def main():
trigger = 26.0
lcd.setup()
lcd.initDisplay()
file = open('/home/pi/temp.txt', 'a')
led.setup()
led.off(led.green)
led.off(led.yellow)
last = 0.0
while 1:
t = return_temp_from_file('/sys/bus/w1/devices/')
lcd.clearLCD()
lcd.write('Temp: ')
tc = str(float(t) / 1000)
lcd.write(tc + ' ')
lcd.cmd8b(0b11011111, True)
lcd.write('C')
file.write(time.strftime('%d.%m.%Y') + '; ' +
time.strftime('%H:%M:%S') + '; ' + tc + '\n')
file.flush()
tt = float(tc)
if tt < trigger and last >= trigger:
led.off(led.yellow)
led.on(led.green)
elif tt >= trigger and last < trigger:
led.off(led.green)
led.on(led.yellow)
last = tt
async def startLed(ledPin):
# cleanupGpio()
# await startLedTake(ledPin)
print('ok')
print(ledPin)
setup(ledPin)
startLum(ledPin)
def __init__(self):
# noinspection PyArgumentList
self.camera = None
self.uart = serial.Serial(config.UART_PATH)
self.uart.baudrate = config.UART_BAUDRATE
self.uart.timeout = 10
self.initialize_camera()
led.setup()
self.led_event = Event()
async def trigger_method(message):
print(message)
y = json.loads(message)
print(y["method"])
if y["method"] == "takeBottle":
import RPi.GPIO as GPIO
import time
# ledPin = y.ledPin
setup()
loop()
def setup():
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BOARD)
GPIO.setup(line_pin_right, GPIO.IN)
GPIO.setup(line_pin_middle, GPIO.IN)
GPIO.setup(line_pin_left, GPIO.IN)
try:
led.setup()
motor.setup()
except:
pass
def track_object(distance_stay, distance_range, speed_adj=0.4):
# distance_stay,distance_range in inches
#Tracking with Ultrasonic
motor.setup()
led.setup()
turn.ahead()
turn.middle()
dis = checkdist_inches()
if dis < distance_range: #Check if the target is in distance range
if dis > (
distance_stay + 4
): #If the target is in distance range and out of distance stay, then move forward to track
turn.ahead()
moving_time = (dis - distance_stay) / 0.38
if moving_time > 1:
moving_time = 1
print('mf')
led.both_off()
led.cyan()
motor.motor_left(status, backward,
int(left_spd * spd_ad_u * speed_adj))
motor.motor_right(status, forward,
int(right_spd * spd_ad_u * speed_adj))
time.sleep(moving_time)
motor.motorStop()
elif dis < (
distance_stay - 4
): #Check if the target is too close, if so, the car move back to keep distance at distance_stay
moving_time = (distance_stay - dis) / 0.38
print('mb')
led.both_off()
led.pink()
motor.motor_left(status, forward,
int(left_spd * spd_ad_u * spd_adj))
motor.motor_right(status, backward,
int(right_spd * spd_ad_u * spd_adj))
time.sleep(moving_time)
motor.motorStop()
else: #If the target is at distance, then the car stay still
motor.motorStop()
led.both_off()
led.yellow()
else:
motor.motorStop()
async def pub_sub(websocket, path):
global connected
if path == '/temperature/read' :
connected.add(websocket)
print("READER "+str(websocket.remote_address)+" connected")
while True:
await asyncio.sleep(100)
elif path == '/temperature/write' :
print("WRITER "+str(websocket.remote_address)+" connected")
try :
while True:
data = await websocket.recv()
print("MULTICAST: "+data)
still_connected = set()
for ws in connected :
if ws.open:
still_connected.add(ws)
await asyncio.wait([ws.send(data)])
else:
print("READER "+str(ws.remote_address)+" disconnected")
connected=still_connected
except:
print("WRITER "+str(websocket.remote_address)+" disconnected")
elif path == '/led/start' :
print("WRITER "+str(websocket.remote_address)+" connected")
try :
while True:
data = await websocket.recv()
led.setup(data)
led.loop(data)
still_connected = set()
for ws in connected :
if ws.open:
still_connected.add(ws)
await asyncio.wait([ws.send(data)])
else:
print("READER "+str(ws.remote_address)+" disconnected")
connected=still_connected
except:
print("WRITER "+str(websocket.remote_address)+" disconnected")
def test_led():
led.setup()
print("both_on()")
led.both_on()
time.sleep(3)
print("red()")
led.red()
time.sleep(3)
print("both_off()")
led.both_off()
time.sleep(1)
print("yellow()")
led.yellow()
time.sleep(3)
print("pink()")
led.pink()
