class RPIInit(threading.Thread):
def __init__(self):
threading.Thread.__init__(self)
self.SerialConnection = SerialConnection()
self.WifiConnection = WifiConnection()
self.BluetoothConnection = Bluetooth_Connection()
self.WifiConnection.connect()
self.wifiIsConnected = True
self.BluetoothConnection.setupConnection()
self.bluetoothIsConnected = True
self.SerialConnection.connect()
self.serialIsConnected = True
def readFromWifiConnection(self):
while True:
try:
msg = self.WifiConnection.read()
if msg == '':
print('Wifi Connection is Lost')
self.wifiIsConnected = False
break
command = msg[0:1]
print(command)
print('From PC: ' + str(msg))
if command == 'A':
self.SerialConnection.write(str(msg[1:]))
elif command == 'T':
self.BluetoothConnection.clientWrite(str(msg[1:]))
elif command == ';':
self.WifiConnection.write('RPi3: connection closed')
self.wifiIsConnected = False
break
else:
self.WifiConnection.write('Rpi3: Message received')
except Exception as e:
print('readFromWifiConnection Error' + str(e))
def readFromBluetoothConnection(self):
while True:
try:
msg = self.BluetoothConnection.clientRead()
if msg == '':
print('bluetooth connection lost')
self.bluetoothIsConnected = False
break
command = msg[0:1]
print(command)
print('From Bluetooth:' + str(msg))
if command == 'P':
self.WifiConnection.write(str(msg[1:]))
elif command == 'A':
self.SerialConnection.write(str(msg[1:]))
elif msg == ';':
self.BluetoothConnection.clientWrite(
'RPi3: Connection closed')
self.bluetoothIsConnected = False
break
else:
self.BluetoothConnection.clientWrite('RPi3: Msg received')
except Exception as e:
print('readFromBluetoothConnection Error' + str(e))
def readFromSerialConnection(self):
while True:
try:
msg = self.SerialConnection.read()
if msg == '':
print('serial conncetion is lost')
self.serialIsConnected = False
break
command = msg[0:1]
print(command)
print('From Arduino:' + str(msg))
if command == 'P':
self.WifiConnection.write(str(msg[1:]))
elif command == 'T':
self.BluetoothConnection.write('RPi3: Instruction ' +
str(msg[1:]) +
' Sent to Tablet')
elif msg == ';':
self.SerialConnection.Write('RPi3: Connection Closed')
self.serialIsConnected = False
break
else:
print('works')
except Exception as e:
print('readFromSerialConnection Error' + str(e))
def startThreads(self):
bluetoothThread = threading.Thread(
target=self.readFromBluetoothConnection, name='Bluetooth Thread')
wifiThread = threading.Thread(target=self.readFromBluetoothConnection,
name="Bluetooth Thread")
serialThread = threading.Thread(target=self.readFromSerialConnection,
name="Serial Thread")
bluetoothThread.daemon = True
wifiThread.daemon = True
serialThread.daemon = True
print('Susccessfully initialized threads')
bluetoothThread.start()
wifiThread.start()
serialThread.start()
print("Worker Threads started")
def cleanup(self):
try:
self.WifiConnection.close()
self.BluetoothConnection.close()
self.SerialConnection.close()
except Exception as e:
print("Cleanup Error:" + str(e))
class FaceDection(QMainWindow):
def __init__(self, parent=None):
super(FaceDection, self).__init__(parent)
# gui connections
self.ui = Ui_FaceDetection()
self.ui.setupUi(self)
self.ui.speed_dial.sliderMoved.connect(self.set_fan_speed)
self.ui.horizontal_speed.sliderReleased.connect(self.horizontal_stop)
self.ui.vertical_speed.sliderReleased.connect(self.vertical_stop)
self.ui.horizontal_speed.valueChanged.connect(self.set_hor_speed)
self.ui.vertical_speed.valueChanged.connect(self.set_ver_speed)
self.ui.serial_select.currentIndexChanged.connect(self.port_select)
self.ui.command_edit.returnPressed.connect(self.command_send)
# video and face recognition
self.faces = []
self.ui.video.face_callback = self.video_face_callback
self.ui.video.image_callback = self.video_image_callback
# serial connection
self.serial = SerialConnection()
for port in self.serial.list_ports():
self.ui.serial_select.addItem(port)
self.listener_timer = QTimer(self)
self.listener_timer.timeout.connect(self.serial_read)
self.listener_timer.start(50)
