def move(direction):
# Choose the direction of the request
if direction == 'camleft':
video_dir.move_decrease_x()
elif direction == 'camright':
video_dir.move_increase_x()
elif direction == 'camup':
video_dir.move_increase_y()
elif direction == 'camdown':
video_dir.move_decrease_y()
elif direction == 'camhome':
video_dir.home_x_y()
elif direction == 'record':
subprocess.call(['motion'], shell=True)
elif direction == 'stoprecord':
subprocess.call(['./stop.sh'], shell=True)
elif direction == 'forward':
motor.forward()
elif direction == 'reverse':
motor.backward()
elif direction == 'left':
car_dir.turn_left()
elif direction == 'right':
car_dir.turn_right()
elif direction == 'stop':
motor.ctrl(0)
elif direction == 'home':
car_dir.home()
def move(direction):
# Choose the direction of the request
if direction == 'camleft':
video_dir.move_decrease_x()
elif direction == 'camright':
video_dir.move_increase_x()
elif direction == 'camup':
video_dir.move_increase_y()
elif direction == 'camdown':
video_dir.move_decrease_y()
elif direction == 'camhome':
video_dir.home_x_y()
elif direction == 'record':
subprocess.call(['motion'], shell=True)
elif direction == 'stoprecord':
subprocess.call(['./stop.sh'], shell=True)
elif direction == 'forward':
motor.forward()
elif direction == 'reverse':
motor.backward()
elif direction == 'left':
car_dir.turn_left()
elif direction == 'right':
car_dir.turn_right()
elif direction == 'stop':
motor.ctrl(0)
elif direction == 'home':
car_dir.home()
def left_forward():
print("turn left")
turn.home()
turn.turn_left()
motor.forwardWithSpeed(spd=100)
time.sleep(1)
motor.stop()
turn.home()
while True:
data = ''
data = tcpCliSock.recv(BUFSIZ) # Receive data sent from the client.
# Analyze the command received and control the car accordingly.
if not data:
break
if data == ctrl_cmd[0]:
print 'motor moving forward'
motor.forward()
elif data == ctrl_cmd[1]:
print 'recv backward cmd'
motor.backward()
elif data == ctrl_cmd[2]:
print 'recv left cmd'
car_dir.turn_left()
elif data == ctrl_cmd[3]:
print 'recv right cmd'
car_dir.turn_right()
elif data == ctrl_cmd[6]:
print 'recv home cmd'
car_dir.home()
elif data == ctrl_cmd[4]:
print 'recv stop cmd'
motor.ctrl(0)
elif data == ctrl_cmd[5]:
print 'read cpu temp...'
temp = cpu_temp.read()
tcpCliSock.send('[%s] %0.2f' % (ctime(), temp))
elif data == ctrl_cmd[8]:
print 'recv x+ cmd'
def server(
value, collision
): #get value as Direction and collision as Collision detection from Shared memory
pre_dir = 'home'
x = 0
flag = 0
while True:
sys.stdout.flush()
print 'Waiting for connection...'
# Waiting for connection. Once receiving a connection, the function accept() returns a separate
# client socket for the subsequent communication. By default, the function accept() is a blocking
# one, which means it is suspended before the connection comes.
tcpCliSock, addr = tcpSerSock.accept()
print '...connected from :', addr # Print the IP address of the client connected with the server.
while True:
data = ''
data = tcpCliSock.recv(BUFSIZ)
# Receive data sent from the client.
# Analyze the command received and control the car accordingly.
print data
if not data:
break
if x == 1:
if flag < 5:
flag = flag + 1
continue #if there is any collision, Do not receive data from client.If so, Get stacked!
