- Better app response to user selection. New temporarly states:

(resume, map upload, stop etc)
- New api values battery voltage and electric current
- Bug fix in geojson export

CaSSAndRA/app.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 
-#Version:0.111.0 New stats added in 1.0.321 fw
+#Version:0.112.0 Better app response to user select. New api values. Buf fix in json export in mobile app
 # package imports
 import os
 import sys

CaSSAndRA/src/backend/comm/api.py

@@ -37,7 +37,7 @@ def create_api_payload(self) -> None:
     def create_robot_payload(self) -> None:
         self.robotstate['status'] = robot.status
         self.robotstate['dockReason'] = robot.dock_reason
-        self.robotstate['battery'] = robot.soc
+        self.robotstate['battery'] = dict(soc=robot.soc, voltage=robot.battery_voltage, electricCurrent=robot.amps)
         self.robotstate['position'] = dict(x=robot.position_x, y=robot.position_y)
         self.robotstate['target'] = dict(x=robot.target_x, y=robot.target_y) 
         self.robotstate_json = json.dumps(self.robotstate)

CaSSAndRA/src/backend/comm/cmdtorover.py

@@ -3,13 +3,17 @@
 
 import numpy as np
 import pandas as pd
+from datetime import datetime
 
 from .. data.mapdata import current_map
 from .. data.roverdata import robot
 from .. data.cfgdata import rovercfg
 from . import cmdlist
 
 def takemap(perimeter: pd.DataFrame, way: pd.DataFrame, dock: bool) -> pd.DataFrame:
+    robot.status_timestamp = datetime.now()
+    robot.status = 'map upload'
+    robot.status_tmp = 'map upload'
     perimeter = perimeter[perimeter['type'] != 'search wire']
     logger.info('Backend: Prepare map and way data for transmition')
 
@@ -63,6 +67,9 @@ def takemap(perimeter: pd.DataFrame, way: pd.DataFrame, dock: bool) -> pd.DataFr
     return buffer
 
 def move(movement: list) -> pd.DataFrame:
+    robot.status_tmp_timestamp = datetime.now()
+    robot.status = 'move'
+    robot.status_tmp = 'move'
     if movement[0] !=0 or movement[1] != 0:
         msg = {'msg': 'AT+M,'+str(movement[0])+','+str(movement[1])}
         buffer = pd.DataFrame([msg])
@@ -76,48 +83,77 @@ def move(movement: list) -> pd.DataFrame:
         return buffer
 
 def goto() -> pd.DataFrame:
+    robot.status_tmp_timestamp = datetime.now()
+    robot.status = 'transit'
+    robot.status_tmp = 'transit'
     msg = {'msg': 'AT+C,0,1,'+str(rovercfg.gotospeed_setpoint)+','+str(rovercfg.fix_timeout)+',0,-1,-1,-1'}
     buffer = pd.DataFrame([msg])
     logger.debug('Backend: Command goto is prepared')
     cmdlist.cmd_goto = False
     return buffer
 
 def stop():
+    robot.status_tmp_timestamp = datetime.now()
+    robot.status = 'stop'
+    robot.status_tmp = 'stop'
     msg = {'msg': 'AT+C,0,0,-1,-1,-1,-1,-1,-1'}
     buffer = pd.DataFrame([msg])
     logger.debug('Backend: Command stop is prepared')
     cmdlist.cmd_stop = False
     return buffer
 
 def dock() -> pd.DataFrame:
+    robot.status_tmp_timestamp = datetime.now()
+    robot.status = 'docking'
+    robot.status_tmp = 'docking'
     msg = {'msg': 'AT+C,0,4,-1,-1,-1,-1,-1,-1'}
     buffer = pd.DataFrame([msg])
     logger.debug('Backend: Command dock is prepared')
     cmdlist.cmd_dock = False
     return buffer
 
 def mow() -> pd.DataFrame:
+    robot.status_tmp_timestamp = datetime.now()
+    robot.status = 'mow'
+    robot.status_tmp = 'mow'
     msg = {'msg': 'AT+C,1,1,'+str(rovercfg.mowspeed_setpoint)+','+str(rovercfg.fix_timeout)+',-1,-1,-1,-1'}
     buffer = pd.DataFrame([msg])
     logger.debug('Backend: Command start is prepared')
     cmdlist.cmd_mow = False
     return buffer
 
