def backM():
#주차할 경우, 빼내올 경우
finsh = False
try:
while (True):
#대기 주차장이 올라갈때 까지
data1 = client.sendNrecv(State.name() + ' : up')
if (int(data1) > 0):
print((State.park_number() % 10), '층 입니다')
gpio.time.sleep(1)
break
gpio.time.sleep(1)
liner.liner_start()
while (True):
#리니어 모터가 끝까지 나아갈 떄까지 2초 간격
liner.setMoterControl(99, 1)
gpio.time.sleep(12)
data2 = client.sendNrecv(State.name() + ' : set')
if (int(data2) > 0):
liner.setMoterControl(0, 5)
gpio.time.sleep(1)
break
while (True):
#서보 모터 위로
servo.setMoterControl(1)
break
i = 0 #변수 : 줄어들 시간
while (True):
#리니어 모터가 줄어들 떄까지 2초 간격
liner.setMoterControl(99, 2)
if (i > 5):
print(data2, '자동차 빼기 완료')
break
i = i + 1
liner.liner_stop()
active('out')
while (True):
#대기 주차장이 내려갈떄 까지
data3 = client.sendNrecv(State.name() + ' : down')
if (int(data3) > 0):
print('주차 빼기 과정 완료')
gpio.time.sleep(0.5)
break
gpio.time.sleep(1)
finsh = True
except Exception as e:
print('예외가 발생했습니다.', e)
return finsh
def arrive(number, value):
while (True):
data = client.sendNrecv(State.name() + ' : arrive ' + value + ' = ' +
number)
if (int(data) > 0):
break
gpio.time.sleep(0.5)
def openM():
while (True):
data = client.sendNrecv(State.name() + ' : open')
if (int(data) > 0):
State.stateChange()
break
gpio.time.sleep(0.5)
def checkM():
while (True):
data = client.sendNrecv(State.name() + ' : check')
if (data.find('Ischecking') < 0):
State.setCarNumber(data)
State.stateChange()
break
gpio.time.sleep(0.5)
def onM():
_type = False
arinit()
while (True):
data = client.sendNrecv(State.name() + ' : getOsend')
if (int(data) > 0):
State.setCarType(1)
break
else:
jodo_data = jodo.jodo_data_d0()
if (jodo_data == 1):
print('자동차 탑재 완료')
servo.setMoterControl(1)
gpio.time.sleep(2)
break
gpio.time.sleep(1)
if (State.car_type() == 0):
while (True):
data = client.sendNrecv(State.name() + ' : on1')
if (int(data) > 0):
State.stateChange()
break
gpio.time.sleep(0.5)
elif (State.car_type() == 1):
while (True):
data = client.sendNrecv(State.name() + ' : on2')
if (data.find('IsOn') < 0):
State.stateChange(2)
State.setCarNumber(data)
print("자동차 뺴기")
break
else:
break
def active(value):
while (True):
data = client.sendNrecv(State.name() + ' : active = ' + value)
if (int(data) > 0):
break
gpio.time.sleep(0.5)
def runM():
global handle_data
try:
if (State.car_type() == 0):
while (True):
data = client.sendNrecv(State.name() + ' : run')
if (int(data) > 0):
State.setParkNumber(int(data))
break
gpio.time.sleep(0.5)
else:
State.setParkNumber(int(State.car_number()))
#interrup
gpio.GPIO.add_event_detect(line.pin_otl,
gpio.GPIO.FALLING,
callback=handler)
gpio.GPIO.add_event_detect(line.pin_otr,
gpio.GPIO.FALLING,
callback=handler)
print("start parking~~")
while (True):
l, c, r = line.line_data()
#forward
if (l == 1 and c == 0 and r == 1):
#print("go1")
moter.setMoterControl(State.speed(), 1)
#right
elif (l == 1 and r == 0):
#print("go2")
moter.setMoterControl(State.speed(), 4)
#left
elif (l == 0 and r == 1):
#print("go3")
moter.setMoterControl(State.speed(), 3)
moter.setMoterControl(0, 5)
if (l == 0 and c == 0 and r == 0):
print("go4")
#park_number에 10을 나누어 1번 주차장인지 2번 주차장인지 판단
_park_number = int(State.park_number() / 10) - 1
if (_park_number > handle_data):
handle_data = handle_data + 1
moter.setMoterControl(State.speed(), 1)
gpio.time.sleep(0.6)
print(_park_number, "번 라인")
else:
moter.setMoterControl(0, 5)
gpio.GPIO.remove_event_detect(line.pin_otl)
gpio.GPIO.remove_event_detect(line.pin_otr)
gpio.time.sleep(2)
print('인터럽트 해제 완료')
#빼내오는차 넣는차 검출
break
_data = True
if (State.car_type() == 0):
arrive(str(State.park_number()), 'in')
_data = goM()
elif (State.car_type() == 1):
arrive(str(State.park_number()), 'out')
_data = backM()
State.stateChange()
State.setCarType(0)
except KeyboardInterrupt:
ending()
sys.exit()