Better cook parameter estimation + Defrost mode + Removed esp-wifi debugs + Orchestrator and microwave exchange

cloud/APIs/edamam.py

@@ -1,4 +1,5 @@
 import os
+import time
 import requests
 from typing import Dict, Any, Optional
 import json
@@ -17,6 +18,7 @@ class EdamamAPI:
     
     def analyze_dish_image(self, image_file_path: str):
         if SAVE_EDAMAM_API_TOKEN:
+            time.sleep(3)
             return json.loads("""
                     {
                         "combined": {

cloud/app.py

@@ -52,44 +52,57 @@ def cooking_params():
     if not data:
         return jsonify({"error": "Invalid or missing JSON payload"}), 400
 
+    # Extract user or device parameters (with fallback defaults)
+    height_cm = float(data.get("dish_height", 4.0))
+    initial_temp_c = float(data.get("ir_initial_temp", 20.0))  # e.g., 4.0 for fridge, -18.0 for freezer
+    microwave_wattage = int(data.get("microwave_wattage", 900))  # e.g., 900W
+    defrost_mode = bool(data.get("defrost_mode", False))  # True for defrost, False for cook/reheat
+    print("Received cooking parameters request:", data)
+    print("Parsed parameters - Height (cm):", height_cm, "Initial Temp (C):", initial_temp_c, "Microwave Wattage:", microwave_wattage, "Defrost Mode:", defrost_mode)
+
     # 1. Handle the Camera Image
     camera_image_b64 = data.get("camera_image")
+    filepath = None
+    
     if camera_image_b64:
-        # Generate a unique filename using UUID to avoid overwriting
         filename = f"dish_{uuid.uuid4().hex}.jpg"
         filepath = os.path.join(CAMERA_IMAGE_DIR, filename)
         
         try:
-            # Decode the base64 string and save it as a binary file
             with open(filepath, "wb") as f:
                 f.write(base64.b64decode(camera_image_b64))
             
-            # Replace the giant base64 string in the dictionary with the local file path 
-            # so we don't bloat the MongoDB document
             data["camera_image"] = filepath
             
         except Exception as e:
             return jsonify({"error": f"Failed to save camera image: {str(e)}"}), 500
+    else:
+        return jsonify({"error": "Missing required field 'camera_image'"}), 400
 
-    # 2. Save to MongoDB
+    # 2. Run the Cook Planning Engine
+    try:
+        cook_plan = microwave_cook_planner.generate_plan(
+            image_path=filepath,
+            height_cm=height_cm,
+            initial_temp_c=initial_temp_c,
+            microwave_wattage=microwave_wattage,
+            defrost_mode=defrost_mode
+        )
+    except Exception as e:
+        return jsonify({"error": f"Failed to compute cooking plan: {str(e)}"}), 500
+
+    # 3. Attach cooking parameters to database record
+    data["analysis_results"] = cook_plan
+
+    # 4. Save to MongoDB
     try:
-        # Insert the dictionary directly into Mongo (it will retain your exact JSON keys)
         cooking_collection.insert_one(data)
-        
-        # Remove the Mongo-injected '_id' object before returning the response
         data.pop("_id", None)
-        
     except Exception as e:
         return jsonify({"error": f"Database error: {str(e)}"}), 500
     
-    # 3. Returns with the cooking parameters
-    cooking_plan = microwave_cook_planner.generate_plan(
-        image_path=data.get("camera_image"),
-        height_cm=data.get("height_cm", 4.0),
-        initial_temp_c=data.get("initial_temp_c", 20.0),
-        microwave_wattage=data.get("microwave_wattage", 900)
-    )
-    return jsonify(cooking_plan), 201
+    # 5. Return complete output
+    return jsonify(cook_plan), 201
 
 @app.route("/device-network", methods=["POST"])
 def device_network():

cloud/microwaveCookPlanner.py

@@ -50,7 +50,8 @@ class MicrowaveCookPlanner:
         image_path: str,
         height_cm: float,
         initial_temp_c: float,
-        microwave_wattage: int = 900
+        microwave_wattage: int = 900,
+        defrost_mode: bool = False
     ) -> Dict[str, Any]:
         """Main pipeline call to parse an image and return cooking parameters."""
         
