import Jetson.GPIO as GPIO
import time
print("Start of Python Script")
GPIO.setmode(GPIO.BOARD)
GPIO.setup(31, GPIO.OUT)
# set pin to high
GPIO.output(31, GPIO.HIGH)
# let pin be high for 1 sec
time.sleep(1)
# set pin to low
GPIO.output(31, GPIO.LOW)
print("Python Script run successfully")
def st():
global output_pin1
global output_pin2
global output_pin3
global output_pin4
tm = 0
global r_index
signal=[['R','R','R'],['R','R','R'],['R','R','R'],['R','R','R']]
remaining={2:0,3:0,4:0}
while (1):
time.sleep(1)
tm=tm+1
return_value=emergency(tm)
if return_value==True:
c5=0
while(1):
time.sleep(1)
#tm=tm+1
c5=c5+1
if c5==10:
break
'''
road1=[15,15,30,75,312,400,500,500,500,500]
road2=[1,1,5,25,5,15,5,5,5,5]
road3=[2,1,7,17,65,30,100,100,100,5]
road4=[13,13,16,20,15,45,5,5,5,5]
'''
road1=[15 ,15 ,30 ,45 ,12 ,4 ,5 ,5 ,5 ,5]
road2=[1 ,25 ,5 ,25 ,5 ,15 ,5 ,45 ,5 ,5]
road3=[2 ,1 ,7 ,60 ,65 ,30 ,1 ,1 ,80 ,5]
road4=[18 ,13 ,16 ,20 ,75 ,45 ,5 ,5 ,5 ,50]
'''
road1=[70 ,70 ,70 ,70 ,70 ,5 ,5 ,5 ,5 ,5 ,5]
road2=[30 ,30 ,30 ,30 ,30 ,30 ,30 ,30 ,30 ,5 ,5]
road3=[10 ,10 ,10 ,10 ,10 ,10 ,10 ,10 ,10 ,10 ,10]
road4=[20 ,20 ,20 ,20 ,20 ,20 ,20 ,20 ,20 ,20 ,5]
'''
#if 1:
try:
road_count={1:road1[r_index],2:road2[r_index],3:road3[r_index],4:road4[r_index]}
except:
break
sort_road = sorted(road_count.items(), key=operator.itemgetter(1),reverse=True)
#print sort_road
t = 240 * (float(sort_road[0][1]))/sum(road_count.values())
#total_time-sum(remaining.values())<=(len(remaining)*20):
if tm >= t:
print "star"
st1()
break
else:
try:
del remaining[(sort_road[0][0])]
except:
r=1
signal=[['R','R','R'],['R','R','R'],['R','R','R'],['R','R','R']]
signal[(sort_road[0][0])-1]=['G','G','G']
print signal
GPIO.output(output_pin1,GPIO.LOW)
GPIO.output(output_pin2,GPIO.LOW)
GPIO.output(output_pin3,GPIO.LOW)
GPIO.output(output_pin4,GPIO.LOW)
if (sort_road[0][0])==1:
output_pin1=signal_pins[3]
else:
output_pin1=signal_pins[1]
if (sort_road[0][0])==2:
output_pin2=signal_pins[6]
else:
output_pin2=signal_pins[4]
if (sort_road[0][0])==3:
output_pin3=signal_pins[9]
else:
output_pin3=signal_pins[7]
if (sort_road[0][0])==4:
output_pin4=signal_pins[12]
else:
output_pin4=signal_pins[10]
GPIO.setup(output_pin1, GPIO.OUT)
GPIO.setup(output_pin2, GPIO.OUT)
GPIO.setup(output_pin3, GPIO.OUT)
GPIO.setup(output_pin4, GPIO.OUT)
GPIO.setup(output_pin1, GPIO.OUT)
GPIO.setup(output_pin2, GPIO.OUT)
GPIO.setup(output_pin3, GPIO.OUT)
GPIO.setup(output_pin4, GPIO.OUT)
GPIO.output(output_pin1,GPIO.HIGH)
GPIO.output(output_pin2,GPIO.HIGH)
GPIO.output(output_pin3,GPIO.HIGH)
GPIO.output(output_pin4,GPIO.HIGH)
for i in remaining:
remaining[i]=remaining[i]+1
if len(remaining)==0:
remaining={1:0,2:0,3:0,4:0}
r_index=r_index+1
if tm%20==0:
t = (240 - tm) * (float(sort_road[0][1]))/sum(road_count.values())
r_index=r_index+1
#print sum(remaining.values())
print remaining
def white_display():
GPIO.output(COLORS[0], GPIO.HIGH)
GPIO.output(COLORS[1], GPIO.LOW)
def open_door(self):
GPIO.output(self.bolt_pin, GPIO.HIGH)
logging.info("door opening")
sleep(0.3)
GPIO.output(self.bolt_pin, GPIO.LOW)
def close_door(self):
GPIO.output(self.bolt_pin, GPIO.LOW)
logging.info("door closing")
def set_mode_reverse():
global mode, modePins
modeVal = (0, 1, 0)
GPIO.output(modePins, modeVal)
mode = "Reverse"
brake(10)
def startComplete(self):
GPIO.output(7, GPIO.LOW)
self.metricCalculation()
self.setAutonomousMode('Complete')
def runWaveTrigger(self):
GPIO.output(WAVE_TRIG, False)
sleep(0.000002)
GPIO.output(WAVE_TRIG, True)
sleep(0.00001)
GPIO.output(WAVE_TRIG, False)
def Disable(self):
GPIO.output(self.En_Pin, GPIO.HIGH)
print("Disable!")
