def handler2(channel):
global handle_data
l,c,r = line.line_data()
if(c == 0 and l == 0 and r == 0):
moter.setMoterControl(0, 5)
handle_data = handle_data - 1
print('handle',handle_data)
def runT():
print("start Deparking~~")
#interrup
gpio.GPIO.add_event_detect(line.pin_otc, gpio.GPIO.FALLING, callback = handler)
gpio.GPIO.add_event_detect(line.pin_otl, gpio.GPIO.FALLING, callback = handler)
gpio.GPIO.add_event_detect(line.pin_otr, gpio.GPIO.FALLING, callback = handler)
while(True):
l,c,r = line.line_data()
moter.setMoterControl(0, 5)
if(c+r+l != 0):
moter.setMoterControl(speed, 2)
else:
break
def reset():
#통신이 끊겼을때
#제자리로 돌아간다
#서보 모터 아래로
gpio.time.sleep(0.5)
servo.setMoterControl(7)
gpio.time.sleep(2)
gpio.GPIO.add_event_detect(line.pin_otl,
gpio.GPIO.FALLING,
callback=handler)
gpio.GPIO.add_event_detect(line.pin_otr,
gpio.GPIO.FALLING,
callback=handler)
try:
while (True):
l, c, r = line.line_data()
moter.setMoterControl(0, 5)
#back
if (l == 1 and c == 0 and r == 1):
moter.setMoterControl(State.speed(), 2)
#back right
elif (l == 1 and r == 0):
moter.setMoterControl(State.speed(), 6)
#back left
elif (l == 0 and r == 1):
moter.setMoterControl(State.speed(), 8)
#여기는 도착한 센서값 캐치후 on상태로 복귀
if (l == 0 and c == 0 and r == 0):
gpio.GPIO.remove_event_detect(line.pin_otl)
gpio.GPIO.remove_event_detect(line.pin_otr)
moter.setMoterControl(0, 5)
State.setState(1)
break
except KeyboardInterrupt:
ending()
sys.exit()
def restart():
global handle_data
gpio.GPIO.add_event_detect(line.pin_otl,
gpio.GPIO.FALLING,
callback=handler2)
gpio.GPIO.add_event_detect(line.pin_otr,
gpio.GPIO.FALLING,
callback=handler2)
try:
while (True):
l, c, r = line.line_data()
#back
if (l == 1 and c == 0 and r == 1):
moter.setMoterControl(State.speed(), 2)
#back right
elif (l == 1 and r == 0):
moter.setMoterControl(State.speed(), 6)
#back left
elif (l == 0 and r == 1):
moter.setMoterControl(State.speed(), 8)
moter.setMoterControl(0, 5)
#여기는 도착한 센서값 캐치후 on상태로 복귀
if (l == 0 and c == 0 and r == 0):
print("restart handle : ", int(handle_data))
if (handle_data != 0):
handle_data = handle_data - 1
moter.setMoterControl(State.speed(), 2)
gpio.time.sleep(0.6)
moter.setMoterControl(0, 5)
elif (handle_data == 0):
gpio.GPIO.remove_event_detect(line.pin_otl)
gpio.GPIO.remove_event_detect(line.pin_otr)
gpio.time.sleep(0.5)
State.setState(10)
break
except KeyboardInterrupt:
ending()
sys.exit()
def runM():
global handle_data
try:
if (State.car_type() == 0):
while (True):
data = client.sendNrecv(State.name() + ' : run')
if (int(data) > 0):
State.setParkNumber(int(data))
break
gpio.time.sleep(0.5)
else:
State.setParkNumber(int(State.car_number()))
#interrup
gpio.GPIO.add_event_detect(line.pin_otl,
gpio.GPIO.FALLING,
callback=handler)
gpio.GPIO.add_event_detect(line.pin_otr,
gpio.GPIO.FALLING,
callback=handler)
print("start parking~~")
while (True):
l, c, r = line.line_data()
#forward
if (l == 1 and c == 0 and r == 1):
#print("go1")
moter.setMoterControl(State.speed(), 1)
#right
elif (l == 1 and r == 0):
#print("go2")
moter.setMoterControl(State.speed(), 4)
#left
elif (l == 0 and r == 1):
#print("go3")
moter.setMoterControl(State.speed(), 3)
moter.setMoterControl(0, 5)
if (l == 0 and c == 0 and r == 0):
