def run(): while True: print 'waiting for connection...' tcpCliSock, addr = tcpSerSock.accept() print '...connected from :', addr while True: data = '' data = tcpCliSock.recv(BUFSIZ) if not data: continue if data == ctrl_cmd[0]: global spd print 'motor moving forward' motor.motor(status, forward, spd) direction = forward print 'spd = %d' % spd ledon = threading.Thread(target=ledOn) ledon.start() elif data == ctrl_cmd[1]: print 'recv backward cmd' motor.motor(status, backward, spd) direction = backward print 'spd = %d' % spd breathingon = threading.Thread(target=breathingOn) breathingon.start() elif data == ctrl_cmd[2]: print 'recv left cmd' rgbLed.setup(leftRgb) car_dir.dir_left(pwm0) car_dir.dis_left(pwm1) leftrgb = threading.Thread(target=leftrgbCtrl) leftrgb.start() rgbLed.stop(rightRgb) continue elif data == ctrl_cmd[3]: print 'recv right cmd' rgbLed.setup(rightRgb) car_dir.dir_right(pwm0) car_dir.dis_right(pwm1) rightrgb = threading.Thread(target=rightrgbCtrl) rightrgb.start() rgbLed.stop(leftRgb) continue elif data == ctrl_cmd[4]: print 'recv home cmd' car_dir.dir_home(pwm0) car_dir.dis_home(pwm1) rgbLed.stop(rightRgb) rgbLed.stop(leftRgb) leftrgb = Process(target=homeRgbCtrl1) leftrgb.start() rightrgb = Process(target=homeRgbCtrl2) rightrgb.start() continue elif data == ctrl_cmd[5]: print 'recv distance cmd' print 'Distance: %0.2fm' % ultrasonic.checkdist() continue elif data == ctrl_cmd[6]: print 'recv whistle cmd' activeBuzzer.loop() continue elif data == ctrl_cmd[7]: print 'recv stop cmd' setup() motor.motorStop() breathingLed.stop(b_LedPin) rgbLed.stop(leftRgb) rgbLed.stop(rightRgb) activeBuzzer.stop() GPIO.cleanup() setup() continue elif data == ctrl_cmd[8]: print 'recv exit cmd' GPIO.cleanup() tcpSerSock.close() os.system('sudo init 0') elif data == ctrl_cmd[9]: print 'recev auto cmd' auto = threading.Thread(target=autoMode) auto.start() continue elif data[0:5] == 'speed': print 'recv speed cmd' 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 print 'direction = %d' % direction if spd < minspd: spd = minspd elif spd > maxspd: spd = maxspd motor.motor(status, direction, spd) continue else: print 'Command Error! Cannot recongnize command: ' + data
def run(): #Main function global ip_con while True: #print('SET %s'%dir_mid+' %s'%dis_mid+' %s'%b_spd+' %s'%t_spd+' %s'%left+' %s'%right) print('waiting for connection...') tcpCliSock, addr = tcpSerSock.accept()#Determine whether to connect print('...connected from :', addr) tcpCliSock.send('SET %s'%dir_mid+' %s'%dis_mid+' %s'%b_spd+' %s'%t_spd+' %s'%left+' %s'%right) break vn=threading.Thread(target=video_net) #Define a thread for connection vn.setDaemon(True) #'True' means it is a front thread,it would close when the mainloop() closes vn.start() #Thread starts while True: data = '' data = tcpCliSock.recv(BUFSIZ).decode()#Get instructions #print(data) if not data: continue elif 'spdset' in data: global spd_ad try: spd_ad=float((str(data))[7:]) #Speed Adjustment except: print('wrong speed value') elif 'EC1set' in data: #Camera Adjustment try: new_EC1=int((str(data))[7:]) replace_num('E_C1:',new_EC1) except: pass elif 'EC2set' in data: #Ultrasonic Adjustment try: new_EC2=int((str(data))[7:]) replace_num('E_C2:',new_EC2) except: pass elif 'EM1set' in data: #Motor A Speed Adjustment try: new_EM1=int((str(data))[7:]) replace_num('E_M1:',new_EM1) except: pass elif 'EM2set' in data: #Motor B Speed Adjustment try: new_EM2=int((str(data))[7:]) replace_num('E_M2:',new_EM2) except: pass elif 'ET1set' in data: #Motor A Turningf Speed Adjustment try: new_ET1=int((str(data))[7:]) replace_num('E_T1:',new_ET1) except: pass elif 'ET2set' in data: #Motor B Turningf Speed Adjustment try: new_ET2=int((str(data))[7:]) replace_num('E_T2:',new_ET2) except: pass elif 'scan' in data: dis_can=scan() #Start Scanning str_list_1=dis_can[0:100] #Divide the list to make it samller to send str_index=' ' #Separate the values by space str_send_1=str_index.join(str_list_1)+' ' tcpCliSock.send(str(str_send_1)) #Send Part 1 #print(str_send_1) time.sleep(0.3) str_list_2=dis_can[101:200] str_send_2=str_index.join(str_list_2)+' ' tcpCliSock.send(str(str_send_2)) #Send Part 2 #print(str_send_2) time.sleep(0.3) str_list_3=dis_can[201:300] str_send_3=str_index.join(str_list_3)+' ' tcpCliSock.send(str(str_send_3)) #Send Part 3 #print(str_send_3) time.sleep(0.3) str_list_4=dis_can[301:408] str_send_4=str_index.join(str_list_4) tcpCliSock.send(str(str_send_4)) #Send Part 4 #print(str_send_4) time.sleep(0.3) tcpCliSock.send('finished') #Send 'finished' tell the client to stop receiving the list of dis_can #print(dis_can) #print(len(dis_can)) elif 'forward' in data: #When server receive "forward" from client,car moves forward global b_spd global t_spd tcpCliSock.send('1') motor.motor(status, forward, b_spd*spd_ad) motor.motor1(status,forward,t_spd*spd_ad) direction = forward elif 'backward' in data: #When server receive "backward" from client,car moves backward tcpCliSock.send('2') motor.motor(status, backward, b_spd*spd_ad) motor.motor1(status, backward, t_spd*spd_ad) direction = backward elif 'left' in data: #When server receive "left" from client,camera turns left tcpCliSock.send('7') car_dir.dir_left(pwm1) continue elif 'right' in data: #When server receive "right" from client,camera turns right tcpCliSock.send('8') car_dir.dir_right(pwm1) continue elif 'on' in data: #When server receive "on" from client,camera looks up tcpCliSock.send('5') car_dir.dir_Left(pwm0) continue elif 'under' in data: #When server receive "under" from client,camera looks down tcpCliSock.send('6') car_dir.dir_Right(pwm0) continue elif 'Left' in data: #When server receive "Left" from client,car turns left tcpCliSock.send('3') motor.motor(status, forward, left*spd_ad) motor.motor1(status, forward, b_spd*spd_ad) #print('LLL') continue elif 'BLe' in data: #When server receive "BLeft" from client,car move back and left tcpCliSock.send('3') motor.motor(status, 1, left*spd_ad) motor.motor1(status, 1, b_spd*spd_ad) #print("BL") continue elif 'Right' in data: #When server receive "Right" from client,car turns right tcpCliSock.send('4') motor.motor(status, forward, b_spd*spd_ad) motor.motor1(status, forward, right*spd_ad) continue elif 'BRi' in data: #When server receive "BRight" from client,car move back and right tcpCliSock.send('4') motor.motor(status, backward, b_spd*spd_ad) motor.motor1(status, backward, right*spd_ad) continue elif 'exit' in data: #When server receive "exit" from client,server shuts down GPIO.cleanup() tcpSerSock.close() os.system('sudo init 0') continue elif 'stop' in data: #When server receive "stop" from client,car stops moving tcpCliSock.send('9') #setup() motor.motorStop() #GPIO.cleanup() #setup() continue elif 'home' in data: #When server receive "home" from client,camera looks forward car_dir.dir_home(pwm0) car_dir.dir_home(pwm1) continue elif 'Stop' in data: #When server receive "Stop" from client,Auto Mode switches off tcpCliSock.send('9') try: st.stop() except: pass motor.motorStop() elif 'auto' in data: #When server receive "auto" from client,start Auto Mode tcpCliSock.send('0') st = Job() st.start() continue elif 'IPCON' in data: try: data=str(data) ip_var=data.split() ip_con=ip_var[1] print(ip_con) vi=threading.Thread(target=video_net) #Define a thread for data receiving vi.setDaemon(True) #'True' means it is a front thread,it would close when the mainloop() closes vi.start() #Thread starts print('start thread') except: pass else: print 'Command Error! Cannot recongnize command: ' +data
