import sys
import logging
from database_service import DatabaseService
from mqtt_service import MqttService
from flask_server import WebService
def config_default_logger():
logger = logging.getLogger()
logger.setLevel(logging.DEBUG)
handler = logging.StreamHandler(sys.stdout)
log_format = logging.Formatter(
'%(asctime)s * %(name)s - %(levelname)s - %(message)s')
handler.setFormatter(log_format)
logger.addHandler(handler)
return logger
if __name__ == '__main__':
logger = config_default_logger()
db_client = DatabaseService(logger)
mqtt = MqttService(logger, db_client)
web_server = WebService(logger, db_client)
mqtt.start()
web_server.start()
import json
import time
import threading
import RPi.GPIO as GPIO
from mqtt_service import MqttService
from nrf24l01 import NRF24L01
from arm_controller import ArmController
from config import *
rf24 = NRF24L01()
mqtt = MqttService()
arm = ArmController()
robot = False
trashbin = False
def button_press():
global trashbin
trashbin = not trashbin
if trashbin:
for _ in range(3):
rf24.write(b'11')
rf24.write(b'21')
rf24.write(b'31')
time.sleep(0.1)
else:
class Simulator():
def on(self):
self.mqtt = MqttService()
self.mqtt.on()
def rc(self):
print("init rc")
self.mqtt.publish(
'/654baff5-cd72-472a-859a-925afe5056f3/transprotobot/uil/rc/enable',
1)
self.mqtt.publish(
'/654baff5-cd72-472a-859a-925afe5056f3/transprotobot/uil/rc/direction',
0)
self.mqtt.publish(
'/654baff5-cd72-472a-859a-925afe5056f3/transprotobot/uil/rc/velocity',
0)
self.mqtt.publish(
'/654baff5-cd72-472a-859a-925afe5056f3/transprotobot/uil/rc/angle',
0)
time.sleep(2)
self.mqtt.publish(
'/654baff5-cd72-472a-859a-925afe5056f3/transprotobot/uil/rc/direction',
1)
self.mqtt.publish(
'/654baff5-cd72-472a-859a-925afe5056f3/transprotobot/uil/rc/velocity',
1)
self.mqtt.publish(
'/654baff5-cd72-472a-859a-925afe5056f3/transprotobot/uil/rc/angle',
1)
time.sleep(6)
self.mqtt.publish(
'/654baff5-cd72-472a-859a-925afe5056f3/transprotobot/uil/rc/velocity',
0)
self.mqtt.publish(
'/654baff5-cd72-472a-859a-925afe5056f3/transprotobot/uil/rc/angle',
-1)
time.sleep(6)
self.mqtt.publish(
'/654baff5-cd72-472a-859a-925afe5056f3/transprotobot/uil/rc/velocity',
1)
self.mqtt.publish(
'/654baff5-cd72-472a-859a-925afe5056f3/transprotobot/uil/rc/angle',
0)
time.sleep(6)
self.mqtt.publish(
'/654baff5-cd72-472a-859a-925afe5056f3/transprotobot/uil/rc/direction',
0)
time.sleep(6)
self.mqtt.publish(
'/654baff5-cd72-472a-859a-925afe5056f3/transprotobot/uil/rc/direction',
2)
self.mqtt.publish(
'/654baff5-cd72-472a-859a-925afe5056f3/transprotobot/uil/rc/velocity',
1)
self.mqtt.publish(
'/654baff5-cd72-472a-859a-925afe5056f3/transprotobot/uil/rc/angle',
0)
time.sleep(6)
self.mqtt.publish(
'/654baff5-cd72-472a-859a-925afe5056f3/transprotobot/uil/rc/direction',
0)
def run(self):
print("init")
self.mqtt.publish(
'/654baff5-cd72-472a-859a-925afe5056f3/transprotobot/uil/rc/enable',
1)
self.mqtt.publish(
'/654baff5-cd72-472a-859a-925afe5056f3/transprotobot/uil/rc/direction',
0)
self.mqtt.publish(
'/654baff5-cd72-472a-859a-925afe5056f3/transprotobot/uil/rc/velocity',
0)
self.mqtt.publish(
'/654baff5-cd72-472a-859a-925afe5056f3/transprotobot/uil/rc/angle',
0)
print("pos")
self.mqtt.publish(
'/654baff5-cd72-472a-859a-925afe5056f3/transprotobot/sil/gps/latitude',
47.031944)
self.mqtt.publish(
'/654baff5-cd72-472a-859a-925afe5056f3/transprotobot/sil/gps/longitude',
9.083533)
time.sleep(2)
print("pos")
self.mqtt.publish(
'/654baff5-cd72-472a-859a-925afe5056f3/transprotobot/sil/gps/latitude',
47.031891)
self.mqtt.publish(
'/654baff5-cd72-472a-859a-925afe5056f3/transprotobot/sil/gps/longitude',
9.083556)
