UART & Sensors

2026-07-23 15:50:43 +02:00
parent 1ec3ee7abf
commit 2dd664c4b4
25 changed files with 2333 additions and 71 deletions
@@ -20,9 +20,9 @@ db = client["microwave_network_db"]
 cooking_collection = db["cooking_parameters"]
 device_network_collection = db["device_network"]

-# Ensure the photo storage directory exists when the app starts
-PHOTO_DIR = "storage/dishPhotos"
-os.makedirs(PHOTO_DIR, exist_ok=True)
+# Ensure the camera image storage directory exists when the app starts
+CAMERA_IMAGE_DIR = "storage/dishCameraImages"
+os.makedirs(CAMERA_IMAGE_DIR, exist_ok=True)

 # ---------------------------------------------------------
 # Routes
@@ -40,24 +40,24 @@ def cooking_params():
    if not data:
        return jsonify({"error": "Invalid or missing JSON payload"}), 400

-    # 1. Handle the Photo
-    photo_b64 = data.get("photo")
-    if photo_b64:
+    # 1. Handle the Camera Image
+    camera_image_b64 = data.get("camera_image")
+    if camera_image_b64:
        # Generate a unique filename using UUID to avoid overwriting
        filename = f"dish_{uuid.uuid4().hex}.jpg"
-        filepath = os.path.join(PHOTO_DIR, filename)
+        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(photo_b64))
+                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["photo"] = filepath
+            data["camera_image"] = filepath
            
        except Exception as e:
-            return jsonify({"error": f"Failed to save photo: {str(e)}"}), 500
+            return jsonify({"error": f"Failed to save camera image: {str(e)}"}), 500

    # 2. Save to MongoDB
    try:
@@ -71,6 +71,9 @@ def cooking_params():
    except Exception as e:
        return jsonify({"error": f"Database error: {str(e)}"}), 500
    
+    # 3. Returns with the cooking parameters
+    
+

@app.route("/device-network", methods=["POST"])
 def device_network():
@@ -14,7 +14,7 @@ RPI_SYSTEMD_SERVICE="smartwave.service"

 # Vérification des arguments
 if [ -z "$1" ]; then
-    echo "Usage: ./deploy.sh [wifi|lora|rpi|all]"
+    echo "Usage: ./deploy.sh [wifi|mqtt|lora|rpi|all]"
    exit 1
 fi

@@ -79,6 +79,9 @@ case $CIBLE in
    "wifi")
        deploy_to_esp "micro_ondes/esp_wifi" "$PORT_ESP_WIFI" "ESP-WIFI"
        ;;
+    "mqtt")
+        deploy_to_esp "micro_ondes/esp_wifi" "$PORT_ESP_WIFI" "ESP-WIFI"
+        ;;
    "lora")
        deploy_to_esp "micro_ondes/esp_lora" "$PORT_ESP_LORA" "ESP-LORA"
        ;;
@@ -92,6 +95,6 @@ case $CIBLE in
        # Ajoute les autres ici
        ;;
    *)
-        echo "Cible inconnue. Utilise 'wifi', 'lora' ou 'all'."
+        echo "Cible inconnue. Utilise 'wifi', 'lora', 'mqtt' ou 'all'."
        ;;
 esac
@@ -1,5 +1,16 @@

 # LoRa

-`mpremote connect /dev/serial/by-id/usb-Silicon_Labs_CP2102_USB_to_UART_Bridge_Controller_0001-if00-port0 repl`
+`mpremote connect /dev/serial/by-path/pci-0000:00:14.0-usb-0:6.1:1.0-port0 repl`

+# MQTT
+
+`mpremote connect /dev/serial/by-path/pci-0000:00:14.0-usb-0:6.2:1.0-port0 repl`
+
+# UART
+
+| LoRa | MQTT |
+| ---  | ---  |
+| 45   | P17  |
+| 46   | P16  |
+| GND  | GND  |
@@ -61,7 +61,7 @@ while True:
        command = uart_device.read()
        print(f"[Main] Received command from WiFi Board: {command}")
        
-    uart_device.send(f"Hello from esp-32 lora ID {DEVICE_ID}") 
+    # uart_device.send(f"Hello from esp-32 lora ID {DEVICE_ID}") 

    # 2. Send local metrics over the wire to the WiFi board every few seconds
    # uart_device.send("Data Pack: LoRa Link RSSI -72dBm")
@@ -1,6 +1,6 @@
 # This file is executed on every boot (including wake-boot from deepsleep)
-#import esp
-#esp.osdebug(None)
+import esp
+esp.osdebug(True)
 #import webrepl
 #webrepl.start()

@@ -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')
@@ -1,8 +1,11 @@
 import _thread
 import select
 from machine import Pin
-from shared import get_mqtt_client, get_uart, config
+from sensors import temperature_gun
+from shared import get_mqtt_client, get_uart, config, payloads
 import time
+import ujson as json
+import sys

 # Simple thread-safe queue list
 msg_queue = []
@@ -13,17 +16,22 @@ def queue_publish(topic, payload):
    with queue_lock:
        msg_queue.append((topic, payload))

-# --- Hardware & Client Setup ---
-vext = Pin(19, Pin.OUT)
-vext.value(0)
-time.sleep_ms(100)
+# --- INITIALIZE CAMERA ---
+try:
+    # Pass your confirmed working SCL and SDA pins here
+    temperature_gun.init_camera(scl_pin=21, sda_pin=22, freq=100000)
+except Exception as e:
+    print("[Main] Critical: Camera setup failed!")
+    sys.print_exception(e)

+# --- READ DEVICE ID ---
 try:
    with open("device_id.txt", "r") as f:
        DEVICE_ID = f.read().strip()
 except Exception:
    DEVICE_ID = "ESP32_Inconnu"
    
+# --- MQTT SETUP ---
 MQTT_CA_FILE = "/certs/ca.crt"

 mqtt_client = get_mqtt_client(
@@ -34,9 +42,29 @@ mqtt_client = get_mqtt_client(
    keepalive=config.MQTT_KEEPALIVE,
 )

+global orchestrator_id
+orchestrator_id = None
 def on_mqtt_message(message):
    print("[MQTT Thread] Received message:", message)
    
+    # Try and parse the payload as json, but if it fails, just print the raw payload
+    payload_data=None
+    try:
+        payload_data = json.loads(message['payload'])
+    except Exception as e:
+        print("[MQTT Thread] Error parsing JSON:", e)
+        sys.print_exception(e)
+        pass # Maybe it's not JSON
+    
+    if message['topic'] == config.MQTT_TOPIC_HELLO and payload_data and "id_orchestrator" in payload_data and payload_data["id_microwave"] == DEVICE_ID:
+        print("[MQTT Thread] Hello response received from orchestrator:", payload_data["id_orchestrator"])
+        global orchestrator_id
+        orchestrator_id = payload_data["id_orchestrator"]
+        # 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)
+    print("[MQTT Thread] Message processing complete.")
+
 mqtt_client.set_callback(on_mqtt_message)


@@ -73,7 +101,7 @@ def mqtt_background_thread():
                
                # 3. Handle Keepalive tracking manually
                if time.time() - last_check >= 15:
-                    print("[Thread] Sending keepalive ping...")
+                    # print("[Thread] Sending keepalive ping...")
                    mqtt_client._client.ping()
                    last_check = time.time()
                    
@@ -82,6 +110,7 @@ def mqtt_background_thread():
                        
        except Exception as e:
            print("[Thread] Connection dropped or error encountered:", e)
+            sys.print_exception(e)
            print("[Thread] Cleaning up socket context. Retrying in 5 seconds...")
            
            # --- FIX FOR ERROR 23 (SOCKET LEAK) ---
@@ -100,28 +129,53 @@ def mqtt_background_thread():
                pass
            time.sleep(5)

-# UART
-uart_device = get_uart(uart_id=2, tx_pin=17, rx_pin=16)
+# --- UART BACKGROUND THREAD ---  
+def uart_background_thread():
+    """Background UART worker handling all serial operations safely."""
+    print("[Thread] Background UART worker started.")
+    
+    uart_device = get_uart(uart_id=2, tx_pin=17, rx_pin=16)
+    
+    while True:
+        try:
+            # 1. Check for incoming messages from the Heltec board
+            while uart_device.any():
+                incoming_msg = uart_device.read()
+                print(f"[Thread] Received from esp-lora over UART: {incoming_msg}")
+                
+            # 2. Example: Send data to the Heltec board every 5 seconds
+            # uart_device.send("Status Check: WiFi Active")
+            
+            time.sleep(5) # Fast responsive polling loop for local UART
+            
+        except Exception as e:
+            print("[Thread] UART error encountered:", e)
+            time.sleep(5)

 # --- Launch background worker ---
-_thread.start_new_thread(mqtt_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)

 while True:
-    print("[Main] Queueing a test message for MQTT...")
-    # Instead of direct publishing, push it to the queue safely
-    queue_publish(config.MQTT_TOPIC_SENSOR, "Hello from ESP32!")
+    # MQTT HELLO sent every x seconds until we get a response from the orchestrator
+    if (orchestrator_id == None and -(mqtt_hello_sent_timestamp - time.time()) > config.MQTT_HELLO_INTERVAL):
+        print("[Main] Attempting to send initial hello to orchestrator...")
+        queue_publish(config.MQTT_TOPIC_HELLO, payloads.mqtt_hello(DEVICE_ID))
+        mqtt_hello_sent_timestamp = time.time()
+        pass
        
-    # 1. Check if the Heltec V3 sent us something over the wire
-    while uart_device.any():
-        incoming_msg = uart_device.read()
-        print(f"[Main] Received from esp-lora over UART: {incoming_msg}")
+    # Sensors
+    print(f"[Main] Reading temperature from the gun sensor...")
+    temp = temperature_gun.read_temperature()
+    print(f"[Main] Temperature read: {temp}°C")
        
