def setup():
global offset_x, offset_y, offset, forward0, forward1
offset_x = 0
offset_y = 0
offset = 0
forward0 = 'True'
forward1 = 'False'
try:
for line in open('config'):
if line[0:8] == 'offset_x':
offset_x = int(line[11:-1])
print 'offset_x =', offset_x
if line[0:8] == 'offset_y':
offset_y = int(line[11:-1])
print 'offset_y =', offset_y
if line[0:8] == 'offset =':
offset = int(line[9:-1])
print 'offset =', offset
if line[0:8] == "forward0":
forward0 = line[11:-1]
print 'turning0 =', forward0
if line[0:8] == "forward1":
forward1 = line[11:-1]
print 'turning1 =', forward1
except:
print 'no config file, set config to original'
video_dir.setup(busnum=busnum)
car_dir.setup(busnum=busnum)
motor.setup(busnum=busnum)
video_dir.calibrate(offset_x, offset_y)
car_dir.calibrate(offset)
def setup():
global offset_x, offset_y, offset, forward0, forward1
offset_x = 0
offset_y = 0
offset = 0
forward0 = 'True'
forward1 = 'False'
try:
for line in open('config'):
if line[0:8] == 'offset_x':
offset_x = int(line[11:-1])
print 'offset_x =', offset_x
if line[0:8] == 'offset_y':
offset_y = int(line[11:-1])
print 'offset_y =', offset_y
if line[0:8] == 'offset =':
offset = int(line[9:-1])
print 'offset =', offset
if line[0:8] == "forward0":
forward0 = line[11:-1]
print 'turning0 =', forward0
if line[0:8] == "forward1":
forward1 = line[11:-1]
print 'turning1 =', forward1
except:
print 'no config file, set config to original'
video_dir.setup(busnum=busnum)
car_dir.setup(busnum=busnum)
motor.setup(busnum=busnum)
video_dir.calibrate(offset_x, offset_y)
car_dir.calibrate(offset)
def calibrate_turning(request, direction, in_offset): global offset offset = int(in_offset) if direction == '-': offset = 0 - offset car_dir.calibrate(offset) text = "offset:", offset return HttpResponse(text)
def loop():
global offset_x, offset_y, offset, forward0, forward1
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:
data = tcpCliSock.recv(
BUFSIZ) # Receive data sent from the client.
# Analyze the command received and control the car accordingly.
if not data:
break
#--------Motor calibration----------
if data == 'motor_run':
print 'motor moving forward'
motor.setSpeed(50)
motor.motor0(forward0)
motor.motor1(forward1)
elif data[0:9] == 'leftmotor':
forward0 = data[9:]
motor.motor0(forward0)
elif data[0:10] == 'rightmotor':
forward1 = data[10:]
motor.motor1(forward1)
elif data == 'motor_stop':
print 'motor stop'
motor.stop()
#---------------------------------
#-------Turing calibration------
elif data[0:7] == 'offset=':
offset = int(data[7:])
car_dir.calibrate(offset)
#--------------------------------
#----------Mount calibration---------
elif data[0:8] == 'offsetx=':
offset_x = int(data[8:])
print 'Mount offset x', offset_x
video_dir.calibrate(offset_x, offset_y)
elif data[0:8] == 'offsety=':
offset_y = int(data[8:])
print 'Mount offset y', offset_y
video_dir.calibrate(offset_x, offset_y)
#----------------------------------------
else:
print 'cmd error !'
def loop(): global offset_x, offset_y, offset, forward0, forward1 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: data = tcpCliSock.recv(BUFSIZ) # Receive data sent from the client. # Analyze the command received and control the car accordingly. if not data: break #--------Motor calibration---------- if data == 'motor_run': print 'motor moving forward' motor.setSpeed(50) motor.motor0(forward0) motor.motor1(forward1) elif data[0:9] == 'leftmotor': forward0 = data[9:] motor.motor0(forward0) elif data[0:10] == 'rightmotor': forward1 = data[10:] motor.motor1(forward1) elif data == 'motor_stop': print 'motor stop' motor.stop() #--------------------------------- #-------Turing calibration------ elif data[0:7] == 'offset=': offset = int(data[7:]) car_dir.calibrate(offset) #-------------------------------- #----------Mount calibration--------- elif data[0:8] == 'offsetx=': offset_x = int(data[8:]) print 'Mount offset x', offset_x video_dir.calibrate(offset_x, offset_y) elif data[0:8] == 'offsety=': offset_y = int(data[8:]) print 'Mount offset y', offset_y video_dir.calibrate(offset_x, offset_y) #---------------------------------------- else: print 'cmd error !'