@@ -85,7 +86,8 @@ class MicrowaveCookPlanner:
         # 5. Cook Plan Calculation
         cook_plan = self.engine.calculate_cook_plan(
             state=thermal_state,
-            microwave_wattage=microwave_wattage
+            microwave_wattage=microwave_wattage,
+            defrost_mode=defrost_mode
         )
 
         # Return consolidated output

cloud/microwaveThermalEngine.py

@@ -4,23 +4,25 @@ from typing import Dict, Any, Optional
 @dataclass
 class DishThermalState:
     food_name: str
-    macronutrients: Dict[str, float]  # grams of water, fat, protein, carbs
+    macronutrients: Dict[str, float]
     estimated_mass_g: float
     initial_temp_c: float
     volume_cm3: Optional[float] = None
-    
+
+
 class MicrowaveThermalEngine:
     """Calculates cook parameters based on physical properties"""
 
     DEFAULT_EFFICIENCY = 0.70  # ~70% magnetron efficiency
-    TARGET_TEMP_C = 74.0       # Safe food temperature
+    COOK_TARGET_TEMP_C = 74.0  # Safe food temp for cooking/reheating
+    DEFROST_TARGET_TEMP_C = 4.0 # Chilled state target for defrosting
+    LATENT_HEAT_ICE_J_G = 334.0 # Joules required to melt 1g of ice to water
 
     @staticmethod
     def estimate_specific_heat(macros: Dict[str, float], total_weight_g: float) -> float:
         """Estimates Cp in J/(g*C) based on macro composition"""
         if total_weight_g <= 0:
-            return 3.5  # Fallback average for mixed meals
-            
+            return 3.5
         w_water = macros.get("water_g", total_weight_g * 0.7) / total_weight_g
         w_protein = macros.get("protein_g", 0.0) / total_weight_g
         w_fat = macros.get("fat_g", 0.0) / total_weight_g
@@ -28,25 +30,54 @@ class MicrowaveThermalEngine:
 
         return (4.184 * w_water) + (1.71 * w_protein) + (1.67 * w_fat) + (1.42 * w_carbs)
 
-    def calculate_cook_plan(self, state: DishThermalState, microwave_wattage: int) -> Dict[str, Any]:
+    def calculate_cook_plan(
+        self, state: DishThermalState, microwave_wattage: int, defrost_mode: bool
+    ) -> Dict[str, Any]:
         cp = self.estimate_specific_heat(state.macronutrients, state.estimated_mass_g)
-        delta_t = max(0.0, self.TARGET_TEMP_C - state.initial_temp_c)
-        
-        # Q = m * c_p * delta_t
+        label = state.food_name.lower()
+
+        # Set target temperature based on selected mode
+        target_temp = self.DEFROST_TARGET_TEMP_C if defrost_mode else self.COOK_TARGET_TEMP_C
+        delta_t = max(0.0, target_temp - state.initial_temp_c)
+
+        # 1. Base thermal energy: Q_sensible = m * c_p * delta_t
         required_joules = state.estimated_mass_g * cp * delta_t
-        effective_power_watts = microwave_wattage * self.DEFAULT_EFFICIENCY
-        
-        total_seconds = required_joules / effective_power_watts if effective_power_watts > 0 else 0
-        
-        # Determine duty cycle / power level recommendations
-        power_level = 100
-        if state.initial_temp_c < 0:  # Frozen food requires defrost cycle to prevent edge-cooking
-            power_level = 50
-            total_seconds *= 1.4
+
+        # 2. Account for Phase Change (Ice -> Water) if food starts below 0°C
+        if state.initial_temp_c < 0:
+            water_g = state.macronutrients.get("water_g", state.estimated_mass_g * 0.7)
+            latent_energy_joules = water_g * self.LATENT_HEAT_ICE_J_G
+            required_joules += latent_energy_joules
+
+        # 3. Determine power level and duty cycle based on mode
+        if defrost_mode:
+            # Defrost mode strictly runs low power (30%) to allow heat conduction
+            power_level = 30 if "bread" in label or "baked" in label else 40
+            time_factor = 1.1  # Slight padding for thermal conductivity losses
+        else:
+            # Cook / Reheat Mode logic
+            if state.initial_temp_c < 0:
+                # Cooking from frozen needs lower power to defrost first, then cook
+                power_level = 50
+                time_factor = 1.35
+            elif state.estimated_mass_g > 350 and not any(w in label for w in ["soup", "beverage", "water", "tea"]):
+                power_level = 70
+                time_factor = 1.2
+            elif any(w in label for w in ["cheese", "cream", "sauce", "butter", "egg"]):
+                power_level = 60
+                time_factor = 1.25
+            else:
+                power_level = 100
+                time_factor = 1.0
+
+        # Effective power delivered to food
+        effective_power_watts = microwave_wattage * self.DEFAULT_EFFICIENCY * (power_level / 100.0)
+        total_seconds = (required_joules / effective_power_watts * time_factor) if effective_power_watts > 0 else 0
 
