def run(self):
global goal_pos, servo_command, init_get, functionMode
while self.__running.isSet():
self.__flag.wait()
if functionMode != 6:
if servo_command == 'lookleft':
servo.lookleft(servo_speed)
elif servo_command == 'lookright':
servo.lookright(servo_speed)
elif servo_command == 'up':
servo.up(servo_speed)
elif servo_command == 'down':
servo.down(servo_speed)
else:
pass
if functionMode == 4:
servo.ahead()
findline.run()
if not functionMode:
move.motorStop()
elif functionMode == 5:
autoDect(50)
if not functionMode:
move.motorStop()
elif functionMode == 6:
if MPU_connection:
accelerometer_data = sensor.get_accel_data()
X_get = accelerometer_data['x']
if not init_get:
goal_pos = X_get
init_get = 1
if servo_command == 'up':
servo.up(servo_speed)
time.sleep(0.2)
accelerometer_data = sensor.get_accel_data()
X_get = accelerometer_data['x']
goal_pos = X_get
elif servo_command == 'down':
servo.down(servo_speed)
time.sleep(0.2)
accelerometer_data = sensor.get_accel_data()
X_get = accelerometer_data['x']
goal_pos = X_get
if abs(X_get - goal_pos) > tor_pos:
if X_get > goal_pos:
servo.down(int(mpu_speed * abs(X_get - goal_pos)))
elif X_get < goal_pos:
servo.up(int(mpu_speed * abs(X_get - goal_pos)))
time.sleep(0.03)
continue
else:
functionMode = 0
try:
self.pause()
except:
pass
time.sleep(0.03)
def findLineCtrl(posInput, setCenter):
if posInput:
if posInput > (setCenter + findLineError):
move.motorStop()
#turnRight
error = (posInput - 320) / 5
outv = int(round((pid.GenOut(error)), 0))
servo.lookright(outv)
# servo.turnRight(coe_Genout(error, 64))
servo.turnRight()
X_lock = 0
elif posInput < (setCenter - findLineError):
move.motorStop()
#turnLeft
error = (320 - posInput) / 5
outv = int(round((pid.GenOut(error)), 0))
servo.lookleft(outv)
# servo.turnLeft(coe_Genout(error, 64))
servo.turnLeft()
else:
if CVrun:
move.move(speed_set, 'forward')
#forward
else:
if CVrun:
move.move(speed_set, 'backward')
def moveCtrl(distanceInput, backRange, forwardRange):
if CVrun:
if distanceInput > forwardRange:
move.move(speed_set, 'forward')
elif distanceInput < backRange:
move.move(speed_set, 'backward')
else:
move.motorStop()
def capture_thread(self, IPinver):
global frame_image, camera
ap = argparse.ArgumentParser() #OpenCV initialization
ap.add_argument("-b",
"--buffer",
type=int,
default=64,
help="max buffer size")
args = vars(ap.parse_args())
pts = deque(maxlen=args["buffer"])
font = cv2.FONT_HERSHEY_SIMPLEX
camera = picamera.PiCamera()
camera.resolution = (640, 480)
camera.framerate = 20
rawCapture = PiRGBArray(camera, size=(640, 480))
context = zmq.Context()
footage_socket = context.socket(zmq.PUB)
print(IPinver)
footage_socket.connect('tcp://%s:5555' % IPinver)
avg = None
motionCounter = 0
lastMovtionCaptured = datetime.datetime.now()
for frame in camera.capture_continuous(rawCapture,
format="bgr",
use_video_port=True):
frame_image = frame.array
timestamp = datetime.datetime.now()
if FindColorMode:
####>>>OpenCV Start<<<####
hsv = cv2.cvtColor(frame_image, cv2.COLOR_BGR2HSV)
mask = cv2.inRange(hsv, colorLower, colorUpper) #1
mask = cv2.erode(mask, None, iterations=2)
mask = cv2.dilate(mask, None, iterations=2)
cnts = cv2.findContours(mask.copy(), cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)[-2]
center = None
if len(cnts) > 0:
cv2.putText(frame_image, 'Target Detected', (40, 60), font,
0.5, (255, 255, 255), 1, cv2.LINE_AA)
c = max(cnts, key=cv2.contourArea)
((x, y), radius) = cv2.minEnclosingCircle(c)
M = cv2.moments(c)