time.sleep(3)
print("both_off()")
led.both_off()
time.sleep(1)
print("cyan()")
led.cyan()
time.sleep(3)
# Flashing in 2 cycles
print("police_on(2)")
led.police_on(2)
print("both_off()")
led.both_off()
time.sleep(3)
# Flashing in 6 seconds
print("police_on()")
led.police_on()
time.sleep(6) #6 seconds
led.police_off()
def loop(distance_stay,distance_range):
'''Tracking with Ultrasonic'''
motor.setup()
led.setup()
turn.ahead()
turn.middle()
dis = checkdist()
if dis < distance_range:
#Check if the target is in diatance range
if dis > (distance_stay+0.1) :
#If the target is in distance range and out of distance stay,
#then move forward to track
turn.ahead()
moving_time = (dis-distance_stay)/0.38 #??? magic number
if moving_time > 1:
moving_time = 1
print('mf')
led.both_off()
led.cyan()
motor.motor_left(status, backward,left_spd*spd_ad_u)
motor.motor_right(status,forward,right_spd*spd_ad_u)
time.sleep(moving_time)
motor.motorStop()
elif dis < (distance_stay-0.1) :
#Check if the target is too close,
#if so, the car move back to keep distance at distance_stay
moving_time = (distance_stay-dis)/0.38
print('mb')
led.both_off()
led.pink()
motor.motor_left(status, forward,left_spd*spd_ad_u)
motor.motor_right(status,backward,right_spd*spd_ad_u)
time.sleep(moving_time)
motor.motorStop()
else:
#If the target is at distance, then the car stay still
motor.motorStop()
led.both_off()
led.yellow()
else:
motor.motorStop()
def main():
if len(sys.argv) != 2:
print 'pass in config file'
print 'Run as:'
print 'python script.py test.cfg'
exit(1)
config_file = sys.argv[1]
photo_scripter = PhotoScript(config_file)
salient_pin = 27
entrance_pin = 22
exit_pin = 17
input_pin = 23
output_pin = 24
sensor_pin = 18
current_state = None
led.setup()
GPIO.setup(salient_pin, GPIO.OUT)
GPIO.setup(entrance_pin, GPIO.OUT)
GPIO.setup(exit_pin, GPIO.OUT)
GPIO.setup(sensor_pin, GPIO.IN)
GPIO.setup(input_pin, GPIO.IN)
GPIO.setup(output_pin, GPIO.IN)
while True:
current_state = check_state(input_pin,
output_pin,
current_state)
enable_state(entrance_pin, exit_pin, current_state)
if check_sensor(sensor_pin):
print GPIO.input(sensor_pin)
file_name = take_picture(photo_scripter, salient_pin)
photo_scripter.send_photo(file_name)
url = photo_scripter.url
photo_scripter.send_request(url, make_payload(file_name, photo_scripter))
time.sleep(0.2)
time.sleep(0.2)
# Date : 2019/10/28 import socket import threading import time import os import LEDapp as LED import led import motor import turn motor.setup() turn.ahead() LED = LED.LED() LED.colorWipe(80, 255, 0) led.setup() step_set = 1 speed_set = 100 rad = 0.6 direction_command = 'no' turn_command = 'no' servo_command = 'no' pos_input = 1 catch_input = 1 cir_input = 6 servo_speed = 11
def run(): #Main loop
global hoz_mid, vtr_mid, ip_con, led_status, auto_status, opencv_mode, findline_mode, speech_mode, auto_mode, data, addr, footage_socket, ap_status, turn_status, wifi_status
led.setup()
while True: #Connection
try:
s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
s.connect(("1.1.1.1", 80))
ipaddr_check = s.getsockname()[0]
s.close()
print(ipaddr_check)
wifi_status = 1
except:
if ap_status == 0:
ap_threading = threading.Thread(
target=ap_thread) #Define a thread for data receiving
ap_threading.setDaemon(
True
) #'True' means it is a front thread,it would close when the mainloop() closes
ap_threading.start() #Thread starts
led.both_off()
led.yellow()
time.sleep(5)
wifi_status = 0
if wifi_status == 1:
print('waiting for connection...')
led.red()
tcpCliSock, addr = tcpSerSock.accept(
) #Determine whether to connect
led.both_off()
led.green()
print('...connected from :', addr)
#time.sleep(1)
tcpCliSock.send(
('SET %s' % vtr_mid + ' %s' % hoz_mid + ' %s' % left_spd +
' %s' % right_spd + ' %s' % look_up_max +
' %s' % look_down_max).encode())
print('SET %s' % vtr_mid + ' %s' % hoz_mid + ' %s' % left_spd +
' %s' % right_spd + ' %s' % left + ' %s' % right)
break
else:
led.both_off()
led.blue()
print('waiting for connection...')
