def main():
global r0
global roll
global yaw
global pitch
print ("sam")
if len(words) > 2:
try:
pitch = -float(words[1])*grad2rad
roll = -float(words[2])*grad2rad
except Exception as e:
print e
if (roll > 1.0):
r0 += 1
else:
r0 =0
if r0 >=4:
r0= 0
r1=0
p1=0
p2=0
ser.flushInput()
time.sleep(1)
function1()
lcd.stringlcd(0xC0,"P:"+str(r0)+str(roll))
time.sleep(1)
ser.flushInput()
def function2():
r11 = 0
p11= 0
p12 =0
rfun2 =0
pfun2=0
while (1):
line = ser.readline()
line = line.replace("#YPR=","")
line = line.replace("#YPRAMG=","") # Delete "#YPR="
#f.write(line) # Write to the output log file
words = string.split(line[4:],",")
if len(words) > 2:
try:
pfun2 = -float(words[1])*grad2rad
rfun2 = -float(words[2])*grad2rad
except Exception as e:
print e
print ("2",rfun2,pfun2,p2)
if (rfun2 > 0.5):
r11 +=1
else:
r11=0
if (pfun2 > 0.5):
p11 +=1
else:
p11=0
if (pfun2 < -0.5):
p12 +=1
else:
p12=0
if r11 > 3:
r11=0
action2()
if (p11 >= 3):
p11 = 0
print ("fun3")
lcd.stringlcd(0xC0,"Changed to Function3")
function3()
if (p12 >= 3):
p12 = 0
print ("fun1")
lcd.stringlcd(0xC0,"Changed to Function1")
function1()
ser.flushInput()
time.sleep(1)
def function5():
r41 = 0
p41= 0
p42 =0
rfun5 =0
pfun5=0
while (1):
line = ser.readline()
line = line.replace("#YPR=","")
line = line.replace("#YPRAMG=","") # Delete "#YPR="
#f.write(line) # Write to the output log file
words = string.split(line[4:],",")
if len(words) > 2:
try:
pfun5 = -float(words[1])*grad2rad
rfun5 = -float(words[2])*grad2rad
except Exception as e:
print e
print ("5",rfun5,pfun5,p2)
if (rfun5 > 0.5):
r41 +=1
else:
r41=0
if (pfun5 > 0.5):
p41 +=1
else:
p41=0
if (pfun5 < -0.5):
p42 +=1
else:
p42=0
if r41 > 3:
r41=0
print ("Doctor")
gsm.Sendmsg(number,"Doctor")
if (p41 >= 3):
p41 = 0
print ("fun6")
lcd.stringlcd(0xC0,"Changed to Function6")
function6()
if (p42 >= 3):
p42 = 0
print ("fun4")
lcd.stringlcd(0xC0,"Changed to Function4")
function4()
ser.flushInput()
time.sleep(1)
def hello(): print 'Hello' lcd.stringlcd(0x80,"WELCOME") st = "<h1>ROBOT CONTROL</h1><br>" st = st + "<br>" + \ "<a href ='/1'>FRONT</a><br>" + \ "<a href ='/2'>BACK</a><br>" + \ "<a href ='/3'>LEFT</a><br>" + \ "<a href ='/4'>RIGHT</a><br>" + \ "<a href ='/5'>STOP</a><br>" + \ "<br></center></h2>"+"<br><br><iframe width='320' height = '240' src='http://" + ipaddr + ":8081'></iframe> " return st
def l1on(): lcd.stringlcd(0x80,"FRONT") GPIO.output(out1,True) GPIO.output(out2,False) GPIO.output(out3,True) GPIO.output(out4,False) st = "<h1>ROBOT CONTROL - FRONT</h1><br>" st = st + "<h2><center><br>" + \ "<a href ='/1'>FRONT</a><br>" + \ "<a href ='/2'>BACK</a><br>" + \ "<a href ='/3'>LEFT</a><br>" + \ "<a href ='/4'>RIGHT</a><br>" + \ "<a href ='/5'>STOP</a><br>" + \ "<br></center></h2>"+"<br><br><iframe width='320' height = '240' src='http://" + ipaddr + ":8081'></iframe> " return st
