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@@ -31,10 +31,17 @@ class MQTTSimulationBridge:
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self.trace_real = [] # (time_wall, topic, payload)
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self.trace_sim = []
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+ self.id_counter = 0 # used to generate unique IDs for workpieces in the simulation (pure sim mode)
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+
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# vars to keep track of the real factory state, and notifications to the simulation
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self.is_new_wp_notified: bool = False # if there is new input, will be set to true to prevent double notification
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self.is_dso_busy: bool = False # whether there is a workpiece in the DSO (output tray)
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+ def _get_wp_id(self):
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+ """ Generates a unique ID for a workpiece in the simulation. """
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+ self.id_counter += 1
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+ return str(self.id_counter).zfill(8) # zero-padded to 8 digits
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+
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def _log(self, origin, msg):
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""" Logs the received mqtt messages """
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t = time.time()
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@@ -86,8 +93,10 @@ class MQTTSimulationBridge:
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if not self.sim:
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return
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if msg.topic.startswith("simulation/spawn"): # TODO: change
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- wp = Workpiece(id="?", color=WorkpieceColor.RED) # TODO: get from payload
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- self._inject_wp_in_sim(wp) # Injects the workpiece into the simulation
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+ wp = json.loads(msg.payload)["workpiece"]
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+ new_wp = Workpiece(id=self._get_wp_id(), color=WorkpieceColor(wp["type"]), state=wp["state"])
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+ self._inject_wp_in_sim(new_wp) # Injects the workpiece into the simulation
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+
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elif msg.topic.startswith("simulation/"):
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print(self.sim.server.getTime())
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logger.info(f"Received SIM MQTT message, topic: {msg.topic}")
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anfeny