center = (int(M["m10"] / M["m00"]),
int(M["m01"] / M["m00"]))
X = int(x)
Y = int(y)
if radius > 10:
cv2.rectangle(frame_image,
(int(x - radius), int(y + radius)),
(int(x + radius), int(y - radius)),
(255, 255, 255), 1)
if Y < (240 - tor):
error = (240 - Y) / 5
outv = int(round((pid.GenOut(error)), 0))
servo.up(outv)
Y_lock = 0
elif Y > (240 + tor):
error = (Y - 240) / 5
outv = int(round((pid.GenOut(error)), 0))
servo.down(outv)
Y_lock = 0
else:
Y_lock = 1
if X < (320 - tor * 3):
error = (320 - X) / 5
outv = int(round((pid.GenOut(error)), 0))
servo.lookleft(outv)
servo.turnLeft(coe_Genout(error, 64))
X_lock = 0
elif X > (330 + tor * 3):
error = (X - 240) / 5
outv = int(round((pid.GenOut(error)), 0))
servo.lookright(outv)
servo.turnRight(coe_Genout(error, 64))
X_lock = 0
else:
move.motorStop()
X_lock = 1
if X_lock == 1 and Y_lock == 1:
switch.switch(1, 1)
switch.switch(2, 1)
switch.switch(3, 1)
moveCtrl(ultra.checkdist(), back_R, forward_R)
else:
move.motorStop()
switch.switch(1, 0)
switch.switch(2, 0)
switch.switch(3, 0)
else:
cv2.putText(frame_image, 'Target Detecting', (40, 60),
font, 0.5, (255, 255, 255), 1, cv2.LINE_AA)
move.motorStop()
####>>>OpenCV Ends<<<####
if WatchDogMode:
gray = cv2.cvtColor(frame_image, cv2.COLOR_BGR2GRAY)
gray = cv2.GaussianBlur(gray, (21, 21), 0)
if avg is None:
print("[INFO] starting background model...")
avg = gray.copy().astype("float")
rawCapture.truncate(0)
continue
cv2.accumulateWeighted(gray, avg, 0.5)
frameDelta = cv2.absdiff(gray, cv2.convertScaleAbs(avg))
# threshold the delta image, dilate the thresholded image to fill
# in holes, then find contours on thresholded image
thresh = cv2.threshold(frameDelta, 5, 255,
cv2.THRESH_BINARY)[1]
thresh = cv2.dilate(thresh, None, iterations=2)
cnts = cv2.findContours(thresh.copy(), cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
cnts = imutils.grab_contours(cnts)
# print('x')
# loop over the contours
for c in cnts:
# if the contour is too small, ignore it
if cv2.contourArea(c) < 5000:
continue
# compute the bounding box for the contour, draw it on the frame,
# and update the text
(x, y, w, h) = cv2.boundingRect(c)
cv2.rectangle(frame_image, (x, y), (x + w, y + h),
(128, 255, 0), 1)
text = "Occupied"
motionCounter += 1
#print(motionCounter)
#print(text)
LED.colorWipe(255, 16, 0)
lastMovtionCaptured = timestamp
switch.switch(1, 1)
switch.switch(2, 1)
switch.switch(3, 1)
if (timestamp - lastMovtionCaptured).seconds >= 0.5:
LED.colorWipe(255, 255, 0)
switch.switch(1, 0)
switch.switch(2, 0)
switch.switch(3, 0)
if FindLineMode:
cvFindLine()
cv2.line(frame_image, (300, 240), (340, 240), (128, 255, 128), 1)
cv2.line(frame_image, (320, 220), (320, 260), (128, 255, 128), 1)
if FindLineMode and not frameRender:
encoded, buffer = cv2.imencode('.jpg', frame_findline)
else:
encoded, buffer = cv2.imencode('.jpg', frame_image)
jpg_as_text = base64.b64encode(buffer)
footage_socket.send(jpg_as_text)
rawCapture.truncate(0)
def run():
global turn_status, speed, angle_rate, color_select, led, check_true_out, backing, last_turn
status_right = GPIO.input(line_pin_right)
status_middle = GPIO.input(line_pin_middle)
status_left = GPIO.input(line_pin_left)
#print('R%d M%d L%d'%(status_right,status_middle,status_left))
if status_right == color_select:
check_true_out = 0
backing = 0
print('left')
led.colorWipe(0, 255, 0)
turn_status = -1
last_turn = -1
servo.turnLeft(angle_rate)
move.move(speed, 'forward')
elif status_left == color_select:
check_true_out = 0
