def callback(data):
rospy.loginfo(rospy.get_caller_id() + '===CMD_VEL %s', data)
#pub = rospy.Publisher('cmd_vel', Twist, queue_size=10)
#cmd = Twist()
iotc.sendTelemetry("{ \
\"linear-x\": " + str(data.linear.x) + " , \
\"linear-y\": " + str(data.linear.y) + " , \
\"linear-z\": " + str(data.linear.z) + " , \
\"angular-x\": " + str(data.angular.x) + " , \
\"angular-y\": " + str(data.angular.y) + " , \
\"angular-z\": " + str(data.angular.z) + " }")
iotc.on("ConnectionStatus", onconnect)
iotc.on("MessageSent", onmessagesent)
iotc.on("Command", oncommand)
iotc.on("SettingsUpdated", onsettingsupdated)
# Start by Connecting then Sending
iotc.connect()
(airtemp, airpressure, airhumidity) = readBME280All(addr=DEVICE)
(r, g, b, c, lux, color_temp) = readTCSAll()
iotc.sendTelemetry("{ \
\"airtemperature\": " + str(airtemp) + ", \
\"airpressure\": " + str(airpressure) + ", \
\"airhumidity\": " + str(airhumidity) + ", \
\"lux\": " + str(lux) + ", \
\"colortemp\": " + str(color_temp) + ", \
\"green\": " + str(g) + ", \
\"blue\": " + str(b) + ", \
\"clear\": " + str(c) + ", \
\"red\": " + str(r) + "}")
starttime = time.time()
while iotc.isConnected():
time.sleep(5)
iotc.doNext() # do the async work needed to be done for MQTT
elapsedtime = time.time() - starttime
if elapsedtime > 66:
print("Sending telemetry..")
## Collect Telemetry Data
(airtemp, airpressure, airhumidity) = readBME280All(addr=DEVICE)
(r, g, b, c, lux, color_temp) = readTCSAll()
elapsedtime = 0
# Aaure IoT Central
iotc.on("ConnectionStatus", onconnect)
iotc.on("MessageSent", onmessagesent)
iotc.on("Command", oncommand)
iotc.on("SettingsUpdated", onsettingsupdated)
iotc.connect()
# BME280
setup()
get_calib_param()
while iotc.isConnected():
iotc.doNext() # do the async work needed to be done for MQTT
# read BME280 Data:
data = []
for i in range(0xF7, 0xF7 + 8):
data.append(bus.read_byte_data(i2c_address, i))
pres_raw = (data[0] << 12) | (data[1] << 4) | (data[2] >> 4)
temp_raw = (data[3] << 12) | (data[4] << 4) | (data[5] >> 4)
hum_raw = (data[6] << 8) | data[7]
if gCanSend == True:
iotc.sendTelemetry("{ \
\"temp\": " + str(compensate_T(temp_raw)) + ", \
\"pressure\": " + str(compensate_P(pres_raw)) + ", \
\"humidity\": " + str(compensate_H(hum_raw)) + "}")
time.sleep(60)
def onmessagesent(info):
print("\t- [onmessagesent] => " + str(info.getPayload()))
def oncommand(info):
print("- [oncommand] => " + info.getTag() + " => " + str(info.getPayload()))
def onsettingsupdated(info):
print("- [onsettingsupdated] => " + info.getTag() + " => " + info.getPayload())
iotc.on("ConnectionStatus", onconnect)
iotc.on("MessageSent", onmessagesent)
iotc.on("Command", oncommand)
iotc.on("SettingsUpdated", onsettingsupdated)
iotc.connect()
while iotc.isConnected():
iotc.doNext() # do the async work needed to be done for MQTT
if gCanSend == True:
if gCounter % 20 == 0:
gCounter = 0
print("Sending telemetry..")
iotc.sendTelemetry("{ \
\"temp\": " + str(randint(20, 45)) + ", \
\"accelerometerX\": " + str(randint(2, 15)) + ", \
\"accelerometerY\": " + str(randint(3, 9)) + ", \
\"accelerometerZ\": " + str(randint(1, 4)) + "}")
gCounter += 1
def onmessagesent(info):
print("\t- [onmessagesent] => " + str(info.getPayload()))
def oncommand(info):
print("command name:", info.getTag())
print("command value: ", info.getPayload())
def onsettingsupdated(info):
print("setting name:", info.getTag())
print("setting value: ", info.getPayload())
iotc.on("ConnectionStatus", onconnect)
iotc.on("MessageSent", onmessagesent)
iotc.on("Command", oncommand)
iotc.on("SettingsUpdated", onsettingsupdated)
iotc.connect()
while iotc.isConnected():
iotc.doNext() # do the async work needed to be done for MQTT
if gCanSend == True:
if gCounter % 20 == 0:
gCounter = 0
print("Sending telemetry..")
