def move(direction):
# Choose the direction of the request
if direction == 'camleft':
video_dir.move_decrease_x()
elif direction == 'camright':
video_dir.move_increase_x()
elif direction == 'camup':
video_dir.move_increase_y()
elif direction == 'camdown':
video_dir.move_decrease_y()
elif direction == 'camhome':
video_dir.home_x_y()
elif direction == 'record':
subprocess.call(['motion'], shell=True)
elif direction == 'stoprecord':
subprocess.call(['./stop.sh'], shell=True)
elif direction == 'forward':
motor.forward()
elif direction == 'reverse':
motor.backward()
elif direction == 'left':
car_dir.turn_left()
elif direction == 'right':
car_dir.turn_right()
elif direction == 'stop':
motor.ctrl(0)
elif direction == 'home':
car_dir.home()
def move(direction):
# Choose the direction of the request
if direction == 'camleft':
video_dir.move_decrease_x()
elif direction == 'camright':
video_dir.move_increase_x()
elif direction == 'camup':
video_dir.move_increase_y()
elif direction == 'camdown':
video_dir.move_decrease_y()
elif direction == 'camhome':
video_dir.home_x_y()
elif direction == 'record':
subprocess.call(['motion'], shell=True)
elif direction == 'stoprecord':
subprocess.call(['./stop.sh'], shell=True)
elif direction == 'forward':
motor.forward()
elif direction == 'reverse':
motor.backward()
elif direction == 'left':
car_dir.turn_left()
elif direction == 'right':
car_dir.turn_right()
elif direction == 'stop':
motor.ctrl(0)
elif direction == 'home':
car_dir.home()
def command(cmd=None):
if cmd == STOP:
motor.stop()
elif cmd == FORWARD:
motor.forward()
elif cmd == BACKWARD:
motor.backward()
elif cmd == LEFT:
motor.left()
else:
motor.right()
response = "Moving {}".format(cmd.capitalize())
return response, 200, {'Content-Type': 'text/plain'}
def change(changePin):
changePin = int(changePin)
if changePin == 1:
motor.turnLeft()
elif changePin == 2:
motor.forward()
elif changePin == 3:
motor.turnRight()
elif changePin == 4:
motor.backward()
elif changePin == 5:
motor.stop()
else:
print("Wrong command")
return render_template("index.html")
def command(cmd=None):
if cmd == STOP:
led.led_stop()
motor.stop()
elif cmd == FORWARD:
led.led_off()
motor.forward()
elif cmd == BACKWARD:
led.led_off()
motor.backward()
elif cmd == LEFT:
led.led_left()
motor.left()
elif cmd == RIGHT:
led.led_right()
motor.right()
return "Success", 200, {'Content-Type': 'text/plain'}
async def hello(websocket, path):
while True:
msg = await websocket.recv()
print("< {}".format(msg))
if msg == 'forward':
motor.forward()
if msg == 'stop':
motor.stop()
if msg == 'right':
motor.right()
if msg == 'left':
motor.left()
if msg == 'backward':
motor.backward()
def choice(input,conn):
t=5
start = t
inc = 0.5
try:
if input == 'f':
while t>0:
if(sensor.willFrontCrash()):
print('stopped after ' + str(start-t))
break
motor.forward(inc)
t = t-inc
print('Move forward')
elif input == 'b':
while t>0:
if(sensor.willBackCrash()):
print('stopped after ' + str(start-t))
break
motor.backward(inc)
t = t-inc
print('Move backward')
elif input == 'r':
motor.turnRight(t)
print('turn right')
elif input == 'l':
motor.turnLeft(t)
print('turn left')
elif input == 's':
reading = sensor.getAllSensor()
print('Read all sensors')
print(reading)
result = " ".join(reading)
conn.send(result)
except KeyboardInterrupt:
print('key board interrupted!')
finally:
print('done')
conn.send("\n")
def drive(stops):
# setup all devices and initialize values
busnum = 1
car_dir.setup(busnum=busnum)
motor.setup(busnum=busnum)
distance_detect.setup()
car_dir.home()
motor.setSpeed(30)
video_capture = cv2.VideoCapture(-1)
video_capture.set(3, 160)
video_capture.set(4, 120)
command = 0
stopCount = 0
stopFound = 0
#drive until passed certain amount of stops
while True:
# capture video frames
ret, frame = video_capture.read()
# set color masking boundaries for red and mask image
colorLower = np.array([0, 0, 100], dtype='uint8')
colorUpper = np.array([50, 50, 255], dtype='uint8')
colorMask = cv2.inRange(frame, colorLower, colorUpper)
outMask = cv2.bitwise_and(frame, frame, mask=colorMask)
# create mask image, convert to grayscale, and blur
clonedImg = outMask.copy()
clonedImg = cv2.cvtColor(clonedImg, cv2.COLOR_BGR2GRAY)
clonedImg = cv2.GaussianBlur(clonedImg, (5, 5), 0)
# show current image
cv2.namedWindow('Gray color select', cv2.WINDOW_NORMAL)
cv2.imshow('Gray color select', clonedImg)
# calculate circles within image
circles = cv2.HoughCircles(clonedImg,
