def __init__(self):
os.chdir(os.path.dirname(os.path.abspath(__file__)))
self.pi = pigpio.pi()
config = configparser.ConfigParser()
config.read("rover.conf")
self.childProcesses = []
videoConfig = config["VIDEO"]
driverConfig = config["DRIVER"]
leftMotorConfig = config["LEFTMOTOR"]
rightMotorConfig = config["RIGHTMOTOR"]
servoConfig = config["SERVO"]
lightConfig = config["LIGHT"]
print("Starting GStreamer pipeline...")
self.execAndMonitor(videoConfig["GStreamerStartCommand"])
print("Starting Janus gateway...")
self.execAndMonitor(videoConfig["JanusStartCommand"])
print("Creating motor controller...")
leftMotor = Motor(self.pi, int(leftMotorConfig["PWMPin"]),
int(leftMotorConfig["ForwardPin"]),
int(leftMotorConfig["ReversePin"]),
float(leftMotorConfig["Trim"]))
rightMotor = Motor(self.pi, int(rightMotorConfig["PWMPin"]),
int(rightMotorConfig["ForwardPin"]),
int(rightMotorConfig["ReversePin"]),
float(rightMotorConfig["Trim"]))
self.motorController = MotorController(
leftMotor, rightMotor, float(driverConfig["HalfTurnSpeed"]))
self.servoController = ServoController(self.pi,
int(servoConfig["PWMPin"]))
self.lightController = LightController(self.pi,
int(lightConfig["CONTROLPin"]))
heartbeatInterval = float(driverConfig["MaxHeartbeatInvervalMS"])
self.ssidRegex = re.compile(r"ESSID:\"(.+?)\"")
self.qualityRegex = re.compile(r"Link Quality=([^ ]+)")
self.signalRegex = re.compile(r"Signal level=(.*? dBm)")
self.lastHeartbeat = time.time()
self.heartbeatThread = Thread(daemon=True,
target=self.heartbeatLoop,
args=[heartbeatInterval])
self.heartbeatThread.start()
# and the borders that trigger robot rotation
side_borders_distance = 200
# face tracking area thresholds are used for forward/backward movement of the robot
# max square area threshold for face tracking
max_face_tracking_area = 2200
# min square area threshold for face tracking
min_face_tracking_area = 1900
tracked_face_color = (0, 255, 0)
side_border_color = (0, 0, 255)
# give camera time to warm up
time.sleep(0.1)
motor_controller = MotorController()
for still in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True):
# take the frame as an array, convert it to black and white, and look for facial features
image = still.array
gray = cv.cvtColor(image, cv.COLOR_BGR2GRAY)
faces = faceCascade.detectMultiScale(
image,
scaleFactor=1.1,
minNeighbors=5,
minSize=(30, 30),
flags=cv.CASCADE_SCALE_IMAGE
)
if len(faces) == 0:
motor_controller.stop()
global servo1DutyCycle
global servo2DutyCycle
servo1DutyCycle = motor1
servo2DutyCycle = motor2
servo1.ChangeDutyCycle(servo1DutyCycle)
servo2.ChangeDutyCycle(servo2DutyCycle)
def disableServos():
servo1.ChangeDutyCycle(0)
servo2.ChangeDutyCycle(0)
try:
motorcontroller = MotorController()
servo1.start(servo1DutyCycle)
servo2.start(servo2DutyCycle)
disableServos()
camera = PiCamera()
camera.rotation = 0
camera.start_preview(fullscreen=False, window=(200, -100, 600, 800))
while True:
char = screen.getch()
if char == ord('q'):
GPIO.output(5, GPIO.LOW)
GPIO.output(11, GPIO.LOW)
class Driver:
def __init__(self):
os.chdir(os.path.dirname(os.path.abspath(__file__)))
self.pi = pigpio.pi()
config = configparser.ConfigParser()
config.read("rover.conf")
self.childProcesses = []
videoConfig = config["VIDEO"]
driverConfig = config["DRIVER"]
leftMotorConfig = config["LEFTMOTOR"]
rightMotorConfig = config["RIGHTMOTOR"]
servoConfig = config["SERVO"]
print("Starting GStreamer pipeline...")
self.execAndMonitor(videoConfig["GStreamerStartCommand"])
print("Starting Janus gateway...")
self.execAndMonitor(videoConfig["JanusStartCommand"])
print("Creating motor controller...")