         return {
             "cook_time_seconds": round(total_seconds),
             "recommended_power_level_pct": power_level,
+            "target_temp": target_temp,
             "estimated_specific_heat": round(cp, 2),
             "energy_joules": round(required_joules)
         }

cloud/requirements.txt

@@ -1,4 +1,5 @@
 Flask==3.0.2
 pymongo==4.6.1
 gunicorn==21.2.0
-opencv-python-headless
+opencv-python-headless
+requests==2.32.3

micro_ondes/esp_wifi/boot.py

@@ -16,4 +16,4 @@ def do_connect(ssid, pwd):
     print('network config:', sta_if.ifconfig())
 
 # Attempt to connect to WiFi network
-# do_connect("Smartwave-1", 'Smartwave-prot-1')
+do_connect("Smartwave-1", 'Smartwave-prot-1')

micro_ondes/esp_wifi/main.py

@@ -55,6 +55,21 @@ def on_mqtt_message(message):
         # Unsubscribe from the hello topic since we got a response
         mqtt_client.unsubscribe(config.MQTT_TOPIC_HELLO)
         print("[MQTT Thread] Unsubscribed from topic:", config.MQTT_TOPIC_HELLO)
+        
+    # Handle cooking messages
+    elif message['topic'] == config.MQTT_TOPIC_COOKING and payload_data and payload_data["id_microwave"] == DEVICE_ID:
+        # Cooking sensors init request
+        if not "cook_time_seconds" in payload_data:
+            print("[MQTT Thread] Cooking sensors init received from the orchestrator")
+            obj_temp = temperature_sensor.read_object_temp()
+            amb_temp = temperature_sensor.read_ambient_temp()
+            queue_publish(config.MQTT_TOPIC_SENSOR, payloads.mqtt_sensor_data(DEVICE_ID, obj_temp, amb_temp))
+        # Received cooking parameters from the orchestrator
+        else:
+            print("[MQTT Thread] Cooking parameters received from the orchestrator:", payload_data)
+            # Here you would handle the cooking parameters, e.g., start a cooking process
+            # For now, we just print them
+        
     print("[MQTT Thread] Message processing complete.")
 
 mqtt_client.set_callback(on_mqtt_message)
@@ -86,7 +101,6 @@ def mqtt_background_thread():
                     mqtt_client.publish(topic, payload, qos=config.MQTT_QOS)
                 
                 # 2. Check for incoming messages (non-blocking poll)
-                # Shortened timeout to keep the queue responsive
                 events = poller.poll(200) 
                 if events:
                     mqtt_client.wait()
@@ -145,18 +159,18 @@ def uart_background_thread():
             time.sleep(5)
 
