def ler_sensor_ultrassonico():
MQTT_PORT = 1883
TOPICO = '/softway/iot'
MQTT_TIMEOUT = 60
GPIO.setmode(GPIO.BCM) # Set GPIO pin numbering
TRIG = 23 # Associate pin 23 to TRIG
ECHO = 24 # Associate pin 24 to ECHO
ID_LINE = 1
MQTT_ADDRESS = '10.17.0.2'
GPIO.setup(TRIG, GPIO.OUT) # Set pin as GPIO out
GPIO.setup(ECHO, GPIO.IN) # Set pin as GPIO in
def send_message(msg, MQTT_ADDRESS): # Send MQTT Message
client = mqtt.Client()
client.connect(MQTT_ADDRESS, MQTT_PORT, MQTT_TIMEOUT)
result, mid = client.publish(TOPICO, msg)
print('Mensagem enviada ao canal: %d, [MQTT_ADDRESS: %s]' % (mid, MQTT_ADDRESS))
for numero in range(4):
timeout = 0.8 * 60 * 60 # Horas em segundos (48 min)
timeout_start = time.time()
while time.time() < timeout_start + timeout:
GPIO.output(TRIG, False) # Set TRIG as LOW
time.sleep(2) # Delay of 2 seconds
GPIO.output(TRIG, True) # Set TRIG as HIGH
time.sleep(0.00001) # Delay of 0.00001 seconds
GPIO.output(TRIG, False) # Set TRIG as LOW
while GPIO.input(ECHO) == 0: # Check whether the ECHO is LOW
pulse_start = time.time() # Saves the last known time of LOW pulse
while GPIO.input(ECHO) == 1: # Check whether the ECHO is HIGH
pulse_end = time.time() # Saves the last known time of HIGH pulse
pulse_duration = pulse_end - pulse_start # Get pulse duration to a variable
distance = pulse_duration * 17150 # Multiply pulse duration by 17150 to get distance
distance = round(distance, 2) # Round to two decimal points
if distance > 5:
mensagem = "{\"id\":" + str(ID_LINE) + "}"
print("++ MSG-SEND:", mensagem, "\n")
send_message(mensagem, MQTT_ADDRESS) # Send message via MQTT protocol
time.sleep(0.3)
print("Resetando sensores...")
time.sleep(0.3)
print("Resetando sensores......")
time.sleep(0.4)
print("Resetando sensores.........")
def __init__(self):
''' initialization of pins '''
GPIO.setmode(GPIO.BOARD)
GPIO.setup(self.servoPin, GPIO.OUT)
GPIO.setup(self.ENB, GPIO.OUT)
GPIO.setup(self.IN3, GPIO.OUT)
GPIO.setup(self.IN4, GPIO.OUT)
# 50 and 40 are frequency
self.servo = GPIO(self.servoPin, 50)
self.motor = GPIO(self.ENB, 40)
def __init__(self, baudrate=9600, port='/dev/ttyS1', timeout=1, tr=6):
self.tr = tr
# initialize pyserial
self.serial = pyserial.Serial(port=port,
timeout=timeout,
baudrate=baudrate)
# if serial is not open, open it.
if not self.serial.isOpen():
self.serial.Open()
# initialize GPIO
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM)
GPIO.setup(self.tr, 'out')
def main():
array = ["?", "?", "?", "?"]
GPIO.setmode(GPIO.BOARD)
GPIO.setup(status_led, GPIO.OUT)
GPIO.output(status_led, GPIO.HIGH)
while True:
humidity, temperature = DHT.read_retry(DHT.DHT22, 10)
array[0] = str(temperature)
array[1] = str(humidity)
array[2], array[3] = ds1820()
print(array)
senddata(array)
for i in range(12):
time.sleep(5)
GPIO.output(status_led, GPIO.LOW)
time.sleep(0.5)
GPIO.output(status_led, GPIO.HIGH)
class MotionSensor(threading.Thread):
POLLING_TIME = 0.01
#Una vegada sa configuracio
gpio.setmode(gpio.BCM)
def __init__(self, pin):
threading.Thread.__init__(self)
self.__pin = pin
self.__lock = threading.Lock()
self.setup()
self.__seguirThread = False
self.__motionListener = None
def setup(self):
gpio.setup(self.__pin, gpio.IN)
def cleanUp(self):
gpio.cleanup(self.__pin)
def motion(self):
return gpio.input(self.__pin)
def __str__(self):
return "Motion sensor pin " + str(self.__pin)
def setMotionListener(self, listener):
if isinstance(listener, MotionListener):
self.__motionListener = listener
def threadIsRunning(self):
with self.__lock:
return self.__seguirThread
def stopThread(self):
with self.__lock:
self.__seguirThread = False
def run(self):
with self.__lock:
self.__seguirThread = True
seguir = self.__seguirThread
flag = False
while seguir:
#Instead of synchronize the whole block
with self.__lock:
seguir = self.__seguirThread
if self.motion():
if not flag and self.__motionListener is not None:
self.__motionListener.motion()
flag = True
else:
flag = False
time.sleep(self.POLLING_TIME)
#print("MOTION SENSOR ACABAT")
self.cleanUp()
def get_image(self, angle_idx):
if self.is_test:
self.angles_imgs_counter[angle_idx] += 1
img = self.angles_imgs_lst[angle_idx][
self.angles_imgs_counter[angle_idx]]
# img = cv2.resize(img,(RESIZE_SIZE,RESIZE_SIZE))
if (IS_PI):
self.socket.send_image(img) # asynchronus send, w/ timeout
gui_img_manager.add_img(img)
return img
else:
if (IS_PI):
gpio.setmode(gpio.BOARD)
gpio.setup(btn, gpio.IN, pull_up_down=gpio.PUD_DOWN)
should_enter = True
try:
print("plz press me honz")
while True:
if (gpio.input(btn) == 1):
should_enter = True
elif (should_enter):
img = self.one_still()
#img = cv2.resize(img,(RESIZE_SIZE,RESIZE_SIZE))
self.socket.send_image(img)
should_enter = False
gpio.cleanup()
return img
except KeyboardInterrupt:
print('cam err!')