leftMotor = Motor(self.pi, int(leftMotorConfig["PWMPin"]),
int(leftMotorConfig["ForwardPin"]),
int(leftMotorConfig["ReversePin"]),
float(leftMotorConfig["Trim"]))
rightMotor = Motor(self.pi, int(rightMotorConfig["PWMPin"]),
int(rightMotorConfig["ForwardPin"]),
int(rightMotorConfig["ReversePin"]),
float(rightMotorConfig["Trim"]))
self.motorController = MotorController(
leftMotor, rightMotor, float(driverConfig["HalfTurnSpeed"]))
self.servoController = ServoController(self.pi,
int(servoConfig["PWMPin"]))
heartbeatInterval = float(driverConfig["MaxHeartbeatInvervalMS"])
self.ssidRegex = re.compile(r"ESSID:\"(.+?)\"")
self.qualityRegex = re.compile(r"Link Quality=([^ ]+)")
self.signalRegex = re.compile(r"Signal level=(.*? dBm)")
self.lastHeartbeat = time.time()
self.heartbeatThread = Thread(daemon=True,
target=self.heartbeatLoop,
args=[heartbeatInterval])
self.heartbeatThread.start()
shuttingDown = False
lastHeartbeat = -1
heartbeatStop = False
lastHeartbeatData = {"SSID": "-", "Quality": "-", "Signal": "-"}
def heartbeatLoop(self, maxInterval):
print("Starting heartbeat thread...")
while not self.shuttingDown:
if (time.time() - self.lastHeartbeat) > maxInterval:
if not self.heartbeatStop:
self.stop()
self.lookStop()
self.heartbeatStop = True
else:
self.heartbeatStop = False
self.lastHeartbeatData = self.collectHeartbeatData()
time.sleep(0.5)
def collectHeartbeatData(self):
try:
wifiInfo = subprocess.check_output("iwconfig wlan0",
shell=True).decode("utf-8")
ssidMatch = self.ssidRegex.search(wifiInfo)
ssid = ssidMatch.group(1) if ssidMatch else "-"
qualityMatch = self.qualityRegex.search(wifiInfo)
quality = qualityMatch.group(1) if qualityMatch else "-"
signalMatch = self.signalRegex.search(wifiInfo)
signal = signalMatch.group(1) if signalMatch else "-"
return {"SSID": ssid, "Quality": quality, "Signal": signal}
except Exception as ex:
print(str(ex), file=sys.stderr)
return {"SSID": "-", "Quality": "-", "Signal": "-"}
def setBearing(self, bearing):
self.motorController.setBearing(bearing)
def stop(self):
self.motorController.setBearing(-1)
def lookUp(self):
self.servoController.backward()
def lookDown(self):
self.servoController.forward()
def lookStop(self):
self.servoController.lookStop()
def onHeartbeat(self):
self.lastHeartbeat = time.time()
return self.lastHeartbeatData
def execAndMonitor(self, command):
args = shlex.split(command)
print("Starting: " + str(args))
p = subprocess.Popen(args,
stdout=sys.stdout,
stderr=sys.stderr,
shell=True)
self.childProcesses.append(p)
def cleanup(self):
self.servoController.stop()
self.pi.stop()
self.shuttingDown = True
print("Waiting for heartbeat thread to stop...")
self.heartbeatThread.join()
print("Heartbeat thread stopped")
for p in self.childProcesses:
p.terminate()
gpio = pigpio.pi()
if not gpio.connected:
print('GPIO not connected')
exit()
config = ConfigParser()
config.read(os.path.join(homePath, "rover.conf"))
audioConfig = config["AUDIO"]
videoConfig = config["VIDEO"]
loop = asyncio.get_event_loop()
loop.set_exception_handler(loopExceptionHandler)
audioManager = AudioManager(config)
motorController = MotorController(config, gpio, audioManager)
alsa = Alsa(gpio, config)
servoController = ServoController(gpio, config, audioManager)
lightsController = LightsController(gpio, config)
tts = TTSSpeaker(config, alsa, audioManager)
powerPlant = PowerPlant(config)
startupController = StartupSequenceController(config, servoController,
lightsController, tts)
heartbeat = Heartbeat(config, servoController, motorController, alsa,
lightsController, powerPlant)
homePath = os.path.dirname(os.path.abspath(__file__))
sslctx = createSSLContext(os.path.dirname(homePath))
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM)
config = ConfigParser()
config.read(os.path.join(homePath, "rover.conf"))
audioConfig = config["AUDIO"]
videoConfig = config["VIDEO"]
loop = asyncio.get_event_loop()
loop.set_exception_handler(loopExceptionHandler)
motorController = MotorController(config)
alsa = Alsa(config)
servoController = ServoController(config)
tts = TTSSpeaker(config, alsa)
heartbeat = Heartbeat(config, servoController, motorController, alsa)
heartbeat.start()
janus = ExternalProcess(videoConfig["JanusStartCommand"], False, False,
"janus.log")
videoStream = ExternalProcess(videoConfig["GStreamerStartCommand"], True,
False, "video.log")
audioStream = ExternalProcess(audioConfig["GStreamerStartCommand"], True,