iotc.sendTelemetry("{\"water_drunk\": " +
str(random.randint(20, 45)) + "}")
gCounter += 1
gas_data = gas.read_all()
save_data(4, gas_data.oxidising / 1000)
save_data(5, gas_data.reducing / 1000)
save_data(6, gas_data.nh3 / 1000)
pms_data = None
try:
pms_data = pms5003.read()
except pmsReadTimeoutError:
logging.warn("Failed to read PMS5003")
else:
save_data(7, float(pms_data.pm_ug_per_m3(1.0)))
save_data(8, float(pms_data.pm_ug_per_m3(2.5)))
save_data(9, float(pms_data.pm_ug_per_m3(10)))
print("Sending telemetry..")
iotc.sendTelemetry("{ \
\"temperature\": " + str(values[variables[0]][-1]) + ", \
\"pressure\": " + str(values[variables[1]][-1]) + ", \
\"humidity\": " + str(values[variables[2]][-1]) + ", \
\"light\": " + str(values[variables[3]][-1]) + ", \
\"oxidation\": " + str(values[variables[4]][-1]) + ", \
\"nh3\": " + str(values[variables[6]][-1]) + ", \
\"pm1\": " + str(values[variables[7]][-1]) + ", \
\"pm25\": " + str(values[variables[8]][-1]) + ", \
\"pm10\": " + str(values[variables[9]][-1]) + ", \
\"redu\": " + str(values[variables[5]][-1]) + "}")
gCounter += 1
newState = "NOMINAL"
if(newState != oldState):
iotc.sendState("{ \"state\": \""+ newState + "\"}") #report status change only once
print("Status changed to "+ newState)
oldState ="NOMINAL"
setRGB(0,128,64) # Set background color to light blue
# read temperature and humidity from Grove lib
temperature, humidity = grove_dht_pro_once.main()
print("#" + str(gCounter) +" Sending telemetry...")
iotc.sendTelemetry("{ \
\"test\": " + str(0) + ", \
\"temperature\": " + str(temperature) + ", \
\"humidity\": " + str(humidity) + ", \
\"vibration\": " + str(vibration) + "}")
display_running_indicator("=")
display_status("Connected=>Azure\n#"+str(gCounter)+" T:"+str(temperature)+"V:"+str(vibration))
gCounter += 1
time.sleep(5) # each 5 seconds (instead of gCounter % 20 == 0 as the original script was doing)
except KeyboardInterrupt: #When interruptedd interactively exit and display default message
print('Interrupted by keyboard')
display_status("Terminating..")
time.sleep(15)
ipv4_addr = os.popen('ip addr show wlan0 | grep "\<inet\>" | awk \'{ print $2 }\' | awk -F "/" \'{ print $1 }\'').read().strip()
display_status(ipv4_addr + '\npi:arrowiot ')
setRGB(0,255,0)
try:
def send():
global sent
sent += 1
print("Sending telemetry.. sent:{}, confirmed: {}".format(sent, confirmed))
iotc.sendTelemetry("{\"index\": " + str(sent) + "}")
airQuality = values[1].split('=')[1]
print(values)
# If IoT Central is Connected, then send our Telemetry.
if iotc.isConnected():
iotc.doNext() # do the async work needed to be done for MQTT
if gCanSend == True:
if gCounter % 5 == 0:
gCounter = 0
print("Sending telemetry..")