else: # gui
img = self.socket.get_image()
gui_img_manager.add_img(img)
return img
for i in reversed(LEDS):
IO.output(i, 1)
time.sleep(CLK)
for i in reversed(LEDS):
IO.output(i, 0)
time.sleep(CLK)
def RunEnd():
for i in LEDS:
IO.output(i, 0)
time.sleep(0.001)
IO.cleanup(i)
IO.setmode(IO.BCM)
RED = 26
YELLOW = 21
GREEN = 20
R1 = 13
R2 = 6
R3 = 12
Y1 = 7
Y2 = 8
Y3 = 11
Trigger = 14
LEDS = [26, 21, 20, 13, 6, 12, 7, 8, 11]
for i in LEDS:
def init_vib(self):
gpio.setmode(gpio.BCM)
gpio.setup(ur, gpio.OUT)
gpio.setup(ul, gpio.OUT)
gpio.setup(dr, gpio.OUT)
gpio.setup(dl, gpio.OUT)
# this script turns on the LED when button is pressed and turns it off when button is released
import time as t
# in VS
import gpio as GPIO
# on Rasp
# import RPi.GPIO as GPIO
print("Script started")
_pin_output_led_red = 14
_pin_input_button = 15
GPIO.setmode(GPIO.BCM)
GPIO.setup(_pin_output_led_red, GPIO.OUT)
GPIO.setup(_pin_input_button, GPIO.IN, GPIO.PUD_UP)
while True:
if GPIO.input(_pin_input_button) == False:
print("Button pressed")
GPIO.output(_pin_output_led_red, GPIO.HIGH)
else:
print("Button released")
GPIO.output(_pin_output_led_red, GPIO.LOW)
t.sleep(0.01)
import time
import gpio
def flashLed(bin, t):
gpio.output(bin, gpio.HIGH)
time.sleep(t)
gpio.output(bin, gpio.LOW)
time.sleep(t)
gpio.setmode(gpio.BCM)
gpio.setup(18, gpio.OUT)
for i in range(1, 4):
flashLed(18, 1)
for i in range(1, 10):
flashLed(18, 0.5)
for i in range(1, 20):
flashLed(18, 0.05)
# this script turns on the LED when button is pressed and turns it off when button is released
import time as t
# in VS
import gpio as GPIO
# on Rasp
# import RPi.GPIO as GPIO
print("Script started")
_pin_output_led_red = 14
_pin_input_button = 15
GPIO.setmode(GPIO.BCM)
GPIO.setup(_pin_output_led_red, GPIO.OUT)
GPIO.setup(_pin_input_button, GPIO.IN, GPIO.PUD_UP)
while True:
if GPIO.input(_pin_input_button) == False:
print("Button pressed")
GPIO.output(_pin_output_led_red, GPIO.HIGH)
else:
print("Button released")
GPIO.output(_pin_output_led_red, GPIO.LOW)
t.sleep(0.01)
def threadVideoGet(source=0):
"""
Dedicated thread for grabbing video frames with VideoGet object.
Main thread shows video frames.
"""
legcut = 100
video_getter = VideoGet(source).start()
cps = CountsPerSec().start()
st = time.time()
period_goal = 0.01
period = period_goal
counter = 0
#we need to start the robot moving.
GPIO.setmode(GPIO.BOARD)
GPIO.setup(32, GPIO.OUT)
GPIO.setup(33, GPIO.OUT)
GPIO.setup(35, GPIO.OUT)
GPIO.setup(36, GPIO.OUT)
GPIO.setup(37, GPIO.OUT)
GPIO.setup(38, GPIO.OUT)
pwm0 = GPIO.PWM(32, 20000)
pwm1 = GPIO.PWM(33, 20000)
pwm0.start(50)
pwm1.start(50)
GPIO.output(36, GPIO.HIGH)
GPIO.output(35, GPIO.HIGH)
GPIO.output(38, GPIO.LOW)
GPIO.output(37, GPIO.LOW)
#robot is now moving in a stright line.
while True: # Again the commented part is for displaying the video and calibration
#this is the main while loop which will run until the video is finished.
#the counter will go from 0 to 3 to save and average 4 seperate wing beat angles to an array later on
counter = counter + 1
if counter == 4:
#will need to reset the counter every 4 itterations.
counter = 0
starttime = time.time()
#now go to the next function:
putIterationsPerSec(video_getter.thr, cps.countsPerSec(), counter,
pwm0, pwm1)
cps.increment()
if cps._num_occurrences > 2500 or video_getter.stopped:
print(time.time() - st)
video_getter.stop()
break
ddt = time.time() - starttime
if period - ddt < 0:
period = ddt
else:
time.sleep(period - ddt)
period = period - (time.time() - starttime - period_goal)