def sendftp(cs):
try:
ftpses = ftplib.FTP('ftp.filegenie.com','iotserver','iotserver')
file = open('image.jpeg','rb')
print('uploading file')
ftpses.storbinary("STOR agrisystem/image_" + cs + "_" + str(datetime.datetime.now())+".jpg",file)
file.close()
ftpses.quit()
print('Uploaded')
lcd.stringlcd(0x80,"UPLOADED ")
time.sleep(5)
except:
print('unable to upload')
lcd.stringlcd(0x80,"UPLOADED FAILED")
time.sleep(3)
def action6():
if GPIO.input(act6):
GPIO.output(act6, False)
gsm.Sendmsg(number, "Medicine")
print("act6 Medicine false")
os.system('mpg321 Medicine.mp3 &')
lcd.lcd_init()
lcd.stringlcd(0xC0, "Medicine")
ser1.flushInput()
elif act6 != 1:
GPIO.output(act6, True)
gsm.Sendmsg(number, "Medicine")
os.system('mpg321 Medicine.mp3 &')
lcd.lcd_init()
lcd.stringlcd(0xC0, "Medicine")
print("act6 Medicine true")
ser1.flushInput()
def action5():
if GPIO.input(act5):
GPIO.output(act5, False)
gsm.Sendmsg(number, "Toilet")
os.system('mpg321 Toilet.mp3 &')
lcd.lcd_init()
lcd.stringlcd(0xC0, "Toilet")
print("act5 false")
ser1.flushInput()
elif act5 != 1:
GPIO.output(act5, True)
gsm.Sendmsg(number, "Toilet")
os.system('mpg321 Toilet.mp3 &')
lcd.lcd_init()
lcd.stringlcd(0xC0, "Toilet")
print("act5 true")
ser1.flushInput()
def action2():
if GPIO.input(act2):
GPIO.output(act2, False)
gsm.Sendmsg(number, "act2 Light OFF")
os.system('mpg321 LightOFF.mp3 &')
print("act2 Light false")
lcd.lcd_init()
lcd.stringlcd(0xC0, "LIGHT OFF")
ser1.flushInput()
elif act2 != 1:
GPIO.output(act2, True)
gsm.Sendmsg(number, "act2 Light ON")
os.system('mpg321 LightON.mp3 &')
lcd.lcd_init()
lcd.stringlcd(0xC0, "LIGHT ON")
print("act2 Light true")
ser1.flushInput()
def action1():
if GPIO.input(act1):
GPIO.output(act1, False)
gsm.Sendmsg(number, "act1 Fan OFF")
os.system('mpg321 FanOFF.mp3 &')
lcd.lcd_init()
lcd.stringlcd(0xC0, "FAN OFF")
print("act1 false")
ser1.flushInput()
DA()
elif act1 != 1:
GPIO.output(act1, True)
gsm.Sendmsg(number, "act1 Fan ON")
os.system('mpg321 FanON.mp3 &')
lcd.lcd_init()
lcd.stringlcd(0xC0, "FAN ON")
print("act1 true")
ser1.flushInput()
DA()
def function6():
r51 = 0
p51= 0
p52 =0
rfun6 =0
pfun6=0
while (1):
line = ser.readline()
line = line.replace("#YPR=","")
line = line.replace("#YPRAMG=","") # Delete "#YPR="
#f.write(line) # Write to the output log file
words = string.split(line[4:],",")
if len(words) > 2:
try:
pfun6 = -float(words[1])*grad2rad
rfun6 = -float(words[2])*grad2rad
except Exception as e:
print e
print ("6",rfun6,pfun6,p2)
if (rfun6 > 0.5):
r51 +=1
else:
r51=0
if (pfun6 > 0.5):
p51 +=1
else:
p51=0
if (pfun6 < -0.5):
p52 +=1
else:
p52=0
if r51 > 3:
r51=0
print ("Medicine")
gsm.Sendmsg(number,"Medicine")
lcd.stringlcd(0xC0,"Medicine")
if (p51 >= 3):
p51 = 0
print ("fun7")