iotc.sendTelemetry("{ \
\"temp\": " + str(randint(20, 45)) + ", \
\"airQuality\": " + str(airQuality) + ", \
\"zombieDetected\": " + str(zombieDetected) + ", \
\"accelerometerX\": " + str(randint(2, 15)) + ", \
\"accelerometerY\": " + str(randint(3, 9)) + ", \
\"accelerometerZ\": " + str(randint(1, 4)) + "}")
gCounter += 1
# grab the frame from the threaded video stream
frame = vs.read()
# resize the frame to have a width of 600 pixels (while
# maintaining the aspect ratio), and then grab the image
# dimensions
frame = imutils.resize(frame, width=600)
(h, w) = frame.shape[:2]
#print("- [oncommand] => " + info.getTag() + " => " + str(info.getPayload()))
mslog.info('[oncommand] => ' + info.getTag() + ' => ' +
+str(info.getPayload()))
def onsettingsupdated(info):
#print("- [onsettingsupdated] => " + info.getTag() + " => " + info.getPayload())
mslog.info('[onsettingsupdated] => ' + info.getTag() + ' => ' +
info.getPayload())
iotc.on("ConnectionStatus", onconnect)
iotc.on("MessageSent", onmessagesent)
iotc.on("Command", oncommand)
iotc.on("SettingsUpdated", onsettingsupdated)
iotc.connect()
while iotc.isConnected():
iotc.doNext()
if gCanSend == True:
if gCounter % 20 == 0:
gCounter = 0
cur = time.time()
now = datetime.utcfromtimestamp(cur).strftime('%Y-%m-%d %H:%M:%S')
jsonStr = '{"temperature": ' + str(randint(20, 45)) + '}'
print("[" + now + "] Sending telemetry...", gCounter)
iotc.sendTelemetry(jsonStr)
gCounter += 1
def postprocess(frame, outs):
frameHeight = frame.shape[0]
frameWidth = frame.shape[1]
classIds = []
confidences = []
boxes = []
additionaltext = []
framecolor = []
# Scan through all the bounding boxes output from the network and keep only the
# ones with high confidence scores. Assign the box's class label as the class with the highest score.
classIds = []
confidences = []
boxes = []
additionaltext = []
framecolor = []
masktext = ""
global resetcnt
global alertcnt
for out in outs:
for detection in out:
scores = detection[5:]
classId = np.argmax(scores)
confidence = scores[classId]
if confidence > confThreshold:
center_x = int(detection[0] * frameWidth)
center_y = int(detection[1] * frameHeight)
width = int(detection[2] * frameWidth)
height = int(detection[3] * frameHeight)
left = int(center_x - width / 2)
top = int(center_y - height / 2)
classIds.append(classId)
confidences.append(float(confidence))
boxes.append([left, top, width, height])
#framecolor = (255, 0, 0)
#additionaltext = ''
#personIme = image[x1:x2, y1:y2]
#print(personIme)
try:
encodedFrame = cv.imencode(".jpg", frame)[1].tostring()
# Send over HTTP for processing
response = sendFrameForProcessing(encodedFrame)
print(response)
if response != '':
# if response['confidence'] > 0.50 and str( response['class'] ) == 'Facemas':#ConstructionHelmet
# #framecolor = (0, 255, 0)
# framecolor.append((0, 255, 0))
# masktext = str.format('[Mask, %.2f]' % response['confidence'])
# additionaltext.append(masktext)
# #resetcnt=11
# else:
# #framecolor = (0, 0, 255)
# masktext = str.format('[No Mask, %.2f]' % response['confidence'])
# framecolor.append((0, 0, 255))
# additionaltext.append(masktext)
# resetcnt = resetcnt + 1
if response['confidence'] > 0.50 and str(
response['class']
) == 'Facemask': #ConstructionHelmet
#framecolor = (0, 255, 0)
framecolor.append((0, 255, 0))
masktext = str.format('[Mask, %.2f]' %
response['confidence'])
additionaltext.append(masktext)
#msg = Message('{"mask":"Yes","alertcnt":'+str(alertcnt)+',"level":' + str(response['confidence']*100)+'}')
iotc.sendTelemetry('{"mask":"Yes","alertcnt":' +
str(alertcnt) + ',"level":' +
str(response['confidence'] *
100) + '}')
#device_client.send_message(msg)
#msg = Message("test wind speed " + str(i))
#resetcnt=11
elif response['confidence'] > 0.30 and str(
response['class']) == 'Nomas':
#framecolor = (0, 0, 255)
masktext = str.format('[No Mask, %.2f]' %
response['confidence'])
framecolor.append((0, 0, 255))
additionaltext.append(masktext)
msg = '{"mask":"No","alertcnt":' + str(
alertcnt) + ',"level":' + str(
response['confidence'] * 100) + '}'
resetcnt = resetcnt + 1
else:
print(resetcnt)
framecolor.append((255, 0, 0))
additionaltext.append("")
#print(resetcnt)
print(resetcnt)
iotc.sendProperty('{"masktext":"' + masktext + '"}')
#message = IoTHubMessage(masktext)
if (resetcnt > 3):
#client.send_event_async(message, send_confirmation_callback, None)
iotc.sendTelemetry(msg)
iotc.sendState('{ "status": "WARNING"}')
# iotc.sendTelemetry("{ \
# \"temp\": " + str(randint(20, 45)) + ", \
# \"accelerometerX\": " + str(randint(2, 15)) + ", \
# \"accelerometerY\": " + str(randint(3, 9)) + ", \
# \"accelerometerZ\": " + str(randint(1, 4)) + "}")
print("Message transmitted to IoT Central")
resetcnt = 0
alertcnt = alertcnt + 1
except Exception as e:
print('Error frmae processing: ' + str(e))