    # 2. Example: Send data to the Heltec board every 5 seconds
    # uart_device.send("Status Check: WiFi Active")
-    
-    time.sleep_ms(200) # Fast responsive polling loop for local UART
+    time.sleep(1)
@@ -0,0 +1 @@
+import sensors.temperature_gun as temperature_gun
@@ -0,0 +1,969 @@
+"""
+Temperatue gun sensor module
+using the MLX90640-D55/D110 sensor. This module provides a function to read the temperature from the gun sensor.
+Resolution of 32x24 pixels, 
+I2C interface
+Noise Equivalent Temperature difference (NETD) is 0.1K RMS @ 1Hz refresh rate
+"""
+
+import machine  # type: ignore
+import math
+import struct
+import time
+from micropython import const# Some libraries that we will use
+import time
+
+
+class RefreshRate:  # pylint: disable=too-few-public-methods
+    """ Enum-like class for MLX90640's refresh rate """
+    REFRESH_0_5_HZ = const(0b000)  # 0.5Hz
+    REFRESH_1_HZ = const(0b001)  # 1Hz
+    REFRESH_2_HZ = const(0b010) # 2Hz
+    REFRESH_4_HZ = const(0b011)  # 4Hz
+    REFRESH_8_HZ = const(0b100)  # 8Hz
+    REFRESH_16_HZ = const(0b101)  # 16Hz
+    REFRESH_32_HZ = const(0b110)  # 32Hz
+    REFRESH_64_HZ = const(0b111)  # 64Hz
+
+class ContextManaged:
+    """An object that automatically deinitializes hardware with a context manager."""
+
+    def __enter__(self):
+        return self
+
+    def __exit__(self, exc_type, exc_value, traceback):
+        self.deinit()
+
+    # pylint: disable=no-self-use
+    def deinit(self):
+        """Free any hardware used by the object."""
+        return
+
+class Lockable(ContextManaged):
+    """An object that must be locked to prevent collisions on a microcontroller resource."""
+
+    _locked = False
+
+    def try_lock(self):
+        """Attempt to grab the lock. Return True on success, False if the lock is already taken."""
+        if self._locked:
+            return False
+        self._locked = True
+        return True
+
+    def unlock(self):
+        """Release the lock so others may use the resource."""
+        if self._locked:
+            self._locked = False
+        else:
+            raise ValueError("Not locked")
+
+class I2C(Lockable):
+    def __init__(self, pins=(21, 22), frequency=100000):
+        self.init(pins, frequency)
+
+    def init(self, pins, frequency):
+        self.deinit()
+        
+        # 1. Force the ESP32 to activate its internal pull-up resistors on these pins
+        self._pins = (
+            machine.Pin(int(pins[0]), machine.Pin.IN, machine.Pin.PULL_UP),
+            machine.Pin(int(pins[1]), machine.Pin.IN, machine.Pin.PULL_UP)
+        )
+        
+        try:
+            # 2. Bypasses the glitchy ESP32 hardware block using SoftI2C
+            # (Note: SoftI2C does not take a bus ID number like '0')
+            self._i2c = machine.SoftI2C(scl=self._pins[0], sda=self._pins[1], freq=frequency)
+        except RuntimeError:
+            raise
+        print(f"Created resilient SoftI2C: {self._i2c}")
+
+    def deinit(self):
+        try:
+            del self._i2c
+        except AttributeError:
+            pass
+
+    def scan(self):
+        return self._i2c.scan()
+
+    def readfrom_into(self, address, buffer, *, start=0, end=None):
+        if start is not 0 or end is not None:
+            if end is None:
+                end = len(buffer)
+            buffer = memoryview(buffer)[start:end]
+        stop = True  # remove for efficiency later
+        return self._i2c.readfrom_into(address, buffer)
+
+    def writeto(self, address, buffer, *, start=0, end=None, stop=True):
+        if isinstance(buffer, str):
+            buffer = bytes([ord(x) for x in buffer])
+        if start is not 0 or end is not None:
+            if end is None:
+                return self._i2c.writeto(address, memoryview(buffer)[start:], stop)
+            else:
+                return self._i2c.writeto(address, memoryview(buffer)[start:end], stop)
+        return self._i2c.writeto(address, buffer, stop)
+
+class I2CDevice:
+    def __init__(self, i2c, device_address, probe=True):
+        self.i2c = i2c
+        self._has_write_read = False # hasattr(self.i2c, "writeto_then_readfrom") --> has been turned to False
+        self.device_address = device_address
+
+        if probe:
+            self.__probe_for_device()
+
+    def readinto(self, buf, *, start=0, end=None):
+        if end is None:
+            end = len(buf)
+        self.i2c.readfrom_into(self.device_address, buf, start=start, end=end)
+
+    def write(self, buf, *, start=0, end=None, stop=True):
+        if end is None:
+            end = len(buf)
+        self.i2c.writeto(self.device_address, buf, start=start, end=end, stop=stop)
+
+    # pylint: disable-msg=too-many-arguments
+    def write_then_readinto(
+        self,
+        out_buffer,
+        in_buffer,
+        *,
+        out_start=0,
+        out_end=None,
+        in_start=0,
+        in_end=None,
+        stop=False
+    ):
+        if out_end is None:
+            out_end = len(out_buffer)
+        if in_end is None:
+            in_end = len(in_buffer)
+        if stop:
+            raise ValueError("Stop must be False. Use writeto instead.")
+        if self._has_write_read:
+            #print("c",dir(self.i2c))
+            # In linux, at least, this is a special kernel function call
+            self.i2c.writeto_then_readfrom(
+                self.device_address,
+                out_buffer,
+                in_buffer,
+                out_start=out_start,
+                out_end=out_end,
+                in_start=in_start,
+                in_end=in_end,
+            )
+
+        else:
+            # If we don't have a special implementation, we can fake it with two calls
+            self.i2c.writeto(self.device_address, out_buffer, stop=False) # These lines have been changed to make it work with wipy micropython I2C module
+            #self.write(out_buffer, start=out_start, end=out_end, stop=False)
+            #self.readinto(in_buffer, start=in_start, end=in_end)
+            self.i2c.readfrom_into(self.device_address, in_buffer) # These lines have been changed to make it work with wipy micropython I2C module 
+
+
+    # pylint: enable-msg=too-many-arguments
+
+    def __enter__(self):
+        while not self.i2c.try_lock():
+            pass
+        return self
+
+    def __exit__(self, exc_type, exc_val, exc_tb):
+        self.i2c.unlock()
+        return False
+
+    def __probe_for_device(self):
+        """
+        Try to read a byte from an address,
+        if you get an OSError it means the device is not there
+        or that the device does not support these means of probing
+        """
+        while not self.i2c.try_lock():
+            pass
+        try:
+            self.i2c.writeto(self.device_address, b"")
+        except OSError:
+            # some OS's dont like writing an empty bytesting...
+            # Retry by reading a byte
+            try:
+                result = bytearray(1)
+                self.i2c.readfrom_into(self.device_address, result)
+            except OSError:
+                raise ValueError("No I2C device at address: %x" % self.device_address)
+        finally:
+            self.i2c.unlock()
+
+eeData = [0] * const(832)
+I2C_READ_LEN = const(2048)
+SCALEALPHA = const(0.000001)
+MLX90640_DEVICEID1 = const(0x2407)
+OPENAIR_TA_SHIFT = const(8)
+
+class MLX90640:  # pylint: disable=too-many-instance-attributes
+    """Interface to the MLX90640 temperature sensor."""
+
+    kVdd = 0
+    vdd25 = 0
+    KvPTAT = 0
+    KtPTAT = 0
+    vPTAT25 = 0
+    alphaPTAT = 0
+    gainEE = 0
+    tgc = 0
+    KsTa = 0
+    resolutionEE = 0
+    calibrationModeEE = 0
+    ksTo = [0] * 5
+    ct = [0] * 5
+    alpha = [0] * 768
+    alphaScale = 0
+    offset = [0] * 768
+    kta = [0] * 768
+    ktaScale = 0
+    kv = [0] * 768
+    kvScale = 0
+    cpAlpha = [0] * 2
+    cpOffset = [0] * 2
+    ilChessC = [0] * 3
+    brokenPixels = [0xFFFF] * 5
+    outlierPixels = [0xFFFF] * 5
+    cpKta = 0
+    cpKv = 0
+
+    def __init__(self, i2c_bus, address=0x33):
+        self.i2c_device = I2CDevice(i2c_bus, address)
+        self._I2CReadWords(0x2400, eeData)
+        # print(eeData)
+        self._ExtractParameters()
+
+    @property
+    def serial_number(self):
+        """ 3-item tuple of hex values that are unique to each MLX90640 """
+        serialWords = [0, 0, 0]
+        self._I2CReadWords(MLX90640_DEVICEID1, serialWords)
+        return serialWords
+
+    @property
+    def refresh_rate(self):
+        """ How fast the MLX90640 will spit out data. Start at lowest speed in
+        RefreshRate and then slowly increase I2C clock rate and rate until you
+        max out. The sensor does not like it if the I2C host cannot 'keep up'!"""
+        controlRegister = [0]
+        self._I2CReadWords(0x800D, controlRegister)
+        return (controlRegister[0] >> 7) & 0x07
+
+    @refresh_rate.setter
+    def refresh_rate(self, rate):
+        controlRegister = [0]
+        value = (rate & 0x7) << 7
+        self._I2CReadWords(0x800D, controlRegister)
+        value |= controlRegister[0] & 0xFC7F
+        self._I2CWriteWord(0x800D, value)
+
+    def getFrame(self, framebuf):
+        """ Request both 'halves' of a frame from the sensor, merge them
+        and calculate the temperature in C for each of 32x24 pixels. Placed
+        into the 768-element array passed in! """
+        emissivity = 0.95
+        tr = 23.15
+        mlx90640Frame = [0] * 834
+
+        for _ in range(2):
+            status = self._GetFrameData(mlx90640Frame)
+            if status < 0:
+                raise RuntimeError("Frame data error")
+            # For a MLX90640 in the open air the shift is -8 degC.
+            tr = self._GetTa(mlx90640Frame) - OPENAIR_TA_SHIFT
+            self._CalculateTo(mlx90640Frame, emissivity, tr, framebuf)
+
+    def _GetFrameData(self, frameData):
+        dataReady = 0
+        cnt = 0
+        statusRegister = [0]
+        controlRegister = [0]
+
+        while dataReady == 0:
+            self._I2CReadWords(0x8000, statusRegister)
+            dataReady = statusRegister[0] & 0x0008
+            # print("ready status: 0x%x" % dataReady)
+
+        while (dataReady != 0) and (cnt < 5):
+            self._I2CWriteWord(0x8000, 0x0030)
+            # print("Read frame", cnt)
+            self._I2CReadWords(0x0400, frameData, end=832)
+
+            self._I2CReadWords(0x8000, statusRegister)
+            dataReady = statusRegister[0] & 0x0008
+            # print("frame ready: 0x%x" % dataReady)
+            cnt += 1
+
+        if cnt > 4:
+            raise RuntimeError("Too many retries")
+
+        self._I2CReadWords(0x800D, controlRegister)
+        frameData[832] = controlRegister[0]
+        frameData[833] = statusRegister[0] & 0x0001
+        return frameData[833]
+
+    def _GetTa(self, frameData):
+        vdd = self._GetVdd(frameData)
+
+        ptat = frameData[800]
+        if ptat > 32767:
+            ptat -= 65536
+
+        ptatArt = frameData[768]
+        if ptatArt > 32767:
+            ptatArt -= 65536
+        ptatArt = (ptat / (ptat * self.alphaPTAT + ptatArt)) * math.pow(2, 18)
+
+        ta = ptatArt / (1 + self.KvPTAT * (vdd - 3.3)) - self.vPTAT25
+        ta = ta / self.KtPTAT + 25
+        return ta
+
+    def _GetVdd(self, frameData):
+        vdd = frameData[810]
+        if vdd > 32767:
+            vdd -= 65536
+
+        resolutionRAM = (frameData[832] & 0x0C00) >> 10
+        resolutionCorrection = math.pow(2, self.resolutionEE) / math.pow(
+            2, resolutionRAM
+        )
+        vdd = (resolutionCorrection * vdd - self.vdd25) / self.kVdd + 3.3
+
+        return vdd
+
+    def _CalculateTo(self, frameData, emissivity, tr, result):
+        # pylint: disable=too-many-locals, too-many-branches, too-many-statements
+        subPage = frameData[833]
+        alphaCorrR = [0] * 4
+        irDataCP = [0, 0]
+
+        vdd = self._GetVdd(frameData)
+        ta = self._GetTa(frameData)
+
+        ta4 = ta + 273.15
+        ta4 = ta4 * ta4
+        ta4 = ta4 * ta4
+        tr4 = tr + 273.15
+        tr4 = tr4 * tr4
+        tr4 = tr4 * tr4
+        taTr = tr4 - (tr4 - ta4) / emissivity
+
+        ktaScale = math.pow(2, self.ktaScale)
+        kvScale = math.pow(2, self.kvScale)
+        alphaScale = math.pow(2, self.alphaScale)
+
+        alphaCorrR[0] = 1 / (1 + self.ksTo[0] * 40)
+        alphaCorrR[1] = 1
+        alphaCorrR[2] = 1 + self.ksTo[1] * self.ct[2]
+        alphaCorrR[3] = alphaCorrR[2] * (1 + self.ksTo[2] * (self.ct[3] - self.ct[2]))
+
+        # --------- Gain calculation -----------------------------------
+        gain = frameData[778]
+        if gain > 32767:
+            gain -= 65536
+        gain = self.gainEE / gain
+
+        # --------- To calculation -------------------------------------
+        mode = (frameData[832] & 0x1000) >> 5
+
+        irDataCP[0] = frameData[776]
+        irDataCP[1] = frameData[808]
+        for i in range(2):
+            if irDataCP[i] > 32767:
+                irDataCP[i] -= 65536
+            irDataCP[i] *= gain
+
+        irDataCP[0] -= (
+            self.cpOffset[0]
+            * (1 + self.cpKta * (ta - 25))
+            * (1 + self.cpKv * (vdd - 3.3))
+        )
+        if mode == self.calibrationModeEE:
+            irDataCP[1] -= (
+                self.cpOffset[1]
+                * (1 + self.cpKta * (ta - 25))
+                * (1 + self.cpKv * (vdd - 3.3))
+            )
+        else:
+            irDataCP[1] -= (
+                (self.cpOffset[1] + self.ilChessC[0])
+                * (1 + self.cpKta * (ta - 25))
+                * (1 + self.cpKv * (vdd - 3.3))
+            )
+
+        for pixelNumber in range(768):
+            ilPattern = pixelNumber // 32 - (pixelNumber // 64) * 2
+            chessPattern = ilPattern ^ (pixelNumber - (pixelNumber // 2) * 2)
+            conversionPattern = (
+                (pixelNumber + 2) // 4
+                - (pixelNumber + 3) // 4
+                + (pixelNumber + 1) // 4
+                - pixelNumber // 4
+            ) * (1 - 2 * ilPattern)
+
+            if mode == 0:
+                pattern = ilPattern
+            else:
+                pattern = chessPattern
+
+            if pattern == frameData[833]:
+                irData = frameData[pixelNumber]
+                if irData > 32767:
+                    irData -= 65536
+                irData *= gain
+
+                kta = self.kta[pixelNumber] / ktaScale
+                kv = self.kv[pixelNumber] / kvScale
+                irData -= (
+                    self.offset[pixelNumber]
+                    * (1 + kta * (ta - 25))
+                    * (1 + kv * (vdd - 3.3))
+                )
+
+                if mode != self.calibrationModeEE:
+                    irData += (
+                        self.ilChessC[2] * (2 * ilPattern - 1)
+                        - self.ilChessC[1] * conversionPattern
+                    )
+
+                irData = irData - self.tgc * irDataCP[subPage]
+                irData /= emissivity
+
+                alphaCompensated = SCALEALPHA * alphaScale / self.alpha[pixelNumber]
+                alphaCompensated *= 1 + self.KsTa * (ta - 25)
+
+                Sx = (
+                    alphaCompensated
+                    * alphaCompensated
+                    * alphaCompensated
+                    * (irData + alphaCompensated * taTr)
+                )
+                Sx = math.sqrt(math.sqrt(Sx)) * self.ksTo[1]
+
+                To = (
+                    math.sqrt(
+                        math.sqrt(
+                            irData
+                            / (alphaCompensated * (1 - self.ksTo[1] * 273.15) + Sx)
+                            + taTr
+                        )
+                    )
+                    - 273.15
+                )
+
+                if To < self.ct[1]:
+                    torange = 0
+                elif To < self.ct[2]:
+                    torange = 1
+                elif To < self.ct[3]:
+                    torange = 2
+                else:
+                    torange = 3
+
+                To = (
+                    math.sqrt(
+                        math.sqrt(
+                            irData
+                            / (
+                                alphaCompensated
+                                * alphaCorrR[torange]