 # --- Launch background worker ---
-# _thread.start_new_thread(mqtt_background_thread, ())
-# _thread.start_new_thread(uart_background_thread, ())
+_thread.start_new_thread(mqtt_background_thread, ())
+_thread.start_new_thread(uart_background_thread, ())
 
 
 # --- MAIN APPLICATION THREAD (Core 0) ---
 print("[Main] Main execution path active.")
 time.sleep(2) # Give the thread a moment to initial connect
 mqtt_hello_sent_timestamp = -config.MQTT_HELLO_INTERVAL
-# mqtt_client.subscribe(config.MQTT_TOPIC_HELLO, qos=config.MQTT_QOS)
+mqtt_client.subscribe(config.MQTT_TOPIC_HELLO, qos=config.MQTT_QOS)
 
 # Temperature sensor setup
-temperature_sensor_i2c = I2C(scl=Pin(25, Pin.IN, Pin.PULL_UP), sda=Pin(26, Pin.IN, Pin.PULL_UP), freq=100000)
+temperature_sensor_i2c = I2C(0, scl=Pin(25, Pin.IN, Pin.PULL_UP), sda=Pin(26, Pin.IN, Pin.PULL_UP), freq=100000)
 # Scan to verify the sensor is connected and detected
 print("Scanning I2C bus...")
 devices = temperature_sensor_i2c.scan()
@@ -174,13 +188,6 @@ while True:
         mqtt_hello_sent_timestamp = time.time()
         pass
         
-    # Sensors
-    print(f"[Main] Reading temperature from sensor...")
-    obj_temp = temperature_sensor.read_object_temp()
-    amb_temp = temperature_sensor.read_ambient_temp()
-    if obj_temp is not None and amb_temp is not None:
-        print(f"Object: {obj_temp:.2f}°C | Ambient: {amb_temp:.2f}°C")
-        
     # 2. Example: Send data to the Heltec board every 5 seconds
     # uart_device.send("Status Check: WiFi Active")
     time.sleep(1)

orchestrateur/main.py

@@ -1,8 +1,11 @@
+import base64
 import json
 import threading
 import queue
 import time
 import traceback
+
+import requests
 from orchestrateur.sensors import gps
 from shared import get_lora, get_mqtt_client, deviceTypes, config, payloads
 from shared.logging import log
@@ -21,6 +24,9 @@ except Exception:
 
 # Thread-safe queue for application messages
 data_queue = queue.Queue()
+cooking_queue = {}
+active_cooks = {}
+active_cooks_lock = threading.Lock()
 
 lora = get_lora()
 lora.configure()
@@ -54,8 +60,9 @@ mqtt_client = get_mqtt_client(
 )
 mqtt_client.connect()
 mqtt_client.subscribe(config.MQTT_TOPIC_SENSOR, qos=config.MQTT_QOS)
-mqtt_client.subscribe(config.MQTT_TOPIC_HELLO, qos=config.MQTT_QOS)
 print(f"Subscribed to topic: {config.MQTT_TOPIC_SENSOR}")
+mqtt_client.subscribe(config.MQTT_TOPIC_HELLO, qos=config.MQTT_QOS)
+print(f"Subscribed to topic: {config.MQTT_TOPIC_HELLO}")
 
 # --- THE CRUCIAL PAHO FIX ---
 # Start Paho's internal background thread. This handles all network packets,
@@ -95,13 +102,179 @@ def button_callback():
 button.set_callback(button_callback)
 
 # Launch background monitoring workers
-# threading.Thread(target=lora_listener, daemon=True).start()
-# threading.Thread(target=mqtt_listener, daemon=True).start()
+threading.Thread(target=lora_listener, daemon=True).start()
+threading.Thread(target=mqtt_listener, daemon=True).start()
 # Launch button monitoring thread
 button.start_button_monitoring_thread()
 
 print("Orchestrateur prêt. Le main loop est libre.")
 