x = 0 #after refusing data from client, start receiving
flag = 0
if data == ctrl_cmd[0]: #If Client send message "forward"
if collision.value == 1: #if there is obstacle in front of iCar
motor.ctrl(0) #stop
else:
motor.forward() #Run the motors to forward
elif data == ctrl_cmd[1]: #If Client send message "backward"
motor.backward()
elif data == ctrl_cmd[2]: #If Client send message "left"
car_dir.turn_left() #change car direction to Left
elif data == ctrl_cmd[3]: #If Client send message "right"
car_dir.turn_right() #change car direction to Right
elif data == ctrl_cmd[6]: #If Client send message "home"
car_dir.home() #Set car direction to center
elif data == ctrl_cmd[4]: #if Client send message "stop"
motor.ctrl(0) #Stop Motor running
elif data == ctrl_cmd[
5]: #If Client click auto button, send message "auto"
#auto drive
motor.setSpeed(44) #Set motor speed with optimized speed 44
temp = value.value #get Value from jeongwook.py that is information of Car Direction
if collision.value != 0: #If there is Collision
print 'Collision detected'
if collision.value == 1: #Collision in front of iCar
print "Obstacle In Front"
motor.collision_auto(
) #collision_auto function let iCar move backward
car_dir.turn_right() #to avoid collision, turn right
motor.forward_auto(
) #move only for 0.8second (forward_auto let iCar move for 0.2second)
motor.forward_auto()
motor.forward_auto()
motor.forward_auto()
car_dir.home()
motor.forward_auto()
motor.forward_auto()
pre_dir = 'left' #if iCar cannot detect any lane, it SHOULD BE on left side, so makes iCar go left after avoiding
elif collision.value == 2: #Collision on Left side
print "Obstacle is on Left"
motor.collision_auto()
car_dir.turn_right() #to avoid collision, turn right
motor.forward_auto()
motor.forward_auto()
motor.forward_auto()
motor.forward_auto()
car_dir.home()
motor.forward_auto()
motor.forward_auto()
pre_dir = 'left'
elif collision.value == 3: #go left
print "Obstacle is on Right"
motor.collision_auto()
car_dir.turn_left() #to avoid collision, turn left
motor.forward_auto()
motor.forward_auto()
motor.forward_auto()
motor.forward_auto()
car_dir.home()
motor.forward_auto()
motor.forward_auto()
pre_dir = 'right' #if iCar cannot detect any lane, it SHOULD BE on right side, so makes iCar go right after avoiding
collision.value = 0
x = 1 #set x = 1 to Not receiving data from client for a moment
elif temp == 1: #iCar is on Lane, Go with center direction
print 'Lane is on my way'
car_dir.home()
motor.forward_auto() #move iCar for 0.2second with 44speed
#because of camera delay
elif temp == 2: #lane is located on left side
print 'Lane is on left side'
car_dir.turn_left()
motor.forward_auto()
pre_dir = 'left'
elif temp == 3: #lane is located on right side
print 'Lane is on right side'
car_dir.turn_right()
motor.setSpeed(44)
motor.forward_auto()
pre_dir = 'right'
else:
if pre_dir == 'right': #when No detection but predict that lane is on right side
print 'cannot find but go right'
car_dir.turn_right()
motor.setSpeed(44)
motor.forward_auto()
elif pre_dir == 'left': #when No detection but predict that lane is on left side
print 'cannot find but go left'
car_dir.turn_left()
motor.forward_auto()
else:
print 'Cannot find a Lane' #No detection with no prediction
car_dir.home() #set center direction and stop
motor.backward()
time.sleep(0.6)
motor.ctrl(0)
time.sleep(1)
elif data == ctrl_cmd[7]: #move camera right
video_dir.move_increase_x()
elif data == ctrl_cmd[8]: #move camera left
video_dir.move_decrease_x()
elif data == ctrl_cmd[9]: #move camera up
video_dir.move_increase_y()
elif data == ctrl_cmd[10]: #move camera down
video_dir.move_decrease_y()
elif data[0:5] == 'speed': # Change the speed
print data
numLen = len(data) - len('speed')
if numLen == 1 or numLen == 2 or numLen == 3:
tmp = data[-numLen:]
spd = int(tmp)
if spd < 24:
spd = 24
motor.setSpeed(spd)
elif data[
0:
7] == 'leftPWM': #If Client send message like ~PWM, it is for initialization or servo motor that control Car direction.
numLen = len(data) - len('leftPWM')
pwm = data[-numLen:]
leftpwm = int(pwm)
car_dir.change_left(leftpwm)
elif data[0:7] == 'homePWM':
numLen = len(data) - len('homePWM')
pwm = data[-numLen:]
homepwm = int(pwm)
car_dir.change_home(homepwm)
elif data[0:8] == 'rightPWM':
numLen = len(data) - len('rightPWM')
pwm = data[-numLen:]
rightpwm = int(pwm)
car_dir.change_right(rightpwm)
else:
print 'Command Error! Cannot recognize command: ' + data
tcpSerSock.close()
def run_server(key):
#!/usr/bin/env python
import RPi.GPIO as GPIO
import video_dir
import car_dir
import motor
from time import ctime # Import necessary modules
ctrl_cmd = [
'forward', 'backward', 'left', 'right', 'stop', 'read cpu_temp',
'home', 'distance', 'x+', 'x-', 'y+', 'y-', 'xy_home'
]
busnum = 1 # Edit busnum to 0, if you uses Raspberry Pi 1 or 0
HOST = '' # The variable of HOST is null, so the function bind( ) can be bound to all valid addresses.
