class Gas:
def __init__(self, pcf8591, ain):
self.__pcf8591 = pcf8591
self.__ain = ain
self.buzzer = ActiveBuzzer(35)
self.rgbLed = RgbLed(redpin=16)
def read(self):
value = self.__pcf8591.read(self.__ain)
if value > 205:
self.buzzer.on()
self.rgbLed.red()
else:
self.buzzer.off()
self.rgbLed.off()
return value
class SensingRover:
def __init__(self):
self.frontTireAngle = 75
self.pcf8591 = Pcf8591(0x48)
self.pca9685 = Pca9685()
self.buzzer = ActiveBuzzer(35)
self.dcmotor = DcMotor(self.pca9685)
self.gas = Gas(self.pcf8591, ain=2) # 클래스 생성자에서 스레드 생성
self.hcsr = HcSr04(trigpin=40, echopin=38) # 클래스 생성자에서 스레드 생성
self.laser = Laser(37)
self.photo = Photoresistor(self.pcf8591, 0) # 클래스 생성자에서 스레드 생성
self.led = RgbLed(redpin=16, greenpin=18, bluepin=22)
self.servo1 = Sg90(self.pca9685, 0) # 카메라 서보1
self.servo2 = Sg90(self.pca9685, 1) # 카메라 서보2
self.servo3 = Sg90(self.pca9685, 8) # 초음파 서보
self.servo4 = Sg90(self.pca9685, 9) # 앞바퀴 서보
self.thermistor = Thermistor(self.pcf8591, 1) # 클래스 생성자에서 스레드 생성
self.tracker = Tracker(32) # 클래스 생성자에서 스레드 생성
self.lcd = Lcd1602(0x27)
def sensorMessage(self):
message = {}
message["buzzer"] = self.buzzer.state # on, off
message["dcmotor_speed"] = str(self.dcmotor.speed) # pwm값
message["dcmotor_dir"] = self.dcmotor.direction # forward, backward
message["gas"] = str(self.gas.gaslevel) # 계속 변화하는 가스 수치 값
message["distance"] = str(self.hcsr.dist) # 계속 변화하는 거리값
message["laser"] = self.laser.state # on, off
message["photo"] = str(self.photo.photolevel) # 계속 변화하는 조도값
message["led"] = self.led.state # red, green, blue
message["servo1"] = str(self.servo1.cur_angle) # 카메라 서보1
message["servo2"] = str(self.servo2.cur_angle) # 카메라 서보2
message["servo3"] = str(self.servo3.cur_angle) # 초음파 서보
message["servo4"] = str(self.servo4.cur_angle) # 앞바퀴 서보
message["temperature"] = str(
self.thermistor.cur_temp) # 계속 변화하는 온도 ( 지금은 1초 주기인데 늘려도 괜찮을듯)
message[
"tracker"] = self.tracker.state # black , white 수시로 변경되서 얘도 스레딩처리
message = json.dumps(message)
return message
def cameraMessage(self):
message = self.camera.message
return message
# if elif 조건에 없으면 아무동작 안하게 만들기
def write(self, message, topic):
# ============ 형욱 예나 ===============
if topic.__contains__("/servo3"):
if message.isdecimal():
self.servo3.angle(int(message))
if topic.__contains__("/laser"):
if message == "on":
self.laser.lazerOn()
elif message == "off":
self.laser.lazerOff()
if topic.__contains__("/speed"):
if message.isdecimal():
self.dcmotor.setSpeed(int(message))
if topic.__contains__("/direction"):
if message == "forward":
self.dcmotor.forward()
elif message == "backward":
self.dcmotor.backward()
elif message == "stop":
self.dcmotor.stop()
if topic.__contains__("/lcd"):
if topic.__contains__("/lcd1"):
self.lcd.write(0, 0, message)
elif topic.__contains__("/lcd2"):
self.lcd.write(0, 1, message)
if topic.__contains__("/buzzer"):
if message == "on":
self.buzzer.on()
elif message == "off":
self.buzzer.off()
else:
pass
# =============== 성진 휘래 =================
if message == 'CameraUp':
angleud = self.servo1.cur_angle
angleud += 5
if angleud > 180:
angleud = 180
self.servo1.angle(angleud)
if message == 'CameraDown':
angleud = self.servo1.cur_angle
angleud -= 5
if angleud < 0:
angleud = 0
self.servo1.angle(angleud)
if message == 'CameraLeft':
anglelr = self.servo2.cur_angle
anglelr += 5
if anglelr > 145:
anglelr = 145
self.servo2.angle(anglelr)
if message == 'CameraRight':