backing = 0
print('right')
turn_status = 1
last_turn = 1
led.colorWipe(0, 0, 255)
servo.turnRight(angle_rate)
move.move(speed, 'forward')
elif status_middle == color_select:
check_true_out = 0
backing = 0
print('middle')
led.colorWipe(255, 255, 255)
turn_status = 0
servo.turnMiddle()
move.move(speed, 'forward')
# time.sleep(0.2)
else:
print('none')
led.colorWipe(255, 0, 0)
if not backing == 1:
if check_true_out == 1:
check_true_out = 0
if turn_status == 0:
if last_turn == 1:
servo.turnRight(angle_rate)
else:
servo.turnLeft(angle_rate)
move.move(speed, 'backward')
time.sleep(0.3)
elif turn_status == 1:
time.sleep(0.3)
servo.turnLeft(angle_rate)
else:
time.sleep(0.3)
servo.turnRight(angle_rate)
move.move(speed, 'backward')
backing = 1
# time.sleep(0.2)
else:
time.sleep(0.1)
check_true_out = 1
servo.turnRight(angle_rate)
else:
servo.turnLeft(angle_rate)
move.move(speed, 'backward')
time.sleep(0.3)
elif turn_status == 1:
time.sleep(0.3)
servo.turnLeft(angle_rate)
else:
time.sleep(0.3)
servo.turnRight(angle_rate)
move.move(speed, 'backward')
backing = 1
# time.sleep(0.2)
else:
time.sleep(0.1)
check_true_out = 1
if __name__ == '__main__':
try:
setup()
move.setup()
while 1:
run()
pass
except KeyboardInterrupt:
move.destroy()
def autoDect(speed):
move.motorStop()
servo.ahead()
time.sleep(0.3)
getMiddle = ultra.checkdist()
print('M%f' % getMiddle)
servo.ahead()
servo.lookleft(100)
time.sleep(0.3)
getLeft = ultra.checkdist()
print('L%f' % getLeft)
servo.ahead()
servo.lookright(100)
time.sleep(0.3)
getRight = ultra.checkdist()
print('R%f' % getRight)
if getMiddle < range_min and min(getLeft, getRight) > range_min:
if random.randint(0, 1):
servo.turnLeft()
else:
servo.turnRight()
move.move(speed, 'forward')
time.sleep(0.5)
move.motorStop()
elif getLeft < range_min and min(getMiddle, getRight) > range_min:
servo.turnRight(0.7)
move.move(speed, 'forward')
time.sleep(0.5)
move.motorStop()
elif getRight < range_min and min(getMiddle, getLeft) > range_min:
servo.turnLeft(0.7)
move.move(speed, 'forward')
time.sleep(0.5)
move.motorStop()
elif max(getLeft, getMiddle) < range_min and getRight > range_min:
servo.turnRight()
move.move(speed, 'forward')
time.sleep(0.5)
move.motorStop()
elif max(getMiddle, getRight) < range_min and getLeft > range_min:
servo.turnLeft()
move.move(speed, 'forward')
time.sleep(0.5)
move.motorStop()
elif max(getLeft, getMiddle, getRight) < range_min:
move.move(speed, 'backward')
time.sleep(0.5)
move.motorStop()
else:
servo.turnMiddle()
move.move(speed, 'forward')
time.sleep(0.5)
move.motorStop()
def run():
global servo_move, speed_set, servo_command, functionMode, init_get, R_set, G_set, B_set, SR_mode
servo.servo_init()
move.setup()
findline.setup()
direction_command = 'no'
turn_command = 'no'
servo_command = 'no'
speed_set = 100
rad = 0.5
info_threading = threading.Thread(
target=info_send_client) #Define a thread for FPV and OpenCV
info_threading.setDaemon(
True
) #'True' means it is a front thread,it would close when the mainloop() closes
info_threading.start() #Thread starts
servo_move = Servo_ctrl()
servo_move.start()
servo_move.pause()
findline.setup()
while True:
data = ''
data = str(tcpCliSock.recv(BUFSIZ).decode())
if not data:
continue
elif 'forward' == data:
direction_command = 'forward'
move.move(speed_set, direction_command)
elif 'backward' == data:
direction_command = 'backward'
move.move(speed_set, direction_command)
elif 'DS' in data:
direction_command = 'no'
move.move(speed_set, direction_command)
