/
THE_final_script.py
466 lines (399 loc) · 14.8 KB
/
THE_final_script.py
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#from socket import *
import socket # for socket
import sys
import pickle
import os
import struct
from multiprocessing import Process, Pipe
import http.client
#Imports to communicate with Arduino
import serial
import RPi.GPIO as GPIO
import time
import datetime
def do_forward(ser):
#print("F: {}".format(str(time.clock())))
ser.write('f'.encode('utf-8'))
# ("Move forward")#: {}".format(str(time.clock())))
def do_stopcar(ser):
#pwairint("S: {}".format(str(time.clock())))
ser.write('s'.encode('utf-8'))
#print ("Stoping Car: {}".format(str(time.clock())))
def do_goleft(ser):
#print("L: {}".format(str(time.clock())))
ser.write('l'.encode('utf-8'))
#print ("Turning Left: {}".format(str(time.clock())))
def do_goright(ser):
#print("R: {}".format(str(time.clock())))
ser.write('r'.encode('utf-8'))
#print ("Turning Right: {}".format(str(time.clock())))
def do_goback(ser):
#print("B: {}".format(str(time.clock())))
ser.write('b'.encode('utf-8'))
#print ("Beep!: {}".format(str(time.clock())))
#def startStream():
#Start up stream
#execfile("./Desktop/main/VideoStream/stream.py")
def startStream(conn):
import os
pid = os.getpid()
conn.send(pid)
runStream = 0
try:
print("Streaming")
#from VideoStream import stream
finally:
print("Stopping stream")
def phoneComm(cPhone_conn, s, ser):
import os
import RPi.GPIO as GPIO
pid = os.getpid()
cPhone_conn.send(pid)
GPIO.setmode(GPIO.BCM)
GPIO.setup(2, GPIO.OUT)
GPIO.output(2, GPIO.LOW)
GPIO.setup(11, GPIO.OUT)
GPIO.output(11, GPIO.LOW)
power = 1
auto = False
try:
while True:
s.listen(5)
print ("socket is listening here")
#accept
conn,addr = s.accept()
#cPhone_conn.send(msg)
try:
i=0
dataString = ""
while True:
#added print, each run the addr changes
#print (str(conn))
#print("Run : " + str(i))
print("Waiting for command")#: {}".format(str(time.clock())))
data = conn.recv(1024)
print("Command received")#: {}".format(str(time.clock())))
dataString = data.decode(('utf-8'),'replace')
dataString = dataString.rstrip("\r\n")
print("Input: {}".format(dataString))
GPIO.output(2, GPIO.HIGH)
if not data:
#print('breaking')
conn.sendall("DC".encode("UTF-8"))
cPhone_conn.send("DC")
conn.close()
break
if(dataString == "Off"):
#print('Client' + str(addr)+ ' sent: ' + dataString)
#print("Powering down...")
conn.sendall(bytes("Off\n", "UTF-8"))
cPhone_conn.send("Off")
power = 0
break
if(dataString == "DC"):
#print('Client' + str(addr)+ ' sent: ' + dataString)
#print("Successful Disconnection")
ser.write('s'.encode('utf-8'))
conn.sendall(bytes("DC\n", "UTF-8"))
cPhone_conn.send("DC")
break
elif(dataString == "C"):
#print('Client' + str(addr)+ 'sent: ' + dataString)
#print("Successful Connection")
cPhone_conn.send("C")
conn.sendall(bytes("c\n", "UTF-8"))
i=i+1
elif(dataString == "f"):
#print("Moving Forward")
#do_forward(ser)
print("Forward received: {}".format(str(time.clock())))
ser.write('f'.encode('utf-8'))
conn.sendall(bytes("F\n", "UTF-8"))
print("Forward processed: {}".format(str(time.clock())))
elif(dataString == "l"):
#print("Left")
#do_goleft(ser)
ser.write('l'.encode('utf-8'))
conn.sendall(bytes("L\n", "UTF-8"))
elif(dataString == "r"):
#print("Right")
#do_goright(ser)
ser.write('r'.encode('utf-8'))