PORT = 21567
BUFSIZ = 1024 # Size of the buffer
ADDR = (HOST, PORT)
tcpSerSock = socket(AF_INET, SOCK_STREAM) # Create a socket.
tcpSerSock.bind(ADDR) # Bind the IP address and port number of the server.
tcpSerSock.listen(
5
) # The parameter of listen() defines the number of connections permitted at one time. Once the
# connections are full, others will be rejected.
#video_dir.setup(busnum=busnum)
#car_dir.setup(busnum=busnum)
#motor.setup(busnum=busnum) # Initialize the Raspberry Pi GPIO connected to the DC motor.
#video_dir.home_x_y()
#car_dir.home()
while True:
print 'Waiting for connection...'
# Waiting for connection. Once receiving a connection, the function accept() returns a separate
# client socket for the subsequent communication. By default, the function accept() is a blocking
# one, which means it is suspended before the connection comes.
tcpCliSock, addr = tcpSerSock.accept()
print '...connected from :', addr # Print the IP address of the client connected with the server.
while True:
try:
data = ''
data = tcpCliSock.recv(
BUFSIZ) # Receive data sent from the client.
print "\nEncrypted command recieved from client = ,", eval(
data)[2]
data = crypto.AES_decrypt(eval(data), key)
except:
print "INCOMPLETE PACKET ERROR - try to input the command again"
# Analyze the command received and control the car accordingly.
if not data:
break
if data == ctrl_cmd[0]:
print 'motor moving forward'
motor.forward()
elif data == ctrl_cmd[1]:
print 'recv backward cmd'
motor.backward()
elif data == ctrl_cmd[2]:
print 'recv left cmd'
car_dir.turn_left()
elif data == ctrl_cmd[3]:
print 'recv right cmd'
car_dir.turn_right()
elif data == ctrl_cmd[6]:
print 'recv home cmd'
car_dir.home()
elif data == ctrl_cmd[4]:
print 'recv stop cmd'
motor.ctrl(0)
elif data == ctrl_cmd[5]:
print 'read cpu temp...'
temp = cpu_temp.read()
tcpCliSock.send('[%s] %0.2f' % (ctime(), temp))
elif data == ctrl_cmd[8]:
print 'recv x+ cmd'
video_dir.move_increase_x()
elif data == ctrl_cmd[9]:
print 'recv x- cmd'
video_dir.move_decrease_x()
elif data == ctrl_cmd[10]:
print 'recv y+ cmd'
video_dir.move_increase_y()
elif data == ctrl_cmd[11]:
print 'recv y- cmd'
video_dir.move_decrease_y()
elif data == ctrl_cmd[12]:
print 'home_x_y'
video_dir.home_x_y()
elif data[0:5] == 'speed': # Change the speed
print data
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
if spd < 24:
spd = 24
motor.setSpeed(spd)
elif data[0:5] == 'turn=': #Turning Angle
print 'data =', data
angle = data.split('=')[1]
try:
angle = int(angle)
car_dir.turn(angle)
except:
print 'Error: angle =', angle
elif data[0:8] == 'forward=':
print 'data =', data
spd = data[8:]
try:
spd = int(spd)
motor.forward(spd)
except:
print 'Error speed =', spd
elif data[0:9] == 'backward=':
print 'data =', data
spd = data.split('=')[1]
try:
spd = int(spd)
motor.backward(spd)
except:
print 'ERROR, speed =', spd
else:
#print 'Command Error! Cannot recognize command: ' + data
print "COMMAND ERROR - Unable to interpret recieved command"
tcpSerSock.close()
def left(self):
cd.turn_left()
def on_message(ws, data):
print data
# Analyze the command received and control the car accordingly.
#if not data:
if data == ctrl_cmd[0]:
print 'motor moving forward'
motor.forward()
elif data == ctrl_cmd[1]:
print 'recv backward cmd'
motor.backward()
elif data == ctrl_cmd[2]:
print 'recv left cmd'
car_dir.turn_left()
elif data == ctrl_cmd[3]:
print 'recv right cmd'
car_dir.turn_right()
elif data == ctrl_cmd[6]:
print 'recv home cmd'
car_dir.home()
elif data == ctrl_cmd[4]:
print 'recv stop cmd'
motor.ctrl(0)
elif data == ctrl_cmd[5]:
print 'read cpu temp...'
