def __init__(self, repeatFreq=1):
import time
import socket
import get_IP
threading.Thread.__init__(self)
self._stop_event = threading.Event()
self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
self.sock.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1)
self.UDP_IP = get_IP.getBroadcastIP()
self.command = ""
self.repeat = []
self.repeatFreq = repeatFreq
print("[Sending] SendThread thread start.")
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM)
freq = 2000
# Define Support Device
LED = {"roadlight1":19}
for lightName,pin in LED.items():
GPIO.setup(pin,GPIO.OUT)
# ##building for auto config support device
ledList = [ key for key,value in LED.items()]
controlable = {"led":ledList}
# Define variable
broadcastIP = get_IP.getBroadcastIP()
threads = []
myID = 'RS-01'
myIP = get_IP.getIP()
myName = 'roadlight'
knownDevice = {'masterCar':{},'slaveCar':{},'side':{}}
# Start Thread
sendThread = ThreadCommunication.SendThread(repeatFreq = 0.2)
threads.append(sendThread)
receiveThread = ThreadCommunication.ReceiveThread()
threads.append(receiveThread)
for thread in threads:
thread.start()
########## Main ##########
def run(self):
##### Establish threads to sensoring
self.car = ThreadCarDriver.CarDriver()
self.threadList.append((self.car, "Car"))
if enableTraceLine:
self.thread_Linesensor_L = ThreadSensor.LineSensor(traceline_L)
self.thread_Linesensor_R = ThreadSensor.LineSensor(traceline_R)
self.threadList.append((self.thread_Linesensor_L, "Line_L"))
self.threadList.append((self.thread_Linesensor_R, "Line_R"))
if enableDistance:
self.thread_Distance = ThreadSensor.DistanceSensor(
echo=distance_echo,
trig=distance_trigger,
led=distance_led,
ir=distance_ir,
maxDis=self.maxDist)
self.threadList.append((self.thread_Distance, "Distance"))
if enableGPS:
self.thread_Gps = ThreadSensor.GPSMeter()
self.threadList.append((self.thread_Gps, "GPS"))
if enableDHT11:
self.thread_Dht11 = ThreadSensor.DHT11Sensor(pin=dht11_pin)
self.threadList.append((self.thread_Dht11, "DHT11"))
if enableLight:
self.thread_Light = ThreadSensor.LightSensor()
self.threadList.append((self.thread_Light, "Light"))
if enableConnection:
self.qlock = threading.Lock()
self.thread_Send = ThreadCommunication.SendThread()
self.threadList.append((self.thread_Send, "Send"))
self.thread_Receive = ThreadCommunication.ReceiveThread()
self.threadList.append((self.thread_Receive, "Receive"))
import get_IP
self.myIP = get_IP.getIP()
self.knownDevice = {'masterCar': {}, 'slaveCar': {}, 'side': {}}
#self.controlable = {}
self.thread_Send.send(
{
'type': 'discover',
'context': {
'id': self.myID,
'name': self.myName,
'type': 'masterCar'
}
},
get_IP.getBroadcastIP(),
repeat=True)
global enableUploadData
if enableUploadData:
if enableGPS:
if enableDHT11:
self.thread_Upload = ThreadCommunication.UploadData()
else:
self.thread_Upload = ThreadCommunication.UploadData(
toSensor=False)
self.threadList.append((self.thread_Upload, "Upload"))
else:
print("[CarMain] To upload data need GPS enabled.")
print("[CarMain] Disable Upload function.")
enableUploadData = False
print("[Debug] Ready to start threads.")
for thread in self.threadList:
if debug:
print("[Debug] Starting Thread %s" % (thread[1]))
thread[0].start()
##### Loop
while True:
print("[CarMain] Car start run loop.")
while (not self._stop_event.is_set()):
########## Loop Car
if debug:
print("[Debug] Car main.")
