def toggle_valve(self):
if Pi.valve_opened:
self.valveButton['text'] = "Open Valve"
Pi.close_valve()
else:
self.valveButton['text'] = "Close Valve"
Pi.open_valve()
def Dump():
Pi.flow_counter = 0
frameDump.grid()
dumpControlThread = threading.Thread(target=DumpControl)
dumpControlThread.daemon = True
dumpControlThread.start()
Pi.open_valve()
def get(self):
pi.light()
pi.camera()
self.write(json.dumps(self.deviceInfo))
def post(self):
self.write(json.dumps(self.deviceInfo))
def __init__(self,
width,
height,
obstacles=(),
localino_anchors=[
LocalinoAnchor(),
LocalinoAnchor(),
LocalinoAnchor()
]):
"""Initialize all things present in the environment"""
self.width = width
self.height = height
# Generate Localino Tags
wheelchair_tag = LocalinoTag()
person_tag = LocalinoTag()
# Initialize the physical objects
self.obstacles = obstacles
self.person = Person(
localino_tag=person_tag
) # person does not need to know the environment but needs a localino tag
self.wheelchair = Wheelchair(
environment=self, localino_tag=wheelchair_tag
) # wheelchair's sensors need to know the environement and it contains a localino tag
# Initialize the services
self.localino_service = LocalinoService(anchors=localino_anchors,
wheelchair_tag=wheelchair_tag,
person_tag=person_tag)
self.alexa = Alexa()
# Initialize the pi
self.pi = Pi(alexa=self.alexa,
lidar=self.wheelchair.lidar,
localino=self.localino_service,
encoder=self.wheelchair.encoder,
berryimu=self.wheelchair.berryimu)
# Verify that all objects are in a valid position
if not self.verify():
print("Invalid Initial State")
def CancelBuy():
Lightning.timeout = 0
Pi.close_valve()
frameRequestInvoice.grid_remove()
frameQRcode.grid_remove()
frameDump.grid_remove()
def Exit():
global exit_app
exit_app = True
close_keyboard()
Pi.cleanIO()
sys.exit()
import Rates
import Lightning
debug_log = True
debug_payments = True # True to allow debug and configurations
paymentRequest = "Imposto eh roubo"
paymentId = 0
payment_amountBRL = 0
payment_amount = 0
dump_volume = 0
dump_pulses = 0
config_conter = 0
exit_app = False
Pi.init_hardware()
def OpenConfigWindow():
root.attributes("-fullscreen", False)
Config.ConfigWindow(root)
labelBeer["text"] = str(Config.beer_name) + " -> R$" + str(
Config.liter_priceBRL) + "/Litro"
labelInfo["text"] = "1 BTC = R$" + str(Config.BTC_BRL) + " = US$" + str(
Config.BTC_USD)
def CancelBuy():
Lightning.timeout = 0
Pi.close_valve()
frameRequestInvoice.grid_remove()
import Pi print(Pi.CaculatePi(0))
class Environment:
def __init__(self,
width,
height,
obstacles=(),
localino_anchors=[
LocalinoAnchor(),
LocalinoAnchor(),
LocalinoAnchor()
]):
"""Initialize all things present in the environment"""
self.width = width
self.height = height
# Generate Localino Tags
wheelchair_tag = LocalinoTag()
person_tag = LocalinoTag()
# Initialize the physical objects
self.obstacles = obstacles
self.person = Person(
localino_tag=person_tag
) # person does not need to know the environment but needs a localino tag
self.wheelchair = Wheelchair(
environment=self, localino_tag=wheelchair_tag
) # wheelchair's sensors need to know the environement and it contains a localino tag
# Initialize the services
self.localino_service = LocalinoService(anchors=localino_anchors,
wheelchair_tag=wheelchair_tag,
person_tag=person_tag)
self.alexa = Alexa()
# Initialize the pi
self.pi = Pi(alexa=self.alexa,
lidar=self.wheelchair.lidar,
localino=self.localino_service,
encoder=self.wheelchair.encoder,
berryimu=self.wheelchair.berryimu)
# Verify that all objects are in a valid position
if not self.verify():
print("Invalid Initial State")
#exit()
def move_person(self, x, y):
self.person.set_pos(x, y)
if not self.verify():
print("Invalid State")
def say(self, command):
"""Processes a say command in the environment"""
self.alexa.say(command)
def step(self):
"""Takes a step in the simulator
Processes any movement the wheelchair will do and
"""
self.pi.step()
self.wheelchair.orientation = self.pi.dir
self.wheelchair.xVel = math.cos(
self.wheelchair.orientation) * self.pi.vel
self.wheelchair.yVel = math.sin(
self.wheelchair.orientation) * self.pi.vel
self.wheelchair.xPos += self.wheelchair.xVel
self.wheelchair.yPos += self.wheelchair.yVel
print(self.wheelchair.xPos, self.wheelchair.yPos)
self.wheelchair.update_sensor_positions()
self.wheelchair.update_boundary_positions()
if not self.verify():
print("Invalid State")
def line_rect_intersection(self, ray, obstacle):
