def __init__(self):
self.gs_list = [0,0,0]
self.sound_name = ['Weapon_Armor.wav', 'Emergency_Alarm.wav', 'Emergency_Truck_Honk.wav', 'Weapon_Continue_Shooting.wav', 'Weapon_Shell_Drop.wav']
self.music_name = ["excitement.mp3", 'peace.mp3', 'power.mp3', 'spry.mp3']
self.record_name = ['1.mp3', '2.mp3', '3.mp3', '4.mp3', '5.mp3']
self.us = Ultrasonic(Pin('D0'), Pin('D1'))
self.music_flag = True
self.tts = TTS()
self.current_music = -1
import sys
sys.path.append(r'/opt/ezblock')
from ezblock import __reset_mcu__
import time
__reset_mcu__()
time.sleep(0.01)
from vilib import Vilib
from picarmini import dir_servo_angle_calibration
from picarmini import set_camera_servo2_angle
from ezblock import delay
from ezblock import TTS
from picarmini import camera_servo1_angle_calibration
from picarmini import camera_servo2_angle_calibration
from ezblock import WiFi
__tts__ = TTS()
Vilib.camera_start(True)
Vilib.human_detect_switch(True)
dir_servo_angle_calibration(0)
camera_servo1_angle_calibration(0)
camera_servo2_angle_calibration(0)
WiFi().write('DE', 'Projesh', 'Syepto17')
def forever():
if (Vilib.human_detect_object(('number'))) >= 1:
set_camera_servo1_angle(30)
delay(150)
set_camera_servo1_angle((-30))
delay(150)
import sys
sys.path.append(r'/opt/ezblock')
from ezblock import TTS
from Music import *
count = None
__tts__ = TTS("espeak")
def forever():
global count
__tts__.say('Ready')
count = 3
for count2 in range(3):
__tts__.say(count)
count = count - 1
sound_effect_play('Weapon_Continue_Shooting.wav', 50)
if __name__ == "__main__":
forever()
class Websocket():
recv_dict = {
'JA':[0,0], #小车控制
'JB':[0,0], #云台控制
'SS':['off',0,0.5], #喇叭播放音效
'SM':['off',0,0.5], #喇叭播放音乐
# 'SL':['off',0,0.5], #喇叭播放录音
'TT':['off','you'], #TTS
'US':'off', #超声波
'GS':"off", #灰度开关
'OA':'off', #避障开关
'TL':['off',950], #巡线开关
'CD':['off',110], #悬崖开关
'HT':'off', #人脸开关
'HF':'off', #人脸跟踪
'CT':'off', #颜色开关
'CF':'off', #颜色跟踪
'MS':['off',0,0], #车轮测试
'DO':['off',0], #方向舵机校准
'PO':['off',0], #云台左右舵机
'TO':['off',0] , #云台上下舵机
'CC':'blue', #颜色选择
}
send_dict = {
'TP':'PiCar-X',
'GS':[0,0,0],
'US':20,
'DO':0, #方向舵机校准值
'PO':0,
'TO':0,
'CC':'blue',
'AD':'http://' + ip + ':8888/mjpg',
# 'FD':'http://' + ip + ':8000/records',
'FF':'True'
}
def __init__(self):
self.gs_list = [0,0,0]
self.sound_name = ['Weapon_Armor.wav', 'Emergency_Alarm.wav', 'Emergency_Truck_Honk.wav', 'Weapon_Continue_Shooting.wav', 'Weapon_Shell_Drop.wav']
self.music_name = ["excitement.mp3", 'peace.mp3', 'power.mp3', 'spry.mp3']
self.record_name = ['1.mp3', '2.mp3', '3.mp3', '4.mp3', '5.mp3']
self.us = Ultrasonic(Pin('D0'), Pin('D1'))
self.music_flag = True
self.tts = TTS()
self.current_music = -1
async def recv_server_func(self, websocket):
while 1:
tmp = await websocket.recv()
print(tmp)
tmp = json.loads(tmp)
for key in tmp:
self.recv_dict[key] = tmp[key]
print("recv_dict: %s"%self.recv_dict)
self.remote_control(self.recv_dict['JA'])
self.camera_contrl(self.recv_dict['JB'])
# print(recv_dict)
if self.recv_dict['MS'][0] =='on':
car.set_motor_speed(int(self.recv_dict['MS'][1]), int(self.recv_dict['MS'][2]))
if self.recv_dict['DO'][0] =='on':
car.dir_servo_angle_calibration(int(self.recv_dict['DO'][1]))
if self.recv_dict['PO'][0] =='on':
car.camera_servo1_angle_calibration(-int(self.recv_dict['PO'][1]))
if self.recv_dict['TO'][0] =='on':
car.camera_servo2_angle_calibration(-int(self.recv_dict['TO'][1]))
Vilib.detect_color_name(str(self.recv_dict['CC']))
def map(self, value, inMin, inMax, outMin, outMax):
return (outMax - outMin) * (value - inMin) / (inMax - inMin) + outMin
def remote_control(self, move):
dr = int(move[0])
dr_angle = self.map(dr, -100, 100, -45, 45)
car.set_dir_servo_angle(dr_angle)
# print("dr_angle:%s"%dr_angle)
# time.sleep(0.1)
pow = int(move[1])
car.set_power(pow)
def camera_contrl(self, value):
val1 = int(value[0])
val1 = self.map(val1, -100, 100, -90, 90)
car.set_camera_servo1_angle(-val1)
val2 = int(value[1])