cv2.cv.CV_HOUGH_GRADIENT,
1,
20,
param1=50,
param2=30,
minRadius=15,
maxRadius=100)
# if a circle was detected
if circles != None:
# if this is first time encountering this stop increase stop count
if stopFound == 0:
stopCount += 1
stopFound = 1
# map out circles for display
circles = np.uint16(np.around(circles))
for i in circles[0, :]:
cv2.circle(clonedImg, (i[0], i[1]), i[2], (0, 255, 0), 2)
cv2.circle(clonedImg, (i[0], i[1]), 2, (0, 255, 0), 3)
elif (cv2.countNonZero(clonedImg) == 0):
stopFound = 0
# display camera feed and circles
cv2.namedWindow('Circles', cv2.WINDOW_NORMAL)
cv2.imshow('Circles', clonedImg)
# crop the image
crop_img = frame[60:120, 0:160]
# convert to grayscale
gray = cv2.cvtColor(crop_img, cv2.COLOR_BGR2GRAY)
# gaussian blur
blur = cv2.GaussianBlur(gray, (5, 5), 0)
# color thresholding
ret, thresh = cv2.threshold(blur, 60, 255, cv2.THRESH_BINARY_INV)
# find the contours of the frame
contours, hierarchy = cv2.findContours(thresh.copy(), 1,
cv2.CHAIN_APPROX_NONE)
# detect distance to closes object
dis = distance_detect.checkdis()
print "distance: ", dis
# find the biggest contour (if detected)
if len(contours) > 0 and dis >= 15:
c = max(contours, key=cv2.contourArea)
M = cv2.moments(c)
if M['m00'] != 0:
cx = int(M['m10'] / M['m00'])
cy = int(M['m01'] / M['m00'])
cv2.line(crop_img, (cx, 0), (cx, 720), (255, 0, 0), 1)
cv2.line(crop_img, (0, cy), (1280, cy), (255, 0, 0), 1)
cv2.drawContours(crop_img, contours, -1, (0, 255, 0), 1)
if cx >= 120:
print "Turn Right ", cx
car_dir.turn_right()
motor.forward()
if cx < 120 and cx > 50:
print "On Track! ", cx
car_dir.home()
motor.forward()
if cx <= 50:
print "Turn Left! ", cx
car_dir.turn_left()
motor.forward()
else:
if dis < 15:
print "something blocking me"
car_dir.home()
motor.stop()
else:
print "I don't see the line"
car_dir.home()
motor.backward()
# display the resulting frame
cv2.namedWindow('frame', cv2.WINDOW_NORMAL)
cv2.imshow('frame', crop_img)
# exit condition after passing certain amount of stops or 'q' is pressed
if stopCount == stops or (cv2.waitKey(1) & 0xFF == ord('q')):
# clean up
motor.stop()
distance_detect.cleanup()
cv2.destroyAllWindows()
break
# one, which means it is suspended before the connection comes.
tcpCliSock, addr = tcpSerSock.accept()
print('...connected from :', addr) # Print the IP address of the client connected with the server.
while True:
data = ''
data = tcpCliSock.recv(BUFSIZ) # Receive data sent from the client.
# Analyze the command received and control the car accordingly.
if not data:
break
if data == ctrl_cmd[0]:
print('motor moving forward')
motor.forward()
elif data == ctrl_cmd[1]:
print('recv backward cmd')
motor.backward()
elif data == ctrl_cmd[2]:
print('recv left cmd')
car_dir.turn_left()
elif data == ctrl_cmd[3]:
print('recv right cmd')
car_dir.turn_right()
elif data == ctrl_cmd[6]:
print('recv home cmd')
car_dir.home()
elif data == ctrl_cmd[4]:
print('recv stop cmd')
motor.ctrl(0)
elif data == ctrl_cmd[5]:
print('read cpu temp...')
temp = cpu_temp.read() # from RPi.GPIO
def backward(): motor.backward()
# http://ozzmaker.com/2013/04/18/success-with-a-balancing-robot-using-a-raspberry-pi/
accAngX = (math.atan2(rate_accX, rate_accY) + M_PI) * RAD_TO_DEG
CFangleX = K * (CFangleX + rate_gyroX * time_diff) + (1 - K) * accAngX
# http://blog.bitify.co.uk/2013/11/reading-data-from-mpu-6050-on-raspberry.html
accAngX1 = get_x_rotation(rate_accX, rate_accY, rate_accX)
CFangleX1 = (K * (CFangleX1 + rate_gyroX * time_diff) + (1 - K) * accAngX1)
# Followed the Second example because it gives resonable pid reading
pid = int(p.update(CFangleX1)) #Add the sampling time in calculating PID
speed = pid
#print speed
if (pid > 0):
print "forward"
MOTOR.forward(speed)
elif (pid < 0):
print "backward"
MOTOR.backward(abs(speed))
else:
print "stop"
#MOTOR.forward(speed)
#MOTOR.backward( abs(speed) )
MOTOR.stop(
) #Copy Paste forward and backward code here instead of stop()
#print(j)
#print "{0:.2f} {1:.2f} {2:.2f} {3:.2f} | {4:.2f} {5:.2f} | {6:.2f} | {7:.2f} ".format( gyroAngleX, gyroAngleY , accAngX, CFangleX, accAngX1, CFangleX1, pid, speed)
#print "{0:.2f} {1:.2f} {2:.2f}".format( gyroAngleX, accAngX, CFangleX)
#print "{0:.2f} {1:.2f}".format( sensor.read_pitch(), sensor.read_roll())
def motor_backward(request):
motor.backward()
return HttpResponse("Motor backward")
def CarController(socket):
while True:
print 'Waiting for connection to car controller service...'