+def resume() -> pd.DataFrame:
+    robot.status_tmp_timestamp = datetime.now()
+    robot.status_tmp = 'resume'
+    buffer = robot.last_cmd
+    logger.debug('Backend: Command resume is prepared')
+    cmdlist.cmd_resume = False
+    return buffer
+
 def shutdown() -> pd.DataFrame:
+    robot.status_tmp_timestamp = datetime.now()
+    robot.status = 'shutdown'
+    robot.status_tmp = 'shutdown'
     msg = {'msg': 'AT+Y3'}
     buffer = pd.DataFrame([msg])
     logger.debug('Backend: Command shutdown is preapred')
     cmdlist.cmd_shutdown = False
     return buffer
 
 def reboot() -> pd.DataFrame:
+    robot.status_tmp_timestamp = datetime.now()
+    robot.status = 'reboot'
+    robot.status_tmp = 'reboot'
     msg = {'msg': 'AT+Y'}
     buffer = pd.DataFrame([msg])
     logger.debug('Backend: Command reboot is prepared')
     cmdlist.cmd_reboot = False
     return buffer
 
 def gpsreboot() -> pd.DataFrame:
+    robot.status_tmp_timestamp = datetime.now()
+    robot.status = 'gps reboot'
+    robot.status_tmp = 'gps reboot'
     msg = {'msg': 'AT+Y2'}
     buffer = pd.DataFrame([msg])
     logger.debug('Backend: Command GPS reboot is prepared')
@@ -156,6 +192,9 @@ def changespeed(new_speed: float) -> pd.DataFrame:
     return buffer
 
 def skipnextpoint() -> pd.DataFrame:
+    robot.status_tmp_timestamp = datetime.now()
+    robot.status = 'skip point'
+    robot.status_tmp = 'skip point'
     msg = {'msg': 'AT+C,-1,-1,-1,-1,-1,-1,1,-1'}
     buffer = pd.DataFrame([msg])
     logger.debug('Command skip next point is prepared')
@@ -171,6 +210,9 @@ def custom() -> pd.DataFrame:
     return buffer
 
 def skiptomowprogress(progress: float) -> pd.DataFrame:
+    robot.status_tmp_timestamp = datetime.now()
+    robot.status = f'skip to {round(progress*100)}%'
+    robot.status_tmp = f'skip to {round(progress*100)}%'
     msg = {'msg': 'AT+C,-1,-1,-1,-1,-1,'+str(progress)+',-1,-1'}
     buffer = pd.DataFrame([msg])
     logger.debug('Command skip to progress is prepared')

CaSSAndRA/src/backend/comm/message.py

@@ -204,7 +204,7 @@ def check() -> pd.DataFrame:
             return pd.DataFrame()    
 
     elif cmdlist.cmd_resume:
-        msg_pckg = robot.last_cmd
+        msg_pckg = cmdtorover.resume()
         robot.last_mow_status = checkmowmotor(msg_pckg, robot.last_mow_status)
         cmdlist.cmd_resume = False
 

CaSSAndRA/src/backend/data/appdata.py

@@ -1,4 +1,4 @@
 import logging
 logger = logging.getLogger(__name__)
 
-version = '0.111.0'
+version = '0.112.0'

CaSSAndRA/src/backend/data/roverdata.py

@@ -56,6 +56,8 @@ class Mower:
                                Image.open(os.path.dirname(__file__).replace('/backend/data', '/assets/icons/'+appcfg.rover_picture+'rover0grad.png')))
     solution: str = 'invalid'
     status: str = 'offline'
+    status_tmp: str = 'offline'
+    status_tmp_timestamp: datetime = datetime.now()
     sensor_status: str = 'unknown'
     position_age_hr = '99+d'
     dock_reason_operator: bool = False
@@ -114,7 +116,9 @@ def calc_direction(self) -> float:
         return direction_deg
 
     def calc_status(self) -> str:
-        if (datetime.now()-self.timestamp).seconds > 60:
+        if (datetime.now() - self.status_tmp_timestamp).seconds < 10:
+            return self.status_tmp
+        elif (datetime.now()-self.timestamp).seconds > 60:
             return 'offline'
         elif self.job == 0:
             return 'idle'

CaSSAndRA/src/components/mapping/chooseperimeter.py

@@ -64,4 +64,8 @@ def update_dropdown_chooseperimeter(boknp_nclicks: int,
           )
 def export_perimeter(bep_nclicks: int
                      ) -> dict:
-    return dict(content=mapping_maps.export_geojson(), filename=f"{mapping_maps.map_old_name}.json")
+    context = ctx.triggered_id
+    if context == ids.BUTTONEXPORTPERIMETER and bep_nclicks != None:
+        return dict(content=mapping_maps.export_geojson(), filename=f"{mapping_maps.map_old_name}.json")
+    else:
+        return None

CaSSAndRA/src/components/state/state.py

@@ -15,7 +15,17 @@ def update(n_intervals: int) -> dbc.Row:
         robot.status == "docking"
         or robot.status == "mow"
         or robot.status == "transit"
+        or robot.status == "resume"
         or robot.status == "charging"
+        or robot.status == "map upload"
+        or robot.status == "move"
+        or robot.status == "stop"
+        or robot.status == "shutdown"
+        or robot.status == "reboot"
+        or robot.status == "gps reboot"
+        or robot.status == "skip point"
+        or robot.status == "skip point"
+        or "skip to" in robot.status
     ):
         colorstate = "success"
         inversestate = True