val2 = self.map(val2, -100, 100, -45, 45)
car.set_camera_servo2_angle(-val2)
async def send_server_func(self, websocket):
while 1:
if self.recv_dict['US'] =='on':
self.send_dict['US'] = self.us.read()
# print(self.get_us_distance(int(self.recv_dict['US'][1])))
if self.recv_dict['GS'] =='on':
self.send_dict['GS'] = self.gs_list
self.send_dict['DO'] = car.dir_cal_value
self.send_dict['PO'] = car.cam_cal_value_1
self.send_dict['TO'] = car.cam_cal_value_2
self.send_dict['CC'] = Vilib.detect_obj_parameter['color_default']
# print(self.send_dict)
await websocket.send(json.dumps(self.send_dict))
await asyncio.sleep(0.01)
async def main_func(self):
while 1:
self.gs_list = car.get_adc_value()
if self.recv_dict['CD'][0] == 'on':
if self.is_on_edge(int(self.recv_dict['CD'][1]),self.gs_list):
car.backward(50)
time.sleep(0.5)
car.stop()
if self.recv_dict['TL'][0] =='on':
# print("line_follow on")
car.ref = int(self.recv_dict['TL'][1])
car.line_follow()
if self.recv_dict['OA'] == 'on':
# print("ultrasonic on")
distance = self.us.read()
if distance > 40 or distance == -2:
car.set_dir_servo_angle(0)
car.forward(50)
elif distance < 10:
car.set_dir_servo_angle(-40)
car.backward(50)
time.sleep(0.5)
elif distance < 30:
car.set_dir_servo_angle(40)
car.forward(50)
time.sleep(0.5)
if self.recv_dict['HT'] == 'on':
Vilib.human_detect_switch(True)
if self.recv_dict['HT'] == 'off':
Vilib.human_detect_switch(False)
if self.recv_dict['HF'] == 'on':
car.human_follow()
if self.recv_dict['CT'] == 'on':
Vilib.color_detect_switch(True)
if self.recv_dict['CT'] == 'off':
Vilib.color_detect_switch(False)
if self.recv_dict['CF'] == 'on':
car.color_follow()
if self.recv_dict['SS'][0] == 'on':
music.sound_effect_threading(self.sound_name[int(self.recv_dict['SS'][1])], float(self.recv_dict['SS'][2]))
self.recv_dict['SS'][0] = 'off'
if self.recv_dict['SM'][0] == 'on':
temp = int(self.recv_dict['SM'][1])
if self.current_music != temp:
music.music_stop()
self.music_flag = True
self.current_music = temp
if self.music_flag:
try:
music_file = self.music_name[self.current_music]
volume = float(self.recv_dict['SM'][2])
music.background_music(music_file, volume=volume)
except IndexError:
print("no such music file: ", int(self.recv_dict['SM'][1]) + 1)
self.music_flag = False
# self.recv_dict['SM'][0] = 'off'
elif self.recv_dict['SM'][0] == 'off':
if self.music_flag == False:
music.music_stop()
self.music_flag = True
# if self.recv_dict['SL'][0] == 'on':
# if self.found_name(self.record_name[int(self.recv_dict['SL'][1])]):
# self.send_dict['FF'] = 'True'
# print("play")
# music.record_play(self.record_name[int(self.recv_dict['SL'][1])],volume = float(self.recv_dict['SL'][2]))
# self.recv_dict['SL'][0] = 'off'
# else:
# self.send_dict['FF'] = 'False'
if self.recv_dict['TT'][0] == 'on':
self.tts.say(self.recv_dict['TT'][1])
self.recv_dict['TT'][0] = 'off'
await asyncio.sleep(0.01)
def is_on_edge(self, ref, gs_list):
ref = int(ref)
if gs_list[2] <= ref or gs_list[1] <= ref or gs_list[0] <= ref:
return True
else:
return False
def found_name(self, name):
if name in os.listdir("./records"):
return True
else:
return False
async def main_logic_1(self, websocket, path):
while 1:
await self.recv_server_func(websocket)
async def main_logic_2(self, websocket, path):
while 1:
await self.send_server_func(websocket)
def test(self):
try:
for _ in range(10):
# ip = getIP()
if ip:
print("IP Address: "+ ip)
# start_http_server()
break
time.sleep(1)
# ssl_context = ssl.SSLContext(ssl.PROTOCOL_TLS_SERVER)
# localhost_pem = pathlib.Path(__file__).with_name("server.pem")
# ssl_context.load_cert_chain(localhost_pem)
start_server_1 = websockets.serve(self.main_logic_1, ip, 8765)
start_server_2 = websockets.serve(self.main_logic_2, ip, 8766)
print('Start!')
tasks = [self.main_func(),start_server_1,start_server_2]
asyncio.get_event_loop().run_until_complete(asyncio.wait(tasks))
asyncio.get_event_loop().run_forever()
finally:
print("Finished")
car.stop()