anglelr = self.servo2.cur_angle
anglelr -= 5
if anglelr < 35:
anglelr = 35
self.servo2.angle(anglelr)
if message == 'CameraCenter':
self.servo1.angle(30)
self.servo2.angle(90)
if message == 'LedRed':
self.led.red()
if message == 'LedGreen':
self.led.green()
if message == 'LedBlue':
self.led.blue()
if message == 'LedOff':
self.led.off()
# ========== 상민 찬혁 ===========
if topic.__contains__("/order"):
# 좌회전
if message == "37":
print("좌회전")
self.frontTireAngle -= 10
if self.frontTireAngle < 0:
self.frontTireAngle = 0
self.servo4.angle(self.frontTireAngle)
# 우회전
if message == "39":
self.frontTireAngle += 10
if self.frontTireAngle > 180:
self.frontTireAngle = 180
self.servo4.angle(self.frontTireAngle)
# 정면
if message == "97":
self.frontTireAngle = 90
self.servo4.angle(self.frontTireAngle)
if message == "13":
self.buzzer.on()
class MqttSubscriber:
def __init__(self, brokerIp=None, brokerPort=1883, topic=None):
self.__brokerIp = brokerIp
self.__brokerPort = brokerPort
self.__topic = topic
# mqtt의 Client 객체 생성
self.__client = mqtt.Client()
# 콜백 함수 설정
self.__client.on_connect = self.__on_connect
self.__client.on_disconnect = self.__on_disconnect
# 메시지를 받았을때 자동을 호출되는 콜백함수
self.__client.on_message = self.__on_message
# 센서 객체 생성
self.rgbLed = RgbLed(redpin=16, greenpin=18, bluepin=22)
self.pca9685 = Pca9685()
self.buzzer = ActiveBuzzer(35)
self.laser = Laser(37)
self.laser2 = Laser(29)
self.sg90direction = Sg90(self.pca9685, channel=15)
self.sg90sensor = Sg90(self.pca9685, channel=14)
self.sg90camera_vertical = Sg90(self.pca9685, channel=13)
self.sg90camera_horizontal = Sg90(
self.pca9685, channel=8) #12번인데 지금 개박살나서 8번으로 비활성화 해놨어요
self.lcd1602 = Lcd1602(0x27)
# 서보모터 각도 고정값
self.camera_angle_vertical = 10
self.camera_angle_horizontal = 70
self.direction_angle = 90
self.sensor_angle = 70
# mqtt 연결에 성공했을 경우 자동적으로 호출되는 콜백함수
def __on_connect(self, client, userdata, flags, rc):
print('** connection **')
self.__client.subscribe(self.__topic, qos=0)
# mqtt 연결이 끊어졌을 경우 자동적으로 호출되는 콜백함수
def __on_disconnect(self, client, userdata, rc):
print('** disconnection **')
# message가 도착했을 때 자동으로 호출되는 콜백함수
def __on_message(self, client, userdata, message):
# self.status = str(message.payload, encoding='UTF-8')
# 각각의 토픽에 따라 메시지 내용 처리방식
# print(str(message.payload, encoding='UTF-8'))
if message.topic == '/Control/RgbLed':
if str(message.payload, encoding='UTF-8') == 'ledOn':
self.rgbLed.red()
elif str(message.payload, encoding='UTF-8') == 'ledOff':
self.rgbLed.off()
if message.topic == '/Control/Direction/Camera':
if str(message.payload, encoding='UTF-8') == 'down':
self.camera_angle_vertical -= 4
if self.camera_angle_vertical < 0:
self.camera_angle_vertical = 0
self.sg90camera_vertical.angle(self.camera_angle_vertical)
elif str(message.payload, encoding='UTF-8') == 'up':
self.camera_angle_vertical += 4
if self.camera_angle_vertical > 120:
self.camera_angle_vertical = 120
self.sg90camera_vertical.angle(self.camera_angle_vertical)
elif str(message.payload, encoding='UTF-8') == 'right':
self.camera_angle_horizontal -= 4
if self.camera_angle_horizontal < 10:
self.camera_angle_horizontal = 10
self.sg90camera_horizontal.angle(self.camera_angle_horizontal)
elif str(message.payload, encoding='UTF-8') == 'left':
self.camera_angle_horizontal += 4
if self.camera_angle_horizontal > 170:
self.camera_angle_horizontal = 170
self.sg90camera_horizontal.angle(self.camera_angle_horizontal)