tcpCliSock, addr = tcpSerSock.accept(
) #Determine whether to connect
led.both_off()
led.green()
print('...connected from :', addr)
#time.sleep(1)
tcpCliSock.send(
('SET %s' % vtr_mid + ' %s' % hoz_mid + ' %s' % left_spd +
' %s' % right_spd + ' %s' % look_up_max +
' %s' % look_down_max).encode())
print('SET %s' % vtr_mid + ' %s' % hoz_mid + ' %s' % left_spd +
' %s' % right_spd + ' %s' % left + ' %s' % right)
ap_status = 1
break
#FPV initialization
context = zmq.Context()
footage_socket = context.socket(zmq.PUB)
footage_socket.connect('tcp://%s:5555' % addr[0])
print(addr[0])
#Threads start
video_threading = threading.Thread(
target=opencv_thread) #Define a thread for FPV and OpenCV
video_threading.setDaemon(
True
) #'True' means it is a front thread,it would close when the mainloop() closes
video_threading.start() #Thread starts
ws2812_threading = threading.Thread(
target=ws2812_thread) #Define a thread for ws_2812 leds
ws2812_threading.setDaemon(
True
) #'True' means it is a front thread,it would close when the mainloop() closes
ws2812_threading.start() #Thread starts
findline_threading = threading.Thread(
target=findline_thread) #Define a thread for line tracking
findline_threading.setDaemon(
True
) #'True' means it is a front thread,it would close when the mainloop() closes
findline_threading.start() #Thread starts
speech_threading = threading.Thread(
target=speech_thread) #Define a thread for speech recognition
speech_threading.setDaemon(
True
) #'True' means it is a front thread,it would close when the mainloop() closes
speech_threading.start() #Thread starts
auto_threading = threading.Thread(
target=auto_thread) #Define a thread for ultrasonic tracking
auto_threading.setDaemon(
True
) #'True' means it is a front thread,it would close when the mainloop() closes
auto_threading.start() #Thread starts
scan_threading = threading.Thread(
target=dis_scan_thread) #Define a thread for ultrasonic scan
scan_threading.setDaemon(
True
) #'True' means it is a front thread,it would close when the mainloop() closes
scan_threading.start() #Thread starts
while True:
data = ''
data = tcpCliSock.recv(BUFSIZ).decode()
if not data:
continue
elif 'exit' in data:
os.system("sudo shutdown -h now\n")
elif 'spdset' in data:
global spd_ad
spd_ad = float((str(data))[7:]) #Speed Adjustment
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 'EC1set' in data: #Camera Adjustment
new_EC1 = int((str(data))[7:])
turn.camera_turn(new_EC1)
replace_num('E_C1:', new_EC1)
elif 'EC2set' in data: #Ultrasonic Adjustment
new_EC2 = int((str(data))[7:])
replace_num('E_C2:', new_EC2)
turn.ultra_turn(new_EC2)
elif 'EM1set' in data: #Motor A Speed Adjustment
new_EM1 = int((str(data))[7:])
replace_num('E_M1:', new_EM1)
elif 'EM2set' in data: #Motor B Speed Adjustment
new_EM2 = int((str(data))[7:])
replace_num('E_M2:', new_EM2)
elif 'LUMset' in data: #Motor A Turningf Speed Adjustment
new_ET1 = int((str(data))[7:])
replace_num('look_up_max:', new_ET1)
turn.camera_turn(new_ET1)
elif 'LDMset' in data: #Motor B Turningf Speed Adjustment
new_ET2 = int((str(data))[7:])
replace_num('look_down_max:', new_ET2)
turn.camera_turn(new_ET2)
elif 'stop' in data: #When server receive "stop" from client,car stops moving
tcpCliSock.send('9'.encode())
setup()
motor.motorStop()
setup()
if led_status == 0:
led.setup()
led.both_off()
colorWipe(strip, Color(0, 0, 0))
continue
elif 'lightsON' in data: #Turn on the LEDs
led.both_on()
led_status = 1
tcpCliSock.send('lightsON'.encode())
elif 'lightsOFF' in data: #Turn off the LEDs
led.both_off()
led_status = 0
tcpCliSock.send('lightsOFF'.encode())
elif 'middle' in data: #Go straight
if led_status == 0:
led.side_color_off(left_R, left_G)
led.side_color_off(right_R, right_G)
else:
led.side_on(left_B)
led.side_on(right_B)
turn_status = 0
turn.middle()
elif 'Left' in data: #Turn left
if led_status == 0:
led.side_color_on(left_R, left_G)
else:
led.side_off(left_B)
turn.left()
turn_status = 1
tcpCliSock.send('3'.encode())
elif 'Right' in data: #Turn right
if led_status == 0:
led.side_color_on(right_R, right_G)
else:
led.side_off(right_B)
turn.right()
turn_status = 2
tcpCliSock.send('4'.encode())
elif 'backward' in data: #When server receive "backward" from client,car moves backward
tcpCliSock.send('2'.encode())
motor.motor_left(status, backward, left_spd * spd_ad)