+def _tryReadSensorsWithRetries(func, exception=True, max_retries=3, delay=1):
+    """
+    Tries to read the sensor max_retries times until the return value of func is not None.
+    It will then return the value of func. If it fails max_retries times, it will fail if exception is True, otherwise it will return None.
+    """
+    
+    for attempt in range(max_retries):
+        result = func()
+        if result is not None:
+            return result
+        else:
+            log(f"Attempt {attempt + 1} failed. Retrying in {delay} seconds...")
+            time.sleep(delay)
+    
+    if exception:
+        raise Exception(f"Failed to read sensor after {max_retries} attempts.")
+    else:
+        return None
+
+def read_sensors_for_cooking(microwave_id):
+    """Read all sensors and return a dictionary of their values, including the microwave ID."""
+    log("\nLecture des capteurs...")
+    sensor_data = {}
+    sensor_data["microwave_id"] = microwave_id
+    
+    # === Notify the microwave of needed sensor readings ===
+    mqtt_client.publish(config.MQTT_TOPIC_COOKING, payloads.mqtt_cooking_init(microwave_id), qos=config.MQTT_QOS)
+    
+    # Read Ultrasonic Ranger
+    sensor_data["ultrasonic_distance"] = _tryReadSensorsWithRetries(ultrasonicRanger.get_dish_height)
+    log(f"\nLecture du capteur Ultrason : {sensor_data['ultrasonic_distance']}")
+
+    # Read Temperature and Humidity
+    temperature, humidity = temp_hum.get_temperature_and_humidity()
+    if temperature is not None and humidity is not None:
+        log(f"\nLecture du capteur Temp/Hum : {temperature}, {humidity}")
+        sensor_data["temperature"] = temperature
+        sensor_data["humidity"] = humidity
+        
+    # Camera
+    def _getPicture():
+        picture_bytes = None
+        try:
+            picture_bytes = camera.get_picture()
+            return picture_bytes
+        except Exception as e:
+            log(f"Error reading camera data: {e}")
+            return None
+    sensor_data["camera_image"] = _tryReadSensorsWithRetries(_getPicture, exception=True)
+    log(f"\nPhoto de la Caméra : {len(sensor_data['camera_image'])} bytes")
+
+    # Read Button State (last because he can still change state while reading other sensors)
+    sensor_data["defrost_mode"] = button_state
+    
+    cooking_queue[microwave_id] = sensor_data
+
+
+def _stop_hardware(microwave_id: str):
+    """
+    Hardware driver stop — halts magnetron/turntable immediately.
+    """
+    log(f"[{microwave_id}] 🛑 Emergency stop issued to hardware.")
+    # TODO: Add physical hardware stop command here
+    # e.g., gpio_controller.stop()
+
+
+def _send_params_to_microwave(microwave_id: str, cook_time_seconds: int, power_level_pct: int, target_temp: float, cancel_event: threading.Event):
+    """
+    Triggers physical microwave execution.
+    """
+    if cancel_event.is_set():
+        return
+
+    log(f"[{microwave_id}] ⚡ Starting microwave cooking : {cook_time_seconds}s @ {power_level_pct}% power, target temp {target_temp}°C.")
+    # TODO: Connect to microwave hardware driver here
+    # e.g., gpio_controller.start(time=cook_time_seconds, power=power_level_pct)
+
+
+def _cooking_worker(microwave_id: str, sensors_data: dict, cancel_event: threading.Event):
+    """Worker function executing cloud API calls and hardware triggers."""
+    URL = "https://smartwave.matthiasg.dev/cooking-params"
+    
+    try:
+        # Check cancellation before network call
+        if cancel_event.is_set():
+            print(f"[{microwave_id}] Job canceled before starting API call.")
+            return
+
+        log(f"[{microwave_id}] Sending sensor data to cloud API...")
