.119.0 Fixed Last will message in API, some preparations for new feautures
 # package imports
 import os
 import sys

CaSSAndRA/src/backend/backendserver.py

@@ -250,21 +250,19 @@ def start(file_paths) -> None:
             cfg = cfg = dict(CLIENT_ID=cfgdata.commcfg.api_mqtt_client_id, USERNAME=cfgdata.commcfg.api_mqtt_username, PASSWORD=cfgdata.commcfg.api_mqtt_pass,
                              MQTT_SERVER=cfgdata.commcfg.api_mqtt_server, PORT=cfgdata.commcfg.api_mqtt_port, NAME=cfgdata.commcfg.api_mqtt_cassandra_server_name)
             mqttapi.create(cfg, topics)
-            mqttapi.client.will_set(mqttapi.mqtt_mower_name+'/status', payload='offline', retain=True)
             mqttapi.connect()
             connection_start = datetime.now()
             while mqttapi.client.connection_flag != True:
                 time.sleep(0.1)
                 if (datetime.now()-connection_start).seconds >10:
                     break
             if mqttapi.client.connection_flag:
-                mqttapi.client.publish(cfgdata.commcfg.api_mqtt_cassandra_server_name+'/status', 'boot')
+                mqttapi.client.publish(mqttapi.mqtt_mower_name+'/status', 'boot')
                 logger.info('Starting API thread')
                 api_thread = threading.Thread(target=api, args=(restart,), name='api')
                 api_thread.setDaemon(True)
                 api_thread.start()
                 logger.info('API successful created')
-
     if cfgdata.commcfg.message_service != None:
         if cfgdata.commcfg.message_service == 'Telegram':
             messageservice.telegram_token = cfgdata.commcfg.telegram_token

CaSSAndRA/src/backend/comm/api.py

@@ -289,8 +289,7 @@ def perform_tasks_cmd(self, buffer: dict) -> None:
                         current_map.calculating = True
                         path.calc_task(current_task.subtasks, current_task.subtasks_parameters)
                         current_map.calculating = False
-                        current_map.mowpath = current_map.preview
-                        current_map.mowpath['type'] = 'way'
+                        current_map.calc_route_mowpath()
                         cmdlist.cmd_take_map = True
             except Exception as e:
                 logger.info(f'No valid value in api message found. Allowed values: {allowed_values}. Aborting')
@@ -347,8 +346,7 @@ def perform_mow_cmd(self) -> None:
                 current_map.calculating = True
                 path.calc_task(current_task.subtasks, current_task.subtasks_parameters)
                 current_map.calculating = False
-                current_map.mowpath = current_map.preview
-                current_map.mowpath['type'] = 'way'
+                current_map.calc_route_mowpath()
                 cmdlist.cmd_mow = True
             else:
                 logger.info(f'No selected tasks found')
@@ -362,8 +360,7 @@ def perform_mow_cmd(self) -> None:
                 current_map.areatomow = round(current_map.selected_perimeter.area)
                 current_map.calc_route_preview(route) 
             current_map.calculating = False
-            current_map.mowpath = current_map.preview
-            current_map.mowpath['type'] = 'way'
+            current_map.calc_route_mowpath()
             cmdlist.cmd_mow = True
         elif self.value == 'selection':
             if 'selection' in self.mapstate:
@@ -376,8 +373,7 @@ def perform_mow_cmd(self) -> None:
                     current_map.calc_route_preview(route)
                     current_map.areatomow = round(current_map.selected_perimeter.area)
                 current_map.calculating = False
-                current_map.mowpath = current_map.preview
-                current_map.mowpath['type'] = 'way'
+                current_map.calc_route_mowpath()
                 cmdlist.cmd_mow = True
             else:
                 logger.info(f'No selection found')

CaSSAndRA/src/backend/comm/connections.py

@@ -43,12 +43,14 @@ def create(self, cfg: dict, topics: dict) -> None:
 
     def disconnect(self) -> None:
         logger.info('Disconnecting')
+        self.client.publish(self.mqtt_mower_name+'/status', 'offline')
         self.client.disconnect()
 
     def connect(self) -> None:
         self.client.on_connect = self.on_connect
         self.client.on_disconnect = self.on_disconnect
         try:
+            self.client.will_set(f'{self.mqtt_mower_name}/status', payload='offline', qos=0, retain=False)
             self.client.connect(self.mqtt_server, self.mqtt_port, keepalive=60)
             logger.info('Connecting...')
         except Exception as e:
@@ -67,7 +69,7 @@ def on_connect(self, client, userdata, flags, rc):
             client.connection_flag = False
 
     def on_disconnect(self, client, userdata, rc):
-        logger.warning('MQTT connection lost, reconnecting...')
+        logger.warning('MQTT connection disconnected')
         logger.info(f"Disconnecting reason: {rc}")
         self.client.connection_flag = False
 

