class myserver():
def __init__(self):
self.TCP_Server = Server()
self.TCP_Server.StartTcpServer()
self.ReadData = Thread(target=self.TCP_Server.readdata)
self.SendVideo = Thread(target=self.TCP_Server.sendvideo)
self.power = Thread(target=self.TCP_Server.Power)
self.SendVideo.start()
self.ReadData.start()
self.power.start()
def close(self):
try:
stop_thread(self.SendVideo)
stop_thread(self.ReadData)
stop_thread(self.power)
except:
pass
try:
self.TCP_Server.server_socket.shutdown(2)
self.TCP_Server.server_socket1.shutdown(2)
self.TCP_Server.StopTcpServer()
except:
pass
print("Close TCP")
os._exit(0)
class mywindow(QMainWindow, Ui_server_ui):
def __init__(self):
self.user_ui = True
self.start_tcp = False
self.TCP_Server = Server()
self.parseOpt()
if self.user_ui:
self.app = QApplication(sys.argv)
super(mywindow, self).__init__()
self.setupUi(self)
self.m_DragPosition = self.pos()
self.setWindowFlags(Qt.FramelessWindowHint
| Qt.WindowStaysOnTopHint)
self.setMouseTracking(True)
self.Button_Server.setText("On")
self.on_pushButton()
self.Button_Server.clicked.connect(self.on_pushButton)
self.pushButton_Close.clicked.connect(self.close)
self.pushButton_Min.clicked.connect(self.windowMinimumed)
if self.start_tcp:
self.TCP_Server.StartTcpServer()
self.ReadData = Thread(target=self.TCP_Server.readdata)
self.SendVideo = Thread(target=self.TCP_Server.sendvideo)
self.power = Thread(target=self.TCP_Server.Power)
self.SendVideo.start()
self.ReadData.start()
self.power.start()
if self.user_ui:
self.label.setText("Server On")
self.Button_Server.setText("Off")
def windowMinimumed(self):
self.showMinimized()
def mousePressEvent(self, event):
if event.button() == Qt.LeftButton:
self.m_drag = True
self.m_DragPosition = event.globalPos() - self.pos()
event.accept()
def mouseMoveEvent(self, QMouseEvent):
if QMouseEvent.buttons() and Qt.LeftButton:
self.move(QMouseEvent.globalPos() - self.m_DragPosition)
QMouseEvent.accept()
def mouseReleaseEvent(self, QMouseEvent):
self.m_drag = False
def parseOpt(self):
self.opts, self.args = getopt.getopt(sys.argv[1:], "tn")
for o, a in self.opts:
if o in ('-t'):
print("Open TCP")
self.start_tcp = True
elif o in ('-n'):
self.user_ui = False
def close(self):
try:
stop_thread(self.SendVideo)
stop_thread(self.ReadData)
stop_thread(self.power)
except:
pass
try:
self.TCP_Server.server_socket.shutdown(2)
self.TCP_Server.server_socket1.shutdown(2)
self.TCP_Server.StopTcpServer()
except:
pass
print("Close TCP")
if self.user_ui:
QCoreApplication.instance().quit()
os._exit(0)
def on_pushButton(self):
if self.label.text() == "Server Off":
self.label.setText("Server On")
self.Button_Server.setText("Off")
self.TCP_Server.tcp_Flag = True
print("Open TCP")
self.TCP_Server.StartTcpServer()
self.SendVideo = Thread(target=self.TCP_Server.sendvideo)
self.ReadData = Thread(target=self.TCP_Server.readdata)
self.power = Thread(target=self.TCP_Server.Power)
self.SendVideo.start()
self.ReadData.start()
self.power.start()
elif self.label.text() == 'Server On':
self.label.setText("Server Off")
self.Button_Server.setText("On")
self.TCP_Server.tcp_Flag = False
try:
stop_thread(self.ReadData)
stop_thread(self.power)
stop_thread(self.SendVideo)
except:
pass
self.TCP_Server.StopTcpServer()
print("Close TCP")
class myapp():
def __init__(self,
motor=None,
headlight=None,
taillight=None,
buzzer=None,
display=None):
self.PWM = motor
self.serverup = False
self.automode = False
self.taillight = taillight
self.TCP_Server = Server(motor, headlight, taillight, buzzer)
self.adc = Adc()
self.led = Led()
self.buzzer = buzzer
self.myservo = Servo()
self.display = display
print "Initializing..."