+                                * (1 + self.ksTo[torange] * (To - self.ct[torange]))
+                            )
+                            + taTr
+                        )
+                    )
+                    - 273.15
+                )
+
+                result[pixelNumber] = To
+
+    # pylint: enable=too-many-locals, too-many-branches, too-many-statements
+
+    def _ExtractParameters(self):
+        self._ExtractVDDParameters()
+        self._ExtractPTATParameters()
+        self._ExtractGainParameters()
+        self._ExtractTgcParameters()
+        self._ExtractResolutionParameters()
+        self._ExtractKsTaParameters()
+        self._ExtractKsToParameters()
+        self._ExtractCPParameters()
+        self._ExtractAlphaParameters()
+        self._ExtractOffsetParameters()
+        self._ExtractKtaPixelParameters()
+        self._ExtractKvPixelParameters()
+        self._ExtractCILCParameters()
+        self._ExtractDeviatingPixels()
+
+    def _ExtractVDDParameters(self):
+        # extract VDD
+        self.kVdd = (eeData[51] & 0xFF00) >> 8
+        if self.kVdd > 127:
+            self.kVdd -= 256  # convert to signed
+        self.kVdd *= 32
+        self.vdd25 = eeData[51] & 0x00FF
+        self.vdd25 = ((self.vdd25 - 256) << 5) - 8192
+
+    def _ExtractPTATParameters(self):
+        # extract PTAT
+        self.KvPTAT = (eeData[50] & 0xFC00) >> 10
+        if self.KvPTAT > 31:
+            self.KvPTAT -= 64
+        self.KvPTAT /= 4096
+        self.KtPTAT = eeData[50] & 0x03FF
+        if self.KtPTAT > 511:
+            self.KtPTAT -= 1024
+        self.KtPTAT /= 8
+        self.vPTAT25 = eeData[49]
+        self.alphaPTAT = (eeData[16] & 0xF000) / math.pow(2, 14) + 8
+
+    def _ExtractGainParameters(self):
+        # extract Gain
+        self.gainEE = eeData[48]
+        if self.gainEE > 32767:
+            self.gainEE -= 65536
+
+    def _ExtractTgcParameters(self):
+        # extract Tgc
+        #print(eeData[60])
+        self.tgc = eeData[60] & 0x00FF
+        #print(self.tgc)
+        if self.tgc > 127:
+            self.tgc -= 256
+        self.tgc /= 32
+        #print(self.tgc)
+
+    def _ExtractResolutionParameters(self):
+        # extract resolution
+        self.resolutionEE = (eeData[56] & 0x3000) >> 12
+
+    def _ExtractKsTaParameters(self):
+        # extract KsTa
+        self.KsTa = (eeData[60] & 0xFF00) >> 8
+        if self.KsTa > 127:
+            self.KsTa -= 256
+        self.KsTa /= 8192
+
+    def _ExtractKsToParameters(self):
+        # extract ksTo
+        step = ((eeData[63] & 0x3000) >> 12) * 10
+        self.ct[0] = -40
+        self.ct[1] = 0
+        self.ct[2] = (eeData[63] & 0x00F0) >> 4
+        self.ct[3] = (eeData[63] & 0x0F00) >> 8
+        self.ct[2] *= step
+        self.ct[3] = self.ct[2] + self.ct[3] * step
+
+        KsToScale = (eeData[63] & 0x000F) + 8
+        KsToScale = 1 << KsToScale
+
+        self.ksTo[0] = eeData[61] & 0x00FF
+        self.ksTo[1] = (eeData[61] & 0xFF00) >> 8
+        self.ksTo[2] = eeData[62] & 0x00FF
+        self.ksTo[3] = (eeData[62] & 0xFF00) >> 8
+
+        for i in range(4):
+            if self.ksTo[i] > 127:
+                self.ksTo[i] -= 256
+            self.ksTo[i] /= KsToScale
+        self.ksTo[4] = -0.0002
+
+    def _ExtractCPParameters(self):
+        # extract CP
+        offsetSP = [0] * 2
+        alphaSP = [0] * 2
+
+        alphaScale = ((eeData[32] & 0xF000) >> 12) + 27
+
+        offsetSP[0] = eeData[58] & 0x03FF
+        if offsetSP[0] > 511:
+            offsetSP[0] -= 1024
+
+        offsetSP[1] = (eeData[58] & 0xFC00) >> 10
+        if offsetSP[1] > 31:
+            offsetSP[1] -= 64
+        offsetSP[1] += offsetSP[0]
+
+        alphaSP[0] = eeData[57] & 0x03FF
+        if alphaSP[0] > 511:
+            alphaSP[0] -= 1024
+        alphaSP[0] /= math.pow(2, alphaScale)
+
+        alphaSP[1] = (eeData[57] & 0xFC00) >> 10
+        if alphaSP[1] > 31:
+            alphaSP[1] -= 64
+        alphaSP[1] = (1 + alphaSP[1] / 128) * alphaSP[0]
+
+        cpKta = eeData[59] & 0x00FF
+        if cpKta > 127:
+            cpKta -= 256
+        ktaScale1 = ((eeData[56] & 0x00F0) >> 4) + 8
+        self.cpKta = cpKta / math.pow(2, ktaScale1)
+
+        cpKv = (eeData[59] & 0xFF00) >> 8
+        if cpKv > 127:
+            cpKv -= 256
+        kvScale = (eeData[56] & 0x0F00) >> 8
+        self.cpKv = cpKv / math.pow(2, kvScale)
+
+        self.cpAlpha[0] = alphaSP[0]
+        self.cpAlpha[1] = alphaSP[1]
+        self.cpOffset[0] = offsetSP[0]
+        self.cpOffset[1] = offsetSP[1]
+        #print(self.cpAlpha[0])
+        #print(self.cpAlpha[1])
+
+    def _ExtractAlphaParameters(self):
+        # extract alpha
+        accRemScale = eeData[32] & 0x000F
+        accColumnScale = (eeData[32] & 0x00F0) >> 4
+        accRowScale = (eeData[32] & 0x0F00) >> 8
+        alphaScale = ((eeData[32] & 0xF000) >> 12) + 30
+        alphaRef = eeData[33]
+        accRow = [0] * 24
+        accColumn = [0] * 32
+        alphaTemp = [0] * 768
+
+        for i in range(6):
+            p = i * 4
+            accRow[p + 0] = eeData[34 + i] & 0x000F
+            accRow[p + 1] = (eeData[34 + i] & 0x00F0) >> 4
+            accRow[p + 2] = (eeData[34 + i] & 0x0F00) >> 8
+            accRow[p + 3] = (eeData[34 + i] & 0xF000) >> 12
+
+        for i in range(24):
+            if accRow[i] > 7:
+                accRow[i] -= 16
+
+        for i in range(8):
+            p = i * 4
+            accColumn[p + 0] = eeData[40 + i] & 0x000F
+            accColumn[p + 1] = (eeData[40 + i] & 0x00F0) >> 4
+            accColumn[p + 2] = (eeData[40 + i] & 0x0F00) >> 8
+            accColumn[p + 3] = (eeData[40 + i] & 0xF000) >> 12
+
+        for i in range(32):
+            if accColumn[i] > 7:
+                accColumn[i] -= 16
+        for i in range(24):
+            for j in range(32):
+                p = 32 * i + j
+                alphaTemp[p] = (eeData[64 + p] & 0x03F0) >> 4
+                if alphaTemp[p] > 31:
+                    alphaTemp[p] -= 64
+                alphaTemp[p] *= 1 << accRemScale
+                alphaTemp[p] += (
+                    alphaRef
+                    + (accRow[i] << accRowScale)
+                    + (accColumn[j] << accColumnScale)
+                )
+                alphaTemp[p] /= math.pow(2, alphaScale)
+                alphaTemp[p] -= self.tgc * (self.cpAlpha[0] + self.cpAlpha[1]) / 2
+                alphaTemp[p] = SCALEALPHA / alphaTemp[p]
+        # print("alphaTemp: ", alphaTemp)
+
+        temp = max(alphaTemp)
+        #print("temp", temp)
+
+        alphaScale = 0
+        while temp < 32768:
+            temp *= 2
+            alphaScale += 1
+
+        for i in range(768):
+            temp = alphaTemp[i] * math.pow(2, alphaScale)
+            self.alpha[i] = int(temp + 0.5)
+
+        self.alphaScale = alphaScale
+
+    def _ExtractOffsetParameters(self):
+        # extract offset
+        occRow = [0] * 24
+        occColumn = [0] * 32
+
+        occRemScale = eeData[16] & 0x000F
+        occColumnScale = (eeData[16] & 0x00F0) >> 4
+        occRowScale = (eeData[16] & 0x0F00) >> 8
+        offsetRef = eeData[17]
+        if offsetRef > 32767:
+            offsetRef -= 65536
+
+        for i in range(6):
+            p = i * 4
+            occRow[p + 0] = eeData[18 + i] & 0x000F
+            occRow[p + 1] = (eeData[18 + i] & 0x00F0) >> 4
+            occRow[p + 2] = (eeData[18 + i] & 0x0F00) >> 8
+            occRow[p + 3] = (eeData[18 + i] & 0xF000) >> 12
+
+        for i in range(24):
+            if occRow[i] > 7:
+                occRow[i] -= 16
+
+        for i in range(8):
+            p = i * 4
+            occColumn[p + 0] = eeData[24 + i] & 0x000F
+            occColumn[p + 1] = (eeData[24 + i] & 0x00F0) >> 4
+            occColumn[p + 2] = (eeData[24 + i] & 0x0F00) >> 8
+            occColumn[p + 3] = (eeData[24 + i] & 0xF000) >> 12
+
+        for i in range(32):
+            if occColumn[i] > 7:
+                occColumn[i] -= 16
+
+        for i in range(24):
+            for j in range(32):
+                p = 32 * i + j
+                self.offset[p] = (eeData[64 + p] & 0xFC00) >> 10
+                if self.offset[p] > 31:
+                    self.offset[p] -= 64
+                self.offset[p] *= 1 << occRemScale
+                self.offset[p] += (
+                    offsetRef
+                    + (occRow[i] << occRowScale)
+                    + (occColumn[j] << occColumnScale)
+                )
+
+    def _ExtractKtaPixelParameters(self):  # pylint: disable=too-many-locals
+        # extract KtaPixel
+        KtaRC = [0] * 4
+        ktaTemp = [0] * 768
+
+        KtaRoCo = (eeData[54] & 0xFF00) >> 8
+        if KtaRoCo > 127:
+            KtaRoCo -= 256
+        KtaRC[0] = KtaRoCo
+
+        KtaReCo = eeData[54] & 0x00FF
+        if KtaReCo > 127:
+            KtaReCo -= 256
+        KtaRC[2] = KtaReCo
+
+        KtaRoCe = (eeData[55] & 0xFF00) >> 8
+        if KtaRoCe > 127:
+            KtaRoCe -= 256
+        KtaRC[1] = KtaRoCe
+
+        KtaReCe = eeData[55] & 0x00FF
+        if KtaReCe > 127:
+            KtaReCe -= 256
+        KtaRC[3] = KtaReCe
+
+        ktaScale1 = ((eeData[56] & 0x00F0) >> 4) + 8
+        ktaScale2 = eeData[56] & 0x000F
+
+        for i in range(24):
+            for j in range(32):
+                p = 32 * i + j
+                split = 2 * (p // 32 - (p // 64) * 2) + p % 2
+                ktaTemp[p] = (eeData[64 + p] & 0x000E) >> 1
+                if ktaTemp[p] > 3:
+                    ktaTemp[p] -= 8
+                ktaTemp[p] *= 1 << ktaScale2
+                ktaTemp[p] += KtaRC[split]
+                ktaTemp[p] /= math.pow(2, ktaScale1)
+                # ktaTemp[p] = ktaTemp[p] * mlx90640->offset[p];
+
+        temp = abs(ktaTemp[0])
+        for kta in ktaTemp:
+            temp = max(temp, abs(kta))
+
+        ktaScale1 = 0
+        while temp < 64:
+            temp *= 2
+            ktaScale1 += 1
+
+        for i in range(768):
+            temp = ktaTemp[i] * math.pow(2, ktaScale1)
+            if temp < 0:
+                self.kta[i] = int(temp - 0.5)
+            else:
+                self.kta[i] = int(temp + 0.5)
+        self.ktaScale = ktaScale1
+
+    def _ExtractKvPixelParameters(self):
+        KvT = [0] * 4
+        kvTemp = [0] * 768
+
+        KvRoCo = (eeData[52] & 0xF000) >> 12
+        if KvRoCo > 7:
+            KvRoCo -= 16
+        KvT[0] = KvRoCo
+
+        KvReCo = (eeData[52] & 0x0F00) >> 8
+        if KvReCo > 7:
+            KvReCo -= 16
+        KvT[2] = KvReCo
+
+        KvRoCe = (eeData[52] & 0x00F0) >> 4
+        if KvRoCe > 7:
+            KvRoCe -= 16
+        KvT[1] = KvRoCe
+
+        KvReCe = eeData[52] & 0x000F
+        if KvReCe > 7:
+            KvReCe -= 16
+        KvT[3] = KvReCe
+
+        kvScale = (eeData[56] & 0x0F00) >> 8
+
+        for i in range(24):
+            for j in range(32):
+                p = 32 * i + j
+                split = 2 * (p // 32 - (p // 64) * 2) + p % 2
+                kvTemp[p] = KvT[split]
+                kvTemp[p] /= math.pow(2, kvScale)
+                # kvTemp[p] = kvTemp[p] * mlx90640->offset[p];
+
+        temp = abs(kvTemp[0])
+        for kv in kvTemp:
+            temp = max(temp, abs(kv))
+
+        kvScale = 0
+        while temp < 64:
+            temp *= 2
+            kvScale += 1
+
+        for i in range(768):
+            temp = kvTemp[i] * math.pow(2, kvScale)
+            if temp < 0:
+                self.kv[i] = int(temp - 0.5)
+            else:
+                self.kv[i] = int(temp + 0.5)
+        self.kvScale = kvScale
+
+    def _ExtractCILCParameters(self):
+        ilChessC = [0] * 3
+
+        self.calibrationModeEE = (eeData[10] & 0x0800) >> 4
+        self.calibrationModeEE = self.calibrationModeEE ^ 0x80
+
+        ilChessC[0] = eeData[53] & 0x003F
+        if ilChessC[0] > 31:
+            ilChessC[0] -= 64
+        ilChessC[0] /= 16.0
+
+        ilChessC[1] = (eeData[53] & 0x07C0) >> 6
+        if ilChessC[1] > 15:
+            ilChessC[1] -= 32
+        ilChessC[1] /= 2.0
+
+        ilChessC[2] = (eeData[53] & 0xF800) >> 11
+        if ilChessC[2] > 15:
+            ilChessC[2] -= 32
+        ilChessC[2] /= 8.0
+
+        self.ilChessC = ilChessC
+
+    def _ExtractDeviatingPixels(self):
+        self.brokenPixels = [0xFFFF] * 5
+        self.outlierPixels = [0xFFFF] * 5
+
+        pixCnt = 0
+        brokenPixCnt = 0
+        outlierPixCnt = 0
+
+        while (pixCnt < 768) and (brokenPixCnt < 5) and (outlierPixCnt < 5):
+            if eeData[pixCnt + 64] == 0:
+                self.brokenPixels[brokenPixCnt] = pixCnt
+                brokenPixCnt += 1
+            elif (eeData[pixCnt + 64] & 0x0001) != 0:
+                self.outlierPixels[outlierPixCnt] = pixCnt
+                outlierPixCnt += 1
+            pixCnt += 1
+
+        if brokenPixCnt > 4:
+            raise RuntimeError("More than 4 broken pixels")
+        if outlierPixCnt > 4:
+            raise RuntimeError("More than 4 outlier pixels")
+        if (brokenPixCnt + outlierPixCnt) > 4:
+            raise RuntimeError("More than 4 faulty pixels")
+        # print("Found %d broken pixels, %d outliers" % (brokenPixCnt, outlierPixCnt))
+        # TODO INCOMPLETE
+
+    def _I2CWriteWord(self, writeAddress, data):
+        cmd = bytearray(4)
+        cmd[0] = writeAddress >> 8
+        cmd[1] = writeAddress & 0x00FF
+        cmd[2] = data >> 8
+        cmd[3] = data & 0x00FF
+        dataCheck = [0]
+
+        with self.i2c_device as i2c:
+            i2c.write(cmd)
+        # print("Wrote:", [hex(i) for i in cmd])
+        time.sleep(0.001)
+        self._I2CReadWords(writeAddress, dataCheck)
+        # print("dataCheck: 0x%x" % dataCheck[0])
+        # if (dataCheck != data):
+        #    return -2
+    
+    _inbuf = bytearray(2 * I2C_READ_LEN)
+
+    def _I2CReadWords(self, addr, buffer, *, end=None):
+        # stamp = time.monotonic()
+        if end is None:
+            remainingWords = len(buffer)
+        else:
+            remainingWords = end
+        offset = 0
+        addrbuf = bytearray(2)
+        # inbuf = bytearray(2 * I2C_READ_LEN)
+        inbuf = self._inbuf
+
+        with self.i2c_device as i2c:
+            while remainingWords:
+                addrbuf[0] = addr >> 8  # MSB
+                addrbuf[1] = addr & 0xFF  # LSB
+                read_words = min(remainingWords, I2C_READ_LEN)
+                i2c.write_then_readinto(
+                    addrbuf, inbuf, in_end=read_words * 2
+                )  # in bytes
+                # print("-> ", [hex(i) for i in addrbuf])
+                
+                outwords = struct.unpack(
+                    ">" + "H" * read_words, inbuf[0 : read_words * 2]
+                )
+                # print("<- (", read_words, ")", [hex(i) for i in outwords])
+                for i, w in enumerate(outwords):
+                    buffer[offset + i] = w
+                offset += read_words
+                remainingWords -= read_words
+                addr += read_words
+
+ixc = None
+mlx = None
+frame = None
+
+def init_camera(scl_pin=22, sda_pin=21, freq=100000):
+    """Explicitly initializes the I2C bus and camera after power is stable."""
+    global ixc, mlx, frame
+    
+    print(f"[Camera] Initializing I2C on SCL:{scl_pin}, SDA:{sda_pin} at {freq}Hz...")
+    ixc = I2C(pins=(scl_pin, sda_pin), frequency=freq)
+    
+    print("[Camera] Probing for MLX90640...")
+    mlx = MLX90640(ixc)
+    
+    # Bonus: Your wiki snapshot recommends 16Hz for smooth images!
+    mlx.refresh_rate = RefreshRate.REFRESH_16_HZ 
+    
+    frame = [0] * 768
+    print("[Camera] Setup successful!")
+
+def read_temperature():
+    if mlx is None:
+        print("[Camera] Error: Camera not initialized. Call init_camera() first.")
+        return None
+    try:
+        print("Querying camera...")
+        mlx.getFrame(frame)
+        return frame
+    except Exception as e:
+        print(f"[Camera] Read error: {e}")
+        return None
@@ -1,7 +1,12 @@
+import json
 import threading
 import queue
 import time
-from shared import get_lora, get_mqtt_client, deviceTypes, config
+import traceback
+from orchestrateur.sensors import gps
+from shared import get_lora, get_mqtt_client, deviceTypes, config, payloads
+from shared.logging import log
+from sensors import ultrasonicRanger, temp_hum, button, camera