CaSSAndRA/src/backend/data/appdata.py

@@ -1,4 +1,4 @@
 import logging
 logger = logging.getLogger(__name__)
 
-version = '0.118.0'
+version = '0.119.0'

CaSSAndRA/src/backend/data/mapdata.py

@@ -33,6 +33,7 @@ class Perimeter:
     gotopoints: pd.DataFrame = field(default_factory=lambda: pd.DataFrame())
     gotopoint: pd.DataFrame = field(default_factory=lambda: pd.DataFrame())
     mowpath: pd.DataFrame = field(default_factory=lambda: pd.DataFrame())
+    mowpathId: str = None
     preview: pd.DataFrame = field(default_factory=lambda: pd.DataFrame())
     previewId: str = None
     obstacles: pd.DataFrame = field(default_factory=lambda: pd.DataFrame())
@@ -226,19 +227,26 @@ def create(self, name: str) -> None:
         self.preview = pd.DataFrame()
         self.mowpath = pd.DataFrame()
         self.obstacles = pd.DataFrame()
-        self.map_id = str(uuid.uuid4())
         self.create_perimeter_polygon()
         self.create_perimeter_for_plot()
         self.create_points_from_polygon()
         self.create_go_to_points()
         self.create_networkx_graph()
         self.save_map_name()
+        self.map_id = str(uuid.uuid4())
+        self.previewId = str(uuid.uuid4())
+        self.mowpathId = str(uuid.uuid4())
 
     def calc_route_preview(self, route: list) -> None:
         self.preview = pd.DataFrame(route)
         self.preview.columns = ['X', 'Y']
         self.preview['type'] = 'preview route'
         self.previewId = str(uuid.uuid4())
+
+    def calc_route_mowpath(self) -> None:
+        self.mowpath = self.preview
+        self.mowpath['type'] = 'way'
+        self.mowpathId = str(uuid.uuid4())
 
     def read_map_name(self) -> str:
         try:

CaSSAndRA/src/backend/data/scheduledata.py

@@ -118,8 +118,7 @@ def create_start_cmd(self) -> None:
                 current_map.calculating = True
                 path.calc_task(tasks_order_table[self.dayweek].subtasks, tasks_order_table[self.dayweek].subtasks_parameters)
                 current_map.calculating = False
-                current_map.mowpath = current_map.preview
-                current_map.mowpath['type'] = 'way'
+                current_map.calc_route_mowpath()
                 cmdlist.cmd_mow = True
                 self.job_started = True
             else:

CaSSAndRA/src/components/state/buttongroupcontrol.py

@@ -109,8 +109,7 @@ def perfom_cmd(n_clicks_bgo: int,
         if active_bh:
             cmdlist.cmd_dock = True
         elif active_bma:
-            current_map.mowpath = current_map.preview
-            current_map.mowpath['type'] = 'way'
+            current_map.calc_route_mowpath()
             cmdlist.cmd_mow = True
         elif active_bss:
             current_map.task_progress = 0
@@ -119,8 +118,7 @@ def perfom_cmd(n_clicks_bgo: int,
             if len(current_task.subtasks['name'].unique()) == 1:
                 saveddata.update_task_preview(tasks.saved, current_map.preview)
             current_map.calculating = False
-            current_map.mowpath = current_map.preview
-            current_map.mowpath['type'] = 'way'
+            current_map.calc_route_mowpath()
             cmdlist.cmd_mow = True
         elif active_bgt:
             cmdlist.cmd_goto = True

CaSSAndRA/src/components/tasks/buttons.py

@@ -43,8 +43,7 @@ def start_selected_tasks_order(bsst_nclicks: int) -> bool:
         if len(current_task.subtasks['name'].unique()) == 1:
             saveddata.update_task_preview(tasks.saved, current_map.preview)
         current_map.calculating = False
-        current_map.mowpath = current_map.preview
-        current_map.mowpath['type'] = 'way'
+        current_map.calc_route_mowpath()
         cmdlist.cmd_mow = True
     return False
 
@@ -59,8 +58,7 @@ def load_selected_tasks_order(blsto_nclicks: int) -> bool:
         if len(current_task.subtasks['name'].unique()) == 1:
             saveddata.update_task_preview(tasks.saved, current_map.preview)
         current_map.calculating = False
-        current_map.mowpath = current_map.preview
-        current_map.mowpath['type'] = 'way'
+        current_map.calc_route_mowpath()
         cmdlist.cmd_take_map = True
     return False