def setup():
global offset_x, offset_y, offset, forward0, forward1, backward0, backward1
offset_x = 0
offset_y = 0
offset = 0
forward0 = 'True'
forward1 = 'False'
# Read calibration value from config file
try:
for line in open('config'):
if line[0:8] == 'offset_x':
offset_x = int(line[11:-1])
print
'offset_x =', offset_x
if line[0:8] == 'offset_y':
offset_y = int(line[11:-1])
print
'offset_y =', offset_y
if line[0:8] == 'offset =':
offset = int(line[9:-1])
print
'offset =', offset
if line[0:8] == "forward0":
forward0 = line[11:-1]
print
'turning0 =', forward0
if line[0:8] == "forward1":
forward1 = line[11:-1]
print
'turning1 =', forward1
except:
print
'no config file, set config to original'
video_dir.setup(busnum=busnum)
car_dir.setup(busnum=busnum)
motor.setup(busnum=busnum)
video_dir.calibrate(offset_x, offset_y)
car_dir.calibrate(offset)
# Set the motor's true / false value to the opposite.
backward0 = REVERSE(forward0)
backward1 = REVERSE(forward1)
def setup():
global offset, offset_x, offset_y, forward0, forward1, backward0, backward1
offset_x = 0
offset_y = 0
offset = 0
forward0 = 'True'
forward1 = 'False'
# Read calibration value from config file
try:
for line in open('config'):
find_line(offset_x, "offset_x", 'offset_x')
find_line(offset_y, "offset_y", 'offset_y')
find_line(forward0, "forward0", 'turning0')
find_line(forward1, "forward1", 'turning1')
if line[0:8] == 'offset =':
offset = int(line[9:-1])
print
'offset =', offset
except:
print
'no config file, set config to original'
video_dir.setup(busnum=busnum)
car_dir.setup(busnum=busnum)
motor.setup(busnum=busnum)
video_dir.calibrate(offset_x, offset_y)
car_dir.calibrate(offset)
# Set the motor's true / false value to the opposite.
backward0 = REVERSE(forward0)
backward1 = REVERSE(forward1)
def calibration_mode(request):
video_dir.calibrate(offset_x, offset_y)
car_dir.calibrate(offset)
return HttpResponse("Calibration mode start")
def loop():
global offset_x, offset_y, offset, forward0, forward1
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:
data = tcpCliSock.recv(
BUFSIZ) # Receive data sent from the client.
# Analyze the command received and control the car accordingly.
if not data:
break
# --------Motor calibration----------
if data == 'motor_run':
print 'motor moving forward'
motor.setSpeed(50)
motor.motor0(forward0)
motor.motor1(forward1)
elif data[0:9] == 'leftmotor':
forward0 = data[9:]
motor.motor0(forward0)
elif data[0:10] == 'rightmotor':
forward1 = data[10:]
motor.motor1(forward1)
# -------------Added--------------
elif data == 'leftreverse':
if forward0 == "True":
forward0 = "False"
else:
forward0 = "True"
print "left motor reversed to", forward0
motor.motor0(forward0)
elif data == 'rightreverse':
if forward1 == "True":
forward1 = "False"
else:
forward1 = "True"
print "right motor reversed to", forward1
motor.motor1(forward1)
elif data == 'motor_stop':
print 'motor stop'
motor.stop()
# ---------------------------------
# -------Turing calibration------
elif data[0:7] == 'offset=':
offset = int(data[7:])
car_dir.calibrate(offset)
# --------------------------------
# ----------Mount calibration---------
elif data[0:8] == 'offsetx=':
offset_x = int(data[8:])
print 'Mount offset x', offset_x
video_dir.calibrate(offset_x, offset_y)
elif data[0:8] == 'offsety=':
offset_y = int(data[8:])
print 'Mount offset y', offset_y
video_dir.calibrate(offset_x, offset_y)
# ----------------------------------------
# -------Turing calibration 2------
elif data[0:7] == 'offset+':
offset = offset + int(data[7:])
print 'Turning offset', offset
car_dir.calibrate(offset)
elif data[0:7] == 'offset-':
offset = offset - int(data[7:])
print 'Turning offset', offset
car_dir.calibrate(offset)
# --------------------------------
# ----------Mount calibration 2---------
elif data[0:8] == 'offsetx+':
offset_x = offset_x + int(data[8:])
print 'Mount offset x', offset_x
video_dir.calibrate(offset_x, offset_y)
elif data[0:8] == 'offsetx-':
offset_x = offset_x - int(data[8:])
print 'Mount offset x', offset_x
video_dir.calibrate(offset_x, offset_y)
elif data[0:8] == 'offsety+':
offset_y = offset_y + int(data[8:])
print 'Mount offset y', offset_y
video_dir.calibrate(offset_x, offset_y)
elif data[0:8] == 'offsety-':
offset_y = offset_y - int(data[8:])
print 'Mount offset y', offset_y
video_dir.calibrate(offset_x, offset_y)
# ----------------------------------------
# ----------Confirm--------------------
elif data == 'confirm':