 # --- Read Unique Device ID ---
 try:
@@ -49,6 +54,7 @@ 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}")

 # --- THE CRUCIAL PAHO FIX ---
@@ -66,49 +72,120 @@ def mqtt_listener():
        message = mqtt_client.get_message()
        
        if message:
+            # Try to parse the payload as a python dictionary, but if it fails, just print the raw payload
+            try:
+                payload = json.loads(message['payload'])
+            except Exception as e:
+                print(f"Error parsing MQTT payload: {e}")
+                payload = message['payload']  # Fallback to raw payload if parsing fails
+            
            print(f"\n[Thread MQTT] Message reçu : {message}")
-            data_queue.put({"source": "MQTT", "data": message})
+            data_queue.put({"source": "MQTT", "topic": message['topic'] ,"data": payload})
        
-        # --- THE CPU FIX ---
        # Sleep for 100ms. Prevents the thread from turning into an infinite 100% CPU hog.
-        time.sleep(0.1)
+        time.sleep(0.2)

+# Button
+button_state = False
+def button_callback():
+    global button_state
+    button_state = not button_state
+    print(f"\n[Thread Button] Button state changed to: {button_state}")
+    
+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.")

+# Sensor reading
+def read_sensors():
+    """Read all sensors and return a dictionary of their values."""
+    log("\nLecture des capteurs...")
+    sensor_data = {}
+    
+    # Read Ultrasonic Ranger
+    distance = ultrasonicRanger.get_dish_height()
+    if distance is not None:
+        log(f"\nLecture du capteur Ultrason : {distance}")
+        sensor_data["ultrasonic_distance"] = 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
+    
+
+    # Read GPS Data
+    gps_data = gps.get_gps_data()
+    if gps_data:
+        log(f"\nLecture du capteur GPS : {gps_data}")
+        sensor_data["gps"] = gps_data
+        
+    # Camera
+    picture_bytes = None
+    try:
+        picture_bytes = camera.get_picture()
+        log(f"\nLecture du capteur Caméra : {len(picture_bytes)} bytes")
+        sensor_data["camera_image"] = picture_bytes
+    except Exception as e:
+        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
+
+    return sensor_data
+
 # --- MAIN EXECUTION LOOP ---
 while True:
    try:
-        # Check for non-heartbeat data safely
+        # Check for non-heartbeat data
        try:
            msg = data_queue.get(block=False)
-            print(f"\n[Main Loop] Données traitées : {msg['data']}")
+            
+            # print(msg)
+            
+            if msg["source"] == "LoRa":
+                print(f"\n[Main Loop] LoRa : Données traitées : {msg['data']}")
+            elif msg["source"] == "MQTT":
+                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
+                        continue
+                    microwave_id = msg["data"]["id_microwave"]
+                    print(f"\n[Main Loop] MQTT : Hello reçu de {microwave_id}.")
+                    # Responds 
+                    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
+                                  
+                
+                print(f"\n[Main Loop] MQTT : Données traitées : {msg['data']}")
        except queue.Empty:
            pass
        
-        time.sleep(1)
+        # 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}")
            
-        # Publish debug telemetry message
-        print("[Main Loop] Envoi d'un message de debug sur MQTT...")
-        response = mqtt_client.publish(
-            config.MQTT_TOPIC_COOKING,
-            f"Orchestrateur actif, ID: {DEVICE_ID}",
-            qos=config.MQTT_QOS
-        )
-        
-        # This will now unblock instantly because loop_start() handles the delivery confirmation!
-        response.wait_for_publish()  
-        print("[Main Loop] Message de debug publié avec succès.")
-        
-        time.sleep(9)
+        time.sleep(3)
        
        
    except KeyboardInterrupt:
        break
+    except Exception as e:
+        traceback.print_exc()
+        time.sleep(1)  # Prevents rapid error logging in case of persistent issues