conn.sendall(bytes("R\n", "UTF-8"))
elif(dataString == "b"):
#print("back")
#do_goback(ser)
ser.write('b'.encode('utf-8'))
conn.sendall("B\n".encode("UTF-8"))
elif(dataString == "end"):
## print("ending")
#do_stopcar(ser)
print("end received: {}".format(str(time.clock())))
ser.write('s'.encode('utf-8'))
conn.sendall(bytes("End\n", "UTF-8"))
print("end p: {}".format(str(time.clock())))
elif(dataString == "s"):
#print("STOP")
#do_stopcar(ser)
ser.write('s'.encode('utf-8'))
cPhone_conn.send("s")
GPIO.output(11, GPIO.HIGH)
conn.sendall(bytes("Stop\n", "UTF-8"))
elif(dataString == "m"):
#print("m")
cPhone_conn.send("m")
conn.sendall(bytes("m\n", "UTF-8"))
elif(dataString == "a"):
#print("a")
auto = True
cPhone_conn.send("a")
conn.sendall(bytes("a\n", "UTF-8"))
elif(dataString == "done"):
#print("Done")
conn.sendall(bytes("Done\n", "UTF-8"))
else:
if auto:
cPhone_conn.send(dataString)
conn.sendall(bytes("received\n", "UTF-8"))
else:
print("UC")
conn.sendall(bytes("UC\n", "UTF-8"))
print('closed')
conn.close()
if(power == 0):
break
except socket.error as e:
print(e)
except IOError as e:
if e.error == errno.EPIPE:
cPhone_conn.send("Disconnect")
else:
print(e)
except:
print("a FATAL error has occured: ", sys.exec_info()[0])
finally:
s.close()
GPIO.cleanup()
def processInstr(conn, ser):
import os
import RPi.GPIO as GPIO
pid = os.getpid()
conn.send(pid)
try:
GPIO.setmode(GPIO.BCM)
GPIO.setup(8, GPIO.IN)
while True:
msg = conn.recv()
conn.send("done")
instructions = msg.split(" ")
#time.sleep(1)
print(msg)
while (len(instructions) >1):
if(GPIO.input(8) == 1):
GPIO.output(11, GPIO.LOW)
break
print(instructions[0])
print(instructions[1])
if(instructions[0] == "Forward" or instructions[0] == "f"):
ser.write('f'.encode('utf-8'))
#do_forward(ser)
elif(instructions[0] == "Back" or instructions[0] == "b"):
ser.write('b'.encode('utf-8'))
#do_goback(ser)
elif(instructions[0] == "Left" or instructions[0] == "l"):
ser.write('l'.encode('utf-8'))
#do_goleft(ser)
elif(instructions[0] == "Right" or instructions[0] == "r"):
ser.write('r'.encode('utf-8'))
#do_goright(ser)
elif(instructions[0] == "Stop" or instructions[0] == "s"):
ser.write('s'.encode('utf-8'))
#do_stopcar(ser)
time.sleep(int(instructions[1]))
instructions.pop(0)
instructions.pop(0)
do_stopcar(ser)
finally:
GPIO.cleanup()
## Terry this is where the control will go
# conn is the pipe if you need to run anything
def controlAlg(conn, ser):
import os
import RPi.GPIO as GPIO
pid = os.getpid()
conn.send(pid)
fSense = 0
bSense = 0
lSense = 0
rSense = 0
count = 0
vals = [0]*6
for i in range(6):
vals[i] = 0
while True: #Fill out logic later for always run while car on
while True: #Fill out logic for always run while phone connected
if(ser.in_waiting ):
try:
data = ser.read()
#data = data.decode(('utf-8'),'replace')
data = struct.unpack("B", data)
#print(count)
vals[count] = data
#print(vals[count])
if(count < 5):
count = count + 1
elif(count == 5):
count = 0
except:
data = ""
##______MAIN_______
#time.sleep(10)
#make sure all ports are available
GPIO.cleanup()
GPIO.setwarnings(False)
#Commands for Arduino
ser=serial.Serial("/dev/ttyACM0",9600, timeout = .025) #change ACM number as found from ls /dev/tty/ACM*
ser.setDTR(False)
ser.setRTS(False)
ip = '192.168.4.1'
try:
s = socket.socket()
print ("Socket successfully created")