time.sleep(2)
print("pos")
self.mqtt.publish(
'/654baff5-cd72-472a-859a-925afe5056f3/transprotobot/sil/gps/latitude',
47.031844)
self.mqtt.publish(
'/654baff5-cd72-472a-859a-925afe5056f3/transprotobot/sil/gps/longitude',
9.083570)
time.sleep(2)
print("pos")
self.mqtt.publish(
'/654baff5-cd72-472a-859a-925afe5056f3/transprotobot/sil/gps/latitude',
47.031798)
self.mqtt.publish(
'/654baff5-cd72-472a-859a-925afe5056f3/transprotobot/sil/gps/longitude',
9.083597)
time.sleep(2)
print("pos")
self.mqtt.publish(
'/654baff5-cd72-472a-859a-925afe5056f3/transprotobot/sil/gps/latitude',
47.031745)
self.mqtt.publish(
'/654baff5-cd72-472a-859a-925afe5056f3/transprotobot/sil/gps/longitude',
9.083629)
time.sleep(2)
print("pos")
self.mqtt.publish(
'/654baff5-cd72-472a-859a-925afe5056f3/transprotobot/sil/gps/latitude',
47.031766)
self.mqtt.publish(
'/654baff5-cd72-472a-859a-925afe5056f3/transprotobot/sil/gps/longitude',
9.083707)
time.sleep(2)
print("pos")
self.mqtt.publish(
'/654baff5-cd72-472a-859a-925afe5056f3/transprotobot/sil/gps/latitude',
47.031788)
self.mqtt.publish(
'/654baff5-cd72-472a-859a-925afe5056f3/transprotobot/sil/gps/longitude',
9.083771)
time.sleep(2)
print("pos")
self.mqtt.publish(
'/654baff5-cd72-472a-859a-925afe5056f3/transprotobot/sil/gps/latitude',
47.031807)
self.mqtt.publish(
'/654baff5-cd72-472a-859a-925afe5056f3/transprotobot/sil/gps/longitude',
9.083816)
time.sleep(2)
print("pos")
self.mqtt.publish(
'/654baff5-cd72-472a-859a-925afe5056f3/transprotobot/sil/gps/latitude',
47.031860)
self.mqtt.publish(
'/654baff5-cd72-472a-859a-925afe5056f3/transprotobot/sil/gps/longitude',
9.083771)
time.sleep(2)
print("pos")
self.mqtt.publish(
'/654baff5-cd72-472a-859a-925afe5056f3/transprotobot/sil/gps/latitude',
47.031910)
self.mqtt.publish(
'/654baff5-cd72-472a-859a-925afe5056f3/transprotobot/sil/gps/longitude',
9.083729)
time.sleep(2)
self.mqtt.publish(
'/654baff5-cd72-472a-859a-925afe5056f3/transprotobot/sil/gps/latitude',
47.031965)
print("pos")
self.mqtt.publish(
'/654baff5-cd72-472a-859a-925afe5056f3/transprotobot/sil/gps/longitude',
9.083692)
time.sleep(2)
self.mqtt.publish(
'/654baff5-cd72-472a-859a-925afe5056f3/transprotobot/sil/gps/latitude',
47.031962)
print("pos")
self.mqtt.publish(
'/654baff5-cd72-472a-859a-925afe5056f3/transprotobot/sil/gps/longitude',
9.083610)
time.sleep(2)
print("pos")
self.mqtt.publish(
'/654baff5-cd72-472a-859a-925afe5056f3/transprotobot/sil/gps/latitude',
47.031950)
self.mqtt.publish(
'/654baff5-cd72-472a-859a-925afe5056f3/transprotobot/sil/gps/longitude',
9.083551)
time.sleep(2)
print("pos")
self.mqtt.publish(
'/654baff5-cd72-472a-859a-925afe5056f3/transprotobot/sil/gps/latitude',
47.031944)
self.mqtt.publish(
'/654baff5-cd72-472a-859a-925afe5056f3/transprotobot/sil/gps/longitude',
9.083533)
time.sleep(1)
print("end")
def on(self):
self.mqtt = MqttService()
self.mqtt.on()
def on_mqtt_message(client, userdata, message):
global robot_status
status = str(message.payload.decode("utf-8"))
robot_status = status
if __name__ == '__main__':
# Initialize frame rate calculation
frame_rate_calc = 1
freq = cv2.getTickFrequency()
font = cv2.FONT_HERSHEY_SIMPLEX
object_detector = ObjectDetect()
mqtt = MqttService()
lcd = PCD8544()
# Initialize Picamera and grab reference to the raw capture
camera = PiCamera()
camera.resolution = (IM_WIDTH, IM_HEIGHT)
camera.framerate = 1
rawCapture = PiRGBArray(camera, size=(IM_WIDTH, IM_HEIGHT))
rawCapture.truncate(0)
for frame1 in camera.capture_continuous(rawCapture,
format="bgr",
use_video_port=True):
t1 = cv2.getTickCount()
# Acquire frame and expand frame dimensions to have shape: [1, None, None, 3]