# Waiting for connection. Once receiving a connection, the function accept() returns a separate
# client socket for the subsequent communication. By default, the function accept() is a blocking
# one, which means it is suspended before the connection comes.
clientSocket, addr = socket.accept()
print '...connected to car controller service:', addr # Print the IP address of the client connected with the server.
lastCmd = ''
while True:
msgs = ''
recdata = clientSocket.recv(BUFSIZ)
# Receive data sent from the client.
# Analyze the command received and control the car accordingly.
msgs = recdata.split(';')
#print("Received", len(msgs), "new messages")
for data in msgs:
if not data:
break
if lastCmd == data:
print("Last Command:", lastCmd, "Current Data:", data,
"Ignoring")
break
if data == ctrl_cmd[0]:
print 'motor moving forward'
motor.forward()
elif data == ctrl_cmd[1]:
print 'recv backward cmd'
motor.backward()
elif data == ctrl_cmd[2]:
print 'recv left cmd'
car_dir.turn_left()
elif data == ctrl_cmd[3]:
print 'recv right cmd'
car_dir.turn_right()
elif data == ctrl_cmd[6]:
print 'recv home cmd'
car_dir.home()
elif data == ctrl_cmd[4]:
print 'recv stop cmd'
motor.ctrl(0)
elif data == ctrl_cmd[5]:
print 'read cpu temp...'
temp = cpu_temp.read()
tcpCliSock.send('[%s] %0.2f' % (ctime(), temp))
elif data[0:5] == 'speed':
#print data
numLen = len(data) - len('speed')
if numLen == 1 or numLen == 2 or numLen == 3:
tmp = data[-numLen:]
#print 'tmp(str) = %s' % tmp
spd = int(tmp)
#print 'spd(int) = %d' % spd
if spd < 24:
spd = 24
motor.setSpeed(spd)
elif data[0:8] == 'network=':
print 'network =', data
spd = data.split('=')[1]
try:
spd = int(spd)
os.system('sudo tc qdisc del dev wlan0 root')
os.system(
'sudo tc qdisc add dev wlan0 root netem delay {0}ms'
.format(spd))
except:
print 'ERROR , speed =', spd
elif data[0:7] == 'offset=':
print 'offset called, data = ', data
offset = int(data[7:]) + 28
car_dir.calibrate(offset)
elif data[0:8] == 'forward=':
#print 'data =', data
spd = data.split('=')[1]
try:
spd = int(spd)
motor.setSpeed(spd)
motor.forward()
except:
print 'Error speed =', spd
elif data[0:9] == 'backward=':
#print 'data =', data
spd = data.split('=')[1]
try:
spd = int(spd)
motor.setSpeed(spd)
motor.backward()
except:
print 'ERROR , speed =', spd
else:
print 'Command Error! Cannot recognize command: ' + data
face_bool_count = 6 # Don't let the variable blow up.
# Check if the robot is pointing right at the person's face.
centered_face_bool, xShift_face, yShift_face = blob.check_centered(
point)
straighten_bool = blob.check_straighten(cameraPos)
print('centered', centered_face_bool, 'straighten',
straighten_bool)
print('cameraPos', cameraPos)
if not centered_face_bool or not straighten_bool: # If the robot is not pointing at the person's face,
# straighten up.
cameraPos = blob.straighten_up(xShift_face, yShift_face, 0, adjust_speed * 4,\
cameraPos)
else:
# Visual cue that the robot is about to set the face's neutral expression.
if not neutralBool:
motor.backward(speed)
time.sleep(.3)
motor.forward(speed)
time.sleep(.3)
motor.brake()
time.sleep(.5)
# Set neutral expression if face is properly aligned.
neutralBool, neutralFeaturesUpper, neutralFeaturesLower \
=face_op.set_neutral(feat, newFeaturesUpper, newFeaturesLower, neutralBool,tol)
# Increase size of frame for viewing.
big_frame = cv2.resize(small_frame, (0, 0),
fx=scaleUp * 1 / scaleFactor,
fy=scaleUp * 1 / scaleFactor)
# Show text on video.
def run(self):
while True:
print 'Waiting for connection...'
tcpCliSock, addr = tcpSerSock.accept()
print '...connected from :', addr
while True:
data = ''
data = tcpCliSock.recv(BUFSIZ)
if not data:
break
if data == ctrl_cmd[0]:
print 'motor moving forward'
motor.forward()
elif data == ctrl_cmd[1]:
print 'recv backward cmd'
motor.backward()
elif data == ctrl_cmd[2]:
print 'recv left cmd'
car_dir.turn_left()
elif data == ctrl_cmd[3]:
print 'recv right cmd'
car_dir.turn_right()
elif data == ctrl_cmd[6]:
print 'recv home cmd'
car_dir.home()
elif data == ctrl_cmd[4]:
print 'recv stop cmd'
motor.ctrl(0)
elif data == ctrl_cmd[5]:
print 'read cpu temp...'