 # Clean termination
 if hasattr(mqtt_client._client, "loop_stop"):
@@ -1,2 +1,6 @@
 paho-mqtt>=1.6,<3
 pyserial>=3.5,<4
+# picamera2>=0.3.36,<4 # → Installed with apt install python3-picamera2
+# OpenCV
+# sudo apt install -y python3-opencv
+# sudo apt install -y opencv-data
@@ -0,0 +1,7 @@
+# import grovepi
+
+import sensors.ultrasonicRanger as ultrasonicRanger
+import sensors.temp_hum as temp_hum
+import sensors.button as button
+import sensors.gps as gps
+import sensors.camera as camera
@@ -0,0 +1,44 @@
+import grovepi
+import time
+import threading
+from sensors.lock import grove_lock
+from shared.logging import log
+
+button = 2
+button_switch_state = 0
+grovepi.pinMode(button, "INPUT")
+
+button_callback = None
+
+def read_button_state():
+    if not grove_lock.acquire(timeout=0.05):
+        return None
+    try:
+        return grovepi.digitalRead(button)
+    except Exception as e:
+        log(f"BTN Error: {e}")
+        return None
+    finally:
+        grove_lock.release()
+
+def monitor_button():
+    global button_switch_state
+    last_button_state = button_switch_state
+    
+    while True:
+        time.sleep(0.04) 
+
+        current_state = read_button_state()
+        
+        if current_state is not None:
+            if current_state == 1 and last_button_state == 0:
+                if button_callback:
+                    button_callback()
+            last_button_state = current_state
+
+def start_button_monitoring_thread():
+    threading.Thread(target=monitor_button, daemon=True).start()
+
+def set_callback(callback):
+    global button_callback
+    button_callback = callback
@@ -0,0 +1,33 @@
+import grovepi
+import math
+from sensors.lock import grove_lock
+from picamera2 import Picamera2, Preview
+import time
+
+picam2 = Picamera2()
+
+camera_config = picam2.create_still_configuration()
+picam2.configure(camera_config)
+
+picam2.start()
+time.sleep(2)
+
+def preview_camera():
+    picam2.start_preview(Preview.DRM)
+
+def stop_preview_camera():
+    picam2.stop_preview()
+    
+def take_picture():
+    """Takes a picture and saves it to the file system"""
+    picam2.capture_file("test.jpg")
+    return "test.jpg"
+    
+def get_picture():
+    """Returns the image bytes as base64
+    """
+    file_path = take_picture()
+    with open(file_path, "rb") as f:
+        image_bytes = f.read()
+    return image_bytes
+
@@ -0,0 +1,122 @@
+import serial
+import time
+import threading
+from shared.logging import log
+from sensors.lock import serial_lock
+
+def calculate_nmea_checksum(line: str) -> bool:
+    """Validates standard NMEA 0183 sentence checksum ($...*HH)."""
+    if not line.startswith('$') or '*' not in line:
+        return False
+    
+    try:
+        content, checksum_str = line[1:].split('*', 1)
+        calculated_checksum = 0
+        for char in content:
+            calculated_checksum ^= ord(char)
+        
+        return calculated_checksum == int(checksum_str[:2], 16)
+    except Exception:
+        return False
+
+
+class GROVEGPS:
+    def __init__(self, port='/dev/ttyAMA0', baud=9600, timeout=1):
+        self.ser = serial.Serial(port, baud, timeout=timeout)
+        self.clean_data()
+
+    def clean_data(self):
+        self.timestamp = ""
+        self.quality = 0
+        self.satellites = 0
+        self.altitude = -1.0
+        self.latitude = -1.0
+        self.longitude = -1.0
+
+    def read(self):
+        """Reads the latest GGA sentence from serial, thread-safely."""
+        with serial_lock:
+            # 1. Flush accumulated stale data in the UART buffer
+            if self.ser.in_waiting > 0:
+                self.ser.reset_input_buffer()
+
+            # 2. Try reading up to 15 lines to catch the freshest GGA sentence
+            for _ in range(5):
+                raw_bytes = self.ser.readline()
+                try:
+                    line = raw_bytes.decode('utf-8', errors='ignore').strip()
+                    # log(f"GPS: Read line: {line}")
+                except Exception:
+                    continue
+
+                # Supports both $GPGGA and modern $GNGGA sentences
+                if (line.startswith('$GPGGA') or line.startswith('$GNGGA')) and calculate_nmea_checksum(line):
+                    if self.parse_gga(line):
+                        return True
+        return False
+
+    def parse_gga(self, line):
+        self.clean_data()
+        gga = line.split(',')
+        
+        if len(gga) < 10:
+            return False
+
+        try:
+            self.timestamp = gga[1]
+            self.quality = int(gga[6]) if gga[6] != "" else 0
+            self.satellites = int(gga[7]) if gga[7] != "" else 0
+
+            # If quality > 0 and coordinates exist, convert NMEA DDDMM.MMMM to decimal degrees
+            if self.quality > 0 and gga[2] != "" and gga[4] != "":
+                lat_raw = float(gga[2])
+                ns = gga[3]
+                lon_raw = float(gga[4])
+                ew = gga[5]
+
+                # Latitude calculation
+                lat_deg = lat_raw // 100
+                lat_min = lat_raw % 100
+                self.latitude = lat_deg + (lat_min / 60.0)
+                if ns == 'S':
+                    self.latitude = -self.latitude
+
+                # Longitude calculation
+                lon_deg = lon_raw // 100
+                lon_min = lon_raw % 100
+                self.longitude = lon_deg + (lon_min / 60.0)
+                if ew == 'W':
+                    self.longitude = -self.longitude
+
+                self.altitude = float(gga[9]) if gga[9] != "" else -1.0
+                return True
+            else:
+                # No lock on this line
+                return True
+
+        except (ValueError, IndexError):
+            return False
+
+
+# Shared instance
+gps = GROVEGPS()
+
+def get_gps_data():
+    """Returns GPS dictionary if fix is valid, otherwise returns None."""
+    has_data = gps.read()
+    
+    # Strictly check that we have a valid GPS lock (quality > 0 and valid coordinates)
+    if has_data and gps.quality > 0 and gps.latitude != -1.0:
+        return {
+            "timestamp": gps.timestamp,
+            "latitude": round(gps.latitude, 6),
+            "longitude": round(gps.longitude, 6),
+            "altitude": gps.altitude,
+            "quality": gps.quality,
+            "satellites": gps.satellites
+        }
+    else:
+        log(f"GPS: No valid fix or data available. Satellites: {gps.satellites}, Quality: {gps.quality}")
+    
+    # Return None so main.py doesn't process or log empty GPS data
+    return None
@@ -0,0 +1,2 @@
+# import orchestrateur.sensors.lib.grovepi_old as grovepi_old
+# import sensors.lib.grove_i2c_temp_hum_mini as grove_i2c_temp_hum_mini
@@ -0,0 +1,87 @@
+#!/usr/bin/env python
+#
+# GrovePi Library for using the Grove - Temperature&Humidity Sensor (http://www.seeedstudio.com/depot/Grove-TemperatureHumidity-Sensor-HighAccuracy-Mini-p-1921.html)
+#
+# The GrovePi connects the Raspberry Pi and Grove sensors.  You can learn more about GrovePi here:  http://www.dexterindustries.com/GrovePi
+#
+# Have a question about this library?  Ask on the forums here:  http://forum.dexterindustries.com/c/grovepi
+#
+# Released under the MIT license (http://choosealicense.com/licenses/mit/).
+# For more information see https://github.com/DexterInd/GrovePi/blob/master/LICENSE
+#################################################################################################################################################
+# NOTE:
+# The software for this sensor is still in development and might make your GrovePi unuable as long as this sensor is connected with the GrovePi
+#################################################################################################################################################
+import time,sys
+import RPi.GPIO as GPIO
+import smbus
+
+debug = 0
+# use the bus that matches your raspi version
+rev = GPIO.RPI_REVISION
+if rev == 2 or rev == 3:
+    bus = smbus.SMBus(1)
+else:
+    bus = smbus.SMBus(0)
+
+class th02:
+
+	ADDRESS = 0x40
+
+	TH02_REG_STATUS = 0x00
+	TH02_REG_DATA_H = 0x01
+	TH02_REG_DATA_L = 0x02
+	TH02_REG_CONFIG = 0x03
+	TH02_REG_ID = 0x11
+
+	TH02_STATUS_RDY_MASK = 0x01
+
+	TH02_CMD_MEASURE_HUMI = [0x01]
+	TH02_CMD_MEASURE_TEMP = [0x11]
+
+	SUCCESS = 0
+
+	def getTemperature(self):
+		bus.write_i2c_block_data(self.ADDRESS, self.TH02_REG_CONFIG, self.TH02_CMD_MEASURE_TEMP)
+
+		while 1:
+			status=self.getStatus()
+			if debug:
+				print("st:",status)
+			if status:
+				break
+		t_raw=bus.read_i2c_block_data(self.ADDRESS, self.TH02_REG_DATA_H,3)
+		if debug:
+			print(t_raw)
+		temperature = (t_raw[1]<<8|t_raw[2])>>2
+		return (temperature/32.0)-50.0
+
+	def getHumidity(self):
+		bus.write_i2c_block_data(self.ADDRESS, self.TH02_REG_CONFIG, self.TH02_CMD_MEASURE_HUMI)
+
+		while 1:
+			status=self.getStatus()
+			if debug:
+				print("st:",status)
+			if status:
+				break
+		t_raw=bus.read_i2c_block_data(self.ADDRESS, self.TH02_REG_DATA_H,3)
+		if debug:
+			print(t_raw)
+		temperature = (t_raw[1]<<8|t_raw[2])>>4
+		return (temperature/16.0)-24.0
+
+	def getStatus(self):
+		status=bus.read_i2c_block_data(self.ADDRESS, self.TH02_REG_STATUS,1)
+		if debug:
+			print(status)
+		if status[0] & self.TH02_STATUS_RDY_MASK != 1:
+			return 1
+		else:
+			return 0
+
+if __name__ == "__main__":
+	t= th02()
+	while True:
+		print(t.getTemperature(),t.getHumidity())
+		time.sleep(.5)
@@ -0,0 +1,691 @@
+#!/usr/bin/env python
+#
+# GrovePi Python library
+# v1.4
+#
+# This file provides the basic functions for using the GrovePi
+#
+# The GrovePi connects the Raspberry Pi and Grove sensors.  You can learn more about GrovePi here:  http://www.dexterindustries.com/GrovePi
+#
+# Have a question about this example?  Ask on the forums here:  http://forum.dexterindustries.com/c/grovepi
+#
+'''
+## License
+
+The MIT License (MIT)
+
+GrovePi for the Raspberry Pi: an open source platform for connecting Grove Sensors to the Raspberry Pi.
+Copyright (C) 2017  Dexter Industries
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+'''
+# Initial Date: 13 Feb 2014
+# Last Updated: 11 Nov 2016
+# http://www.dexterindustries.com/
+# Author	Date      		Comments
+# Karan		13 Feb 2014  	Initial Authoring
+# 			11 Nov 2016		I2C retries added for faster IO
+#							DHT function updated to look for nan's
+
+__version__ = '1.4.1'
+
+import sys
+import time
+import math
+import struct
+import numpy
+
+import di_i2c
+
+def set_bus(bus):
+	global i2c
+	i2c = di_i2c.DI_I2C(bus = bus, address = address)
+
+address = 0x04
+max_recv_size = 10
+set_bus("RPI_1SW")
+
+if sys.version_info<(3,0):
+	p_version = 2
+else:
+	p_version = 3
+
+# Earliest version of the firmware to work with
+works_with_firmware = [
+	"1.4.0"
+]
+
+# interrupt operations
+COUNT_CHANGES = 0
+COUNT_LOW_DURATION = 1
+
+# interrupt trigger mode
+CHANGE = 1
+FALLING = 2
+RISING = 3
+
+# This allows us to be more specific about which commands contain unused bytes
+unused = 0
+retries = 10
+additional_waiting = 0
+
+# Get firmware version
+version_cmd = [8]