motor.motor_right(status, forward, right_spd * spd_ad)
colorWipe(strip, Color(255, 0, 0))
elif 'forward' in data: #When server receive "forward" from client,car moves forward
tcpCliSock.send('1'.encode())
motor.motor_left(status, forward, left_spd * spd_ad)
motor.motor_right(status, backward, right_spd * spd_ad)
colorWipe(strip, Color(0, 0, 255))
elif 'l_up' in data: #Camera look up
if vtr_mid < look_up_max:
vtr_mid += turn_speed
turn.camera_turn(vtr_mid)
tcpCliSock.send('5'.encode())
elif 'l_do' in data: #Camera look down
if vtr_mid > look_down_max:
vtr_mid -= turn_speed
turn.camera_turn(vtr_mid)
print(vtr_mid)
tcpCliSock.send('6'.encode())
elif 'l_le' in data: #Camera look left
if hoz_mid < look_left_max:
hoz_mid += turn_speed
turn.ultra_turn(hoz_mid)
tcpCliSock.send('7'.encode())
elif 'l_ri' in data: #Camera look right
if hoz_mid > look_right_max:
hoz_mid -= turn_speed
turn.ultra_turn(hoz_mid)
tcpCliSock.send('8'.encode())
elif 'ahead' in data: #Camera look ahead
turn.ahead()
elif 'Stop' in data: #When server receive "Stop" from client,Auto Mode switches off
opencv_mode = 0
findline_mode = 0
speech_mode = 0
auto_mode = 0
auto_status = 0
dis_scan = 1
tcpCliSock.send('auto_status_off'.encode())
motor.motorStop()
led.both_off()
turn.middle()
time.sleep(0.1)
motor.motorStop()
led.both_off()
turn.middle()
elif 'auto' in data: #When server receive "auto" from client,start Auto Mode
if auto_status == 0:
tcpCliSock.send('0'.encode())
auto_status = 1
auto_mode = 1
dis_scan = 0
else:
pass
continue
elif 'opencv' in data: #When server receive "auto" from client,start Auto Mode
if auto_status == 0:
auto_status = 1
opencv_mode = 1
tcpCliSock.send('oncvon'.encode())
continue
elif 'findline' in data: #Find line mode start
if auto_status == 0:
tcpCliSock.send('findline'.encode())
auto_status = 1
findline_mode = 1
else:
pass
continue
elif 'voice_3' in data: #Speech recognition mode start
if auto_status == 0:
auto_status = 1
speech_mode = 1
tcpCliSock.send('voice_3'.encode())
else:
pass
continue
import nptime
print('UTC time:', nptime.settime())
#print('\tTODO -local time')
''' test loop: get temperature ---------
import test_ds18b20
test_ds18b20.run(5.0)
#'''
# loop: get temperature ---------
import ds18b20
ds = ds18b20.setup() #get sensor
import led
led = led.setup() #default pin
#TEST: led.blink()
# --- location ---------------
_LOCATION = 'studyroom'
''' print data to serial port
print('... print sensor data to serial port')
def serialDisplay(dt=2.0):
import time
import utime
while True:
led.on()
temp = ds18b20.temperature(ds)
timestamp = utime.localtime()
print('{0},{1},{2},{3},{4},{5},{6},{7:0.2f}'.format(_LOCATION,timestamp[0],timestamp[1],timestamp[2],timestamp[3]+2,timestamp[4],timestamp[5],temp))
def run():
'''Main loop'''
#??? Do these globals make sense
global hoz_mid, vtr_mid, ip_con, led_status, auto_status, opencv_mode, findline_mode, speech_mode, auto_mode, data, addr, footage_socket, ap_status, turn_status, wifi_status
led.setup()
while True: #??? only exits from breaks, seems wrong
#??? should this be if else rather than try except
#??? while not-connected
try: # try to ping to see if there is wifi
# checking self ip addr
s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
s.connect(("1.1.1.1", 80))
ipaddr_check = s.getsockname()[0]
s.close()
print(ipaddr_check)
wifi_status = 1
except: # if not set up hotspot
if ap_status == 0: #??? it always is
#Define a thread for data receiving
ap_threading = threading.Thread(target=ap_thread)
ap_threading.setDaemon(True)
ap_threading.start()
led.both_off()
led.yellow()
time.sleep(5) #??? why sleep
wifi_status = 0 #??? seems unecessary
if wifi_status == 1:
print('waiting for connection...')
led.red()
#??? pause here and wait for connection?
tcpCliSock, addr = tcpSerSock.accept()
led.both_off()
led.green()
print('...connected from :', addr)
#time.sleep(1)
#TODO: change to format
#??? is this the best way to do this
tcpCliSock.send(
('SET %s' % vtr_mid + ' %s' % hoz_mid + ' %s' % left_spd +
' %s' % right_spd + ' %s' % look_up_max +
' %s' % look_down_max).encode())
print('SET %s' % vtr_mid + ' %s' % hoz_mid + ' %s' % left_spd +
' %s' % right_spd + ' %s' % left + ' %s' % right)
break
else:
#??? now assuming ap-hotspot, but never explained
led.both_off()
led.blue()
#??? a lot of this is duplicated in the if statement
print('waiting for connection...')