temp = cpu_temp.read()
tcpCliSock.send('[%s] %0.2f' % (ctime(), temp))
elif data == ctrl_cmd[8]:
print 'recv x+ cmd'
video_dir.move_increase_x()
elif data == ctrl_cmd[9]:
print 'recv x- cmd'
video_dir.move_decrease_x()
elif data == ctrl_cmd[10]:
print 'recv y+ cmd'
video_dir.move_increase_y()
elif data == ctrl_cmd[11]:
print 'recv y- cmd'
video_dir.move_decrease_y()
elif data == ctrl_cmd[12]:
print 'home_x_y'
video_dir.home_x_y()
elif data[0:5] == 'speed':
print data
numLen = len(data) - len('speed')
if numLen == 1 or numLen == 2 or numLen == 3:
tmp = data[-numLen:]
print 'tmp(str) = %s' % tmp
spd = int(tmp)
print 'spd(int) = %d' % spd
if spd < 24:
spd = 24
motor.setSpeed(spd)
elif data[0:5] == 'turn=':
print 'data =', data
angle = data.split('=')[1]
try:
angle = int(angle)
car_dir.turn(angle)
except:
print 'Error: angle =', angle
elif data[0:8] == 'forward=':
print 'data =', data
spd = data[8:]
try:
spd = int(spd)
motor.forward(spd)
except:
print 'Error speed =', spd
elif data[0:9] == 'backward=':
print 'data =', data
spd = data.split('=')[1]
try:
spd = int(spd)
motor.backward(spd)
except:
print 'ERROR, speed =', spd
else:
print 'Command Error! Cannot recognize command: ' + data
tcpSerSock.close()
raw_accX = sensor.read_raw_accel_x()
raw_accY = sensor.read_raw_accel_y()
raw_accZ = sensor.read_raw_accel_z()
# Accelerometer value Degree Per Second / Scalled Data
rate_accX = sensor.read_scaled_accel_x()
rate_accY = sensor.read_scaled_accel_y()
rate_accZ = sensor.read_scaled_accel_z()
# http://ozzmaker.com/2013/04/18/success-with-a-balancing-robot-using-a-raspberry-pi/
accAngX = ( math.atan2(rate_accX, rate_accY) + M_PI ) * RAD_TO_DEG
CFangleX = K * ( CFangleX + rate_gyroX * time_diff) + (1 - K) * accAngX
# http://blog.bitify.co.uk/2013/11/reading-data-from-mpu-6050-on-raspberry.html
accAngX1 = get_x_rotation(rate_accX, rate_accY, rate_accX)
CFangleX1 = ( K * ( CFangleX1 + rate_gyroX * time_diff) + (1 - K) * accAngX1 )
# Followed the Second example because it gives resonable pid reading
pid = int(p.update(CFangleX1))
speed = pid * 30
if(pid > 0):
MOTOR.forward(speed)
elif(pid < 0):
MOTOR.backward( abs(speed) )
else:
MOTOR.stop()
print "{0:.2f} {1:.2f} {2:.2f} {3:.2f} | {4:.2f} {5:.2f} | {6:.2f} | {7:.2f} ".format( gyroAngleX, gyroAngleY , accAngX, CFangleX, accAngX1, CFangleX1, pid, speed)
#print "{0:.2f} {1:.2f}".format( sensor.read_pitch(), sensor.read_roll())
ENBset(100)
elif str == 'keycode':
arrow = int(datalist[0][1])
if arrow == 38:
print("Go Forward")
mtr.forward()
time.sleep(0.05)
mtr.stop()
elif arrow == 37:
print("Turn Left")
mtr.left()
time.sleep(0.05)
mtr.stop()
elif arrow == 40:
print("Go Backward")
mtr.backward()
time.sleep(0.05)
mtr.stop()
elif arrow == 39:
print("Turn Right")
mtr.right()
time.sleep(0.05)
mtr.stop()
## Control Arm/Camera Servo Motor
elif str == 'range':
servoNum = datalist[1][1]
angle = int(datalist[0][1])
if servoNum == 0: ## Reset Servo
Servo.XiaoRGEEK_ReSetServo()
Servo.XiaoRGEEK_SetServoAngle(servoNum, angle)
def Localization():
global locationIndex
#Peforming Localization Multi-Step Process
MapDimensions = BitMap.shape
indices = [i for i in range(MapDimensions[0] + 1)]
indices[MapDimensions[0]] = -1
totalReps = 3
marginForBitError = totalReps - 1
index = 0 #Only for readings array
bitReading = np.zeros(totalReps)
readings = np.zeros((totalReps, 17))
while (marginForBitError >= 0):
readings[index] = np.copy(Turn())
print readings[index]
ComparedBitValues = np.zeros(MapDimensions[0])
bitReading[index] = bitMapRowGenerator(readings[index])
counter = 0
i = indices[counter]
while (i != -1):
if (i < MapDimensions[0]):
ComparedBitValues[i] = 17 - (
bin(int(bitReading[index]) ^ int(BitMap[i])).count('1'))
counter = counter + 1
i = indices[counter]
print ComparedBitValues
if (marginForBitError > 0):
counter = 0
localmax = np.max(ComparedBitValues)
for i in range(0, MapDimensions[0]):
if (ComparedBitValues[i] + marginForBitError >= localmax):
indices[counter] = i + 1
counter = counter + 1
indices[counter] = -1
time.sleep(0.5)
motor.isObstacle = 0
motor.forward(0.75)
time.sleep(0.5)
else:
time.sleep(0.5)
motor.isObstacle = 0
motor.backward(1.5)
time.sleep(0.5)
marginForBitError = marginForBitError - 1
index = index + 1
sI = LocationArray[locationIndex].initialIndex
fI = LocationArray[locationIndex].finalIndex
count = 0
for i in range(sI, fI + 1):
if (ComparedBitValues[i] >= 14):
count += 1
if (count == 0):
newIndex = -1
for x in range(1, 11):
if (sI - x >= 0 and ComparedBitValues[sI - x] >= 14):
newIndex = sI - x
break
if (fI + x >= 0 and ComparedBitValues[fI + x] >= 14):
newIndex = fI + x
break
if (newIndex < 0):
newIndex = np.max(ComparedBitValues)
locationIndex = findLocationIndex(newIndex - 2)
def process_request(data):
# Analyze the command received and control the car accordingly.
if not data:
return "cmd not understood"
if data == ctrl_cmd[0]:
print('motor moving forward')
motor.forward()
elif data == ctrl_cmd[1]:
print('recv backward cmd')
motor.backward()
elif data == ctrl_cmd[2]:
print('recv left cmd')
car_dir.turn_left()
elif data == ctrl_cmd[3]:
print('recv right cmd')
car_dir.turn_right()
elif data == ctrl_cmd[6]:
print('recv home cmd')
car_dir.home()
elif data == ctrl_cmd[4]:
print('recv stop cmd')
motor.ctrl(0)
elif data == ctrl_cmd[5]:
print('read cpu temp...')