+# No data is available from the GrovePi
+data_not_available_cmd = [23]
+
+# Command Format
+# digitalRead() command format header
+dRead_cmd = [1]
+# digitalWrite() command format header
+dWrite_cmd = [2]
+# analogRead() command format header
+aRead_cmd = [3]
+# analogWrite() command format header
+aWrite_cmd = [4]
+# pinMode() command format header
+pMode_cmd = [5]
+# Ultrasonic read
+uRead_cmd = [7]
+# Accelerometer (+/- 1.5g) read
+acc_xyz_cmd = [20]
+# RTC get time
+rtc_getTime_cmd = [30]
+# DHT Pro sensor temperature
+dht_temp_cmd = [40]
+
+# Grove LED Bar commands
+# Initialise
+ledBarInit_cmd = [50]
+# Set orientation
+ledBarOrient_cmd = [51]
+# Set level
+ledBarLevel_cmd = [52]
+# Set single LED
+ledBarSetOne_cmd = [53]
+# Toggle single LED
+ledBarToggleOne_cmd = [54]
+# Set all LEDs
+ledBarSet_cmd = [55]
+# Get current state
+ledBarGet_cmd = [56]
+
+# Grove 4 Digit Display commands
+# Initialise
+fourDigitInit_cmd = [70]
+# Set brightness, not visible until next cmd
+fourDigitBrightness_cmd = [71]
+# Set numeric value without leading zeros
+fourDigitValue_cmd = [72]
+# Set numeric value with leading zeros
+fourDigitValueZeros_cmd = [73]
+# Set individual digit
+fourDigitIndividualDigit_cmd = [74]
+# Set individual leds of a segment
+fourDigitIndividualLeds_cmd = [75]
+# Set left and right values with colon
+fourDigitScore_cmd = [76]
+# Analog read for n seconds
+fourDigitAnalogRead_cmd = [77]
+# Entire display on
+fourDigitAllOn_cmd = [78]
+# Entire display off
+fourDigitAllOff_cmd = [79]
+
+# Grove Chainable RGB LED commands
+# Store color for later use
+storeColor_cmd = [90]
+# Initialise
+chainableRgbLedInit_cmd = [91]
+# Initialise and test with a simple color
+chainableRgbLedTest_cmd = [92]
+# Set one or more leds to the stored color by pattern
+chainableRgbLedSetPattern_cmd = [93]
+# set one or more leds to the stored color by modulo
+chainableRgbLedSetModulo_cmd = [94]
+# sets leds similar to a bar graph, reversible
+chainableRgbLedSetLevel_cmd = [95]
+
+# Read the button from IR sensor
+ir_read_cmd = [21]
+# Set pin for the IR receiver
+ir_recv_pin_cmd = [22]
+# Check if there's data coming from the IR receiver
+ir_read_isdata = [24]
+
+# Interrupt-based devices
+isr_set_cmd = [6]
+isr_unset_cmd = [9]
+isr_read_cmd = [10]
+isr_clear_cmd = [11]
+isr_active_cmd = [12]
+
+# Grove Encoders
+encoder_read_cmd = [13]
+encoder_en_cmd = [14]
+encoder_dis_cmd = [15]
+
+# Dust, Encoder & Flow Sensor commands
+# dust_sensor_read_cmd=[10]
+# dust_sensor_en_cmd=[14]
+# dust_sensor_dis_cmd=[15]
+# dust_sensor_int_cmd=[9]
+# dust_sensor_read_int_cmd=[6]
+# flow_read_cmd=[12]
+# flow_disable_cmd=[13]
+# flow_en_cmd=[18]
+
+
+# Function declarations of the various functions used for encoding and sending
+# data from RPi to Arduino
+
+# Write I2C block to the GrovePi
+def write_i2c_block(block, custom_timing = None):
+	'''
+	Now catches and raises Keyboard Interrupt that the user is responsible to catch.
+	'''
+	counter = 0
+	reg = block[0]
+	data = block[1:]
+	while counter < 3:
+		try:
+			i2c.write_reg_list(reg, data)
+			time.sleep(0.002 + additional_waiting)
+			return
+		except KeyboardInterrupt:
+			raise KeyboardInterrupt
+		except:
+			counter += 1
+			time.sleep(0.003)
+			continue
+
+# Read I2C block from the GrovePi
+def read_i2c_block(no_bytes = max_recv_size):
+	'''
+	Now catches and raises Keyboard Interrupt that the user is responsible to catch.
+	'''
+	data = data_not_available_cmd
+	counter = 0
+	while data[0] in [data_not_available_cmd[0], 255] and counter < 3:
+		try:
+			data = i2c.read_list(reg = None, len = no_bytes)
+			time.sleep(0.002 + additional_waiting)
+			if counter > 0:
+				counter = 0
+		except KeyboardInterrupt:
+			raise KeyboardInterrupt
+		except:
+			counter += 1
+			time.sleep(0.003)
+			
+	return data
+
+def read_identified_i2c_block(read_command_id, no_bytes):
+	data = [-1]
+	while len(data) <= 1:
+		data = read_i2c_block(no_bytes + 1)
+
+	return data[1:]
+
+# Arduino Digital Read
+def digitalRead(pin):
+	write_i2c_block(dRead_cmd + [pin, unused, unused])
+	data = read_identified_i2c_block( dRead_cmd, no_bytes = 1)[0]
+	return data
+
+# Arduino Digital Write
+def digitalWrite(pin, value):
+	write_i2c_block(dWrite_cmd + [pin, value, unused])
+	read_i2c_block(no_bytes = 1)
+	return 1
+
+# Read analog value from Pin
+def analogRead(pin):
+	write_i2c_block(aRead_cmd + [pin, unused, unused])
+	number = read_identified_i2c_block(aRead_cmd, no_bytes = 2)
+	return number[0] * 256 + number[1]
+
+
+# Write PWM
+def analogWrite(pin, value):
+	write_i2c_block(aWrite_cmd + [pin, value, unused])
+	read_i2c_block(no_bytes = 1)
+	return 1
+
+# Setting Up Pin mode on Arduino
+def pinMode(pin, mode):
+	if mode == "OUTPUT":
+		write_i2c_block(pMode_cmd + [pin, 1, unused])
+	elif mode == "INPUT":
+		write_i2c_block(pMode_cmd + [pin, 0, unused])
+	read_i2c_block(no_bytes = 1)
+	return 1
+
+
+# Read temp in Celsius from Grove Temperature Sensor
+def temp(pin, model = '1.0'):
+	# each of the sensor revisions use different thermistors, each with their own B value constant
+	if model == '1.2':
+		bValue = 4250  # sensor v1.2 uses thermistor ??? (assuming NCP18WF104F03RC until SeeedStudio clarifies)
+	elif model == '1.1':
+		bValue = 4250  # sensor v1.1 uses thermistor NCP18WF104F03RC
+	else:
+		bValue = 3975  # sensor v1.0 uses thermistor TTC3A103*39H
+	a = analogRead(pin)
+	resistance = (float)(1023 - a) * 10000 / a
+	t = (float)(1 / (math.log(resistance / 10000) / bValue + 1 / 298.15) - 273.15)
+	return t
+
+
+# Read value from Grove Ultrasonic
+def ultrasonicRead(pin):
+	write_i2c_block(uRead_cmd + [pin, unused, unused])
+	number = read_identified_i2c_block(uRead_cmd, no_bytes = 2)
+	return (number[0] * 256 + number[1])
+
+
+# Read the firmware version
+def version():
+	write_i2c_block(version_cmd + [unused, unused, unused])
+	number = read_identified_i2c_block(version_cmd, no_bytes = 3)
+	return "%s.%s.%s" % (number[0], number[1], number[2])
+
+
+# Read Grove Accelerometer (+/- 1.5g) XYZ value
+# Need to investigate why this reports what was read with the previous command
+# Doesn't look to be implemented on the GrovePi
+def acc_xyz():
+	write_i2c_block(acc_xyz_cmd + [unused, unused, unused])
+	number = read_identified_i2c_block(acc_xyz_cmd, no_bytes = 3)
+	if number[1] > 32:
+		number[1] = - (number[1] - 224)
+	if number[2] > 32:
+		number[2] = - (number[2] - 224)
+	if number[3] > 32:
+		number[3] = - (number[3] - 224)
+	return (number[0], number[1], number[2])
+
+
+# Read from Grove RTC
+# Doesn't look to be implemented on the GrovePi
+def rtc_getTime():
+	write_i2c_block(rtc_getTime_cmd + [unused, unused, unused])
+	number = read_i2c_block()
+	return number
+
+# Read and return temperature and humidity from Grove DHT Pro
+def dht(pin, module_type):
+	write_i2c_block(dht_temp_cmd + [pin, module_type, unused])
+	number = read_identified_i2c_block(dht_temp_cmd, no_bytes = 8)
+
+	if p_version==2:
+		h=''
+		for element in (number[0:4]):
+			h+=chr(element)
+
+		t_val=struct.unpack('f', h)
+		t = round(t_val[0], 2)
+
+		h = ''
+		for element in (number[4:8]):
+			h+=chr(element)
+
+		hum_val=struct.unpack('f',h)
+		hum = round(hum_val[0], 2)
+	else:
+		t_val=bytearray(number[0:4])
+		h_val=bytearray(number[4:8])
+		t=round(struct.unpack('f',t_val)[0],2)
+		hum=round(struct.unpack('f',h_val)[0],2)
+	if t > -100.0 and t <150.0 and hum >= 0.0 and hum<=100.0:
+		return [t, hum]
+	else:
+		return [float('nan'),float('nan')]
+
+# Grove - Infrared Receiver - get the commands received from the Grove IR sensor
+def ir_read_signal():
+	write_i2c_block(ir_read_cmd + [unused, unused, unused])
+	data_back = read_identified_i2c_block(ir_read_cmd, no_bytes = 7)
+
+	return (data_back[0],
+			data_back[1] + data_back[2] * 256,
+			data_back[3] + data_back[4] * 256 + data_back[5] * (256 ** 2) + data_back[6] * (256 ** 3))
+
+# Grove - Infrared Receiver - set the pin on which the Grove IR sensor is connected
+def ir_recv_pin(pin):
+	write_i2c_block(ir_recv_pin_cmd + [pin, unused, unused])
+	read_i2c_block(no_bytes = 1)
+
+# Grove - Infrared Receiver - check if there's any data that hasn't been read so far
+def ir_is_data():
+	write_i2c_block(ir_read_isdata + 3 * [unused])
+	number = read_identified_i2c_block(ir_read_isdata, no_bytes = 1)
+
+	return number[0] != 0
+
+# after a list of numerical values is provided
+# the function returns a list with the outlier(or extreme) values removed
+# make the std_factor_threshold bigger so that filtering becomes less strict
+# and make the std_factor_threshold smaller to get the opposite
+def statisticalNoiseReduction(values, std_factor_threshold = 2):
+	if len(values) == 0:
+		return []
+
+	mean = numpy.mean(values)
+	standard_deviation = numpy.std(values)
+
+	if standard_deviation == 0:
+		return values
+
+	filtered_values = [element for element in values if element > mean - std_factor_threshold * standard_deviation]
+	filtered_values = [element for element in filtered_values if element < mean + std_factor_threshold * standard_deviation]
+
+	return filtered_values
+
+
+# Grove LED Bar - initialise
+# orientation: (0 = red to green, 1 = green to red)
+def ledBar_init(pin, orientation):
+	write_i2c_block(ledBarInit_cmd + [pin, orientation, unused])
+	read_i2c_block(no_bytes = 1)
+	return 1
+
+# Grove LED Bar - set orientation
+# orientation: (0 = red to green,  1 = green to red)
+def ledBar_orientation(pin, orientation):
+	write_i2c_block(ledBarOrient_cmd + [pin, orientation, unused])
+	read_i2c_block(no_bytes = 1)
+	return 1
+
+# Grove LED Bar - set level
+# level: (0-10)
+def ledBar_setLevel(pin, level):
+	write_i2c_block(ledBarLevel_cmd + [pin, level, unused])
+	read_i2c_block(no_bytes = 1)
+	return 1
+
+# Grove LED Bar - set single led
+# led: which led (1-10)
+# state: off or on (0-1)
+def ledBar_setLed(pin, led, state):
+	write_i2c_block(ledBarSetOne_cmd + [pin, led, state])
+	read_i2c_block(no_bytes = 1)
+	return 1
+
+# Grove LED Bar - toggle single led
+# led: which led (1-10)
+def ledBar_toggleLed(pin, led):
+	write_i2c_block(ledBarToggleOne_cmd + [pin, led, unused])
+	read_i2c_block(no_bytes = 1)
+	return 1
+
+# Grove LED Bar - set all leds
+# state: (0-1023) or (0x00-0x3FF) or (0b0000000000-0b1111111111) or (int('0000000000',2)-int('1111111111',2))
+def ledBar_setBits(pin, state):
+	byte1 = state & 255
+	byte2 = state >> 8
+	write_i2c_block(ledBarSet_cmd + [pin, byte1, byte2])
+	read_i2c_block(no_bytes = 1)
+	return 1
+
+# Grove LED Bar - get current state
+# state: (0-1023) a bit for each of the 10 LEDs
+def ledBar_getBits(pin):
+	write_i2c_block(ledBarGet_cmd + [pin, unused, unused])
+	block = read_identified_i2c_block(ledBarGet_cmd, no_bytes = 2)
+	return block[0] ^ (block[1] << 8)
+
+
+# Grove 4 Digit Display - initialise
+def fourDigit_init(pin):
+	write_i2c_block(fourDigitInit_cmd + [pin, unused, unused])
+	read_i2c_block(no_bytes = 1)
+	return 1
+
+# Grove 4 Digit Display - set numeric value with or without leading zeros
+# value: (0-65535) or (0000-FFFF)
+def fourDigit_number(pin, value, leading_zero):
+	# split the value into two bytes so we can render 0000-FFFF on the display