+        
+        # Ensure camera_image is encoded to Base64 string if it's currently raw bytes
+        if isinstance(sensors_data.get("camera_image"), bytes):
+            sensors_data["camera_image"] = base64.b64encode(sensors_data["camera_image"]).decode("utf-8")
+        
+        # 1. HTTP Request (15-second timeout)
+        response = requests.post(URL, json=sensors_data, timeout=15)
+        
+        # Check cancellation right after network call returns
+        if cancel_event.is_set():
+            print(f"[{microwave_id}] Job was canceled while waiting for cloud response. Discarding result.")
+            return
+
+        response.raise_for_status()
+        
+        # 2. Extract Response Parameters
+        response_json = response.json()
+        cook_plan = response_json.get("cook_plan", {})
+        
+        cook_time = cook_plan.get("cook_time_seconds")
+        power_level = cook_plan.get("recommended_power_level_pct")
+        target_temp = cook_plan.get("target_temp")
+        dish_name = response_json.get("dish_name", "Unknown Dish")
+
+        if cook_time is None or power_level is None or target_temp is None:
+            print(f"[{microwave_id}] Cloud returned incomplete plan: {response_json}")
+            return
+
+        # Check cancellation before starting physical microwave
+        if cancel_event.is_set():
+            print(f"[{microwave_id}] Job was canceled before starting hardware execution.")
+            return
+
+        print(f"[{microwave_id}] Received plan for '{dish_name}': {cook_time}s @ {power_level}% power, target temp {target_temp}°C.")
+
+        # 3. Start Hardware Execution
+        _send_params_to_microwave(microwave_id, cook_time, power_level, target_temp, cancel_event)
+
+    except requests.exceptions.Timeout:
+        print(f"[{microwave_id}] Request timed out waiting for cloud response.")
+    except requests.exceptions.RequestException as e:
+        print(f"[{microwave_id}] HTTP error reaching cloud API: {e}")
+    except Exception as e:
+        print(f"[{microwave_id}] Unexpected error in worker thread: {e}")
+        traceback.print_exc()
+    finally:
+        # Clean up registry entry if this worker was the active one
+        with active_cooks_lock:
+            if active_cooks.get(microwave_id) == cancel_event:
+                del active_cooks[microwave_id]
+
+
+def start_cooking_for_microwave(microwave_id: str, sensors_data: dict):
+    """
+    Sends sensors data to the cloud and starts cooking in a separate thread.
+    If a worker is already running for the given microwave_id, it cancels
+    the previous process and stops the hardware before starting the new one.
+    """
+    with active_cooks_lock:
+        # 1. If an active job exists for this microwave, cancel it
+        if microwave_id in active_cooks:
+            print(f"[{microwave_id}] Existing cooking job detected! Canceling old worker...")
+            active_cooks[microwave_id].set()  # Signal existing thread to abort
+            _stop_hardware(microwave_id)       # Stop hardware immediately
+
+        # 2. Register a new cancellation event for this microwave
+        cancel_event = threading.Event()
+        active_cooks[microwave_id] = cancel_event
+
+    # 3. Start the new background worker thread
+    thread = threading.Thread(
+        target=_cooking_worker,
+        args=(microwave_id, sensors_data, cancel_event),
+        daemon=True
+    )
+    thread.start()
+
 # Sensor reading
 def read_sensors():
     """Read all sensors and return a dictionary of their values."""
@@ -138,14 +311,14 @@ def read_sensors():
         log(f"Error reading camera data: {e}")
 