temp = cpu_temp.read()
tcpCliSock.send('[%s] %0.2f' % (ctime(), temp))
elif data == ctrl_cmd[8]:
print 'recv x+ cmd'
video_dir.move_increase_x()
elif data == ctrl_cmd[9]:
print 'recv x- cmd'
video_dir.move_decrease_x()
elif data == ctrl_cmd[10]:
print 'recv y+ cmd'
video_dir.move_increase_y()
elif data == ctrl_cmd[11]:
print 'recv y- cmd'
video_dir.move_decrease_y()
elif data == ctrl_cmd[12]:
print 'home_x_y'
video_dir.home_x_y()
elif data[0:12] == ctrl_cmd[13]: # Change the speed
print data
#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
# if spd < 24:
# spd = 24
motor.setSpeed(30)
elif data[0:5] == 'turn=': #Turning Angle
print 'data =', data
angle = data.split('=')[1]
try:
angle = int(angle)
car_dir.turn(angle)
except:
print 'Error: angle =', angle
elif data[0:8] == 'forward=':
print 'data =', data
spd = 30
try:
spd = int(spd)
motor.forward(spd)
except:
print 'Error speed =', spd
elif data[0:9] == 'backward=':
print 'data =', data
spd = data.split('=')[1]
try:
spd = int(spd)
motor.backward(spd)
except:
print 'ERROR, speed =', spd
else:
print 'Command Error! Cannot recognize command: ' + data
def drive(stops):
# setup all devices and initialize values
busnum = 1
car_dir.setup(busnum=busnum)
motor.setup(busnum=busnum)
distance_detect.setup()
car_dir.home()
motor.setSpeed(30)
video_capture = cv2.VideoCapture(-1)
video_capture.set(3, 160)
video_capture.set(4, 120)
command = 0
stopCount = 0
stopFound = 0
#drive until passed certain amount of stops
while True:
# capture video frames
ret, frame = video_capture.read()
# set color masking boundaries for red and mask image
colorLower = np.array([0, 0, 100], dtype='uint8')
colorUpper = np.array([50, 50, 255], dtype='uint8')
colorMask = cv2.inRange(frame, colorLower, colorUpper)
outMask = cv2.bitwise_and(frame, frame, mask=colorMask)
# create mask image, convert to grayscale, and blur
clonedImg = outMask.copy()
clonedImg = cv2.cvtColor(clonedImg, cv2.COLOR_BGR2GRAY)
clonedImg = cv2.GaussianBlur(clonedImg, (5, 5), 0)
# show current image
cv2.namedWindow('Gray color select', cv2.WINDOW_NORMAL)
cv2.imshow('Gray color select', clonedImg)
# calculate circles within image
circles = cv2.HoughCircles(clonedImg,
cv2.cv.CV_HOUGH_GRADIENT,
1,
20,
param1=50,
param2=30,
minRadius=15,
maxRadius=100)
# if a circle was detected
if circles != None:
# if this is first time encountering this stop increase stop count
if stopFound == 0:
stopCount += 1
stopFound = 1
# map out circles for display
circles = np.uint16(np.around(circles))
for i in circles[0, :]:
cv2.circle(clonedImg, (i[0], i[1]), i[2], (0, 255, 0), 2)
cv2.circle(clonedImg, (i[0], i[1]), 2, (0, 255, 0), 3)
elif (cv2.countNonZero(clonedImg) == 0):
stopFound = 0
# display camera feed and circles
cv2.namedWindow('Circles', cv2.WINDOW_NORMAL)
cv2.imshow('Circles', clonedImg)
# crop the image
crop_img = frame[60:120, 0:160]
# convert to grayscale
gray = cv2.cvtColor(crop_img, cv2.COLOR_BGR2GRAY)
# gaussian blur
blur = cv2.GaussianBlur(gray, (5, 5), 0)
# color thresholding
ret, thresh = cv2.threshold(blur, 60, 255, cv2.THRESH_BINARY_INV)
# find the contours of the frame
contours, hierarchy = cv2.findContours(thresh.copy(), 1,
cv2.CHAIN_APPROX_NONE)
# detect distance to closes object
dis = distance_detect.checkdis()
print "distance: ", dis
# find the biggest contour (if detected)
if len(contours) > 0 and dis >= 15:
c = max(contours, key=cv2.contourArea)
M = cv2.moments(c)
if M['m00'] != 0:
cx = int(M['m10'] / M['m00'])
cy = int(M['m01'] / M['m00'])
cv2.line(crop_img, (cx, 0), (cx, 720), (255, 0, 0), 1)
cv2.line(crop_img, (0, cy), (1280, cy), (255, 0, 0), 1)
cv2.drawContours(crop_img, contours, -1, (0, 255, 0), 1)
if cx >= 120:
print "Turn Right ", cx
car_dir.turn_right()
motor.forward()
if cx < 120 and cx > 50:
print "On Track! ", cx
car_dir.home()
motor.forward()
if cx <= 50:
print "Turn Left! ", cx
car_dir.turn_left()
motor.forward()
else:
if dis < 15:
print "something blocking me"
car_dir.home()
motor.stop()
else:
print "I don't see the line"
car_dir.home()
motor.backward()
# display the resulting frame
cv2.namedWindow('frame', cv2.WINDOW_NORMAL)
cv2.imshow('frame', crop_img)
# exit condition after passing certain amount of stops or 'q' is pressed
if stopCount == stops or (cv2.waitKey(1) & 0xFF == ord('q')):
# clean up
motor.stop()
distance_detect.cleanup()
cv2.destroyAllWindows()
break
def run(self):
while True:
print 'Waiting for connection...'
tcpCliSock, addr = tcpSerSock.accept()
print '...connected from :', addr
while True:
data = ''
data = tcpCliSock.recv(BUFSIZ)
if not data:
break
if data == ctrl_cmd[0]:
print 'motor moving forward'
motor.forward()
elif data == ctrl_cmd[1]:
print 'recv backward cmd'
motor.backward()
elif data == ctrl_cmd[2]:
print 'recv left cmd'
car_dir.turn_left()
elif data == ctrl_cmd[3]:
print 'recv right cmd'
car_dir.turn_right()
elif data == ctrl_cmd[6]:
print 'recv home cmd'
car_dir.home()
elif data == ctrl_cmd[4]:
print 'recv stop cmd'
motor.ctrl(0)
elif data == ctrl_cmd[5]:
print 'read cpu temp...'
temp = cpu_temp.read()
tcpCliSock.send('[%s] %0.2f' % (ctime(), temp))
elif data == ctrl_cmd[8]:
print 'recv x+ cmd'
video_dir.move_increase_x()
elif data == ctrl_cmd[9]:
print 'recv x- cmd'
video_dir.move_decrease_x()
elif data == ctrl_cmd[10]:
print 'recv y+ cmd'
video_dir.move_increase_y()
elif data == ctrl_cmd[11]:
print 'recv y- cmd'
video_dir.move_decrease_y()
elif data == ctrl_cmd[12]:
print 'home_x_y'
video_dir.home_x_y()
elif data[0:5] == 'speed':
print data
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
if spd < 24:
spd = 24
motor.setSpeed(spd)
elif data[0:5] == 'turn=':
print 'data =', data
angle = data.split('=')[1]
try:
angle = int(angle)
car_dir.turn(angle)
except:
print 'Error: angle =', angle
elif data[0:8] == 'forward=':
print 'data =', data
spd = data[8:]
try:
spd = int(spd)
motor.forward(spd)
except:
print 'Error speed =', spd
elif data[0:9] == 'backward=':
print 'data =', data
spd = data.split('=')[1]
try:
spd = int(spd)
motor.backward(spd)
except:
print 'ERROR, speed =', spd
else:
print 'Command Error! Cannot recognize command: ' + data
tcpSerSock.close()
angle = int((pred / 2 + 0.5) * 170 + 35)
data = "turn=" + str(angle)
if lstop_detected:
motor.forward()
lstop_detected = False
if data == ctrl_cmd[0]:
print 'motor moving forward'
motor.forward()
elif data == ctrl_cmd[1]:
print 'recv backward cmd'
motor.backward()
elif data == ctrl_cmd[2]:
print 'recv left cmd'
car_dir.turn_left()
elif data == ctrl_cmd[3]:
print 'recv right cmd'
car_dir.turn_right()
elif data == ctrl_cmd[6]:
print 'recv home cmd'
car_dir.home()
elif data == ctrl_cmd[4]:
print 'recv stop cmd'
motor.ctrl(0)
elif data == ctrl_cmd[5]:
print 'read cpu temp...'