temp = cpu_temp.read()
tcpCliSock.send('[%s] %0.2f' % (ctime(), temp))
elif data == ctrl_cmd[8]:
print('recv x+ cmd')
video_dir.move_increase_x()
elif data == ctrl_cmd[9]:
print('recv x- cmd')
video_dir.move_decrease_x()
elif data == ctrl_cmd[10]:
print('recv y+ cmd')
video_dir.move_increase_y()
elif data == ctrl_cmd[11]:
print('recv y- cmd')
video_dir.move_decrease_y()
elif data == ctrl_cmd[12]:
print('home_x_y')
video_dir.home_x_y()
elif data[0:5] == 'speed': # Change the speed
print(data)
numLen = len(data) - len('speed')
if numLen == 1 or numLen == 2 or numLen == 3:
tmp = data[-numLen:]
print('tmp(str) = %s' % tmp)
spd = int(tmp)
print('spd(int) = %d' % spd)
if spd < 24:
spd = 24
motor.setSpeed(spd)
elif data[0:5] == 'turn=': # Turning Angle
print('data =', data)
angle = data.split('=')[1]
try:
angle = int(angle)
car_dir.turn(angle)
except:
print('Error: angle =', angle)
elif data[0:8] == 'forward=':
print('data =', data)
spd = data[8:]
try:
spd = int(spd)
motor.forward(spd)
except:
print('Error speed =', spd)
elif data[0:9] == 'backward=':
print('data =', data)
spd = data.split('=')[1]
try:
spd = int(spd)
motor.backward(spd)
except:
print('ERROR, speed =', spd)
else:
print('Command Error! Cannot recognize command: ' + data)
def gen():
"""Video streaming generator function."""
cap = cv2.VideoCapture(0)
faceDetect = cv2.CascadeClassifier('haarcascade_frontalface_default.xml')
rec = cv2.face.LBPHFaceRecognizer_create()
rec.read("recognizer/training_data.yml")
i = 0
fourcc = cv2.VideoWriter_fourcc(*'XVID')
out = cv2.VideoWriter('output' + str(i) + '.avi', fourcc, 10.0, (640, 480))
engine = pyttsx3.init()
engine.setProperty(
'voice',
"HKEY_LOCAL_MACHINE\SOFTWARE\Microsoft\Speech\Voices\Tokens\TTS_MS_EN-US_ZIRA_11.0"
) #set voice type
engine.setProperty('rate', 100) ### 10 adalah kecepatan baca
#cap.set(cv2.CAP_PROP_FRAME_WIDTH, 160)
#cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 120)
# Read until video is completed
while (cap.isOpened()):
ret, frame = cap.read() # import image
if not ret: #if vid finish repeat
cap = cv2.VideoCapture(0)
continue
if ret: # if there is a frame continue with code
faceDetect = cv2.CascadeClassifier(
'haarcascade_frontalface_default.xml')
gray = cv2.cvtColor(frame,
cv2.COLOR_BGR2GRAY) # converts image to gray
faces = faceDetect.detectMultiScale(gray, 1.3, 5)
cv2.putText(frame, str(datetime.now()), (10, 50),
cv2.FONT_HERSHEY_SIMPLEX, 1.0, (0, 0, 255), 2,
cv2.LINE_AA)
for (x, y, w, h) in faces:
cv2.rectangle(frame, (x, y), (x + w, y + h), (0, 0, 255),
4) #cv2.imshow("countours", image)
id, conf = rec.predict(gray[y:y + h, x:x + w])
if (id == 1):
text = "ILHAM"
engine.say(text)
engine.runAndWait()
else:
text = "UNKNOWN"
engine.say(text)
engine.runAndWait()
cv2.putText(frame, text, (10, 80), cv2.FONT_HERSHEY_SIMPLEX,
1.0, (0, 0, 255), 2, cv2.LINE_AA)
if os.path.exists("output" + str(i) + ".avi"):
i += 1
out.write(frame)
full = w + h
tengah = x + (w / 2)
print("posisi x :", str(tengah))
print("full" + str(full))
if tengah < 270:
motor.turnLeft()
elif tengah > 370:
motor.turnRight()
else:
motor.stop()
if full > 470:
motor.backward()
elif full < 430:
motor.forward()
else:
motor.stop()
frame = cv2.imencode('.jpg', frame)[1].tobytes()
yield (b'--frame\r\n'
b'Content-Type: image/jpeg\r\n\r\n' + frame + b'\r\n')
#time.sleep(0.1)
key = cv2.waitKey(20)
if key == 27:
break
motor.cleanup()
def on_message(ws, data):
print data
# Analyze the command received and control the car accordingly.
#if not data:
if data == ctrl_cmd[0]:
print 'motor moving forward'
motor.forward()
elif data == ctrl_cmd[1]:
print 'recv backward cmd'
motor.backward()
elif data == ctrl_cmd[2]:
print 'recv left cmd'
car_dir.turn_left()
elif data == ctrl_cmd[3]:
print 'recv right cmd'
car_dir.turn_right()
elif data == ctrl_cmd[6]:
print 'recv home cmd'
car_dir.home()
elif data == ctrl_cmd[4]:
print 'recv stop cmd'
motor.ctrl(0)
elif data == ctrl_cmd[5]:
print 'read cpu temp...'