def set_fan_speed(self, speed, update_dial=False):
self.ui.speed_label.setText("%d %%" % speed)
self.serial.send("VENT " + str(speed))
if update_dial:
self.ui.speed_dial.setValue(speed)
def horizontal_stop(self):
self.serial.send("STOP")
self.ui.horizontal_speed.setValue(0) # snap back
def vertical_stop(self):
self.serial.send("STOP")
self.ui.vertical_speed.setValue(0) # snap back
def set_hor_speed(self, value):
if not value == 0:
self.serial.send("IBASE " + str(value))
def set_ver_speed(self, value):
if not value == 0:
self.serial.send("IELBOW " + str(value))
def serial_read(self):
message_queue = self.serial.queue
while not message_queue.empty():
message = message_queue.get_nowait()
if message[0] == "#":
self.ui.log.append("<b>" + message + "</b>")
elif message[0] == "!":
self.ui.log.append("<font color=red>" + message + "</font>")
message_queue.task_done()
def command_send(self):
command = self.ui.command_edit.text()
self.serial.send(command)
self.ui.command_edit.clear()
def port_select(self, index):
# disconnect
if index == 0:
self.serial.stop()
self.ui.log.clear()
self.ui.command_edit.clear()
self.ui.command_edit.setEnabled(False)
self.ui.fanbox.setEnabled(False)
self.ui.movementbox.setEnabled(False)
# connect
else:
try:
port = self.ui.serial_select.currentText()
self.serial.connect(port=port, baud=19200)
self.ui.command_edit.setEnabled(True)
self.ui.fanbox.setEnabled(True)
self.ui.movementbox.setEnabled(True)
except Exception, e:
QMessageBox.warning(self, "Error", e.message)
class FaceDection(QMainWindow):
def __init__(self, parent=None):
super(FaceDection, self).__init__(parent)
# gui connections
self.ui = Ui_FaceDetection()
self.ui.setupUi(self)
self.ui.speed_dial.sliderMoved.connect(self.set_fan_speed)
self.ui.horizontal_speed.sliderReleased.connect(self.horizontal_stop)
self.ui.vertical_speed.sliderReleased.connect(self.vertical_stop)
self.ui.horizontal_speed.valueChanged.connect(self.set_hor_speed)
self.ui.vertical_speed.valueChanged.connect(self.set_ver_speed)
self.ui.serial_select.currentIndexChanged.connect(self.port_select)
self.ui.command_edit.returnPressed.connect(self.command_send)
# video and face recognition
self.faces = []
self.ui.video.face_callback = self.video_face_callback
self.ui.video.image_callback = self.video_image_callback
# serial connection
self.serial = SerialConnection()
for port in self.serial.list_ports():
self.ui.serial_select.addItem(port)
self.listener_timer = QTimer(self)
self.listener_timer.timeout.connect(self.serial_read)
self.listener_timer.start(50)
def set_fan_speed(self, speed, update_dial=False):
self.ui.speed_label.setText("%d %%" % speed)
self.serial.send("VENT " + str(speed))
if update_dial:
self.ui.speed_dial.setValue(speed)
def horizontal_stop(self):
self.serial.send("STOP")
self.ui.horizontal_speed.setValue(0) # snap back
def vertical_stop(self):
self.serial.send("STOP")
self.ui.vertical_speed.setValue(0) # snap back
def set_hor_speed(self, value):
if not value == 0:
self.serial.send("IBASE "+str(value))
def set_ver_speed(self, value):
if not value == 0:
self.serial.send("IELBOW "+str(value))
def serial_read(self):
message_queue = self.serial.queue
while not message_queue.empty():
message = message_queue.get_nowait()
if message[0] == "#":
self.ui.log.append("<b>"+message+"</b>")
elif message[0] == "!":
self.ui.log.append("<font color=red>"+message+"</font>")
message_queue.task_done()
def command_send(self):
command = self.ui.command_edit.text()
self.serial.send(command)
self.ui.command_edit.clear()
def port_select(self, index):
# disconnect
if index == 0:
self.serial.stop()
self.ui.log.clear()
self.ui.command_edit.clear()
self.ui.command_edit.setEnabled(False)
self.ui.fanbox.setEnabled(False)
self.ui.movementbox.setEnabled(False)
# connect
else:
try:
port = self.ui.serial_select.currentText()
self.serial.connect(port=port, baud=19200)
self.ui.command_edit.setEnabled(True)
self.ui.fanbox.setEnabled(True)
self.ui.movementbox.setEnabled(True)
except Exception, e:
QMessageBox.warning(self, "Error", e.message)