temp = cpu_temp.read()
elif data == ctrl_cmd[8]:
print 'recv x+ cmd'
video_dir.move_increase_x()
elif data == ctrl_cmd[9]:
def steer_left(self):
sfsteering.turn_left()
return True
def process_request(data):
# Analyze the command received and control the car accordingly.
if not data:
return "cmd not understood"
if data == ctrl_cmd[0]:
print('motor moving forward')
motor.forward()
elif data == ctrl_cmd[1]:
print('recv backward cmd')
motor.backward()
elif data == ctrl_cmd[2]:
print('recv left cmd')
car_dir.turn_left()
elif data == ctrl_cmd[3]:
print('recv right cmd')
car_dir.turn_right()
elif data == ctrl_cmd[6]:
print('recv home cmd')
car_dir.home()
elif data == ctrl_cmd[4]:
print('recv stop cmd')
motor.ctrl(0)
elif data == ctrl_cmd[5]:
print('read cpu temp...')
temp = cpu_temp.read()
tcpCliSock.send('[%s] %0.2f' % (ctime(), temp))
elif data == ctrl_cmd[8]:
print('recv x+ cmd')
video_dir.move_increase_x()
elif data == ctrl_cmd[9]:
print('recv x- cmd')
video_dir.move_decrease_x()
elif data == ctrl_cmd[10]:
print('recv y+ cmd')
video_dir.move_increase_y()
elif data == ctrl_cmd[11]:
print('recv y- cmd')
video_dir.move_decrease_y()
elif data == ctrl_cmd[12]:
print('home_x_y')
video_dir.home_x_y()
elif data[0:5] == 'speed': # Change the speed
print(data)
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)
if spd < 24:
spd = 24
motor.setSpeed(spd)
elif data[0:5] == 'turn=': # Turning Angle
print('data =', data)
angle = data.split('=')[1]
try:
angle = int(angle)
car_dir.turn(angle)
except:
print('Error: angle =', angle)
elif data[0:8] == 'forward=':
print('data =', data)
spd = data[8:]
try:
spd = int(spd)
motor.forward(spd)
except:
print('Error speed =', spd)
elif data[0:9] == 'backward=':
print('data =', data)
spd = data.split('=')[1]
try:
spd = int(spd)
motor.backward(spd)
except:
print('ERROR, speed =', spd)
else:
print('Command Error! Cannot recognize command: ' + data)
def CarController(socket):
while True:
print 'Waiting for connection to car controller service...'
# Waiting for connection. Once receiving a connection, the function accept() returns a separate
# client socket for the subsequent communication. By default, the function accept() is a blocking
# one, which means it is suspended before the connection comes.
clientSocket, addr = socket.accept()
print '...connected to car controller service:', addr # Print the IP address of the client connected with the server.
lastCmd = ''
while True:
msgs = ''
recdata = clientSocket.recv(BUFSIZ)
# Receive data sent from the client.
# Analyze the command received and control the car accordingly.
msgs = recdata.split(';')
#print("Received", len(msgs), "new messages")
for data in msgs:
if not data:
break
if lastCmd == data:
print("Last Command:", lastCmd, "Current Data:", data,
"Ignoring")
break
if data == ctrl_cmd[0]:
print 'motor moving forward'
motor.forward()
elif data == ctrl_cmd[1]:
print 'recv backward cmd'
motor.backward()
elif data == ctrl_cmd[2]:
print 'recv left cmd'
car_dir.turn_left()
elif data == ctrl_cmd[3]:
print 'recv right cmd'
car_dir.turn_right()
elif data == ctrl_cmd[6]:
print 'recv home cmd'
car_dir.home()
elif data == ctrl_cmd[4]:
print 'recv stop cmd'
motor.ctrl(0)
elif data == ctrl_cmd[5]:
print 'read cpu temp...'