+	byte1 = value & 255
+	byte2 = value >> 8
+	# separate commands to overcome current 4 bytes per command limitation
+	if (leading_zero):
+		write_i2c_block(fourDigitValue_cmd + [pin, byte1, byte2])
+	else:
+		write_i2c_block(fourDigitValueZeros_cmd + [pin, byte1, byte2])
+	read_i2c_block(no_bytes = 1)
+	return 1
+
+# Grove 4 Digit Display - set brightness
+# brightness: (0-7)
+def fourDigit_brightness(pin, brightness):
+	# not actually visible until next command is executed
+	write_i2c_block(fourDigitBrightness_cmd + [pin, brightness, unused])
+	read_i2c_block(no_bytes = 1)
+	return 1
+
+# Grove 4 Digit Display - set individual segment (0-9,A-F)
+# segment: (0-3)
+# value: (0-15) or (0-F)
+def fourDigit_digit(pin, segment, value):
+	write_i2c_block(fourDigitIndividualDigit_cmd + [pin, segment, value])
+	read_i2c_block(no_bytes = 1)
+	return 1
+
+# Grove 4 Digit Display - set 7 individual leds of a segment
+# segment: (0-3)
+# leds: (0-255) or (0-0xFF) one bit per led, segment 2 is special, 8th bit is the colon
+def fourDigit_segment(pin, segment, leds):
+	write_i2c_block(fourDigitIndividualLeds_cmd + [pin, segment, leds])
+	read_i2c_block(no_bytes = 1)
+	return 1
+
+# Grove 4 Digit Display - set left and right values (0-99), with leading zeros and a colon
+# left: (0-255) or (0-FF)
+# right: (0-255) or (0-FF)
+# colon will be lit
+def fourDigit_score(pin, left, right):
+	write_i2c_block(fourDigitScore_cmd + [pin, left, right])
+	read_i2c_block(no_bytes = 1)
+	return 1
+
+# Grove 4 Digit Display - display analogRead value for n seconds, 4 samples per second
+# analog: analog pin to read
+# duration: analog read for this many seconds
+def fourDigit_monitor(pin, analog, duration):
+	write_i2c_block(fourDigitAnalogRead_cmd + [pin, analog, duration])
+	read_i2c_block(no_bytes = 1)
+	time.sleep(duration)
+	return 1
+
+# Grove 4 Digit Display - turn entire display on (88:88)
+def fourDigit_on(pin):
+	write_i2c_block(fourDigitAllOn_cmd + [pin, unused, unused])
+	read_i2c_block(no_bytes = 1)
+	return 1
+
+# Grove 4 Digit Display - turn entire display off
+def fourDigit_off(pin):
+	write_i2c_block(fourDigitAllOff_cmd + [pin, unused, unused])
+	read_i2c_block(no_bytes = 1)
+	return 1
+
+# Grove Chainable RGB LED - store a color for later use
+# red: 0-255
+# green: 0-255
+# blue: 0-255
+def storeColor(red, green, blue):
+	write_i2c_block(storeColor_cmd + [red, green, blue])
+	read_i2c_block(no_bytes = 1)
+	return 1
+
+# Grove Chainable RGB LED - initialise
+# numLeds: how many leds do you have in the chain
+def chainableRgbLed_init(pin, numLeds):
+	write_i2c_block(chainableRgbLedInit_cmd + [pin, numLeds, unused])
+	read_i2c_block(no_bytes = 1)
+	return 1
+
+# Grove Chainable RGB LED - initialise and test with a simple color
+# numLeds: how many leds do you have in the chain
+# testColor: (0-7) 3 bits in total - a bit for red, green and blue, eg. 0x04 == 0b100 (0bRGB) == rgb(255, 0, 0) == #FF0000 == red
+#            ie. 0 black, 1 blue, 2 green, 3 cyan, 4 red, 5 magenta, 6 yellow, 7 white
+def chainableRgbLed_test(pin, numLeds, testColor):
+	write_i2c_block(chainableRgbLedTest_cmd + [pin, numLeds, testColor])
+	read_i2c_block(no_bytes = 1)
+	return 1
+
+# Grove Chainable RGB LED - set one or more leds to the stored color by pattern
+# pattern: (0-3) 0 = this led only, 1 all leds except this led, 2 this led and all leds inwards, 3 this led and all leds outwards
+# whichLed: index of led you wish to set counting outwards from the GrovePi, 0 = led closest to the GrovePi
+def chainableRgbLed_pattern(pin, pattern, whichLed):
+	write_i2c_block(chainableRgbLedSetPattern_cmd + [pin, pattern, whichLed])
+	read_i2c_block(no_bytes = 1)
+	return 1
+
+# Grove Chainable RGB LED - set one or more leds to the stored color by modulo
+# offset: index of led you wish to start at, 0 = led closest to the GrovePi, counting outwards
+# divisor: when 1 (default) sets stored color on all leds >= offset, when 2 sets every 2nd led >= offset and so on
+def chainableRgbLed_modulo(pin, offset, divisor):
+	write_i2c_block(chainableRgbLedSetModulo_cmd + [pin, offset, divisor])
+	read_i2c_block(no_bytes = 1)
+	return 1
+
+# Grove Chainable RGB LED - sets leds similar to a bar graph, reversible
+# level: (0-10) the number of leds you wish to set to the stored color
+# reversible (0-1) when 0 counting outwards from GrovePi, 0 = led closest to the GrovePi, otherwise counting inwards
+def chainableRgbLed_setLevel(pin, level, reverse):
+	write_i2c_block(chainableRgbLedSetLevel_cmd + [pin, level, reverse])
+	read_i2c_block(no_bytes = 1)
+	return 1
+
+def set_pin_interrupt(pin, ftype, interrupt_mode, period):
+	'''
+	Attach an interrupt to a pin.
+
+	pin - D2-D8 pins
+	ftype - 0 for COUNT_CHANGES, 1 for COUNT_LOW_DURATION
+	interrupt_mode - 1 for CHANGE, 2 for FALLING, 3 for RISING
+	period - as measured in ms (max 65535 ms)
+	'''
+	period_high = period >> 8
+	period_low = period & 0xff
+	combined_params = (pin & 0x0f) + ((ftype & 0x03) << 4) + ((interrupt_mode & 0x03) << 6)
+	write_i2c_block(isr_set_cmd + [combined_params, period_high, period_low])
+	read_i2c_block(no_bytes = 1)
+
+def unset_pin_interrupt(pin):
+	'''
+	Detach an interrupt from a pin.
+
+	pin - D2-D8 pins
+	'''
+	write_i2c_block(isr_unset_cmd + [pin, unused, unused])
+	read_i2c_block(no_bytes = 1)
+
+def unset_all_interrupts():
+	'''
+	Detach all attached interrupts from all D2-D8 pins.
+
+	pin - D2-D8 pins
+	'''
+	write_i2c_block(isr_clear_cmd + 3 * [unused])
+	read_i2c_block(no_bytes = 1)
+
+def is_interrupt_active(pin):
+	write_i2c_block(isr_active_cmd + [pin, unused, unused])
+	data = read_identified_i2c_block(isr_active_cmd, no_bytes = 2)
+	value  = data[1] >> pin
+	return value != 0
+
+def get_active_interrupts():
+	'''
+	Get list of attached interrupts for a given pin or all of them.
+
+	pin - D2-D8 pins; if it's 255 return the state of all pins
+	'''
+	pin = 255
+	write_i2c_block(isr_active_cmd + [pin, unused, unused])
+	data = read_identified_i2c_block(isr_active_cmd, no_bytes = 2)
+	value = data[0] + (data[1] << 8)
+	active_interrupts = [i for i in range(2 * 8) if ((value >> i) & 0x01)]
+	return active_interrupts
+
+def read_interrupt_state(pin):
+	'''
+	Read number of pulses/changes on given port that occurred within a time period.
+
+	pin - D2-D8 pins
+	'''
+	write_i2c_block(isr_read_cmd + [pin, unused, unused])
+	data = read_identified_i2c_block(isr_read_cmd, no_bytes = 4)
+	value = data[0] + (data[1] << 8) + (data[2] << 16) + (data[3] << 24)
+	return value
+
+def dust_sensor_en(pin = 2, period = 30000):
+	set_pin_interrupt(pin, ftype=COUNT_LOW_DURATION, interrupt_mode=CHANGE, period=period)
+
+def dust_sensor_dis(pin = 2):
+	unset_pin_interrupt(pin)
+
+def dust_sensor_read(pin = 2, period = 30000):
+	'''
+	By default, the sample rate is set to 1 at every 30 seconds and this
+	function was written only for that interval.
+
+	If you wish to use a different
+	interval, then use dust_sensor_read_more function. To set a
+	different interval, use set_dust_sensor_interval function.
+	'''
+	lpo = read_interrupt_state(pin)
+	percentage = 100.0 * lpo / period
+	concentration = 1.1 * percentage ** 3 - 3.8 * percentage ** 2 + 520 * percentage + 0.62
+
+	return lpo, percentage, concentration
+
+def encoder_en(pin = 2, steps = 32):
+	write_i2c_block(encoder_en_cmd + [pin, steps, unused])
+	read_i2c_block(no_bytes = 1)
+
+def encoder_dis(pin = 2):
+	write_i2c_block(encoder_dis_cmd + [pin, unused, unused])
+	read_i2c_block(no_bytes = 1)
+
+def encoderRead(pin = 2):
+	write_i2c_block(encoder_read_cmd + [pin, unused, unused])
+	data = read_identified_i2c_block(encoder_read_cmd, no_bytes = 4)
+	value = data[0] + (data[1] << 8) + (data[2] << 16) + (data[3] << 24)
+	return value
+
+def flowEnable(pin = 2, period = 2000):
+	set_pin_interrupt(pin, ftype=COUNT_CHANGES, interrupt_mode=RISING, period=period)
+
+def flowDisable(pin = 2):
+	unset_pin_interrupt(pin)
+
+def flowRead(pin = 2):
+	val = read_interrupt_state(pin)
+	return val
+
+def main():
+	print("library supports this fw versions: " +
+			" ".join('{}'.format(k[1]) for k in enumerate(works_with_firmware)))
+
+if __name__ == "__main__":
+	main()
@@ -0,0 +1,5 @@
+import threading
+# Dedicated lock for I2C bus access (used by GrovePi sensors)
+grove_lock = threading.Lock()
+# Dedicated lock for UART/Serial port access
+serial_lock = threading.Lock()
@@ -0,0 +1,52 @@
+# from sensors.lib import grove_i2c_temp_hum_mini
+
+# t= grove_i2c_temp_hum_mini.th02()
+
+# def get_temperature():
+#     """Get the temperature in Celsius from the TH02 sensor."""
+#     # try:
+#     return t.getTemperature()
+#     # except Exception as e:
+#     #     print(f"Error reading temperature: {e}")
+#     #     return None
+
+# def get_humidity():
+#     """Get the humidity in percentage from the TH02 sensor."""
+#     # try:
+#     return t.getHumidity()
+#     # except Exception as e:
+#     #     print(f"Error reading humidity: {e}")
+#     #     return None
+
+# import seeed_dht
+
+# sensor = seeed_dht.DHT("11", 4)  # DHT11 sensor on GPIO pin 4
+
+# def get_humidity_and_temperature():
+#     humi, temp = sensor.read()
+#     return humi, temp
+
+
+# import sensors.lib.grovepi as grovepi
+import grovepi
+import math
+from sensors.lock import grove_lock
+
+# Connect the Grove Temperature & Humidity Sensor Pro to digital port D3
+# This example uses the blue colored sensor.
+# SIG,NC,VCC,GND
+sensor = 3  # The Sensor goes on digital port 3.
+
+# temp_humidity_sensor_type
+# Grove Base Kit comes with the blue sensor.
+blue = 0    # The Blue colored sensor.
+white = 1   # The White colored sensor.
+
+def get_temperature_and_humidity():
+    with grove_lock:
+        [temp,humidity] = grovepi.dht(sensor,blue)  
+        if math.isnan(temp) == False and math.isnan(humidity) == False:
+            return temp, humidity
+        else:
+            print("Error reading from DHT sensor")
+            return None, None
@@ -0,0 +1,32 @@
+import grovepi
+from sensors.lock import grove_lock
+
+# Connect the Grove Ultrasonic Ranger to digital port D4
+# SIG,NC,VCC,GND
+ULTRASONIC_RANGER_PORT = 4
+
+def read_ultrasonic_ranger(ultrasonic_ranger=ULTRASONIC_RANGER_PORT):
+    if not grove_lock.acquire(timeout=1.0):
+        print("Ultrasonic: Lock acquisition timed out")
+        return None
+        
+    try:
+        return grovepi.ultrasonicRead(ultrasonic_ranger)
+    except Exception as e:
+        print(f"Error: {e}")
+        return None
+    finally:
+        grove_lock.release()
+    
+def get_dish_height():
+    """Returns the height of the dish in centimeters."""
+    distance = read_ultrasonic_ranger()
+    if distance is not None:
+        # Assuming the ultrasonic sensor is mounted at a fixed height above the dish
+        # and pointing downwards, we can calculate the height of the dish.
+        # For example, if the sensor is 30 cm above the dish when it's empty:
+        SENSOR_HEIGHT = 30  # cm
+        dish_height = SENSOR_HEIGHT - distance
+        return max(dish_height, 0)  # Ensure height is not negative
+    else:
+        return None
@@ -3,6 +3,7 @@