config = 'offset_x = %s\noffset_y = %s\noffset = %s\nforward0 = %s\nforward1 = %s\n ' % (
offset_x, offset_y, offset, forward0, forward1)
print ''
print '*********************************'
print ' You are setting config file to:'
print '*********************************'
print config
print '*********************************'
print ''
fd = open('config', 'w')
fd.write(config)
fd.close()
motor.stop()
tcpCliSock.close()
quit()
else:
print 'Command Error! Cannot recognize command: ' + data
if line[0:8] == 'offset =':
offset = int(line[9:-1])
print 'offset =', offset
if line[0:8] == "forward0":
forward0 = line[11:-1]
print 'turning0 =', forward0
if line[0:8] == "forward1":
forward1 = line[11:-1]
print 'turning1 =', forward1
except:
print 'no config file, set config to original'
video_dir.setup(busnum=busnum)
car_dir.setup(busnum=busnum)
motor.setup(busnum=busnum)
video_dir.calibrate(offset_x, offset_y)
car_dir.calibrate(offset)
def REVERSE(x):
if x == 'True':
return 'False'
elif x == 'False':
return 'True'
def loop():
global offset_x, offset_y, offset, forward0, forward1
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()
def loop():
global offset_x, offset_y, offset, forward0, forward1
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:
data = tcpCliSock.recv(BUFSIZ) # Receive data sent from the client.
# Analyze the command received and control the car accordingly.
if not data:
break
#--------Motor calibration----------
if data == 'motor_run':
print 'motor moving forward'
motor.setSpeed(50)
motor.motor0(forward0)
motor.motor1(forward1)
elif data[0:9] == 'leftmotor':
forward0 = data[9:]
motor.motor0(forward0)
elif data[0:10] == 'rightmotor':
forward1 = data[10:]
motor.motor1(forward1)
# -------------Added--------------
elif data == 'leftreverse':
if forward0 == "True":
forward0 = "False"
else:
forward0 = "True"
print "left motor reversed to", forward0
motor.motor0(forward0)
elif data == 'rightreverse':
if forward1 == "True":
forward1 = "False"
else:
forward1 = "True"
print "right motor reversed to", forward1
motor.motor1(forward1)
elif data == 'motor_stop':
print 'motor stop'
motor.stop()
#---------------------------------
#-------Turing calibration------
elif data[0:7] == 'offset=':
offset = int(data[7:])
car_dir.calibrate(offset)
#--------------------------------
#----------Mount calibration---------
elif data[0:8] == 'offsetx=':
offset_x = int(data[8:])
print 'Mount offset x', offset_x
video_dir.calibrate(offset_x, offset_y)
elif data[0:8] == 'offsety=':
offset_y = int(data[8:])
print 'Mount offset y', offset_y
video_dir.calibrate(offset_x, offset_y)
#----------------------------------------
#-------Turing calibration 2------
elif data[0:7] == 'offset+':
offset = offset + int(data[7:])
print 'Turning offset', offset
car_dir.calibrate(offset)
elif data[0:7] == 'offset-':
offset = offset - int(data[7:])
print 'Turning offset', offset
car_dir.calibrate(offset)
#--------------------------------
#----------Mount calibration 2---------
elif data[0:8] == 'offsetx+':
offset_x = offset_x + int(data[8:])
print 'Mount offset x', offset_x
video_dir.calibrate(offset_x, offset_y)
elif data[0:8] == 'offsetx-':
offset_x = offset_x - int(data[8:])
print 'Mount offset x', offset_x
video_dir.calibrate(offset_x, offset_y)
elif data[0:8] == 'offsety+':
offset_y = offset_y + int(data[8:])
print 'Mount offset y', offset_y
video_dir.calibrate(offset_x, offset_y)
elif data[0:8] == 'offsety-':
offset_y = offset_y - int(data[8:])
print 'Mount offset y', offset_y
video_dir.calibrate(offset_x, offset_y)
#----------------------------------------
#----------Confirm--------------------
elif data == 'confirm':
config = 'offset_x = %s\noffset_y = %s\noffset = %s\nforward0 = %s\nforward1 = %s\n ' % (offset_x, offset_y, offset, forward0, forward1)
print ''
print '*********************************'
print ' You are setting config file to:'
print '*********************************'
print config
print '*********************************'
print ''
fd = open('config', 'w')
fd.write(config)
fd.close()
motor.stop()
tcpCliSock.close()
quit()
else:
print 'Command Error! Cannot recognize command: ' + data
def setup():
car_dir.setup(busnum=busnum)
motor.setup(busnum=busnum)
car_dir.calibrate(0)
motor.setSpeed(50)
def loop():
global offset_x, offset_y, offset, forward0, forward1
while True:
print 'Waiting for connection...'