# wait for connection
tcpCliSock, addr = tcpSerSock.accept()
led.both_off()
led.green()
print('...connected from :', addr)
#time.sleep(1)
tcpCliSock.send(
('SET %s' % vtr_mid + ' %s' % hoz_mid + ' %s' % left_spd +
' %s' % right_spd + ' %s' % look_up_max +
' %s' % look_down_max).encode())
print('SET %s' % vtr_mid + ' %s' % hoz_mid + ' %s' % left_spd +
' %s' % right_spd + ' %s' % left + ' %s' % right)
ap_status = 1
break
#??? this is outside the while loop now
#FPV initialization
context = zmq.Context()
footage_socket = context.socket(zmq.PUB)
footage_socket.connect('tcp://%s:5555' % addr[0])
print(addr[0])
#??? why are we starting all these threads now
#Threads start
#Define a thread for FPV and OpenCV
video_threading = threading.Thread(target=opencv_thread)
video_threading.setDaemon(True)
video_threading.start()
#Define a thread for ws_2812 leds
ws2812_threading = threading.Thread(target=ws2812_thread)
ws2812_threading.setDaemon(True)
ws2812_threading.start()
#Define a thread for line tracking
findline_threading = threading.Thread(target=findline_thread)
findline_threading.setDaemon(True)
findline_threading.start()
#Define a thread for speech recognition
speech_threading = threading.Thread(target=speech_thread)
speech_threading.setDaemon(True)
speech_threading.start()
#Define a thread for ultrasonic tracking
auto_threading = threading.Thread(target=auto_thread)
auto_threading.setDaemon(True)
auto_threading.start()
#Define a thread for ultrasonic scan
scan_threading = threading.Thread(target=dis_scan_thread)
scan_threading.setDaemon(True)
scan_threading.start()
while True: #??? infinite loop
data = '' #??? why do we have to define early
data = tcpCliSock.recv(BUFSIZ).decode()
print(data)
#??? BUFSIZ is global
#??? this should be handled by a dictionary or interrupts
if not data:
continue
elif 'exit' in data:
quit()
#??? shutting down is a bad idea
#TODO: Make a shutdown function
#TODO: Include proper shutdowns
#os.system("sudo shutdown -h now\n")
elif 'spdset' in data:
#Speed Adjustment
global spd_ad
spd_ad = float((str(data))[7:])
elif 'scan' in data:
#Start Scanning
dis_can = scan()
#Divide the list to make it samller to send
str_list_1 = dis_can
#Separate the values by space
str_index = ' '
str_send_1 = str_index.join(str_list_1) + ' '
#??? this send is surprising
#Send Data
tcpCliSock.sendall((str(str_send_1)).encode())
#Sending 'finished'
#tell the client to stop receiving the list of dis_can
tcpCliSock.send('finished'.encode())
elif 'scan_rev' in data:
#Start Scanning
#??? what is scan_rev
#??? a lot of this is repeated
dis_can = scan_rev()
#Divide the list to make it samller to send
str_list_1 = dis_can
#Separate the values by space
str_index = ' '
str_send_1 = str_index.join(str_list_1) + ' '
#Send Data
tcpCliSock.sendall((str(str_send_1)).encode())
#Sending 'finished'
#tell the client to stop receiving the list of dis_can
tcpCliSock.send('finished'.encode())
#??? what are there names
elif 'EC1set' in data:
#Camera Adjustment
new_EC1 = int((str(data))[7:])
turn.camera_turn(new_EC1)
replace_num('E_C1:', new_EC1)
elif 'EC2set' in data:
#Ultrasonic Adjustment
new_EC2 = int((str(data))[7:])
replace_num('E_C2:', new_EC2)
turn.ultra_turn(new_EC2)
#TODO: fix the code for single motor
elif 'EM1set' in data:
#Motor A Speed Adjustment
new_EM1 = int((str(data))[7:])
replace_num('E_M1:', new_EM1)
elif 'EM2set' in data:
#Motor B Speed Adjustment
new_EM2 = int((str(data))[7:])
replace_num('E_M2:', new_EM2)
#TODO: fix the code for single motor
elif 'LUMset' in data:
#Motor A Turningf Speed Adjustment
new_ET1 = int((str(data))[7:])
replace_num('look_up_max:', new_ET1)
turn.camera_turn(new_ET1)
elif 'LDMset' in data:
#Motor B Turningf Speed Adjustment
new_ET2 = int((str(data))[7:])
replace_num('look_down_max:', new_ET2)
turn.camera_turn(new_ET2)
elif 'stop' in data:
#??? what is the goal of stop
#??? what is this 9
tcpCliSock.send('9'.encode())
#??? why are we doing setup stop setup
setup()
motor.motorStop()
setup()
#??? why are we doing this
if led_status == 0:
led.setup()
led.both_off()
#??? what is the colorwipe
colorWipe(strip, Color(0, 0, 0))
continue
elif 'lightsON' in data:
# Turn on the LEDs
led.both_on()
#TODO statuses should be handled by a dictionary
led_status = 1
tcpCliSock.send('lightsON'.encode())
elif 'lightsOFF' in data:
# Turn off the LEDs
led.both_off()
led_status = 0
tcpCliSock.send('lightsOFF'.encode())
elif 'middle' in data:
# Go straight
if led_status == 0:
led.side_color_off(left_R, left_G)