lcd.stringlcd(0xC0,"Changed to Function7")
function7()
if (p52 >= 3):
p52 = 0
print ("fun5")
lcd.stringlcd(0xC0,"Changed to Function5")
function5()
ser.flushInput()
time.sleep(1)
def function7():
r61 = 0
p61= 0
p62 =0
rfun7 =0
pfun7=0
while (1):
line = ser.readline()
line = line.replace("#YPR=","")
line = line.replace("#YPRAMG=","") # Delete "#YPR="
#f.write(line) # Write to the output log file
words = string.split(line[4:],",")
if len(words) > 2:
try:
pfun7 = -float(words[1])*grad2rad
rfun7 = -float(words[2])*grad2rad
except Exception as e:
print e
print ("7",rfun7,pfun7,p2)
if (rfun7 > 0.5):
r61 +=1
else:
r61=0
if (pfun7 > 0.5):
p61 +=1
else:
p61=0
if (pfun7 < -0.5):
p62 +=1
else:
p62=0
if r61 > 3:
r61=0
print ("Water")
lcd.stringlcd(0xC0,"Water")
gsm.Sendmsg(number,"Water")
if (p61 >= 3):
p61 = 0
print ("fun8")
lcd.stringlcd(0xC0,"Changed to Function8")
function8()
if (p62 >= 3):
p62 = 0
print ("fun6")
lcd.stringlcd(0xC0,"Changed to Function6")
function6()
ser.flushInput()
time.sleep(1)
def function8():
r71 = 0
p71= 0
p72 =0
rfun8 =0
pfun8=0
while (1):
line = ser.readline()
line = line.replace("#YPR=","")
line = line.replace("#YPRAMG=","") # Delete "#YPR="
#f.write(line) # Write to the output log file
words = string.split(line[4:],",")
if len(words) > 2:
try:
pfun8 = -float(words[1])*grad2rad
rfun8 = -float(words[2])*grad2rad
except Exception as e:
print e
print ("8",rfun8,pfun8,p2)
if (rfun8 > 0.5):
r71 +=1
else:
r71=0
if (pfun8 > 0.5):
p71 +=1
else:
p71=0
if (pfun8 < -0.5):
p72 +=1
else:
p72=0
if r71 > 3:
r71=0
print ("Food")
lcd.stringlcd(0xC0,"FOOD")
gsm.Sendmsg(number,"FOOD")
if (p71 >= 3):
p71 = 0
print ("fun1")
lcd.stringlcd(0xC0,"Changed to Function1")
function1()
if (p72 >= 3):
p72 = 0
print ("fun7")
lcd.stringlcd(0xC0,"Changed to Function7")
function7()
ser.flushInput()
time.sleep(1)
def Connect_wifi():
while (1):
try:
lcd.stringlcd(0x80, "Checking Internet")
urllib2.urlopen("http://google.com")
except urllib2.URLError as e:
print(e.reason)
print("No Internet connection")
lcd.stringlcd(0x80, "No Internet")
inf = os.popen(
'sudo cat /etc/wpa_supplicant/wpa_supplicant.conf').read()
print inf
if ((ssid_name in inf) & (ssid_password in inf)):
print 'already found ssid '
else:
print 'ssid not registed adding in to network list'
os.system(
"echo \'network={\' | sudo tee -a /etc/wpa_supplicant/wpa_supplicant.conf"
)
os.system(
"echo \' ssid=\"" + ssid_name +
"\"' | sudo tee -a /etc/wpa_supplicant/wpa_supplicant.conf"
)
os.system(
"echo \' psk=\"" + ssid_password +
"\"' | sudo tee -a /etc/wpa_supplicant/wpa_supplicant.conf"
)
os.system(
"echo \'}\r\n\' | sudo tee -a /etc/wpa_supplicant/wpa_supplicant.conf"
)
#os.system("sudo ifdown wlan0")
os.system("sudo ifup wlan0")
print("Connecting..")
lcd.stringlcd(0x80, "Connecting..")