self.on_pushButton()
def close(self):
print "Closing down..."
try:
stop_thread(self.SendVideo)
stop_thread(self.ReadData)
stop_thread(self.power)
except:
pass
try:
self.TCP_Server.server_socket.shutdown(2)
self.TCP_Server.server_socket1.shutdown(2)
self.TCP_Server.StopTcpServer()
except:
pass
self.serverup = False
print "Close TCP"
os._exit(0)
def on_pushButton(self):
if self.serverup == False:
self.TCP_Server.tcp_Flag = True
print "Open TCP"
self.TCP_Server.StartTcpServer()
self.SendVideo = Thread(target=self.TCP_Server.sendvideo)
self.ReadData = Thread(target=self.TCP_Server.readdata)
self.power = Thread(target=self.TCP_Server.Power)
self.SendVideo.start()
self.ReadData.start()
self.power.start()
self.serverup = True
elif self.serverup == True:
self.TCP_Server.tcp_Flag = False
try:
stop_thread(self.ReadData)
stop_thread(self.power)
stop_thread(self.SendVideo)
except:
pass
self.TCP_Server.StopTcpServer()
self.serverup = False
print "Close TCP"
def run_light_thread(self):
self.automode = True
threading.Thread(target=self.run_light).start()
def run_line_thread(self):
self.automode = True
threading.Thread(target=self.run_line).start()
def run_ultrasonic_thread(self):
self.automode = True
threading.Thread(target=self.run_ultrasonic).start()
def run_dance_thread(self):
self.automode = True
threading.Thread(target=self.run_dance).start()
# Event types
# 0 - d < x
# 1 - d >= x
# 2 - l > r - for future enhancement not using in first try
# 3 - l <= r - ditto
def run_ultrasonic(self):
IR01 = 14
IR02 = 15
IR03 = 23
GPIO.setmode(GPIO.BCM)
GPIO.setup(IR01, GPIO.IN)
GPIO.setup(IR02, GPIO.IN)
GPIO.setup(IR03, GPIO.IN)
self.LMR0 = 0x00
if GPIO.input(IR01) == False:
self.LMR0 = (self.LMR0 | 4)
if GPIO.input(IR02) == False:
self.LMR0 = (self.LMR0 | 2)
if GPIO.input(IR03) == False:
self.LMR0 = (self.LMR0 | 1)
if self.LMR0 > 0:
self.LMR0 = 7
ttable = [[1, 0], [2, 4], [3, 5], [1, 1], [0, 0], [0, 0]]
x = 40
ultra = Ultrasonic()
print "Auto drive Start!"
cur_state = 0
while self.automode:
if cur_state == 0:
self.display.show(1, "FORWARD")
self.PWM.slowforward()
ultra.look_forward()
elif cur_state == 1:
self.display.show(1, "LOOKLEFT")
self.PWM.stopMotor()
ultra.look_left()
elif cur_state == 2:
self.display.show(1, "LOOKRITE")
self.PWM.stopMotor()
ultra.look_right()
elif cur_state == 3:
self.display.show(1, "GOBACK")
self.PWM.backup()
elif cur_state == 4:
self.display.show(1, "TURNLEFT")
self.PWM.turnLeft()
time.sleep(0.2)
elif cur_state == 5:
self.display.show(1, "TURNRITE")
self.PWM.turnRight()
time.sleep(0.2)
else:
print "Wrong state?"
cur_state = 0
time.sleep(0.1)
d = ultra.get_distance()
self.LMR = 0x00
if GPIO.input(IR01) == False:
self.LMR = (self.LMR | 4)
if GPIO.input(IR02) == False:
self.LMR = (self.LMR | 2)
if GPIO.input(IR03) == False:
self.LMR = (self.LMR | 1)
if (self.LMR <> self.LMR0):
cur_state = 3
else:
e = 0 if d < x else 1
cur_state = ttable[cur_state][e]
print "Auto drive End!"
def run_line(self):
IR01 = 14
IR02 = 15
IR03 = 23
print "Line Follow Start!"