tcpCliSock, addr = tcpSerSock.accept()
print '...connected from :', addr # Print the IP address of the client connected with the server.
while True:
data = tcpCliSock.recv(BUFSIZ) # Reception données du client
# Analyser les commandes reçues et contrôler VirJo
if not data:
break
#--------Motor calibration----------
if data == 'motor_run':
print 'motor moving forward'
motor.setSpeed(50)
motor.motor0(forward0)
motor.motor1(forward1)
elif data[0:9] == 'leftmotor':
forward0 = data[9:]
motor.motor0(forward0)
elif data[0:10] == 'rightmotor':
forward1 = data[10:]
motor.motor1(forward1)
# -------------Added--------------
elif data == 'leftreverse':
if forward0 == "True":
forward0 = "False"
else:
forward0 = "True"
print "left motor reversed to", forward0
motor.motor0(forward0)
elif data == 'rightreverse':
if forward1 == "True":
forward1 = "False"
else:
forward1 = "True"
print "right motor reversed to", forward1
motor.motor1(forward1)
elif data == 'motor_stop':
print 'motor stop'
motor.stop()
#---------------------------------
#-------Turing calibration------
elif data[0:7] == 'offset=':
offset = int(data[7:])
car_dir.calibrate(offset)
#--------------------------------
#----------Mount calibration---------
elif data[0:8] == 'offsetx=':
offset_x = int(data[8:])
print 'Mount offset x', offset_x
video_dir.calibrate(offset_x, offset_y)
elif data[0:8] == 'offsety=':
offset_y = int(data[8:])
print 'Mount offset y', offset_y
video_dir.calibrate(offset_x, offset_y)
#----------------------------------------
#-------Turing calibration 2------
elif data[0:7] == 'offset+':
offset = offset + int(data[7:])
print 'Turning offset', offset
car_dir.calibrate(offset)
elif data[0:7] == 'offset-':
offset = offset - int(data[7:])
print 'Turning offset', offset
car_dir.calibrate(offset)
#--------------------------------
#----------Mount calibration 2---------
elif data[0:8] == 'offsetx+':
offset_x = offset_x + int(data[8:])
print 'Mount offset x', offset_x
video_dir.calibrate(offset_x, offset_y)
elif data[0:8] == 'offsetx-':
offset_x = offset_x - int(data[8:])
print 'Mount offset x', offset_x
video_dir.calibrate(offset_x, offset_y)
elif data[0:8] == 'offsety+':
offset_y = offset_y + int(data[8:])
print 'Mount offset y', offset_y
video_dir.calibrate(offset_x, offset_y)
elif data[0:8] == 'offsety-':
offset_y = offset_y - int(data[8:])
print 'Mount offset y', offset_y
video_dir.calibrate(offset_x, offset_y)
#----------------------------------------
#----------Confirm--------------------
elif data == 'confirm':
config = 'offset_x = %s\noffset_y = %s\noffset = %s\nforward0 = %s\nforward1 = %s\n ' % (
offset_x, offset_y, offset, forward0, forward1)
print ''
print '*********************************'
print ' You are setting config file to:'
print '*********************************'
print config
print '*********************************'
print ''
fd = open('config', 'w')
fd.write(config)
fd.close()
motor.stop()
tcpCliSock.close()
quit()
else:
print 'Command Error! Cannot recognize command: ' + data
import cv2
import motor
import car_dir
import time
video_capture = cv2.VideoCapture(-1)
video_capture.set(3, 160)
video_capture.set(4, 120)
busnum = 1
motor.setup(busnum=busnum)
car_dir.setup(busnum=busnum)
car_dir.calibrate(-72)
motor.setSpeed(35)
motor.backward()
#motor.stop()
lastTurn = "Right"
while (True):
ret, frame = video_capture.read()
crop_img = frame
if ret is True:
hsv = cv2.cvtColor(crop_img, cv2.COLOR_BGR2HSV)
else:
continue
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