temp = cpu_temp.read()
tcpCliSock.send('[%s] %0.2f' % (ctime(), temp))
elif data[0:5] == 'speed':
#print data
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
if spd < 24:
spd = 24
motor.setSpeed(spd)
elif data[0:8] == 'network=':
print 'network =', data
spd = data.split('=')[1]
try:
spd = int(spd)
os.system('sudo tc qdisc del dev wlan0 root')
os.system(
'sudo tc qdisc add dev wlan0 root netem delay {0}ms'
.format(spd))
except:
print 'ERROR , speed =', spd
elif data[0:7] == 'offset=':
print 'offset called, data = ', data
offset = int(data[7:]) + 28
car_dir.calibrate(offset)
elif data[0:8] == 'forward=':
#print 'data =', data
spd = data.split('=')[1]
try:
spd = int(spd)
motor.setSpeed(spd)
motor.forward()
except:
print 'Error speed =', spd
elif data[0:9] == 'backward=':
#print 'data =', data
spd = data.split('=')[1]
try:
spd = int(spd)
motor.setSpeed(spd)
motor.backward()
except:
print 'ERROR , speed =', spd
else:
print 'Command Error! Cannot recognize command: ' + data
def mover():
#Init variables for the control loop
counter = 1
bDriving = False
bEndLoops = False
sRobotDirection = Direction()
rospy.init_node('mover', anonymous=True)
rospy.Subscriber("motioncommand", String,
sRobotDirection.direction_callback)
scooper_dir.setup(busnum=busnum)
car_dir.setup(busnum=busnum)
# Initialize the Raspberry Pi GPIO connected to the DC motor.
motor.setup(busnum=busnum)
#video_dir.home_x_y()
#scooper_dir.servo_test ()
car_dir.home()
# Loop to wait for received commands.
while (bEndLoops == False):
# Loop to perform movement controls while input received.
while (bEndLoops == False):
data = sRobotDirection.directionMsg
# Analyze the command received and control the car accordingly.
#doAction (data, counter)
#counter += 1
#print counter
if not data:
break
if data == ctrl_cmd[0]:
print 'ELFF WILL DRIVE'
counter += 1
print counter
try:
spd = 20
#print "Moving forward with speed!"
motor.forwardWithSpeed(spd)
except:
print 'Error speed =' + str(spd)
elif data == ctrl_cmd[1]:
print 'ELFF WILL REVERSE'
counter += 1
print counter
try:
spd = 20
#print "Moving backward with speed!"
motor.backwardWithSpeed(spd)
except:
print 'Error speed =' + str(spd)
elif data == ctrl_cmd[2]:
print 'ELFF WILL GO LEFT'
counter += 1
car_dir.turn_left()
elif data == ctrl_cmd[3]:
print 'ELFF WILL GO RIGHT'
counter += 1
car_dir.turn_right()
elif data == ctrl_cmd[4]:
print 'ELFF WILL SCOOP'
scooper_dir.home_x_y()
scooper_dir.doScoop()
scooper_dir.home_x_y()
# Used with publisher.py only as a debug method.
elif data == ctrl_cmd[5]:
print 'ELFF WILL RESET POSITION'
scooper_dir.home_x_y()
car_dir.home()
motor.ctrl(0)
bEndLoops = True
elif data == ctrl_cmd[6]:
print 'ELFF WILL STOP'
counter += 1
print counter
try:
spd = 0
motor.forwardWithSpeed(spd)
except:
print 'Error speed =' + str(spd)
else:
print 'Waiting to receive a command...'
def turn_left(): car_dir.turn_left()
data = tcpCliSock.recv(BUFSIZ) # Receive data sent from the client.
# Analyze the command received and control the car accordingly.
if not data:
break
print('data : ' + str(data))
elif data == ctrl_cmd[0]:
motor.forward()
elif data == ctrl_cmd[1]:
motor.backward()
elif data == ctrl_cmd[2]:
car_dir.turn_left()
elif data == ctrl_cmd[3]:
car_dir.turn_right()
elif data == ctrl_cmd[6]:
car_dir.home()
elif data == ctrl_cmd[4]:
motor.ctrl(0)
elif data == ctrl_cmd[5]:
temp = cpu_temp.read()
tcpCliSock.send('[%s] %0.2f' % (ctime(), temp))
elif data == ctrl_cmd[8]:
def turn_left(self):
"""Front wheels will turn left, regardless of whether it
is moving or not."""
car_dir.turn_left()