elif str(message.payload, encoding='UTF-8') == 'stop':
self.sg90camera_vertical.angle(self.camera_angle_vertical)
elif str(message.payload, encoding='UTF-8') == 'horizonstop':
self.sg90camera_horizontal.angle(self.camera_angle_horizontal)
if message.topic == '/Control/Laser':
if str(message.payload, encoding='UTF-8') == 'on':
self.laser.on()
self.laser2.on()
elif str(message.payload, encoding='UTF-8') == 'off':
self.laser.off()
self.laser2.off()
if message.topic == '/Control/Direction/FrontWheel':
if str(message.payload, encoding='UTF-8') == 'left':
self.direction_angle -= 3
self.sensor_angle += 3
if self.direction_angle < 60:
self.direction_angle = 60
if self.sensor_angle > 100:
self.sensor_angle = 100
self.sg90direction.angle(self.direction_angle)
self.sg90sensor.angle(self.sensor_angle)
elif str(message.payload, encoding='UTF-8') == 'right':
self.direction_angle += 3
self.sensor_angle -= 3
if self.direction_angle > 120:
self.direction_angle = 120
if self.sensor_angle < 40:
self.sensor_angle = 40
self.sg90direction.angle(self.direction_angle)
self.sg90sensor.angle(self.sensor_angle)
elif str(message.payload, encoding='UTF-8') == 'stop':
self.sg90direction.angle(self.direction_angle)
self.sg90sensor.angle(self.sensor_angle)
if message.topic == '/Control/Buzzer':
if str(message.payload, encoding='UTF-8') == 'buzzerOn':
self.buzzer.on()
elif str(message.payload, encoding='UTF-8') == 'buzzerOff':
self.buzzer.off()
if message.topic == '/Control/Lcd':
received_message = str(message.payload, encoding='UTF-8')
self.lcd1602.write(0, 0, 'Received Message')
self.lcd1602.write(0, 1, '>' + received_message)
if message.topic == '/Control/imagecapture':
videoCapture = cv2.VideoCapture(0)
if videoCapture.isOpened():
retval, frame = videoCapture.read()
img = np.copy(frame)
cv2.imwrite("C:/Temp" + str(datetime.now()) + ".jpg", img)
# subscribe 메소드를 스레드방식으로 시작하는 메소드
def start(self):
thread = threading.Thread(target=self.__subscribe)
thread.start()
# mqtt client에 구독자로서 연결
def __subscribe(self):
self.__client.connect(self.__brokerIp, self.__brokerPort)
self.__client.loop_forever()
# 강제적으로 연결 종료
def stop(self):
self.__client.unsubscribe(self.__topic)
self.__client.disconnect()
class SensingRover:
def __init__(self):
self.pcf8591 = Pcf8591(0x48)
self.pca9685 = Pca9685()
self.buzzer = ActiveBuzzer(35)
self.dcmotor = DcMotor(self.pca9685)
self.gas = Gas(self.pcf8591, ain=2) # 클래스 생성자에서 스레드 생성
self.hcsr = HcSr04(trigpin=40, echopin=38) # 클래스 생성자에서 스레드 생성
self.laser = Laser(37)
self.photo = Photoresistor(self.pcf8591, 0) # 클래스 생성자에서 스레드 생성
self.led = RgbLed(redpin=16, greenpin=18, bluepin=22)
self.servo1 = Sg90(self.pca9685, 0) # 카메라 서보1
self.servo2 = Sg90(self.pca9685, 1) # 카메라 서보2
self.servo3 = Sg90(self.pca9685, 8) # 초음파 서보
self.servo4 = Sg90(self.pca9685, 9) # 앞바퀴 서보
self.thermistor = Thermistor(self.pcf8591, 1) # 클래스 생성자에서 스레드 생성
self.tracker = Tracker(32) # 클래스 생성자에서 스레드 생성
self.lcd = Lcd1602(0x27)
def sensorMessage(self): ################## 이름 변경 message -> sensorMessage
message = {}
message["buzzer"] = self.buzzer.state # on, off
message["dcmotor_speed"] = str(self.dcmotor.speed) # pwm값
message["dcmotor_dir"] = self.dcmotor.direction # forward, backward
message["gas"] = str(self.gas.gaslevel) # 계속 변화하는 가스 수치 값
message["distance"] = str(self.hcsr.dist) # 계속 변화하는 거리값
message["laser"] = self.laser.state # on, off
message["photo"] = str(self.photo.photolevel) # 계속 변화하는 조도값