time.sleep(5)
else:
print("Up and Running")
break
print("wifi connecting completed")
lcd.stringlcd(0x80, "Connected")
def send(to, ms):
lcd.stringlcd(0x80, "mail sending")
server = smtplib.SMTP('smtp.gmail.com', 587)
server.ehlo()
server.starttls()
server.login("*****@*****.**", "raspberrysudo6324")
msg = "\n".join([
"From: [email protected]", "To: " + to, "Subject: Warning.....",
"Date: 01/06/2016", ms
])
try:
print 'Sending Mail'
server.sendmail("*****@*****.**", to, msg)
server.quit()
print 'Mail Sent'
lcd.stringlcd(0x80, "MAIL SENT")
except:
print 'Mail Sending Failed'
lcd.stringlcd(0x80, "Mail Failed")
import RPi.GPIO as GPIO
import thread
import sys
import time
import serial
import mcp3202
import gsm
import datetime
import wifi
import webpage
gps_location = ""
ser = serial.Serial('/dev/ttyAMA0', 9600)
lcd.lcd_init()
lcd.stringlcd(0x80, "welcome")
hb = 3
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BOARD)
GPIO.setup(hb, GPIO.IN, pull_up_down=GPIO.PUD_UP)
lcd.stringlcd(0x80, "WELCOME")
wifi.Connect_wifi()
gsm.Gsminit()
def hbcal():
count = 0
def Activities():
p1 = 0
p2 = 0
p3 = 0
p4 = 0
p5 = 0
p6 = 0
p7 = 0
p8 = 0
action3()
sleep = 0
while (1):
x = ser1.read(1)
if (x == '*'):
line = ser1.readline()
print(line)
line = line.replace("#YPR=", "")
line = line.replace("#YPRAMG=", "")
# Delete "#YPR="
line = line.rstrip()
raw_ypr = line.split(",")
if len(raw_ypr) > 2:
try:
raw_y = raw_ypr[0]
raw_p = raw_ypr[1]
raw_r = raw_ypr[1]
except Exception as e:
print e
#print ('yaw='+str(raw_y)+'\t'+'pitch='+str(raw_p)+'\t'+'raoll='+str(raw_r))
live_data = np.array([raw_p, raw_r])
live_data = live_data.reshape(1, 2)
prediction = clf.predict(live_data)
print(prediction)
clf = joblib.load("filename_model.sav")
line = ser1.readline()
print(line)
line = line.replace("#YPR=", "")
line = line.replace("#YPRAMG=", "")
# Delete "#YPR="
line = line.rstrip()
raw_ypr = line.split(",")
if len(raw_ypr) > 2:
try:
raw_y = raw_ypr[0]
raw_p = raw_ypr[1]
raw_r = raw_ypr[1]
except Exception as e:
print e
#print ('yaw='+str(raw_y)+'\t'+'pitch='+str(raw_p)+'\t'+'raoll='+str(raw_r))
live_data = np.array([raw_p, raw_r])
live_data = live_data.reshape(1, 2)
prediction = clf.predict(live_data)
print(prediction)
y = ''.join(prediction)
#kNNpredict()
print(y)
if (y == '0'):
if (sleep == 0):
lcd.stringlcd(0x80, "Normal")
else:
if (sleep == 0):
lcd.stringlcd(0x80, "Position: " + str(y))
time.sleep(1)
if (y == '1.0'):
p1 += 1
else:
p1 = 0
if (y == '2.0'):
p2 += 1
else:
x2 = 0
## if(y == '3.0'):
## p3 += 1
## else:
## x3 = 0
if (y == '4.0'):
p4 += 1
else:
x4 = 0
if (y == '5.0'):
p5 += 1
else:
x5 = 0
if (y == '6.0'):
p6 += 1
else:
x6 = 0
if (y == '7.0'):
p7 += 1
else:
x7 = 0
if (y == '8.0'):
p8 += 1
else:
x8 = 0
####################################################
#####______________ACTIVITIES________###############
#######_____activity1
if (p1 >= 5):
p1 = 0
sleep = 0
action1()
lcd.stringlcd(0x80, "Act1")
time.sleep(2)
ser1.flushInput()
if (sleep == 1):
continue
########_____activity2
if (p2 >= 5):
p2 = 0
sleep = 0
action2()
lcd.stringlcd(0x80, "Act2")
time.sleep(2)
ser1.flushInput()
if (sleep == 1):
continue
########_____activity3
if (p3 >= 5):
p3 = 0
sleep = 0
action3()
lcd.stringlcd(0x80, "Act3")
time.sleep(2)
ser1.flushInput()