led.side_color_off(right_R, right_G)
else:
led.side_on(left_B)
led.side_on(right_B)
#TODO status handled better
turn_status = 0
turn.middle()
elif 'Left' in data:
# Turn left
#TODO: fix the capital case
if led_status == 0:
led.side_color_on(left_R, left_G)
else:
led.side_off(left_B)
turn.left()
turn_status = 1
#??? what do these numbers map too
#??? maybe use a dictionary
tcpCliSock.send('3'.encode())
elif 'Right' in data:
# Turn right
#TODO: fix the capital case
if led_status == 0:
#TODO: clarify variable names
led.side_color_on(right_R, right_G)
else:
led.side_off(right_B)
turn.right()
turn_status = 2
tcpCliSock.send('4'.encode())
#TODO: fix for single motor
elif 'backward' in data:
# Go backward
motor.motor_left(status, backward, left_spd * spd_ad)
motor.motor_right(status, forward, right_spd * spd_ad)
colorWipe(strip, Color(255, 0, 0))
tcpCliSock.send('2'.encode())
#TODO: fix for single motor
elif 'forward' in data:
# Go forward
motor.motor_left(status, forward, left_spd * spd_ad)
motor.motor_right(status, backward, right_spd * spd_ad)
colorWipe(strip, Color(0, 0, 255))
tcpCliSock.send('1'.encode())
#TODO: make better names
elif 'l_up' in data:
#Camera look up
if vtr_mid < look_up_max:
vtr_mid += turn_speed
turn.camera_turn(vtr_mid)
tcpCliSock.send('5'.encode())
elif 'l_do' in data:
# Camera look down
if vtr_mid > look_down_max:
vtr_mid -= turn_speed
turn.camera_turn(vtr_mid)
print(vtr_mid)
tcpCliSock.send('6'.encode())
elif 'l_le' in data:
# Camera look left
if hoz_mid < look_left_max:
hoz_mid += turn_speed
turn.ultra_turn(hoz_mid)
tcpCliSock.send('7'.encode())
elif 'l_ri' in data:
# Camera look right
if hoz_mid > look_right_max:
hoz_mid -= turn_speed
turn.ultra_turn(hoz_mid)
tcpCliSock.send('8'.encode())
elif 'ahead' in data:
# Camera look ahead
turn.ahead()
elif 'Stop' in data: #TODO: fix capitalization
opencv_mode = 0
findline_mode = 0
speech_mode = 0
auto_mode = 0
auto_status = 0
dis_scan = 1 #??? why is this 1
tcpCliSock.send('auto_status_off'.encode())
motor.motorStop()
led.both_off()
turn.middle()
time.sleep(0.1) #??? why
#??? why do this twice
motor.motorStop()
led.both_off()
turn.middle()
elif 'auto' in data:
# start Auto Mode
#??? which automode is this
if auto_status == 0:
tcpCliSock.send('0'.encode())
auto_status = 1
auto_mode = 1 #?? dif from automode and autostatus
dis_scan = 0 #??? dis_scan
else:
pass
continue
elif 'opencv' in data:
# Start opencv mode
if auto_status == 0:
auto_status = 1
opencv_mode = 1
#??? what is this name
tcpCliSock.send('oncvon'.encode())
continue
elif 'findline' in data:
# Find line mode start
if auto_status == 0:
tcpCliSock.send('findline'.encode())
auto_status = 1
findline_mode = 1
else:
pass
continue
#??? why voice 3
elif 'voice_3' in data:
#Speech recognition mode start
if auto_status == 0:
auto_status = 1
speech_mode = 1
tcpCliSock.send('voice_3'.encode())
else:
pass
continue
resposta = """
<html>
<head>
<meta http-equiv="refresh" content="0; url=http://pi.g2.asi.itic.cat:808/led_on.html">
</head>
</html>
"""
self.wfile.write(resposta)
led.on()
def _Led_OFF(self):
self._head_html()
resposta = """
<html>
<head>
<meta http-equiv="refresh" content="0; url=http://pi.g2.asi.itic.cat:808/led_off.html">
</head>
</html>
"""
self.wfile.write(resposta)
led.off()
led.setup(18)
PORT = 8000
Handler = LEDHTTPRequestHandler
httpd = base.HTTPServer(("", PORT), Handler)
print "Serving at port: " + str(PORT)
httpd.serve_forever()
def setup(): #initialization
motor.setup()
led.setup()
<title>Weatherstation</title>
<meta http-equiv="refresh" content="10">
</head>
<body> <h1>Studyroom</h1>
<table border="1"> <tr><th>Temperature</th></tr> %s </table>
</body>
</html>
"""
# loop: get temperature - #added 2017-1105
import ds18b20
ds = ds18b20.setup() #get sensor
#alert led - #added 2017-1105
import led
led = led.setup() #default pin WeMOS D1 mini: GPIO12
import socket
addr = socket.getaddrinfo('0.0.0.0', 80)[0][-1]
s = socket.socket()
s.bind(addr)
s.listen(1)
print('listening on', addr)
rows = [] #empty rows #added 2017-1105
max_row = 12 #added 2017-1105
while True:
led.on() #show I'm alive
cl, addr = s.accept() #wait for client
def setup():
motor.setup()
led.setup()
turn.turn_middle()
led.green()
def run(): #Main loop
global hoz_mid, vtr_mid, ip_con, led_status, auto_status, opencv_mode, findline_mode, speech_mode, auto_mode, data, addr, footage_socket, ap_status, turn_status, wifi_status
led.setup()
while True: #Connection
print('waiting for connection...')