# Perform non maximum suppression to eliminate redundant overlapping boxes with
# lower confidences.
indices = cv.dnn.NMSBoxes(boxes, confidences, confThreshold, nmsThreshold)
for i in indices:
i = i[0]
box = boxes[i]
left = box[0]
top = box[1]
width = box[2]
height = box[3]
drawPred(classIds[i], confidences[i], additionaltext[i], framecolor[i],
left, top, left + width, top + height)
def main():
global gCounter
global ledState
global iotc
## Start Configuration
## Azure IoT Central
#region
# Set Callback functions
iotc.on("ConnectionStatus", onconnect)
iotc.on("MessageSent", onmessagesent)
iotc.on("Command", oncommand)
iotc.on("SettingsUpdated", onsettingsupdated)
# Set logging
iotc.setLogLevel(IOTLogLevel.IOTC_LOGGING_API_ONLY)
#endregion
## Sensor
#region
try:
# Use the BCM pin numbering
GPIO.setmode(GPIO.BCM)
# Set ledPin to be an output pin
GPIO.setup(ledPin, GPIO.OUT)
#endregion
## Start Post-Configuration
iotc.connect()
# Send the device property and ledstate once at the start of the program, so telemetry is shown in IoT Central.
if iotc.isConnected() and gCanSend == True:
sendDeviceProperty()
sendLedState()
while iotc.isConnected():
iotc.doNext() # do the async work needed to be done for MQTT
if gCanSend == True:
# Do this when gCounter is 20.
if gCounter % 20 == 0:
gCounter = 0
print("Sending telemetry..")
# The key in the json that will be sent to IoT Central must be equal to the Name in IoT Central!!
# eg. "Temperature" in the json must equal (case sensitive) the Name field "Temperature" in IoT Central
# if you want real temp data use function: readTempSensor()
iotc.sendTelemetry("{ \
\"Temperature\": " + str(randint(0, 25)) + ", \
\"Pressure\": " + str(randint(850, 1150)) + ", \
\"Humidity\": " + str(randint(0, 100)) + ", \
\"CPUTemperature\": " + str(getCPUtemperature()) + ", \
}")
gCounter += 1
except Exception as ex:
print("Exception: " + str(ex))
finally:
GPIO.cleanup()
def sendLedState():
global iotc
iotc.sendTelemetry("{ \
\"LedState\": \"" + str(ledStateName[ledState]) + "\" \
}")
def oncommand(info):
print("- [oncommand] => " + info.getTag() +
" => " + str(info.getPayload()))
if info.getTag() == "led_toggle":
print("Toggling LED state")
led.toggle()
def onsettingsupdated(info):
print("- [onsettingsupdated] => " +
info.getTag() + " => " + info.getPayload())
iotc.on("ConnectionStatus", onconnect)
iotc.on("MessageSent", onmessagesent)
iotc.on("Command", oncommand)
iotc.on("SettingsUpdated", onsettingsupdated)
iotc.connect()
while iotc.isConnected():
iotc.doNext() # do the async work needed to be done for MQTT
if gCanSend == True:
if time.time() - lastSent > interval:
print("Sending telemetry")
payload = '{{"temp": {0},"du": {1}}}'
iotc.sendTelemetry(payload.format(cpu.temperature, disk.usage))
lastSent = time.time()
iotc.on("Command", oncommand)
iotc.on("SettingsUpdated", onsettingsupdated)
iotc.connect()
while iotc.isConnected():
iotc.doNext() # do the async work needed to be done for MQTT
if gCanSend == True:
if gCounter % 5 == 0:
gCounter = 0
#get weather data from sense hat
temp = sense.get_temperature()
press = sense.get_pressure()
hum = sense.get_humidity()
print("Sending telemetry..")
iotc.sendTelemetry("{ \
\"temp\": " + str(temp) + ", \
\"pressure\": " + str(press) + ", \
\"humidity\": " + str(hum) + " }")
temp = round(temp, 2)
press = round(press, 2)
hum = round(hum, 2)
#show weather sensor data on sense hat led matrix
sense.show_message("Temp: " + str(temp) + " Pressure: " +
str(press) + " Humidity: " + str(hum))
gCounter += 1