if (sleep == 1):
continue
#######_____activity4
if (p4 >= 5):
p4 = 0
sleep = 0
action4()
lcd.stringlcd(0x80, "Act14")
time.sleep(2)
ser1.flushInput()
if (sleep == 1):
continue
########_____activity5
if (p5 >= 5):
p5 = 0
sleep = 0
action5()
lcd.stringlcd(0x80, "Act5")
time.sleep(2)
ser1.flushInput()
if (sleep == 1):
continue
########_____activity6
if (p6 >= 5):
p6 = 0
sleep = 0
action6()
lcd.stringlcd(0x80, "Act6")
time.sleep(2)
ser1.flushInput()
if (sleep == 1):
continue
########_____activity7
if (p7 >= 5):
p7 = 0
sleep = 0
action7()
lcd.stringlcd(0x80, "Act7")
time.sleep(2)
ser1.flushInput()
if (sleep == 1):
continue
########_____activity8
if (p8 >= 5):
p8 = 0
sleep = 0
action8()
lcd.stringlcd(0x80, "Act8")
time.sleep(2)
ser1.flushInput()
if (sleep == 1):
continue
import RPi.GPIO as GPIO
import gsm
import os
import mcp3202
from sklearn.externals import joblib
import numpy as np
from sklearn.model_selection import train_test_split
from sklearn.model_selection import GridSearchCV
from sklearn.neural_network import MLPClassifier
import pandas as pd
##### INITIALIZATION
gsm.Gsminit()
lcd.lcd_init()
lcd.stringlcd(0x80, "Welcome")
time.sleep(1)
default_port = '/dev/ttyUSB0'
# Check your COM port and baud rate
#ser = serial.Serial(port=default_port,baudrate=9600, timeout=1)
ser1 = serial.Serial('/dev/ttyUSB0', 9600)
number = "" ##GSM NUMBER TO TO THE GURDIAN
count = 0
time.sleep(0)
sleep = 0
#configure IO ports
act1 = 7
act2 = 5
def function1():
r01 = 0
p01= 0
p02 =0
rfun1 =0
pfun1=0
while (1):
line = ser.readline()
line = line.replace("#YPR=","")
line = line.replace("#YPRAMG=","") # Delete "#YPR="
#f.write(line) # Write to the output log file
words = string.split(line[4:],",")
print("In Function1")
if len(words) > 2:
try:
pfun1 = -float(words[1])*grad2rad
rfun1 = -float(words[2])*grad2rad
except Exception as e:
print e
print (rfun1,pfun1,p2)
if (rfun1 > 0.5):
r01 +=1
else:
r01=0
if (pfun1 > 0.5):
p01 +=1
else:
p01=0
if (pfun1 < -0.5):
p02 +=1
else:
p02=0
if r01 > 3:
r01=0
action1()
main()
if (p01 >= 3):
p01 = 0
print ("fun2")
lcd.stringlcd(0xC0,"In Function2")
function2()
if (p02 >= 3):
p02 = 0
print ("fun3")
lcd.stringlcd(0xC0,"In Function8")
function8()
ser.flushInput()
time.sleep(1)
import gsm import os import mcp3202 ##### INITIALIZATION gsm.Gsminit() lcd.lcd_init() lcd.stringlcd(0xC0,"welcome") default_port='/dev/ttyUSB0' # #configure IO ports act1=7 act2=5 act3=3 act4=11 GPIO.setup(act1,GPIO.IN,pull_up_down = GPIO.PUD_UP) GPIO.setup(act2,GPIO.IN,pull_up_down = GPIO.PUD_UP) GPIO.setup(act3,GPIO.IN,pull_up_down = GPIO.PUD_UP) GPIO.setup(act4,GPIO.IN,pull_up_down = GPIO.PUD_UP) GPIO.setup(act1,GPIO.OUT) GPIO.setup(act2,GPIO.OUT) GPIO.setup(act3,GPIO.OUT) GPIO.setup(act4,GPIO.OUT)
import datetime
import mcp3202
import webpage
import serial
import thread
import gsm
import os
import camera
import ftp
import thread
from flask import Flask
ser = serial.Serial('/dev/ttyS0',9600)
os.system("sudo service motion start")
lcd.lcd_init()
lcd.stringlcd(0x80,"welcome")
import socket
import fcntl
import struct
def getip(ifname):
s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
return socket.inet_ntoa(fcntl.ioctl(
s.fileno(),
0x8915, # SIOCGIFADDR
struct.pack('256s', ifname[:15])
)[20:24])