message["led"] = self.led.state # red, green, blue
message["servo1"] = str(self.servo1.cur_angle) # servo모터 각도
message["servo2"] = str(self.servo2.cur_angle)
message["servo3"] = str(self.servo3.cur_angle)
message["servo4"] = str(self.servo4.cur_angle)
message["temperature"] = str(
self.thermistor.cur_temp) # 계속 변화하는 온도 ( 지금은 1초 주기인데 늘려도 괜찮을듯)
message[
"tracker"] = self.tracker.state # black , white 수시로 변경되서 얘도 스레딩처리
message = json.dumps(message)
return message
def cameraMessage(self):
message = self.camera.message
return message
# if elif 조건에 없으면 아무동작 안하게 만들기
def write(self, message, topic):
if topic.__contains__("/servo3"):
if message.isdecimal():
self.servo3.angle(int(message))
if topic.__contains__("/laser"):
if message == "on":
self.laser.lazerOn()
elif message == "off":
self.laser.lazerOff()
if topic.__contains__("/speed"):
if message.isdecimal():
self.dcmotor.setSpeed(int(message))
if topic.__contains__("/direction"):
if message == "forward":
self.dcmotor.forward()
elif message == "backward":
self.dcmotor.backward()
elif message == "stop":
self.dcmotor.stop()
if topic.__contains__("/buzzer"):
if message == "on":
self.buzzer.on()
elif message == "off":
self.buzzer.off()
else:
pass
class ControllerMqttSubscriber:
def __init__(self, brokerIp=None, brokerPort=1883, topic=None):
self.__brokerIp = brokerIp
self.__brokerPort = brokerPort
self.__topic = topic
self.__client = mqtt.Client()
self.__client.on_connect = self.__on_connect
self.__client.on_disconnect = self.__on_disconnect
self.__client.on_message = self.__on_message
self.pca9685 = Pca9685()
self.dcMotorL = DCMotor(IN1=11, IN2=12, pca9685=self.pca9685, pwm=5)
self.dcMotorR = DCMotor(IN1=13, IN2=15, pca9685=self.pca9685, pwm=4)
self.sg90direction = Sg90(self.pca9685, channel=15)
self.sg90sensor = Sg90(self.pca9685, channel=14)
self.sg90camera_vertical = Sg90(self.pca9685, channel=13)
self.sg90camera_horizontal = Sg90(self.pca9685, channel=8)
# 속도 정보가 저장되는 싱글톤 객체 생성
self.singletonSpeed = SingletonSpeed()
# 모터의 기본 속도 정의
self.motorspeed = 0
self.camera_angle_vertical = 10
self.camera_angle_horizontal = 70
self.direction_angle = 90
self.sensor_angle = 70
self.laser1 = Laser(37)
self.laser2 = Laser(29)
self.buzzer = ActiveBuzzer(35)
self.rgbLed = RgbLed(redpin=16, greenpin=18, bluepin=22)
self.checkStatus = False
# 연결 되었을 때 자동으로 호출되는 콜백함수
def __on_connect(self, client, userdata, flags, rc):
print('** connection **')
self.__client.subscribe(self.__topic, qos=0)
# 연결이 끊겼을 때 자동으로 호출되는 콜백함수
def __on_disconnect(self, client, userdata, rc):
print('** disconnection **')
# 메시지가 도착했을 때 자동으로 호출되는 콜백함수
def __on_message(self, client, userdata, message):
# self.status = str(message.payload, encoding='UTF-8')
if message.topic == '/Controller/Move/Speed': # 모터 속도 설정
message = str(message.payload, encoding='UTF-8').split(':', -1)
axesValue = float(message[1]) * -1 # 컨트롤러 9번 값 받아와서(-1 ~ 1)
self.motorspeed = 2000 + int(
2000 * axesValue
) # 9번 값을 2000 곱한다음 2000에 더한다 = (-1 ~ 1) * 2000 + 2000 =(0 ~ 4000) 설정됨
if message.topic == '/Controller/Move/Forward':
message = str(message.payload, encoding='UTF-8').split(':', -1)
axesValue = abs(float(message[1]))
axesCalValue = int(4000 * axesValue**2)
if axesCalValue > self.motorspeed:
self.motorspeed = self.motorspeed
else:
self.motorspeed = axesCalValue
self.dcMotorR.setSpeed(self.motorspeed)
self.dcMotorL.setSpeed(self.motorspeed)
self.dcMotorR.forward()