temp = cpu_temp.read()
tcpCliSock.send('[%s] %0.2f' % (ctime(), temp))
elif data == ctrl_cmd[8]:
print 'recv x+ cmd'
video_dir.move_increase_x()
elif data == ctrl_cmd[9]:
print 'recv x- cmd'
video_dir.move_decrease_x()
elif data == ctrl_cmd[10]:
print 'recv y+ cmd'
video_dir.move_increase_y()
elif data == ctrl_cmd[11]:
print 'recv y- cmd'
video_dir.move_decrease_y()
elif data == ctrl_cmd[12]:
print 'home_x_y'
video_dir.home_x_y()
elif data[0:12] == ctrl_cmd[13]: # Change the speed
print data
#numLen = len(data) - len('speed')
#if numLen == 1 or numLen == 2 or numLen == 3:
# tmp = data[-numLen:]
# print 'tmp(str) = %s' % tmp
# spd = int(tmp)
# print 'spd(int) = %d' % spd
# if spd < 24:
# spd = 24
motor.setSpeed(30)
elif data[0:5] == 'turn=': #Turning Angle
print 'data =', data
angle = data.split('=')[1]
try:
angle = int(angle)
car_dir.turn(angle)
except:
print 'Error: angle =', angle
elif data[0:8] == 'forward=':
print 'data =', data
spd = 30
try:
spd = int(spd)
motor.forward(spd)
except:
print 'Error speed =', spd
elif data[0:9] == 'backward=':
print 'data =', data
spd = data.split('=')[1]
try:
spd = int(spd)
motor.backward(spd)
except:
print 'ERROR, speed =', spd
else:
print 'Command Error! Cannot recognize command: ' + data
def backward(self, speed=None):
if speed is None:
motor.backward()
else:
motor.backwardWithSpeed(int(speed))
return self.ack()
def run_server(key):
#!/usr/bin/env python
import RPi.GPIO as GPIO
import video_dir
import car_dir
import motor
from time import ctime # Import necessary modules
ctrl_cmd = [
'forward', 'backward', 'left', 'right', 'stop', 'read cpu_temp',
'home', 'distance', 'x+', 'x-', 'y+', 'y-', 'xy_home'
]
busnum = 1 # Edit busnum to 0, if you uses Raspberry Pi 1 or 0
HOST = '' # The variable of HOST is null, so the function bind( ) can be bound to all valid addresses.
PORT = 21567
BUFSIZ = 1024 # Size of the buffer
ADDR = (HOST, PORT)
tcpSerSock = socket(AF_INET, SOCK_STREAM) # Create a socket.
tcpSerSock.bind(ADDR) # Bind the IP address and port number of the server.
tcpSerSock.listen(
5
) # The parameter of listen() defines the number of connections permitted at one time. Once the
# connections are full, others will be rejected.
#video_dir.setup(busnum=busnum)
#car_dir.setup(busnum=busnum)
#motor.setup(busnum=busnum) # Initialize the Raspberry Pi GPIO connected to the DC motor.
#video_dir.home_x_y()
#car_dir.home()
while True:
print 'Waiting for connection...'
# Waiting for connection. Once receiving a connection, the function accept() returns a separate
# client socket for the subsequent communication. By default, the function accept() is a blocking
# one, which means it is suspended before the connection comes.
tcpCliSock, addr = tcpSerSock.accept()
print '...connected from :', addr # Print the IP address of the client connected with the server.
while True:
try:
data = ''
data = tcpCliSock.recv(
BUFSIZ) # Receive data sent from the client.
print "\nEncrypted command recieved from client = ,", eval(
data)[2]
data = crypto.AES_decrypt(eval(data), key)
except:
print "INCOMPLETE PACKET ERROR - try to input the command again"
# Analyze the command received and control the car accordingly.
if not data:
break
if data == ctrl_cmd[0]:
print 'motor moving forward'
motor.forward()
elif data == ctrl_cmd[1]:
print 'recv backward cmd'
motor.backward()
elif data == ctrl_cmd[2]:
print 'recv left cmd'
car_dir.turn_left()
elif data == ctrl_cmd[3]:
print 'recv right cmd'
car_dir.turn_right()
elif data == ctrl_cmd[6]:
print 'recv home cmd'
car_dir.home()
elif data == ctrl_cmd[4]:
print 'recv stop cmd'
motor.ctrl(0)
elif data == ctrl_cmd[5]:
print 'read cpu temp...'