def setDC(self, status):
if status == SHIFT_FORWARD:
GPIO.output(DC_ENA, GPIO.HIGH)
GPIO.output(DC_IN1, GPIO.HIGH)
GPIO.output(DC_IN2, GPIO.LOW)
elif status == SHIFT_BACKWARD:
GPIO.output(DC_ENA, GPIO.HIGH)
GPIO.output(DC_IN1, GPIO.LOW)
GPIO.output(DC_IN2, GPIO.HIGH)
elif status == SHIFT_STOP:
GPIO.output(DC_ENA, GPIO.LOW)
GPIO.output(DC_IN1, GPIO.LOW)
GPIO.output(DC_IN2, GPIO.LOW)
def setWaveTrig(self, status):
GPIO.output(WAVE_TRIG, status)
def backLightONOFF(self, status):
GPIO.output(BACKLIGHT, status)
def breakLightONOFF(self, status):
GPIO.output(BREAKLIGHT, status)
def headLightONOFF(self, status):
GPIO.output(HEADLIGHT, status)
import Jetson.GPIO as GPIO
import time as time
LED_Pin = 13
GPIO.setmode(GPIO.BOARD)
GPIO.setup(LED_Pin, GPIO.OUT)
for i in range(2):
GPIO.output(LED_Pin, GPIO.HIGH)
print "on"
time.sleep(1)
GPIO.output(LED_Pin, GPIO.LOW)
print "off"
time.sleep(1)
GPIO.cleanup()
def OneStep(self):
GPIO.output(self.Step_Pin, GPIO.HIGH)
time.sleep(1 / 10000000)
GPIO.output(self.Step_Pin, GPIO.LOW)
def set_mode_forward():
global mode, modePins
modeVal = (0, 0, 1)
GPIO.output(modePins, modeVal)
mode = "Forward"
brake(10)
def Enable(self):
GPIO.output(self.En_Pin, GPIO.LOW)
print("Enable!")
def set_mode_off():
global mode, modePins
modeVal = (1, 1, 1)
GPIO.output(modePins, modeVal)
mode = "Off"
try:
data = client.recv(1024)
if not data:
break
message = data.decode('utf-8')
print("Received: ", message)
parts = message.split()
if len(parts) == 0 or not useHardware:
continue
command = parts[0]
args = parts[1:]
if command == "set":
if len(args) == 1:
color = args[0]
if color == "BLEU":
GPIO.output(yellow_pin, GPIO.LOW)
GPIO.output(blue_pin, GPIO.HIGH)
elif color == "JAUNE":
GPIO.output(yellow_pin, GPIO.HIGH)
GPIO.output(blue_pin, GPIO.LOW)
else:
GPIO.output((yellow_pin, blue_pin), GPIO.LOW)
else:
GPIO.output((yellow_pin, blue_pin), GPIO.LOW)
elif command == "score":
if len(args) == 1:
nb = int(args[0])
nb4 = nb % 10
nb //= 10
nb3 = nb % 10
initial=LED_OUPUT_Status) # initial 為針腳設定預設值，設定輸出針腳同時給予低電位
GPIO.setup(LED_OUTPUT2_Num, GPIO.OUT, initial=LED_OUPUT2_Status)
GPIO.setup(LED_INPUT_Num, GPIO.IN) # 設定輸入針腳
print("LED_OUPUT_Status=" + str(LED_OUPUT_Status))
print("LED_OUPUT2_Status=" + str(LED_OUPUT2_Status))
# setup()語法：GPIO.setup({channel | chan_list}, {GPIO.OUT | GPIO.IN}, [initial= {GPIO.HIGH | GPIO.LOW}])
while True:
if (GPIO.input(LED_INPUT_Num)
): # input()，當針腳已被設定高低電位時，可以用此函式取得該針腳的當下狀態為何。若偵測輸入為高電位
time.sleep(1)
LED_OUPUT_Status = not LED_OUPUT_Status # ~：正、負、倒數。輸出電位由低變高
LED_OUPUT2_Status = not LED_OUPUT2_Status
GPIO.output(
LED_OUTPUT_Num,
LED_OUPUT_Status) # GPIO.output(channel,GPIO.HIGH)，輸出腳位變高電位
GPIO.output(LED_OUTPUT2_Num, LED_OUPUT2_Status)
print("LED_OUPUT_Status=" + str(LED_OUPUT_Status))
print("LED_OUPUT2_Status=" + str(LED_OUPUT2_Status))