led.red()
tcpCliSock, addr = tcpSerSock.accept() #Determine whether to connect
led.both_off()
led.green()
print('...connected from :', addr)
#time.sleep(1)
tcpCliSock.send(('SET %s' % vtr_mid + ' %s' % hoz_mid +
' %s' % left_spd + ' %s' % right_spd +
' %s' % look_up_max + ' %s' % look_down_max).encode())
print('SET %s' % vtr_mid + ' %s' % hoz_mid + ' %s' % left_spd +
' %s' % right_spd + ' %s' % left + ' %s' % right)
break
#Threads start
findline_threading = threading.Thread(
target=findline_thread) #Define a thread for line tracking
findline_threading.setDaemon(
True
) #'True' means it is a front thread,it would close when the mainloop() closes
findline_threading.start() #Thread starts
auto_threading = threading.Thread(
target=auto_thread) #Define a thread for ultrasonic tracking
auto_threading.setDaemon(
True
) #'True' means it is a front thread,it would close when the mainloop() closes
auto_threading.start() #Thread starts
time.sleep(0.5)
tcpCliSock.send('TestVersion'.encode())
while True:
data = ''
data = tcpCliSock.recv(BUFSIZ).decode()
if not data:
continue
elif 'exit' in data:
pass
elif 'spdset' in data:
global spd_ad
spd_ad = float((str(data))[7:]) #Speed Adjustment
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 'scan_rev' in data:
dis_can = scan_rev() #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 'EC1set' in data: #Camera Adjustment
new_EC1 = int((str(data))[7:])
turn.camera_turn(new_EC1)
replace_num('E_C1:', new_EC1)
elif 'EC2set' in data: #Ultrasonic Adjustment
new_EC2 = int((str(data))[7:])
replace_num('E_C2:', new_EC2)
turn.ultra_turn(new_EC2)
elif 'EM1set' in data: #Motor A Speed Adjustment
new_EM1 = int((str(data))[7:])
replace_num('E_M1:', new_EM1)
elif 'EM2set' in data: #Motor B Speed Adjustment
new_EM2 = int((str(data))[7:])
replace_num('E_M2:', new_EM2)
elif 'LUMset' in data: #Motor A Turningf Speed Adjustment
new_ET1 = int((str(data))[7:])
replace_num('look_up_max:', new_ET1)
turn.camera_turn(new_ET1)
elif 'LDMset' in data: #Motor B Turningf Speed Adjustment
new_ET2 = int((str(data))[7:])
replace_num('look_down_max:', new_ET2)
turn.camera_turn(new_ET2)
elif 'stop' in data: #When server receive "stop" from client,car stops moving
tcpCliSock.send('9'.encode())
setup()
motor.motorStop()
setup()
if led_status == 0:
led.setup()
led.both_off()
continue
elif 'lightsON' in data: #Turn on the LEDs
led.both_on()
led_status = 1
tcpCliSock.send('lightsON'.encode())
elif 'lightsOFF' in data: #Turn off the LEDs
led.both_off()
led_status = 0
tcpCliSock.send('lightsOFF'.encode())
elif 'middle' in data: #Go straight
if led_status == 0:
led.side_color_off(left_R, left_G)
led.side_color_off(right_R, right_G)
else:
led.side_on(left_B)
led.side_on(right_B)
turn_status = 0
turn.middle()
elif 'Left' in data: #Turn left
if led_status == 0:
led.side_color_on(left_R, left_G)
else:
led.side_off(left_B)
turn.left()
tcpCliSock.send('3'.encode())
elif 'Right' in data: #Turn right
if led_status == 0:
led.side_color_on(right_R, right_G)
else:
led.side_off(right_B)
turn.right()
tcpCliSock.send('4'.encode())
elif 'backward' in data: #When server receive "backward" from client,car moves backward
tcpCliSock.send('2'.encode())
motor.motor_left(status, backward, left_spd * spd_ad)
motor.motor_right(status, forward, right_spd * spd_ad)
elif 'forward' in data: #When server receive "forward" from client,car moves forward
tcpCliSock.send('1'.encode())
motor.motor_left(status, forward, left_spd * spd_ad)
motor.motor_right(status, backward, right_spd * spd_ad)
elif 'l_up' in data: #Camera look up
if vtr_mid < look_up_max:
vtr_mid += turn_speed
turn.camera_turn(vtr_mid)
tcpCliSock.send('5'.encode())
elif 'l_do' in data: #Camera look down
if vtr_mid > look_down_max:
vtr_mid -= turn_speed
turn.camera_turn(vtr_mid)
tcpCliSock.send('6'.encode())