 import shared.deviceTypes as deviceTypes
 import shared.config as config
+import shared.payloads as payloads

 def get_lora(*args, **kwargs):
    from .lora_device import get_lora_device
@@ -1,12 +1,15 @@
-
+DEBUG=True

 # LoRa
-HEARTBEAT_INTERVAL = 10
+HEARTBEAT_INTERVAL = 30

 # MQTT
 MQTT_BROKER_HOST = "192.168.50.1"
+MQTT_TOPIC_HELLO = b"smartwave/hello"
 MQTT_TOPIC_SENSOR = b"smartwave/sensor"
 MQTT_TOPIC_COOKING = b"smartwave/cooking"
 MQTT_KEEPALIVE = 30
 USE_TLS = True
 MQTT_QOS = 1
+# Long because messages are stored into the broker and will be sent when the orchestrator is back online.
+MQTT_HELLO_INTERVAL = 30
@@ -0,0 +1,6 @@
+from shared.config import DEBUG
+
+def log(message):
+    """Log a message to the console if DEBUG is enabled."""
+    if DEBUG:
+        print(f"\n{message}")
@@ -13,11 +13,11 @@ except ImportError:
        from umqtt.simple import MQTTClient as _MQTTClient
        BACKEND_NAME = "umqtt.simple"
        IS_MICROPYTHON = True
-    except ImportError:
-        try:
-            from umqtt.robust import MQTTClient as _MQTTClient
-            BACKEND_NAME = "umqtt.robust"
-            IS_MICROPYTHON = True
+    # except ImportError:
+    #     try:
+    #         from umqtt.robust import MQTTClient as _MQTTClient
+    #         BACKEND_NAME = "umqtt.robust"
+    #         IS_MICROPYTHON = True
    except ImportError as exc:
        raise ImportError("No MQTT client found. Expected paho.mqtt or umqtt.") from exc

@@ -180,6 +180,38 @@ class BrokerClient:
            
        return client.subscribe(topic, qos=qos)
    
+    def unsubscribe(self, topic):
+        client = self.open()
+        if IS_MICROPYTHON:
+            import struct
+            # Ensure the topic is bytes for writing to the socket
+            topic_bytes = topic if isinstance(topic, bytes) else topic.encode('utf-8')
+            
+            # 1. Build the MQTT unsubscribe packet header
+            pkt = bytearray(b"\xa2\0\0\0")
+            client.pid += 1
+            
+            # Packet length is: 2 bytes (PID) + 2 bytes (topic length indicator) + topic string length
+            struct.pack_into("!BH", pkt, 1, 2 + 2 + len(topic_bytes), client.pid)
+            
+            # 2. Write the packet to the socket
+            client.sock.write(pkt)
+            client._send_str(topic_bytes)
+            
+            # 3. Wait for the UNSUBACK confirmation frame (0xB0) from the broker
+            while True:
+                op = client.wait_msg()
+                if op == 0xB0:
+                    resp = client.sock.read(3)
+                    assert resp[1] == pkt[2] and resp[2] == pkt[3]
+                    return client
+            return client
+            
+        if isinstance(topic, bytes):
+            topic = topic.decode('utf-8')
+            
+        return client.unsubscribe(topic)
+
    def _on_micropython_message(self, topic, payload):
        self._store_message(topic, payload, None, False)

@@ -0,0 +1,23 @@
+try:
+    import ujson as json
+except ImportError:
+    import json
+
+def as_json(data):
+    """Convert a dictionary to a JSON string."""
+    try:
+        return json.dumps(data)
+    except Exception as e:
+        print("[Payloads] Error converting to JSON:", e)
+        return "{}"  # Return an empty JSON object on error
+
+def mqtt_hello(id_microwave):
+    return as_json({
+        "id_microwave": id_microwave
+    })
+
+def mqtt_hello_ack(id_orchestrator, id_microwave):
+    return as_json({
+        "id_microwave": id_microwave,
+        "id_orchestrator": id_orchestrator
+    })
				`@@ -0,0 +1 @@`
				`import sensors.temperature_gun as temperature_gun`