print("go4")
#park_number에 10을 나누어 1번 주차장인지 2번 주차장인지 판단
_park_number = int(State.park_number() / 10) - 1
if (_park_number > handle_data):
handle_data = handle_data + 1
moter.setMoterControl(State.speed(), 1)
gpio.time.sleep(0.6)
print(_park_number, "번 라인")
else:
moter.setMoterControl(0, 5)
gpio.GPIO.remove_event_detect(line.pin_otl)
gpio.GPIO.remove_event_detect(line.pin_otr)
gpio.time.sleep(2)
print('인터럽트 해제 완료')
#빼내오는차 넣는차 검출
break
_data = True
if (State.car_type() == 0):
arrive(str(State.park_number()), 'in')
_data = goM()
elif (State.car_type() == 1):
arrive(str(State.park_number()), 'out')
_data = backM()
State.stateChange()
State.setCarType(0)
except KeyboardInterrupt:
ending()
sys.exit()
def handler2(channel):
l, c, r = line.line_data()
gpio.time.sleep(0.5)
if (c == 0 and l == 0 and r == 0):
moter.setMoterControl(0, 5)
def restart():
global state
gpio.GPIO.add_event_detect(line.pin_otl, gpio.GPIO.FALLING, callback = handler2)
gpio.GPIO.add_event_detect(line.pin_otr, gpio.GPIO.FALLING, callback = handler2)
try:
while(True):
l,c,r = line.line_data()
moter.setMoterControl(0, 5)
#back
if(l == 1 and c == 0 and r == 1):
moter.setMoterControl(speed, 2)
#back right
elif(l == 1 and r == 0):
moter.setMoterControl(speed, 6)
#back left
elif(l == 0 and r == 1):
moter.setMoterControl(speed, 8)
#여기는 도착한 센서값 캐치후 on상태로 복귀
if(l == 0 and c == 0 and r == 0):
moter.setMoterControl(0, 5)
if(handle_data != 0):
moter.setMoterControl(speed, 1)
time.sleep(0.5)
elif(handle_data == 0):
gpio.GPIO.remove_event_detect(line.pin_otl)
gpio.GPIO.remove_event_detect(line.pin_otr)
state = 10
break
except KeyboardInterrupt:
ending()
sys.exit()
def runM():
global state, park_number, car_type, handle_data
try:
#interrup
gpio.GPIO.add_event_detect(line.pin_otl, gpio.GPIO.FALLING, callback = handler)
gpio.GPIO.add_event_detect(line.pin_otr, gpio.GPIO.FALLING, callback = handler)
print("start parking~~")
while(True):
l,c,r = line.line_data()
moter.setMoterControl(0, 5)
#forward
if(l == 1 and c == 0 and r == 1):
print("go1")
moter.setMoterControl(speed, 1)
#right
elif(l == 1 and r == 0):
print("go2")
moter.setMoterControl(speed, 4)
#left
elif(l == 0 and r == 1):
print("go3")
moter.setMoterControl(speed, 3)
if(l == 0 and c == 0 and r == 0):
print("go4")
moter.setMoterControl(0, 5)
#park_number에 10을 나누어 1번 주차장인지 2번 주차장인지 판단
_park_number = int(park_number/10)+1
if(_park_number != handle_data):
moter.setMoterControl(speed, 1)
time.sleep(0.5)
else:
gpio.GPIO.remove_event_detect(line.pin_otl)
gpio.GPIO.remove_event_detect(line.pin_otr)
#빼내오는차 넣는차 검출
_data = True
if(car_type == 0):
_data = goM()
elif(car_type == 1):
_data = backM()
if(_data == True):
#제자리로
print('남은 주차 확인')
state = state + 1
car_type = 0
else:
#초기화 , 종료
print('초기화')
moter.setMoterControl(0, 5)
break
except KeyboardInterrupt:
ending()
sys.exit()
def handler(channel):
l, c, r = line.line_data()
gpio.time.sleep(0.5)
if (c == 0 and l == 0 and r == 0):
moter.setMoterControl(0, 5)
while (True):
l, c, r = line.line_data()
#forward
if (l == 1 and c == 0 and r == 1):
#print("go1")
moter.setMoterControl(speed, df)
#right
elif (l == 1 and r == 0):
#print("go2")
moter.setMoterControl(speed, 3)
#left
elif (l == 0 and r == 1):