GPIO.setmode(GPIO.BCM)
GPIO.setup(IR01, GPIO.IN)
GPIO.setup(IR02, GPIO.IN)
GPIO.setup(IR03, GPIO.IN)
while self.automode:
self.LMR = 0x00
if GPIO.input(IR01) == False:
self.LMR = (self.LMR | 4)
if GPIO.input(IR02) == False:
self.LMR = (self.LMR | 2)
if GPIO.input(IR03) == False:
self.LMR = (self.LMR | 1)
if self.LMR == 2:
self.display.show(1, "FORWARD")
self.PWM.setMotorModel(800, 800, 800, 800)
elif self.LMR == 4:
self.display.show(1, "TURNLEFT")
self.PWM.setMotorModel(-1000, -1000, 1500, 1500)
elif self.LMR == 3:
self.display.show(1, "FASTLEFT")
self.PWM.setMotorModel(-1500, -1500, 2000, 2000)
elif self.LMR == 1:
self.display.show(1, "TURNRIGHT")
self.PWM.setMotorModel(1500, 1500, -1000, -1000)
elif self.LMR == 6:
self.display.show(1, "FASTRITE")
self.PWM.setMotorModel(2000, 2000, -1500, -1500)
elif self.LMR == 7:
pass
print "Line Follow End!"
def run_light(self):
print "Light follow start!"
self.PWM.setMotorModel(0, 0, 0, 0)
while self.automode:
L = self.adc.recvADC(0)
R = self.adc.recvADC(1)
if L < 2.99 and R < 2.99:
self.display.show(1, "FORWARD")
self.PWM.setMotorModel(1000, 1000, 1000, 1000)
elif abs(L - R) < 0.15:
self.display.show(1, "STOP")
self.PWM.setMotorModel(0, 0, 0, 0)
elif L > 3 or R > 3:
if L > R:
self.display.show(1, "TURNLEFT")
self.PWM.setMotorModel(-1500, -1500, 2000, 2000)
elif R > L:
self.display.show(1, "TURNRITE")
self.PWM.setMotorModel(2000, 2000, -1500, -1500)
print "Light follow finished!"
def dancemove(self, *args):
for move in args:
if not self.automode:
break
if move == DLEFT:
self.PWM.turnLeft()
time.sleep(DSPEED)
self.PWM.stopMotor()
elif move == DRIGHT:
self.PWM.turnRight()
time.sleep(DSPEED)
self.PWM.stopMotor()
elif move == DSPIN:
self.PWM.spin()
time.sleep(DSPEED * 2)
self.PWM.stopMotor()
elif move == DFORWARD:
self.PWM.slowforward()
time.sleep(DSPEED)
self.PWM.stopMotor()
elif move == DBACK:
self.PWM.slowBackup()
time.sleep(DSPEED)
self.PWM.stopMotor()
elif move == DTOOT:
self.buzzer.run('1')
time.sleep(DSPEED / 2)
self.buzzer.run('0')
time.sleep(DSPEED / 2)
elif move == DARMUP:
self.myservo.setServoPwm(ARM, (ARMSTART + ARMEND) * 2 / 3)
time.sleep(DSPEED)
elif move == DARMDOWN:
self.myservo.setServoPwm(ARM, (ARMSTART + ARMEND) * 1 / 3)
time.sleep(DSPEED)
elif move == DCLAP:
self.myservo.setServoPwm(HAND, HANDEND)
time.sleep(DSPEED)
self.myservo.setServoPwm(HAND, HANDSTART)
time.sleep(DSPEED)
else:
print "Invalid dance move?"
def run_dance(self):
print "Dance moves"
self.PWM.setMotorModel(0, 0, 0, 0)
# start light show
mode = str(random.randint(1, 4))
ledthread = Thread(target=self.led.ledMode, args=(mode, ))
ledthread.start()
while self.automode:
self.dancemove(DLEFT, DBACK, DFORWARD, DBACK, DARMDOWN, DARMUP,
DCLAP, DSPIN, DTOOT, DTOOT, DRIGHT, DBACK, DFORWARD,
DBACK, DARMDOWN, DARMUP, DCLAP, DSPIN, DTOOT, DTOOT)
#self.dancemove(DARMUP, DARMDOWN, DCLAP)
# stop light show when done
stop_thread(ledthread)
self.led.colorWipe(self.led, Color(0, 0, 0), 10)
print "Dance moves finished"
