TTM4115 Team 05 — Drone Delivery System

Overview

This repository contains the implementation of an autonomous drone delivery system. The system consists of two Raspberry Pi computers communicating via MQTT, connected to a website that shows live drone status.

Repository Structure

├── drone/
│   ├── drone_stm.py          # Drone state machine — for laptop testing (auto-simulation)
│   └── drone_stm_pi.py       # Drone state machine — for Raspberry Pi with Sense HAT
├── fleet_manager/
│   └── fleet_stm.py          # Fleet Manager state machine — runs on Fleet Manager Pi
├── website/
│   └── ...                   # Customer-facing website (separate developer)
└── README.md

Hardware Setup

Device	Role	Notes
Raspberry Pi #1 (with Sense HAT)	Drone	Runs `drone_stm_pi.py`
Raspberry Pi #2 (no HAT)	Fleet Manager	Runs `fleet_stm.py`

MQTT Communication

All components communicate through the public broker:

Broker: test.mosquitto.org
Port: 1883 (standard) / 8080 (WebSocket for browser)

Topic	Direction	Description
`delivery/request`	Website → Fleet	Customer requests a delivery
`delivery/assigned`	Fleet → Drone	Fleet assigns mission to drone
`delivery/status`	Fleet → Website	Delivery outcome updates
`drone/location`	Drone → All	GPS coordinates (lat/lon)
`drone/battery`	Drone → All	Battery level (0–100)
`drone/status`	Drone → All	Current drone state
`fleet/status`	Fleet → All	Current fleet manager state
`drone/failure`	Drone → Fleet	Failure notification
`fleet/recovery`	Fleet → Drone	Recovery command

File Descriptions

`drone/drone_stm.py` — Laptop Testing Version

Runs on your laptop for development and testing
Uses auto-simulation: automatically progresses through all delivery states with 3-second delays
No hardware required
How to run:
```
cd drone
python drone_stm.py
```

`drone/drone_stm_pi.py` — Raspberry Pi Version (Sense HAT)

Runs on the Drone Raspberry Pi (the one WITH Sense HAT)
Uses the Sense HAT joystick to manually trigger state transitions
Uses the Sense HAT LED matrix to show current state in color
How to run on the Pi:
```
cd drone
python drone_stm_pi.py
```

Sense HAT Joystick Controls

Joystick Direction	Action
Press (middle)	Advance to next state in mission
Left	Simulate a failure (obstacle, battery critical, recipient unavailable)
Right	Trigger charging (battery low)

What "Press to Advance" does per state

Current State	After Pressing Joystick
FlyingToPickup	→ PickingUp (drone arrived at pickup)
PickingUp	→ FlyingToDelivery (package picked up)
FlyingToDelivery	→ Delivering (drone arrived at destination)
Delivering	→ Returning (package delivered)
Returning	→ Idle (drone back at base)
Charging	→ Idle (charging complete)

LED Matrix Colors

Color	State
🟢 Green	Idle
🟣 Magenta	Assigned (waiting for takeoff)
🔵 Blue	FlyingToPickup / FlyingToDelivery
🟡 Yellow	PickingUp / Delivering
🟠 Orange	Returning
⚪ White	Charging
🔴 Red	Failed / Emergency

`fleet_manager/fleet_stm.py` — Fleet Manager (Both Laptop and Pi)

Runs on both laptop (for testing) and the Fleet Manager Raspberry Pi
Receives delivery requests, validates them, assigns the drone, monitors delivery
Automatically resets after each completed or failed delivery
How to run:
```
cd fleet_manager
python fleet_stm.py
```

Installation

On both laptop and Raspberry Pi:

pip install paho-mqtt stmpy

On the Drone Pi only (Sense HAT):

pip install sense-hat

How to Test on Laptop

Open 3 terminals:

Terminal 1 — Fleet Manager:

cd fleet_manager
python fleet_stm.py

Terminal 2 — Drone (auto-simulation):

cd drone
python drone_stm.py

Terminal 3 — Send a test delivery request:

python -c "
import paho.mqtt.client as mqtt, json, time
c = mqtt.Client(mqtt.CallbackAPIVersion.VERSION2)
c.loop_start()
c.connect('test.mosquitto.org', 1883)
time.sleep(2)
c.publish('delivery/request', json.dumps({'pickup': 'Building A', 'dropoff': 'Building B', 'package': 'small_box'}))
time.sleep(2)
c.loop_stop()
c.disconnect()
"

You should see the full delivery flow complete automatically in both terminals.

How to Run on Raspberry Pis

On Fleet Manager Pi:

cd fleet_manager
python fleet_stm.py

On Drone Pi (with Sense HAT):

cd drone
python drone_stm_pi.py

Then send a delivery request from the website or from any laptop using the test command above. Use the joystick on the Sense HAT to manually progress the drone through states.

Use Cases Demonstrated

Use Case	How it works
UC-1: Request Delivery	Send request via website or test command → fleet assigns drone → drone flies
UC-2: Handle Failed Delivery	Push joystick LEFT during flight → failure reported → fleet sends recovery
UC-3: Track Delivery	Website subscribes to `drone/location`, `drone/status`, `drone/battery`

agatamz/Design-Of-Communicating-Systems

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