#print("go3")
moter.setMoterControl(speed, 4)
moter.setMoterControl(0, 5)
if (l == 0 and c == 0 and r == 0):
print("go4")
import test_gpio as gpio import test_moter as moter import test_line as line gpio.setting_gpio() moter.setting() line.setting() moter.setMoterControl(70, 2) moter.setMoterControl(70, 2) moter.setMoterControl(70, 2) moter.setMoterControl(70, 2) moter.setMoterControl(70, 2) moter.setMoterControl(70, 2) moter.setMoterControl(70, 2) moter.setMoterControl(70, 2) moter.setMoterControl(70, 2) moter.setMoterControl(70, 2) moter.setMoterControl(70, 2) moter.setMoterControl(70, 2) moter.setMoterControl(70, 2) moter.setMoterControl(70, 2) moter.setMoterControl(70, 2) moter.setMoterControl(70, 2) moter.setMoterControl(70, 2) moter.setMoterControl(70, 2) gpio.cleaning()
def runM():
global state
try:
print("license number on")
gpio.time.sleep(2);
print("license number ok")
print("send server : car on")
gpio.time.sleep(1);
print("recv server : go 4num")
print("start parking~~")
#interrup
gpio.GPIO.add_event_detect(line.pin_otc, gpio.GPIO.FALLING, callback = handler)
gpio.GPIO.add_event_detect(line.pin_otl, gpio.GPIO.FALLING, callback = handler)
gpio.GPIO.add_event_detect(line.pin_otr, gpio.GPIO.FALLING, callback = handler)
while(True):
l,c,r = line.line_data()
moter.setMoterControl(0, 5)
#전부다 들어왔을떄
if(c == 0 and l == 0 and r == 0):
global interrupData
gpio.GPIO.remove_event_detect(line.pin_otc)
gpio.GPIO.remove_event_detect(line.pin_otl)
gpio.GPIO.remove_event_detect(line.pin_otr)
#지정 주차에 따라 오른쪽 왼쪽 앞쪽 판단 interrupt
if(runNum%2 == 1 and runNum == interrupData):
print('번호 : ',runNum, ' rignt')
gpio.GPIO.add_event_detect(line.pin_otc, gpio.GPIO.FALLING, callback = handler)
while(True):
moter.setMoterControl(speed, 4)
moter.setMoterControl(0, 5)
l,c,r = line.line_data()
if(l == 1 and c == 0 and r == 1):
gpio.GPIO.remove_event_detect(line.pin_otc)
break
elif(runNum%2 == 0 and runNum == interrupData):
print('번호 : ',runNum, ' left')
gpio.GPIO.add_event_detect(line.pin_otc, gpio.GPIO.FALLING, callback = handler)
while(True):
moter.setMoterControl(speed, 3)
moter.setMoterControl(0, 5)
l,c,r = line.line_data()
if(l == 1 and c == 0 and r == 1):
gpio.GPIO.remove_event_detect(line.pin_otc)
break
else:
print('번호 : ',runNum, ' else')
gpio.GPIO.add_event_detect(line.pin_otl, gpio.GPIO.RISING, callback = handler)
gpio.GPIO.add_event_detect(line.pin_otr, gpio.GPIO.RISING, callback = handler)
while(True):
moter.setMoterControl(speed, 1)
moter.setMoterControl(0, 5)
l,c,r = line.line_data()
if(l == 1 and r == 1):
gpio.GPIO.remove_event_detect(line.pin_otl)
gpio.GPIO.remove_event_detect(line.pin_otr)
interrupData = interrupData + 2
break
#forward
elif(l == 1 and c == 0 and r == 1):
moter.setMoterControl(speed, 1)
#right
elif(l == 1 and r == 0):
moter.setMoterControl(speed, 4)
#left
elif(l == 0 and r == 1):
moter.setMoterControl(speed, 3)
elif(l == 1 and c == 1 and r== 1):
data = client.sendNrecv(name+' : arrive='+str(runNum))
state = state + 1
break
except KeyboardInterrupt:
ending()
sys.exit()
def handler(channel):
if(runNum == 1):
l,c,r = line.line_data()
if(c == 0 and l == 0 and r == 0):
moter.setMoterControl(0, 5)
print('interrup!!!!!!!')