##### Get sensor data
if enableTraceLine:
lineL = self.thread_Linesensor_L.value
lineR = self.thread_Linesensor_R.value
if enableDistance:
dist = self.thread_Distance.value
##### Car main execution
persistTime = 0
if enableDistance and enableDistance:
if dist < self.maxDist:
if dist < self.backDist:
command = "Back"
persistTime = 1
else:
command = "Stop"
else:
if lineL == 'white' and lineR == 'white':
command = "Go"
elif lineL == 'black' and lineR == 'white':
command = "Left"
elif lineL == 'white' and lineR == 'black':
command = "Right"
else:
command = "Go"
elif not enableDistance and enableDistance:
if lineL == 'white' and lineR == 'white':
command = "Go"
elif lineL == 'black' and lineR == 'white':
command = "Left"
elif lineL == 'white' and lineR == 'black':
command = "Right"
else:
command = "Go"
elif enableDistance and not enableDistance:
if dist < self.maxDist:
if dist < self.backDist:
command = "Back"
persistTime = 1
else:
command = "Stop"
else:
command = "Go"
if debug:
pass
print("[Debug] Car assign command to car.")
self.car.assign(command, persistTime)
self.car.status()
########## Loop Sensor
print("[Debug] Car sensor.")
if enableConnection:
if debug:
print("[Debug] Car in connection.")
for i in range(0, 2):
ThreadCommunication.qlock.acquire()
if debug:
print("[Debug] Car get lock.")
if not ThreadCommunication.receivedQueue.empty():
data = ThreadCommunication.receivedQueue.get()
ThreadCommunication.qlock.release()
pack = data['receive']
if pack['type'] == 'discover':
deviceType = pack['context']['type']
if not data['ip'] in self.knownDevice[
deviceType]:
#if debug:
print(
"[Debug] Get New Device : %s %s" %
(deviceType, pack['context']['name']))
if deviceType == 'side':
self.knownDevice['side'][
data['ip']] = {
'id': pack['context']['id'],
'name':
pack['context']['name'],
'control':
pack['context']['control']
}
if deviceType == 'slaveCar':
self.knownDevice['slaveCar'][
data['ip']] = {
'id': pack['context']['id'],
'name': pack['context']['name']
}
else: # Has recorded before
pass
else: # Other messeage not discover type
pass
else:
try:
ThreadCommunication.qlock.release()
except:
print(
"[Error] Unlock not locked lock in small.")
pass
break
if enableSlave:
for deviceIP, deviceDetail in self.knownDevice[
'slaveCar'].items():
self.thread_Send.send(
{
'type': 'carCommand',
'context': {
'command': command,
'time': persistTime
}
},
deviceIP,
repeat=True)
if enableSide:
if enableLight:
if self.thread_Light.value == 'light':
lightCommand = "off"
else:
lightCommand = "on"
for deviceIP, deviceDetail in self.knownDevice[
'side'].items():
if enableLight:
sendLight = {}
for led in deviceDetail['control']['led']:
sendLight.update({led: lightCommand})
self.thread_Send.send(
{
'type': 'sideCommand',
'context': {
'led': sendLight
}
},
deviceIP,
repeat=True)
if enableUploadData:
if not self.thread_Gps.value[
'latitude'] == 0 and not self.thread_Gps.value[
'longitude'] == 0:
lat = self.thread_Gps.value['latitude']
lon = self.thread_Gps.value['longitude']
self.thread_Upload.setGPS(latitude=lat, longitude=lon)
if enableDHT11:
if self.thread_Dht11.ready == True:
hum = self.thread_Dht11.humidity
tem = self.thread_Dht11.temperature
self.thread_Upload.setDHT(temperature=tem,
humidity=hum)
#except BaseException as e:
# print("[CarMain] Capture Exception while looping!")
# print(type(e), str(e))
#finally:
# try:
# ThreadCommunication.qlock.release()
# except:
# print("[Error] Unlock not locked lock in Big.")
#
else:
print("[CarMain] Exiting")
for thread in self.threadList:
thread[0].stop()
time.sleep(1)
for thread in self.threadList:
print("[CarMain] Is thread ", thread[1], "alive? ",
thread[0].is_alive())