except socket.error as err:
print ("socket creation failed with error %s" %(err))
# default port for socket
port = 4957
# connecting to the server
pp = (ip,port)
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.setsockopt(socket.SOL_SOCKET,socket.SO_REUSEADDR,1)
while True:
try:
s.bind(pp)
break
except socket.error as error:
os.system('fuser -k 4957/tcp')
#Set up pipes
print("Creating Pipes")
#p_conn, c_conn = Pipe()
pVS_conn, cVS_conn = Pipe()
pPhone_conn, cPhone_conn = Pipe()
#pControl_conn, cControl_conn = Pipe()
pInstr_conn, cInstr_conn = Pipe()
print("Pipes created")
#Set up Processes
vp = Process(target = startStream, args=(cVS_conn,))
#interuptProcess = Process(target = sendInterupt, args=(c_conn,))
phoneProcess = Process(target = phoneComm, args = (cPhone_conn, s, ser))
#controlProcess = Process(target = controlAlg, args = (cControl_conn, ser))
instrProcess = Process(target = processInstr, args = (cInstr_conn, ser))
print("Processes created")
print("".format())
#Set up GPIO for interrupts
GPIO.setmode(GPIO.BCM)
GPIO.setup(23, GPIO.OUT)
GPIO.setup(25, GPIO.OUT)
GPIO.setup(12, GPIO.OUT)
GPIO.setup(11, GPIO.OUT)
GPIO.setup(19, GPIO.OUT)
GPIO.setup(2, GPIO.OUT)
GPIO.setup(3, GPIO.IN)
GPIO.output(23, GPIO.HIGH)
#Start processes and get the PIDs
#interuptProcess.start()
#ipPID = p_conn.recv()
vp.start()
vpPID = pVS_conn.recv()
phoneProcess.start()
ppPID = pPhone_conn.recv()
#controlProcess.start()
#cpPID = pControl_conn.recv()
instrProcess.start()
irPID = pInstr_conn.recv()
print("Video: {}".format(vpPID))
#print("Interrupt: {}".format(ipPID))
print("Phone: {}".format(ppPID))
#print("Control: {}".format(cpPID))
print("Instructions: {}".format(irPID))
manual = 0
auto = 0
power = 1
try:
while(power == 1):
GPIO.output(25, GPIO.LOW)
#For starting the stream set this to 1
start = 0
GPIO.output(12, GPIO.HIGH)
pVS_conn.send(1)
print("waiting...")
while True:
if(pPhone_conn.recv() == "C"):
print("WE HAVE CONNECTED")
break
while True:
msg = ""
GPIO.output(19, GPIO.HIGH)
GPIO.output(25, GPIO.HIGH)
if(GPIO.input(3)==True):
msg = pPhone_conn.recv()
pPhone_conn.send("done")
GPIO.output(2, GPIO.LOW)
if(msg == "Off"):
power = 0
break
#Switch to manual or auto
if(manual == 0 and auto ==0):
if(msg == "m"):
print("Switching to manual override")
manual = 1
elif(msg == "a"):
auto = 1
#Manual conditions
elif(manual == 1):
#if(msg == "f"):
# do_forward(ser)
#elif(msg == "l"):
# do_goleft(ser)
#elif(msg == "r"):
# do_goright(ser)
#elif(msg == "b"):
# do_goback(ser)
#elif(msg == "s" or msg == "DC"):
# do_stopcar(ser)
if(msg == "a"):
manual = 0
auto = 1
elif(auto == 1):
print("Here")
if(msg == "m"):
#GPIO.output(11, GPIO.HIGH)
pInstr_conn.send("m")
manual = 1
auto = 0
else:
print("Send ir")
pInstr_conn.send(msg)
pInstr_conn.recv()
GPIO.output(25, GPIO.LOW)
GPIO.output(12, GPIO.LOW)
do_stopcar(ser)
print("Disconnected")
finally:
GPIO.output(23, GPIO.LOW)
GPIO.output(25, GPIO.LOW)
GPIO.output(12, GPIO.LOW)
#End all the processes
os.system('kill -9 %d' %vpPID)
#os.system('kill -9 %d' %ipPID)
#os.system('kill -9 %d' %cpPID)
os.system('kill -9 %d' %ppPID)
os.system('kill -9 %d' %irPID)
#Clean up the processes
vp.join()
#interuptProcess.join()
phoneProcess.join()
#controlProcess.join()
instrProcess.join()
GPIO.cleanup()
do_stopcar(ser)
#os.system('sudo shutdown -h now')