def runT():
global state
try:
print("start Deparking~~")
#interrup
gpio.GPIO.add_event_detect(line.pin_otc,
gpio.GPIO.FALLING,
callback=handler)
gpio.GPIO.add_event_detect(line.pin_otl,
gpio.GPIO.FALLING,
callback=handler)
gpio.GPIO.add_event_detect(line.pin_otr,
gpio.GPIO.FALLING,
callback=handler)
#후진
while (True):
l, c, r = line.line_data()
moter.setMoterControl(0, 5)
if (c + r + l != 0):
moter.setMoterControl(speed, 2)
else:
while (True):
l, c, r = line.line_data()
moter.setMoterControl(0, 5)
if (c + r + l == 0):
if (runNum % 2 == 1):
moter.setMoterControl(speed, 8)
else:
moter.setMoterControl(speed, 6)
else:
break
break
print('후진 완료 측면 후진 시작')
#좌우 측만 후진
while (True):
l, c, r = line.line_data()
moter.setMoterControl(0, 5)
if (runNum % 2 == 1):
if (c == 1 or l == 1 or r == 1):
moter.setMoterControl(speed, 8)
elif (runNum % 2 == 0):
if (c == 1 or l == 1 or r == 1):
moter.setMoterControl(speed, 6)
if (c == 0 and l == 0 and r == 0):
while (True):
l, c, r = line.line_data()
moter.setMoterControl(0, 5)
if (c + r + l == 0):
moter.setMoterControl(speed, 1)
else:
break
break
print('측면후진 완료 전진 시작')
#후진후 전진
while (True):
l, c, r = line.line_data()
moter.setMoterControl(0, 5)
#forward
if (l == 1 and c == 0 and r == 1):
moter.setMoterControl(speed, 1)
elif (l == 0 and c == 0 and r == 0):
moter.setMoterControl(speed, 1)
#right
elif (l == 1 and r == 0):
moter.setMoterControl(speed, 4)
#left
elif (l == 0 and r == 1):
moter.setMoterControl(speed, 3)
else:
break
gpio.GPIO.remove_event_detect(line.pin_otc)
gpio.GPIO.remove_event_detect(line.pin_otl)
gpio.GPIO.remove_event_detect(line.pin_otr)
state = state + 1
except KeyboardInterrupt:
ending()
sys.exit()
elif (state == 1):
print('on')
onM()
elif (state == 2):
print('check')
checkM()
elif (state == 3):
if (runNum % 2 == 1):
interrupData = runNum % 2
else:
interrupData = 2
print('main')
runM()
moter.setMoterControl(0, 5)
elif (state == 4):
runT()
print('stop')
moter.setMoterControl(0, 5)
else:
time.sleep(4)
print('end')
except KeyboardInterrupt:
ending()
sys.exit()