def run(): #Main function global ip_con, addr st_s = 0 while True: #print('SET %s'%dir_mid+' %s'%dis_mid+' %s'%b_spd+' %s'%t_spd+' %s'%left+' %s'%right) print('waiting for connection...') tcpCliSock, addr = tcpSerSock.accept() #Determine whether to connect print('...connected from :', addr) tcpCliSock.send( ('SET %s' % dir_mid + ' %s' % dis_mid + ' %s' % b_spd + ' %s' % t_spd + ' %s' % left + ' %s' % right).encode()) break fps_threading = threading.Thread( target=FPV_thread) #Define a thread for FPV and OpenCV fps_threading.setDaemon( True ) #'True' means it is a front thread,it would close when the mainloop() closes fps_threading.start() #Thread starts st = Job() while True: data = '' data = tcpCliSock.recv(BUFSIZ).decode() #Get instructions #print(data) if not data: continue elif 'spdset' in data: global spd_ad try: spd_ad = float((str(data))[7:]) #Speed Adjustment except: print('wrong speed value') elif 'EC1set' in data: #Camera Adjustment try: new_EC1 = int((str(data))[7:]) replace_num('E_C1:', new_EC1) except: pass elif 'EC2set' in data: #Ultrasonic Adjustment try: new_EC2 = int((str(data))[7:]) replace_num('E_C2:', new_EC2) except: pass elif 'EM1set' in data: #Motor A Speed Adjustment try: new_EM1 = int((str(data))[7:]) replace_num('E_M1:', new_EM1) except: pass elif 'EM2set' in data: #Motor B Speed Adjustment try: new_EM2 = int((str(data))[7:]) replace_num('E_M2:', new_EM2) except: pass elif 'ET1set' in data: #Motor A Turningf Speed Adjustment try: new_ET1 = int((str(data))[7:]) replace_num('E_T1:', new_ET1) except: pass elif 'ET2set' in data: #Motor B Turningf Speed Adjustment try: new_ET2 = int((str(data))[7:]) replace_num('E_T2:', new_ET2) except: pass elif 'scan' in data: dis_can = scan() #Start Scanning str_list_1 = dis_can #Divide the list to make it samller to send str_index = ' ' #Separate the values by space str_send_1 = str_index.join(str_list_1) + ' ' tcpCliSock.sendall((str(str_send_1)).encode()) #Send Data tcpCliSock.send( 'finished'.encode() ) #Sending 'finished' tell the client to stop receiving the list of dis_can elif 'forward' in data: #When server receive "forward" from client,car moves forward tcpCliSock.send('1'.encode()) motor.motor(status, forward, b_spd * spd_ad) motor.motor1(status, forward, t_spd * spd_ad) direction = forward elif 'backward' in data: #When server receive "backward" from client,car moves backward tcpCliSock.send('2'.encode()) motor.motor(status, backward, b_spd * spd_ad) motor.motor1(status, backward, t_spd * spd_ad) direction = backward elif 'left' in data: #When server receive "left" from client,camera turns left tcpCliSock.send('7'.encode()) car_dir.dir_left(pwm1) #car_dir.dir_right(pwm1) continue elif 'right' in data: #When server receive "right" from client,camera turns right tcpCliSock.send('8'.encode()) car_dir.dir_right(pwm1) #car_dir.dir_left(pwm1) continue elif 'on' in data: #When server receive "on" from client,camera looks up tcpCliSock.send('5'.encode()) car_dir.dir_Left(pwm0) #car_dir.dir_Right(pwm0) continue elif 'under' in data: #When server receive "under" from client,camera looks down tcpCliSock.send('6'.encode()) car_dir.dir_Right(pwm0) #car_dir.dir_Left(pwm0) continue elif 'Left' in data: #When server receive "Left" from client,car turns left tcpCliSock.send('3'.encode()) motor.motor(0, forward, left * spd_ad) motor.motor1(status, forward, b_spd * spd_ad) #print('LLL') continue elif 'BLe' in data: #When server receive "BLeft" from client,car move back and left tcpCliSock.send('3'.encode()) motor.motor(0, backward, left * spd_ad) motor.motor1(status, backward, b_spd * spd_ad) #print("BL") continue elif 'Right' in data: #When server receive "Right" from client,car turns right tcpCliSock.send('4'.encode()) motor.motor(status, forward, b_spd * spd_ad) motor.motor1(0, forward, right * spd_ad) continue elif 'BRi' in data: #When server receive "BRight" from client,car move back and right tcpCliSock.send('4'.encode()) motor.motor(status, backward, b_spd * spd_ad) motor.motor1(0, backward, right * spd_ad) continue elif 'exit' in data: #When server receive "exit" from client,server shuts down GPIO.cleanup() tcpSerSock.close() os.system('sudo init 0') continue elif 'stop' in data: #When server receive "stop" from client,car stops moving tcpCliSock.send('9'.encode()) #setup() motor.motorStop() #GPIO.cleanup() #setup() continue elif 'home' in data: #When server receive "home" from client,camera looks forward car_dir.dir_home(pwm0) car_dir.dir_home(pwm1) continue elif 'Stop' in data: #When server receive "Stop" from client,Auto Mode switches off tcpCliSock.send('9'.encode()) try: st.pause() except: pass motor.motorStop() time.sleep(0.4) motor.motorStop() elif 'auto' in data: #When server receive "auto" from client,start Auto Mode tcpCliSock.send('0'.encode()) if st_s == 0: st.start() st_s = 1 else: st.resume() continue else: pass
def loop(): while True: while True: car_dir.dis_home(pwm1) car_dir.dir_home(pwm0) time.sleep(0.5) homedis = ultrasonic.checkdist() print 'homedis = %0.2f m' %homedis motor.motorStop() if homedis > dis: motor.motor(status, forward, f_spd) break elif homedis < dis: car_dir.dis_left(pwm1) time.sleep(0.5) leftdis = ultrasonic.checkdist() print 'leftdis = %0.2f m' %leftdis car_dir.dis_right(pwm1) time.sleep(0.5) rightdis = ultrasonic.checkdist() print 'rightdis = %0.2f m' %rightdis if leftdis < dis and rightdis < dis: if leftdis >= rightdis: motor.motor(status, backward, b_spd) time.sleep(1) car_dir.dir_left(pwm0) motor.motor(status, backward, b_spd) time.sleep(1) break else: motor.motor(status, backward, b_spd) time.sleep(1) car_dir.dir_right(pwm0) motor.motor(status, backward, b_spd) time.sleep(1) break elif leftdis > dis and rightdis <= dis: if homedis < mindis: motor.motor(status, backward, b_spd) time.sleep(1) car_dir.dir_left(pwm0) motor.motor(status, forward, f_spd) time.sleep(1.5) break else: car_dir.dir_left(pwm0) motor.motor(status, forward, f_spd) time.sleep(1.5) break elif rightdis > dis and leftdis <= dis: if homedis < mindis: car_dir.dir_left(pwm0) motor.motor(status, backward, b_spd) time.sleep(1) car_dir.dir_right(pwm0) motor.motor(status, forward, f_spd) time.sleep(1.5) break else: car_dir.dir_right(pwm0) motor.motor(status, forward, f_spd) time.sleep(1.5) break elif rightdis > dis and leftdis > dis: if rightdis > leftdis: if homedis < mindis: motor.motor(status, backward, b_spd) time.sleep(1) car_dir.dir_right(pwm0) motor.motor(status, forward, f_spd) time.sleep(1.5) break else: car_dir.dir_right(pwm0) motor.motor(status, forward, f_spd) time.sleep(1.5) break elif rightdis < leftdis: if homedis < mindis: motor.motor(status, backward, b_spd) time.sleep(1) car_dir.dir_left(pwm0) motor.motor(status, forward, f_spd) time.sleep(1.5) break else: car_dir.dir_left(pwm0) motor.motor(status, forward, f_spd) time.sleep(1.5) break elif leftdis == rightdis: motor.motor(status, backward, b_spd) time.sleep(1) break