def action(pred, lbl):
global text_overlay
if (pred < threshold):
text_overlay = "__"
ut.camera_light("OFF")
if (pred >= threshold):
percent = round(pred * 100)
text_overlay = "Saw a " + lbl + ", i am " + str(percent) + "% sure"
ut.speak_tts(lbl, "f")
sleep(1)
#text_to_speech(lbl,"f")
ut.camera_light("ON")
sys.path.insert(0, '/var/www/html/earthrover')
import util as ut
local_path = os.path.dirname(os.path.realpath(__file__))
TRIG = 23
ECHO = 24
GPIO.setmode(GPIO.BCM)
GPIO.setup(TRIG, GPIO.OUT)
GPIO.setup(ECHO, GPIO.IN)
GPIO.output(TRIG, False)
ut.speak_tts("sensor ON", "f")
print "Waiting For Sensor To Settle"
time.sleep(1) #settling time
prev_distance = 0
while 1:
try:
GPIO.output(TRIG, True)
time.sleep(0.00001)
GPIO.output(TRIG, False)
while GPIO.input(ECHO) == 0:
pulse_start = time.time()
local_path=os.path.dirname(os.path.realpath(__file__))
status = sys.argv[1]
#ut.speak_tts(status,"f")
if (status=="1"):
#print "starting 2 python scripts"
os.system("sudo python /var/www/html/earthrover/range_sensor/range_sensor.py &")
time.sleep(1) #should be equal to settling time of range sensor
os.system("sudo python /var/www/html/earthrover/range_sensor/monitorSensor.py &")
time.sleep(0.1)
os.system("sudo python /var/www/html/earthrover/range_sensor/avoid_collision.py &")
if (status=="0"):
ut.speak_tts("sensor off ","f")
os.system("sudo pkill -f monitorSensor.py")
time.sleep(0.1)
os.system("sudo pkill -f range_sensor.py")
time.sleep(0.1)
os.system("sudo pkill -f avoid_collision.py")
f1 = open(local_path+"/web/range.txt", "wb")
f1.write("--")
f1.close()
#Project: Earthrover
#Created by: Jitesh Saini
import time, os
import sys
sys.path.insert(0, '/var/www/html/earthrover')
import util as ut
local_path = os.path.dirname(os.path.realpath(__file__))
prev_distance = 0
counter = 0
ut.speak_tts("monitoring", "m")
while 1:
f0 = open(local_path + "/web/range.txt", "r+")
distance = f0.read(15)
f0.close()
if (distance == prev_distance):
counter = counter + 1
else:
counter = 0
print(counter), distance
if (counter == 3):
ut.speak_tts("restarting", "m")
os.system("sudo pkill -f range_sensor.py")
print("stopped range_sensor.py !!!")
time.sleep(0.1)
sys.path.insert(0, '/var/www/html/earthrover')
import util as ut
#dynamically obtain path of current file
local_path = os.path.dirname(os.path.realpath(__file__))
ut.init_gpio()
while 1:
f1 = open(local_path + "/web/range.txt", "r+")
distance = f1.read(20)
f1.close()
print("distance:", distance)
#if due to some reason file is empty, ignore such occurance
if (distance == "" or distance == "--"):
print("blank file")
continue
if (float(distance) <
30): #to be removed from here, move to seperate python file
ut.back()
ut.speak_tts("obstacle detected", "f")
time.sleep(1)
ut.stop()
time.sleep(0.2)