elif 'left' == data:
# turn_command = 'left'
servo.turnLeft()
elif 'right' == data:
# turn_command = 'right'
servo.turnRight()
elif 'TS' in data:
# turn_command = 'no'
servo.turnMiddle()
elif 'Switch_1_on' in data:
switch.switch(1, 1)
tcpCliSock.send(('Switch_1_on').encode())
elif 'Switch_1_off' in data:
switch.switch(1, 0)
tcpCliSock.send(('Switch_1_off').encode())
elif 'Switch_2_on' in data:
switch.switch(2, 1)
tcpCliSock.send(('Switch_2_on').encode())
elif 'Switch_2_off' in data:
switch.switch(2, 0)
tcpCliSock.send(('Switch_2_off').encode())
elif 'Switch_3_on' in data:
switch.switch(3, 1)
tcpCliSock.send(('Switch_3_on').encode())
elif 'Switch_3_off' in data:
switch.switch(3, 0)
tcpCliSock.send(('Switch_3_off').encode())
elif 'function_1_on' in data:
servo.ahead()
time.sleep(0.2)
tcpCliSock.send(('function_1_on').encode())
radar_send = servo.radar_scan()
tcpCliSock.sendall(radar_send.encode())
print(radar_send)
time.sleep(0.3)
tcpCliSock.send(('function_1_off').encode())
elif 'function_2_on' in data:
functionMode = 2
fpv.FindColor(1)
tcpCliSock.send(('function_2_on').encode())
elif 'function_3_on' in data:
functionMode = 3
fpv.WatchDog(1)
tcpCliSock.send(('function_3_on').encode())
elif 'function_4_on' in data:
functionMode = 4
servo_move.resume()
tcpCliSock.send(('function_4_on').encode())
elif 'function_5_on' in data:
functionMode = 5
servo_move.resume()
tcpCliSock.send(('function_5_on').encode())
elif 'function_6_on' in data:
if MPU_connection:
functionMode = 6
servo_move.resume()
tcpCliSock.send(('function_6_on').encode())
#elif 'function_1_off' in data:
# tcpCliSock.send(('function_1_off').encode())
elif 'function_2_off' in data:
functionMode = 0
fpv.FindColor(0)
switch.switch(1, 0)
switch.switch(2, 0)
switch.switch(3, 0)
tcpCliSock.send(('function_2_off').encode())
elif 'function_3_off' in data:
functionMode = 0
fpv.WatchDog(0)
tcpCliSock.send(('function_3_off').encode())
elif 'function_4_off' in data:
functionMode = 0
servo_move.pause()
move.motorStop()
tcpCliSock.send(('function_4_off').encode())
elif 'function_5_off' in data:
functionMode = 0
servo_move.pause()
move.motorStop()
tcpCliSock.send(('function_5_off').encode())
elif 'function_6_off' in data:
functionMode = 0
servo_move.pause()
move.motorStop()
init_get = 0
tcpCliSock.send(('function_6_off').encode())
elif 'lookleft' == data:
servo_command = 'lookleft'
servo_move.resume()
elif 'lookright' == data:
servo_command = 'lookright'
servo_move.resume()
elif 'up' == data:
servo_command = 'up'
servo_move.resume()
elif 'down' == data:
servo_command = 'down'
servo_move.resume()
elif 'stop' == data:
if not functionMode:
servo_move.pause()
servo_command = 'no'
pass
elif 'home' == data:
servo.ahead()
elif 'CVrun' == data:
if not FPV.CVrun:
FPV.CVrun = 1
tcpCliSock.send(('CVrun_on').encode())
else:
FPV.CVrun = 0
tcpCliSock.send(('CVrun_off').encode())
elif 'wsR' in data:
try:
set_R = data.split()
R_set = int(set_R[1])
led.colorWipe(R_set, G_set, B_set)
except:
pass
elif 'wsG' in data:
try:
set_G = data.split()
G_set = int(set_G[1])
led.colorWipe(R_set, G_set, B_set)
except:
pass
elif 'wsB' in data:
try:
set_B = data.split()
B_set = int(set_B[1])
led.colorWipe(R_set, G_set, B_set)
except:
pass
elif 'pwm0' in data:
try:
set_pwm0 = data.split()
pwm0_set = int(set_pwm0[1])
servo.setPWM(0, pwm0_set)
except:
pass
elif 'pwm1' in data:
try:
set_pwm1 = data.split()
pwm1_set = int(set_pwm1[1])
servo.setPWM(1, pwm1_set)
except:
pass
elif 'pwm2' in data:
try:
set_pwm2 = data.split()
pwm2_set = int(set_pwm2[1])
servo.setPWM(2, pwm2_set)
except:
pass
elif 'Speed' in data:
try:
set_speed = data.split()
speed_set = int(set_speed[1])
except:
pass
elif 'Save' in data:
try:
servo.saveConfig()
except:
pass
elif 'CVFL' in data:
if not FPV.FindLineMode:
FPV.FindLineMode = 1
tcpCliSock.send(('CVFL_on').encode())
else:
move.motorStop()
FPV.FindLineMode = 0
tcpCliSock.send(('CVFL_off').encode())
elif 'Render' in data:
if FPV.frameRender:
FPV.frameRender = 0
else:
FPV.frameRender = 1
elif 'WBswitch' in data:
if FPV.lineColorSet == 255:
FPV.lineColorSet = 0
else:
FPV.lineColorSet = 255
elif 'lip1' in data:
try:
set_lip1 = data.split()
lip1_set = int(set_lip1[1])
FPV.linePos_1 = lip1_set
except:
pass
elif 'lip2' in data:
try:
set_lip2 = data.split()
lip2_set = int(set_lip2[1])
FPV.linePos_2 = lip2_set
except:
pass
elif 'err' in data:
try:
set_err = data.split()
err_set = int(set_err[1])
FPV.findLineError = err_set
except:
pass
elif 'FCSET' in data:
FCSET = data.split()
fpv.colorFindSet(int(FCSET[1]), int(FCSET[2]), int(FCSET[3]))
elif 'setEC' in data: #Z
ECset = data.split()
try:
fpv.setExpCom(int(ECset[1]))
except:
pass
elif 'defEC' in data: #Z
fpv.defaultExpCom()
elif 'police' in data:
if LED.ledfunc != 'police':
tcpCliSock.send(('rainbow_off').encode())
LED.ledfunc = 'police'
ledthread.resume()
tcpCliSock.send(('police_on').encode())
elif LED.ledfunc == 'police':
LED.ledfunc = ''
ledthread.pause()
tcpCliSock.send(('police_off').encode())
elif 'rainbow' in data:
if LED.ledfunc != 'rainbow':
tcpCliSock.send(('police_off').encode())
LED.ledfunc = 'rainbow'
ledthread.resume()
tcpCliSock.send(('rainbow_on').encode())
elif LED.ledfunc == 'rainbow':
LED.ledfunc = ''
ledthread.pause()
tcpCliSock.send(('rainbow_off').encode())
elif 'sr' in data:
if not SR_mode:
if SR_dect:
SR_mode = 1
tcpCliSock.send(('sr_on').encode())
sr.resume()
elif SR_mode:
SR_mode = 0
sr.pause()
move.motorStop()
tcpCliSock.send(('sr_off').encode())
else:
pass
print(data)
def run(self):
global goal_pos, servo_command, init_get, functionMode
while self.__running.isSet():
self.__flag.wait()
if SR_mode:
voice_command = SR.run()
if voice_command == 'forward':
turn.turnMiddle()
move.move(speed_set, 'forward')
time.sleep(1)
move.motorStop()
elif voice_command == 'backward':
turn.turnMiddle()
move.move(speed_set, 'backward')
time.sleep(1)
move.motorStop()
elif voice_command == 'left':
servo.turnLeft()
move.move(speed_set, 'forward')
time.sleep(1)
turn.turnMiddle()
move.motorStop()
elif voice_command == 'right':
servo.turnRight()
move.move(speed_set, 'forward')
time.sleep(1)
turn.turnMiddle()
move.motorStop()
elif voice_command == 'stop':
turn.turnMiddle()
move.motorStop()
else:
self.pause()
tcpCliSock, addr = tcpSerSock.accept()
print('...connected from :', addr)
# fpv=FPV.FPV()
# fps_threading=threading.Thread(target=FPV_thread) #Define a thread for FPV and OpenCV
# fps_threading.setDaemon(True) #'True' means it is a front thread,it would close when the mainloop() closes
# fps_threading.start() #Thread starts
break
except:
led.colorWipe(0, 0, 0)
try:
led.colorWipe(0, 80, 255)
except:
pass
fpv = FPV.FPV()
fps_threading = threading.Thread(
target=FPV_thread) #Define a thread for FPV and OpenCV
fps_threading.setDaemon(
True
) #'True' means it is a front thread,it would close when the mainloop() closes
fps_threading.start() #Thread starts
run()
try:
run()
except:
servo_move.stop()
led.colorWipe(0, 0, 0)
servo.clean_all()
move.destroy()