temp = cpu_temp.read()
tcpCliSock.send('[%s] %0.2f' % (ctime(), temp))
elif data == ctrl_cmd[8]:
print 'recv x+ cmd'
video_dir.move_increase_x()
elif data == ctrl_cmd[9]:
print 'recv x- cmd'
video_dir.move_decrease_x()
elif data == ctrl_cmd[10]:
print 'recv y+ cmd'
video_dir.move_increase_y()
elif data == ctrl_cmd[11]:
print 'recv y- cmd'
video_dir.move_decrease_y()
elif data == ctrl_cmd[12]:
print 'home_x_y'
video_dir.home_x_y()
elif data[0:5] == 'speed': # Change the speed
print data
numLen = len(data) - len('speed')
if numLen == 1 or numLen == 2 or numLen == 3:
tmp = data[-numLen:]
print 'tmp(str) = %s' % tmp
spd = int(tmp)
print 'spd(int) = %d' % spd
if spd < 24:
spd = 24
motor.setSpeed(spd)
elif data[0:5] == 'turn=': #Turning Angle
print 'data =', data
angle = data.split('=')[1]
try:
angle = int(angle)
car_dir.turn(angle)
except:
print 'Error: angle =', angle
elif data[0:8] == 'forward=':
print 'data =', data
spd = data[8:]
try:
spd = int(spd)
motor.forward(spd)
except:
print 'Error speed =', spd
elif data[0:9] == 'backward=':
print 'data =', data
spd = data.split('=')[1]
try:
spd = int(spd)
motor.backward(spd)
except:
print 'ERROR, speed =', spd
else:
#print 'Command Error! Cannot recognize command: ' + data
print "COMMAND ERROR - Unable to interpret recieved command"
tcpSerSock.close()
gyroAngleY += rate_gyroY * time_diff
gyroAngleZ += rate_gyroZ * time_diff
# Accelerometer Raw Value
raw_accX = sensor.read_raw_accel_x()
raw_accY = sensor.read_raw_accel_y()
raw_accZ = sensor.read_raw_accel_z()
# Accelerometer value Degree Per Second / Scalled Data
rate_accX = sensor.read_scaled_accel_x()
rate_accY = sensor.read_scaled_accel_y()
rate_accZ = sensor.read_scaled_accel_z()
# http://ozzmaker.com/2013/04/18/success-with-a-balancing-robot-using-a-raspberry-pi/
accAngX = ( math.atan2(rate_accX, rate_accY) + M_PI ) * RAD_TO_DEG
CFangleX = K * ( CFangleX + rate_gyroX * time_diff) + (1 - K) * accAngX
# http://blog.bitify.co.uk/2013/11/reading-data-from-mpu-6050-on-raspberry.html
accAngX1 = get_x_rotation(rate_accX, rate_accY, rate_accX)
CFangleX1 = ( K * ( CFangleX1 + rate_gyroX * time_diff) + (1 - K) * accAngX1 )
# Followed the Second example because it gives resonable pid reading
pid = p.update(CFangleX1)
if(pid > 0):
MOTOR.forward(pid)
else:
MOTOR.backward( (pid*-1) )
print "{0:.2f} {1:.2f} {2:.2f} {3:.2f} | {4:.2f} {5:.2f} | {6:.2f}".format( gyroAngleX, gyroAngleY , accAngX, CFangleX, accAngX1, CFangleX1, pid)
def server(
value, collision
): #get value as Direction and collision as Collision detection from Shared memory
pre_dir = 'home'
x = 0
flag = 0
while True:
sys.stdout.flush()
print 'Waiting for connection...'
# Waiting for connection. Once receiving a connection, the function accept() returns a separate
# client socket for the subsequent communication. By default, the function accept() is a blocking
# one, which means it is suspended before the connection comes.
tcpCliSock, addr = tcpSerSock.accept()
print '...connected from :', addr # Print the IP address of the client connected with the server.
while True:
data = ''
data = tcpCliSock.recv(BUFSIZ)
# Receive data sent from the client.
# Analyze the command received and control the car accordingly.
print data
if not data:
break
if x == 1:
if flag < 5:
flag = flag + 1
continue #if there is any collision, Do not receive data from client.If so, Get stacked!
x = 0 #after refusing data from client, start receiving
flag = 0
if data == ctrl_cmd[0]: #If Client send message "forward"
if collision.value == 1: #if there is obstacle in front of iCar
motor.ctrl(0) #stop
else:
motor.forward() #Run the motors to forward
elif data == ctrl_cmd[1]: #If Client send message "backward"
motor.backward()
elif data == ctrl_cmd[2]: #If Client send message "left"
car_dir.turn_left() #change car direction to Left
elif data == ctrl_cmd[3]: #If Client send message "right"
car_dir.turn_right() #change car direction to Right
elif data == ctrl_cmd[6]: #If Client send message "home"
car_dir.home() #Set car direction to center
elif data == ctrl_cmd[4]: #if Client send message "stop"
motor.ctrl(0) #Stop Motor running
elif data == ctrl_cmd[
5]: #If Client click auto button, send message "auto"
#auto drive
motor.setSpeed(44) #Set motor speed with optimized speed 44
temp = value.value #get Value from jeongwook.py that is information of Car Direction
if collision.value != 0: #If there is Collision
print 'Collision detected'
if collision.value == 1: #Collision in front of iCar
print "Obstacle In Front"
motor.collision_auto(
) #collision_auto function let iCar move backward
car_dir.turn_right() #to avoid collision, turn right
motor.forward_auto(
) #move only for 0.8second (forward_auto let iCar move for 0.2second)
motor.forward_auto()
motor.forward_auto()
motor.forward_auto()
car_dir.home()
motor.forward_auto()
motor.forward_auto()
pre_dir = 'left' #if iCar cannot detect any lane, it SHOULD BE on left side, so makes iCar go left after avoiding
elif collision.value == 2: #Collision on Left side
print "Obstacle is on Left"
motor.collision_auto()
car_dir.turn_right() #to avoid collision, turn right
motor.forward_auto()
motor.forward_auto()
motor.forward_auto()
motor.forward_auto()
car_dir.home()
motor.forward_auto()
motor.forward_auto()
pre_dir = 'left'
elif collision.value == 3: #go left
print "Obstacle is on Right"
motor.collision_auto()
car_dir.turn_left() #to avoid collision, turn left
motor.forward_auto()
motor.forward_auto()
motor.forward_auto()
motor.forward_auto()
car_dir.home()
motor.forward_auto()
motor.forward_auto()
pre_dir = 'right' #if iCar cannot detect any lane, it SHOULD BE on right side, so makes iCar go right after avoiding
collision.value = 0
x = 1 #set x = 1 to Not receiving data from client for a moment
elif temp == 1: #iCar is on Lane, Go with center direction
print 'Lane is on my way'
car_dir.home()
motor.forward_auto() #move iCar for 0.2second with 44speed
#because of camera delay
elif temp == 2: #lane is located on left side
print 'Lane is on left side'
car_dir.turn_left()
motor.forward_auto()
pre_dir = 'left'
elif temp == 3: #lane is located on right side
print 'Lane is on right side'
car_dir.turn_right()
motor.setSpeed(44)
motor.forward_auto()
pre_dir = 'right'
else:
if pre_dir == 'right': #when No detection but predict that lane is on right side
print 'cannot find but go right'
car_dir.turn_right()
motor.setSpeed(44)
motor.forward_auto()
elif pre_dir == 'left': #when No detection but predict that lane is on left side
print 'cannot find but go left'
car_dir.turn_left()
motor.forward_auto()
else:
print 'Cannot find a Lane' #No detection with no prediction
car_dir.home() #set center direction and stop
motor.backward()
time.sleep(0.6)
motor.ctrl(0)
time.sleep(1)
elif data == ctrl_cmd[7]: #move camera right
video_dir.move_increase_x()
elif data == ctrl_cmd[8]: #move camera left
video_dir.move_decrease_x()
elif data == ctrl_cmd[9]: #move camera up
video_dir.move_increase_y()
elif data == ctrl_cmd[10]: #move camera down
video_dir.move_decrease_y()
elif data[0:5] == 'speed': # Change the speed
print data
numLen = len(data) - len('speed')
if numLen == 1 or numLen == 2 or numLen == 3:
tmp = data[-numLen:]
spd = int(tmp)
if spd < 24:
spd = 24
motor.setSpeed(spd)
elif data[
0:
7] == 'leftPWM': #If Client send message like ~PWM, it is for initialization or servo motor that control Car direction.