elif 'l_le' in data: #Camera look left
if hoz_mid < look_left_max:
hoz_mid += turn_speed
turn.ultra_turn(hoz_mid)
tcpCliSock.send('7'.encode())
elif 'l_ri' in data: #Camera look right
if hoz_mid > look_right_max:
hoz_mid -= turn_speed
turn.ultra_turn(hoz_mid)
tcpCliSock.send('8'.encode())
elif 'ahead' in data: #Camera look ahead
turn.ahead()
elif 'Stop' in data: #When server receive "Stop" from client,Auto Mode switches off
findline_mode = 0
auto_mode = 0
auto_status = 0
tcpCliSock.send('auto_status_off'.encode())
motor.motorStop()
led.both_off()
turn.middle()
time.sleep(0.1)
motor.motorStop()
led.both_off()
turn.middle()
elif 'auto' in data: #When server receive "auto" from client,start Auto Mode
if auto_status == 0:
tcpCliSock.send('0'.encode())
auto_status = 1
auto_mode = 1
dis_scan = 0
else:
pass
continue
elif 'findline' in data: #Find line mode start
if auto_status == 0:
tcpCliSock.send('findline'.encode())
auto_status = 1
findline_mode = 1
else:
pass
continue
else:
print "ID: \033[31m0x%s\033[0m" % (ID)
speak(settings.ACCESSDENIED)
led.set(1, 0, 0)
sleep(1)
led.set(0, 0, 0)
def lock():
thr = threading.Thread(target = led.unlock, args=(), kwargs={})
thr.start()
motor.lock()
thr.join()
def unlock():
speak("Access Granted.")
thr = threading.Thread(target = led.lock, args=(), kwargs={})
thr.start()
motor.unlock()
thr.join()
def speak(msg):
wget = Popen(["echo \"%s\" | espeak -s %d -p %d" % (msg, settings.SPEAKSPEED, settings.SPEAKPITCH), ""], stdout=PIPE, stderr=STDOUT, shell=True)
def exit_handler(signal, frame):
led.exit()
sys.exit(0)
signal.signal(signal.SIGINT, exit_handler)
led.setup()
main()
def __init__(self):
motor.setup()
led.setup()
def setup():
motor.setup()
led.setup()
breathingLed.setup()
activeBuzzer.setup()
spectrum_label.setText('Spectrum', color=active_color)
# Create effect "buttons" (labels with click event)
energy_label = pg.LabelItem('Energy')
scroll_label = pg.LabelItem('Scroll')
spectrum_label = pg.LabelItem('Spectrum')
energy_label.mousePressEvent = energy_click
scroll_label.mousePressEvent = scroll_click
spectrum_label.mousePressEvent = spectrum_click
energy_click(0)
# Layout
layout.nextRow()
layout.addItem(freq_label, colspan=3)
layout.nextRow()
layout.addItem(freq_slider, colspan=3)
layout.nextRow()
layout.addItem(energy_label)
layout.addItem(scroll_label)
layout.addItem(spectrum_label)
# Initialize LEDs
dsp.create_mel_bank(config)
led.setup(config)
led.update(config)
# Start listening to live audio stream
tmic = threading.Thread(target=microphone.start_stream,
args=(microphone_update, config))
tmic.start()
remote_control.control_loop(config)
tmic.join()
# microphone.start_stream(microphone_update)
def setup():
'''initialization'''
motor.setup()
led.setup()
import speech_recognition as sr
import os
import time
import led as l
import utility as util
from espeak import espeak
wake_word = 'hello'
keywords = ['time', 'class']
r = sr.Recognizer()
l.setup()
def run():
with sr.Microphone() as source:
print("Please wait. Calibrating microphone...")
r.adjust_for_ambient_noise(source, duration=2)
while (True):
l.both_off()
l.green()
audio = r.listen(source)
l.both_off()
l.red()
try:
v_command = r.recognize_google(audio)
print("(recognize_google) Google thinks you said '" +
v_command + "'")
if wake_word in v_command:
<html>
<head>
<meta http-equiv="refresh" content="0; url=http://pi.g2.asi.itic.cat:808/led_on.html">
</head>
</html>
"""
self.wfile.write(resposta)
led.on()
def _Led_OFF(self):
self._head_html()
resposta = """
<html>
<head>
<meta http-equiv="refresh" content="0; url=http://pi.g2.asi.itic.cat:808/led_off.html">
</head>
</html>
"""
self.wfile.write(resposta)
led.off()
led.setup(18)
PORT = 8000
Handler = LEDHTTPRequestHandler
httpd = base.HTTPServer(("",PORT),Handler)
print "Serving at port: " + str(PORT)
httpd.serve_forever()