# if( GPIO.input(LED_INPUT_Num) ):
# LED_OUPUT2_Status = ~LED_OUPUT2_Status
# GPIO.output(LED_OUTPUT2_Num, LED_OUPUT2_Status)
# time.sleep(0.001)
#LED_OUTPUT2_Num = 19 # 輸出腳位
#LED_OUPUT2_Status = GPIO.HIGH
#GPIO.setup(LED_OUTPUT2_Num, GPIO.OUT, initial = LED_OUPUT2_Status)
#LED_OUPUT2_Status = ~LED_OUPUT2_Status
def tLeft(dts=1, verbose=False):
if verbose:
print('Drive the motor Left')
# Motor A:
GPIO.output(IN2L, GPIO.LOW) # Set AIN1
GPIO.output(IN1L, GPIO.HIGH) # Set AIN2
# Motor B:
GPIO.output(IN1R, GPIO.LOW) # Set BIN1
GPIO.output(IN2R, GPIO.HIGH) # Set BIN2
# Set the motor speed
# Motor A:
GPIO.output(PWML, GPIO.HIGH) # Set PWMA
# Motor B:
GPIO.output(PWMR, GPIO.HIGH) # Set PWMB
# Wait 5 seconds
time.sleep(dts)
stop()
def keep_door_opening(self):
GPIO.output(self.bolt_pin, GPIO.HIGH)
logging.info("door opening")
def stop(verbose=False):
if verbose:
print('stopping...')
# Reset all the GPIO pins by setting them to LOW
GPIO.output(IN1L, GPIO.LOW) # Set AIN1
GPIO.output(IN2L, GPIO.LOW) # Set AIN2
GPIO.output(PWML, GPIO.LOW) # Set PWMA
GPIO.output(IN2R, GPIO.LOW) # Set BIN1
GPIO.output(IN1R, GPIO.LOW) # Set BIN2
GPIO.output(PWMR, GPIO.LOW) # Set PWMB
if tm >= t: print "star" st() break else: try: del remaining[(sort_road[0][0])] except: r=1 signal=[['R','R','R'],['R','R','R'],['R','R','R'],['R','R','R']] signal[(sort_road[0][0])-1]=['G','G','G'] print signal GPIO.output(output_pin1,GPIO.LOW) GPIO.output(output_pin2,GPIO.LOW) GPIO.output(output_pin3,GPIO.LOW) GPIO.output(output_pin4,GPIO.LOW) if (sort_road[0][0])==1: output_pin1=signal_pins[3] else: output_pin1=signal_pins[1] if (sort_road[0][0])==2:
from smbus import SMBus import Jetson.GPIO as GPIO from time import sleep addr = 0x8 # bus address bus = SMBus(0) # indicates /dev/ic2-0 controlPin = 11 def init_rpi(): GPIO.setmode(GPIO.BOARD) GPIO.setwarnings(False) GPIO.setup(controlPin, GPIO.OUT, initial = GPIO.LOW) init_rpi() while True: try: num = [69,127,254] GPIO.output(controlPin,GPIO.LOW) bus.write_block_data(addr,6,num) GPIO.output(controlPin, GPIO.HIGH) sleep(0.01) except Exception as e: print(e) pass
def violet_display():
GPIO.output(COLORS[0], GPIO.LOW)
GPIO.output(COLORS[1], GPIO.HIGH)
# you need to guess this number
if __name__ == '__main__':
while True:
#顏色設定
color = (0, 0, 0)
#攝影機設定
cap = cv2.VideoCapture(r"/dev/video2")
a = 0
_, frame = cap.read() #读取一帧视频
try:
if GPIO.input(40) == 1:
raise OBSTACLE_DETECTION
GPIO.output(straight, GPIO.HIGH)
GPIO.output(left, GPIO.HIGH)
GPIO.output(right, GPIO.HIGH)
print('go.....')
#人臉偵測的路徑
cascade_path = r'haarcascade_frontalface_alt2.xml'
image = exposure.adjust_gamma(frame, 0.5)
image = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
#使用人脸识别分类器，读入分类器
cascade = cv2.CascadeClassifier(cascade_path)
#利用分类器识别出哪个区域为人脸
faceRects = cascade.detectMultiScale(image,
scaleFactor=1.2,
def green_display():
GPIO.output(COLORS[0], GPIO.HIGH)
GPIO.output(COLORS[1], GPIO.HIGH)
def setLED(stat):
GPIO.output(33, stat)