numLen = len(data) - len('leftPWM')
pwm = data[-numLen:]
leftpwm = int(pwm)
car_dir.change_left(leftpwm)
elif data[0:7] == 'homePWM':
numLen = len(data) - len('homePWM')
pwm = data[-numLen:]
homepwm = int(pwm)
car_dir.change_home(homepwm)
elif data[0:8] == 'rightPWM':
numLen = len(data) - len('rightPWM')
pwm = data[-numLen:]
rightpwm = int(pwm)
car_dir.change_right(rightpwm)
else:
print 'Command Error! Cannot recognize command: ' + data
tcpSerSock.close()
elif pred < 0.03 and pred > -0.03:
data = ctrl_cmd[6]
else:
angle = int((pred / 2 + 0.5) * 170 + 35)
data = "turn=" + str(angle)
if lstop_detected:
motor.forward()
lstop_detected = False
if data == ctrl_cmd[0]:
print 'motor moving forward'
motor.forward()
elif data == ctrl_cmd[1]:
print 'recv backward cmd'
motor.backward()
elif data == ctrl_cmd[2]:
print 'recv left cmd'
car_dir.turn_left()
elif data == ctrl_cmd[3]:
print 'recv right cmd'
car_dir.turn_right()
elif data == ctrl_cmd[6]:
print 'recv home cmd'
car_dir.home()
elif data == ctrl_cmd[4]:
print 'recv stop cmd'
motor.ctrl(0)
elif data == ctrl_cmd[5]:
print 'read cpu temp...'
temp = cpu_temp.read()
elif data == ctrl_cmd[8]:
# one, which means it is suspended before the connection comes. tcpCliSock, addr = tcpSerSock.accept() print '...connected from :', addr # Print the IP address of the client connected with the server. while True: data = '' data = tcpCliSock.recv(BUFSIZ) # Receive data sent from the client. # Analyze the command received and control the car accordingly. if not data: break if data == ctrl_cmd[0]: print 'motor moving forward' motor.forward() elif data == ctrl_cmd[1]: print 'recv backward cmd' motor.backward() elif data == ctrl_cmd[2]: print 'recv left cmd' car_dir.turn_left() elif data == ctrl_cmd[3]: print 'recv right cmd' car_dir.turn_right() elif data == ctrl_cmd[6]: print 'recv home cmd' car_dir.home() elif data == ctrl_cmd[4]: print 'recv stop cmd' motor.ctrl(0) elif data == ctrl_cmd[5]: print 'read cpu temp...' temp = cpu_temp.read()
joy = xbox.Joystick()
# Setup motors
GPIO.setmode(GPIO.BOARD)
motor.setup()
try:
#Valid connect may require joystick input to occur
print "Waiting for Joystick to connect"
while not joy.connected():
time.sleep(0.10)
print('Connected')
#Show misc inputs until Back button is pressed
while not joy.Back() and joy.connected():
if joy.rightTrigger() > 0:
motor.forward()
elif joy.leftTrigger() > 0:
motor.backward()
elif joy.rightBumper():
motor.right()
elif joy.leftBumper():
motor.left()
else:
motor.stop()
finally:
#Always close out so that xboxdrv subprocess ends
joy.close()
print "Done."
direction = total_data[1] if (forward == "3") : speed = 35 motor.setSpeed(speed) motor.forward() elif (forward == "2") : speed = 25 motor.setSpeed(speed) motor.forward() elif (forward =="1"): speed = 25 motor.setSpeed(speed) motor.backward() elif (forward == "0") : speed = 30 motor.setSpeed(speed) motor.backward() elif forward == "4": motor.stop() elif forward == "5": motor.stop() if direction == "0":
def drive_backward(self):
sfdriving.backward()
return True
while True:
data = ''
data = tcpCliSock.recv(BUFSIZ) # Receive data sent from the client.
# Analyze the command received and control the car accordingly.
if not data:
break
print('data : ' + str(data))
elif data == ctrl_cmd[0]:
motor.forward()
elif data == ctrl_cmd[1]:
motor.backward()
elif data == ctrl_cmd[2]:
car_dir.turn_left()
elif data == ctrl_cmd[3]:
car_dir.turn_right()
elif data == ctrl_cmd[6]:
car_dir.home()
elif data == ctrl_cmd[4]:
motor.ctrl(0)
elif data == ctrl_cmd[5]:
temp = cpu_temp.read()
def b():
backward()
return jsonify({"message":"Started moving backward"})