     # Read Button State (last because he can still change state while reading other sensors)
-    sensor_data["button_state"] = button_state
+    sensor_data["defrost_state"] = button_state
 
     return sensor_data
 
 # --- MAIN EXECUTION LOOP ---
 while True:
     try:
-        # Check for non-heartbeat data
+        # === TREAT MESSAGE QUEUE ===
         try:
             msg = data_queue.get(block=False)
             
@@ -154,6 +327,7 @@ while True:
             if msg["source"] == "LoRa":
                 print(f"\n[Main Loop] LoRa : Données traitées : {msg['data']}")
             elif msg["source"] == "MQTT":
+                # MQTT HELLO
                 if (msg["topic"] == config.MQTT_TOPIC_HELLO.decode('utf-8')):
                     if ("id_orchestrator" in msg["data"] and msg["data"]["id_orchestrator"] == DEVICE_ID):
                         # Do not answer to messages coming from me
@@ -164,19 +338,45 @@ while True:
                     mqtt_client.publish(config.MQTT_TOPIC_HELLO, payloads.mqtt_hello_ack(DEVICE_ID, microwave_id), qos=config.MQTT_QOS)
                     print(f"[Main Loop] MQTT : Réponse Hello envoyée à {microwave_id}.")
                     # TODO : Save in database
-                                  
-                
+                # MQTT SENSOR DATA
+                elif (msg["topic"] == config.MQTT_TOPIC_SENSOR.decode('utf-8')):
+                    print(f"\n[Main Loop] MQTT : Données capteurs reçues du micro-ondes : {msg['data']}")                
+                    microwave_id = msg["data"].get("id_microwave")
+                    if not microwave_id:
+                        print("[Main Loop] MQTT : Données capteurs reçues sans ID micro-ondes. Ignoré.")
+                        continue
+                    # Get the already existing cooking data for this microwave
+                    sensors_data = cooking_queue.get(microwave_id)
+                    if sensors_data is None:
+                        print(f"[Main Loop] MQTT : Données capteurs reçues pour {microwave_id} mais aucune donnée de cuisson en cours. Ignoré.")
+                        continue
+                    # Merge the received sensor data into the existing cooking data
+                    sensors_data["ir_initial_temp"] = msg["data"].get("dish_temp")
+                    sensors_data["ir_ambient_temp"] = msg["data"].get("ambient_temp")
+                    start_cooking_for_microwave(microwave_id, sensors_data)
+                    # Remove the cooking data from the queue since it's now being processed
+                    del cooking_queue[microwave_id]
+                    
                 print(f"\n[Main Loop] MQTT : Données traitées : {msg['data']}")
         except queue.Empty:
             pass
         
+        # === CHECK FOR DISH INSERTED ===
+        # Read the dish height from the ultrasonic sensor. If it's below a certain threshold, we assume a dish has been inserted.
+        dish_height = ultrasonicRanger.get_dish_height()
+        if dish_height is not None and dish_height > 2.0:  # Threshold in cm for detecting a dish
+            print(f"\n[Main Loop] Dish detected at height: {dish_height} cm. Initiating sensor read...")
+            # Read all sensors and store the data in the cooking queue for this microwave
+            read_sensors_for_cooking("2")
+            print(f"[Main Loop] Sensor data collected and queued for cooking.")
+        
         # DEBUG : Read sensors
-        sensor_values = read_sensors()
-        if sensor_values:
-            sensor_values_print = sensor_values.copy()
-            if "camera_image" in sensor_values_print:
-                sensor_values_print["camera_image"] = f"<{len(sensor_values_print['camera_image'])} bytes>"
-            print(f"\nCapteurs Données lues : {sensor_values_print}")
+        # sensor_values = read_sensors()
+        # if sensor_values:
+        #     sensor_values_print = sensor_values.copy()
+        #     if "camera_image" in sensor_values_print:
+        #         sensor_values_print["camera_image"] = f"<{len(sensor_values_print['camera_image'])} bytes>"
+        #     print(f"\nCapteurs Données lues : {sensor_values_print}")
             
         time.sleep(3)
         

shared/payloads.py

@@ -1,3 +1,6 @@
+from time import time
+
+
 try:
     import ujson as json
 except ImportError:
@@ -20,4 +23,16 @@ def mqtt_hello_ack(id_orchestrator, id_microwave):
     return as_json({
         "id_microwave": id_microwave,
         "id_orchestrator": id_orchestrator
+    })
+    
+def mqtt_cooking_init(id_microwave):
+    return as_json({
+        "id_microwave": id_microwave
+    })
+    
+def mqtt_sensor_data(id_microwave, dish_temp, ambient_temp):
+    return as_json({
+        "id_microwave": id_microwave,
+        "dish_temp": dish_temp,
+        "ambient_temp": ambient_temp
     })