lines = [(obstacle.x1, obstacle.y1, obstacle.x1, obstacle.y2),
(obstacle.x1, obstacle.y1, obstacle.x2, obstacle.y1),
(obstacle.x2, obstacle.y1, obstacle.x2, obstacle.y2),
(obstacle.x1, obstacle.y2, obstacle.x2, obstacle.y2)]
#https://www.topcoder.com/community/data-science/data-science-tutorials/geometry-concepts-line-intersection-and-its-applications/
a1 = ray[1] - ray[3]
b1 = ray[2] - ray[0]
c1 = a1 * ray[0] + b1 * ray[1]
d = math.inf
#Check each line segment for an intersection and return the closest one
for line in lines:
#Solve for the intersection of 2 lines
a2 = line[1] - line[3]
b2 = line[2] - line[0]
c2 = a2 * line[0] + b2 * line[1]
det = a1 * b2 - a2 * b1
if det != 0:
x = (b2 * c1 - b1 * c2) / det
y = (a1 * c2 - a2 * c1) / det
#Check if the intersection lies on the obstacle's line segment
if line[0] <= x <= line[2] and line[1] <= y <= line[3]:
d = min(
d,
math.hypot(x - self.wheelchair.xPos,
y - self.wheelchair.yPos))
if math.isinf(d):
return 0
else:
return d
def verify(self):
"""verifies boundaries of all physicals objects in the simulation
If any objects are overlapping this state is an illegal one and verify should return false
Limitations: Rounds values to the nearest integer
Todo: wheelchair circular boundary
returns True if state is legal
False if state is illegal
"""
# create a mock up environment to check bounds
env_grid = [[False for j in range(self.height)]
for i in range(self.width)]
#check if anything is outside of the boundaries of the environment and if not then add it to the grid
# check obstacles
for obstacle in self.obstacles:
if obstacle.x1 < 0 or obstacle.x1 > self.width or obstacle.y1 < 0 or obstacle.y1 > self.height or obstacle.x2 < 0 or obstacle.x2 > self.width or obstacle.y2 < 0 or obstacle.y2 > self.height:
return False
for i in range(round(obstacle.x1), round(obstacle.x2)):
for j in range(round(obstacle.y1), round(obstacle.y2)):
if not env_grid[i][j]:
env_grid[i][j] = True
else:
return False
# check wheelchair boundary
if self.wheelchair.x1 < 0 or self.wheelchair.x1 > self.width or self.wheelchair.y1 < 0 or self.wheelchair.y1 > self.height or self.wheelchair.x2 < 0 or self.wheelchair.x2 > self.width or self.wheelchair.y2 < 0 or self.wheelchair.y2 > self.height:
return False
for i in range(round(self.wheelchair.x1), round(self.wheelchair.x2)):
for j in range(round(self.wheelchair.y1),
round(self.wheelchair.y2)):
if not env_grid[i][j]:
env_grid[i][j] = True
else:
return False
# check person
if self.person.x1 < 0 or self.person.x1 > self.width or self.person.y1 < 0 or self.person.y1 > self.height or self.person.x2 < 0 or self.person.x2 > self.width or self.person.y2 < 0 or self.person.y2 > self.height:
return False
for i in range(round(self.person.x1), round(self.person.x2)):
for j in range(round(self.person.y1), round(self.person.y2)):
if not env_grid[i][j]:
env_grid[i][j] = True
else:
return False
return True
os.setpgrp()
hosts = ['192.168.1.20', '192.168.1.21']
"""
One power strip has ip 192.168.1.20; the other, .21
x.x.x.20 will control bulbs 0-5
x.x.x.21 will control bulbs 6-11
"""
power_strip_on_list = Array('i', 13)
# Create a "CheckFace" object, in webcam_pulse/lib/check_face_visible.py
face_check_process = CheckFace(camera_obj=camera_obj)
# Start a process to request all bulbs to turn off.
# Pi process defined in control_pi.py
pi = Pi(hosts=hosts)
pi.start()
pi.join()
# Processes are dead; continue.
# Use camera to get a pulse from a face
# Perform this _once_ initially
pulse_val = 0
App = getPulseApp(args, camera_obj)
# Generate a pulse
while pulse_val == 0 or pulse_val == -1:
pulse_val = App.main_loop()
time.sleep(1.0 / 16.0)
pulse_val = App.bpm
hosts = ['192.168.1.20', '192.168.1.21']
"""
One power strip has ip 192.168.1.20; the other, .21
x.x.x.20 will control bulbs 0-5
x.x.x.21 will control bulbs 6-11
"""
power_strip_on_list = Array('i', 13)
# Create a "CheckFace" object, in webcam_pulse/lib/check_face_visible.py
face_check_process = CheckFace(camera_obj = camera_obj)
# Start a process to request all bulbs to turn off.
# Pi process defined in control_pi.py
pi = Pi(hosts = hosts)
pi.start()
pi.join()
# Processes are dead; continue.
# Use camera to get a pulse from a face
# Perform this _once_ initially
pulse_val = 0;
App = getPulseApp(args, camera_obj)
# Generate a pulse
while pulse_val == 0 or pulse_val == -1:
pulse_val = App.main_loop()
time.sleep(1.0/16.0)
pulse_val = App.bpm
import Pi
if __name__ == "__main__":
car = Pi.Spicy()
car.now_running()
