import json
import modules.mqtt_module as mqtt
import config_module as config
import modules.power_module as power_sensor
if __name__ == "__main__":
client = mqtt.Create()
voltage, current, power, shunt_voltage = power_sensor.read(0)
jobject = {"v": voltage, "i": current, "p": power, "sv": shunt_voltage}
client.publish(config.power_logic_topic, json.dumps(jobject))
voltage, current, power, shunt_voltage = power_sensor.read(1)
jobject = {"v": voltage, "i": current, "p": power, "sv": shunt_voltage}
client.publish(config.power_main_topic, json.dumps(jobject))
channel = int(message.topic.split("/")[2])
value = int(message.payload.decode("utf-8"))
print(f"Channel:{channel} {value}")
driver.writeSpeed(channel, value)
def push_encoder_message(index):
value = driver.readEncoder(index)
client.publish(config.encoders_topic_template + str(index), value)
if __name__ == "__main__":
driver = dc_module.DcMotorDriver()
version = driver.readVersion()
client = mqtt.Create(config.motors_topic, on_message)
print("Motors service ready")
client.loop_start()
# client.loop_forever()
while True:
for i in range(4):
push_encoder_message(i)
time.sleep(0.1)
client.loop_stop(force=False)
print("Motors service stopped")
import modules.mqtt_module as mqtt
import config_module as config
def speak(command):
engine.say(command)
engine.runAndWait()
def on_message(client, userdata, message):
value = message.payload.decode("utf-8")
speak(value)
if __name__ == "__main__":
engine = pyttsx3.init()
engine.setProperty('volume', 1)
engine.setProperty('rate', 300)
# voices = engine.getProperty('voices')
# for voice in voices:
# if voice.name.startswith('english'):
# print(f"Name:{voice.name} Id:{voice.id} languages:{voice.languages} Age:{voice.age} Gender:{voice.gender} ")
engine.setProperty('voice', 'english')
client = mqtt.Create(config.audio_say, on_message)
speak("Voice service ready")
client.loop_forever()
import i2c_lcd
import modules.network_module as network
import modules.mqtt_module as mqtt
import config_module as config
lcd = i2c_lcd.lcd()
def on_message(client, userdata, message):
line = int(message.topic.split("/")[3])
value = message.payload.decode("utf-8")
#print(f"Line:{line} Value:{value}")
lcd.lcd_display_string(" ", line)
lcd.lcd_display_string(value, line)
if __name__ == "__main__":
lcd.lcd_clear()
ip, host = network.get_interface()
lcd.lcd_display_string(f"IP: {ip}", 1)
lcd.lcd_display_string(f"{host}", 2)
client = mqtt.Create(config.lcd_lines, on_message)
print("LCD service ready")
client.loop_forever()
print("LCD service stopped")
if h == 240: # max
if w == 320:
motor_y = -0.5 # go back, too close
else:
motor_y = 0.5 # go closer, too far
print("X value: " + str(motor_x))
print("Y value: " + str(motor_y))
steering.updateMotors(client, motor_x, motor_y)
# time.sleep(200)
# steering.updateMotors(client, 0, 0)
def on_message(client, userdata, message):
raw = message.payload.decode("utf-8")
print(raw)
objects = json.loads(message.payload.decode("utf-8"))
for obj in objects:
index = obj['classid']
if index == 14:
x = obj['x']
y = obj['y']
w = obj['w']
h = obj['h']
on_person(x, y, w, h)
if __name__ == "__main__":
client = mqtt.Create(config.machine_vision_objects, on_message)
client.loop_forever()
def on_message(client, userdata, message):
channel = int(message.topic.split("/")[2])
name = str(message.topic.split("/")[3])
value = int(message.payload.decode("utf-8"))
index = int(channel / 16)
channel = channel % 16
print(f"Device:{index} Channel:{channel} {name}:{value}")
if (name == 'duty_cycle'):
c = devices[index].channels[channel]
# c = pca.channels[channel]
c.duty_cycle = value
elif (name == 'angle'):
s = servo.Servo(devices[index].channels[channel],
min_pulse=600,
max_pulse=2600)
s.angle = value
if __name__ == "__main__":
client = mqtt.Create(config.pwm_topic, on_message)
print("PWM service ready")
client.loop_forever()
print("PWM service stopped")