self.dcMotorL.forward()
self.singletonSpeed.set_speed(self.motorspeed)
if message.topic == '/Controller/Move/Backward':
message = str(message.payload, encoding='UTF-8').split(':', -1)
axesValue = abs(float(message[1]))
axesCalValue = int(4000 * axesValue**2)
if axesCalValue > self.motorspeed:
self.motorspeed = self.motorspeed
else:
self.motorspeed = axesCalValue
self.dcMotorR.setSpeed(self.motorspeed)
self.dcMotorL.setSpeed(self.motorspeed)
self.dcMotorR.backward()
self.dcMotorL.backward()
self.singletonSpeed.set_speed(self.motorspeed)
if message.topic == '/Controller/Move/Stop':
self.motorspeed = 0
self.dcMotorR.setSpeed(self.motorspeed)
self.dcMotorL.setSpeed(self.motorspeed)
self.singletonSpeed.set_speed(self.motorspeed)
if message.topic == '/Controller/Move/Direction':
message = str(message.payload, encoding='UTF-8').split(':', -1)
axesValue = float(message[1])
direction_angle = int(30 * axesValue + 90)
self.sg90direction.angle(direction_angle)
#self.sg90sensor.angle(self.sensor_angle)
if message.topic == '/Controller/Sensor/Direction':
message = str(message.payload, encoding='UTF-8').split(':', -1)
axesValue = float(message[1]) * (-1)
sensor_angle = int(30 * axesValue + 70)
self.sg90sensor.angle(sensor_angle)
if message.topic == '/Controller/Camera/Direction':
message = str(message.payload, encoding='UTF-8').split(':', -1)
axesValue = round(float(message[1]), 1)
if axesValue == 0.1 or axesValue == 0.4 or axesValue == -0.1:
self.camera_angle_vertical -= 4
if self.camera_angle_vertical < 0:
self.camera_angle_vertical = 0
self.sg90camera_vertical.angle(self.camera_angle_vertical) #아래
if axesValue == -1.0 or axesValue == 1.0 or axesValue == -0.7:
self.camera_angle_vertical += 4
if self.camera_angle_vertical > 120:
self.camera_angle_vertical = 120
self.sg90camera_vertical.angle(self.camera_angle_vertical) #위
if axesValue == -0.4 or axesValue == -0.1 or axesValue == -7.0:
self.camera_angle_horizontal -= 4
if self.camera_angle_horizontal < 10:
self.camera_angle_horizontal = 10
self.sg90camera_horizontal.angle(
self.camera_angle_horizontal) #오른쪽
if axesValue == 0.7 or axesValue == 0.4 or axesValue == 1.0:
self.camera_angle_horizontal += 4
if self.camera_angle_horizontal > 170:
self.camera_angle_horizontal = 170
self.sg90camera_horizontal.angle(
self.camera_angle_horizontal) #왼쪽
if message.topic == '/Controller/Laser':
if str(message.payload, encoding='UTF-8') == 'on':
self.laser1.on()
self.laser2.on()
elif str(message.payload, encoding='UTF-8') == 'off':
self.laser1.off()
self.laser2.off()
if message.topic == '/Controller/Buzzer':
if str(message.payload, encoding='UTF-8') == 'on':
self.buzzer.on()
elif str(message.payload, encoding='UTF-8') == 'off':
self.buzzer.off()
if message.topic == '/Controller/RGBLed':
if str(message.payload, encoding='UTF-8') == 'redon':
self.rgbLed.red()
elif str(message.payload, encoding='UTF-8') == 'greenon':
self.rgbLed.green()
elif str(message.payload, encoding='UTF-8') == 'blueon':
self.rgbLed.blue()
elif str(message.payload, encoding='UTF-8') == 'off':
self.rgbLed.off()
# subscribe 메소드를 스레드방식으로 시작하는 메소드
def start(self):
thread = threading.Thread(target=self.__subscribe)
thread.start()
# mqtt client에 구독자로서 연결
def __subscribe(self):
self.__client.connect(self.__brokerIp, self.__brokerPort)
self.__client.loop_forever()
# 강제적으로 연결 종료
def stop(self):
self.__client.unsubscribe(self.__topic)
self.__client.disconnect()