def backM():
#주차할 경우, 빼내올 경우
finsh = False
try:
while (True):
#대기 주차장이 올라갈때 까지
data1 = client.sendNrecv(State.name() + ' : up')
if (int(data1) > 0):
print((State.park_number() % 10), '층 입니다')
gpio.time.sleep(1)
break
gpio.time.sleep(1)
liner.liner_start()
while (True):
#리니어 모터가 끝까지 나아갈 떄까지 2초 간격
liner.setMoterControl(99, 1)
gpio.time.sleep(12)
data2 = client.sendNrecv(State.name() + ' : set')
if (int(data2) > 0):
liner.setMoterControl(0, 5)
gpio.time.sleep(1)
break
while (True):
#서보 모터 위로
servo.setMoterControl(1)
break
i = 0 #변수 : 줄어들 시간
while (True):
#리니어 모터가 줄어들 떄까지 2초 간격
liner.setMoterControl(99, 2)
if (i > 5):
print(data2, '자동차 빼기 완료')
break
i = i + 1
liner.liner_stop()
active('out')
while (True):
#대기 주차장이 내려갈떄 까지
data3 = client.sendNrecv(State.name() + ' : down')
if (int(data3) > 0):
print('주차 빼기 과정 완료')
gpio.time.sleep(0.5)
break
gpio.time.sleep(1)
finsh = True
except Exception as e:
print('예외가 발생했습니다.', e)
return finsh
def backM():
global car_type
#주차할 경우, 빼내올 경우
finsh = False
try:
while(True):
#대기 주차장이 올라갈때 까지
data1 = client.sendNrecv(name+' : up')
if(int(data1) > 0):
print((park_number%10),'층 입니다')
time.sleep(1)
break
while(True):
#리니어 모터가 끝까지 나아갈 떄까지 2초 간격
liner.setMoterControl(99,1)
time.sleep(12)
data2 = client.sendNrecv(name+' : set')
if(int(data2) > 0):
liner.setMoterControl(0,5)
time.sleep(1)
break
while(True):
#서보 모터 위로
gpio.time.sleep(0.5)
servo.setMoterControl(1)
gpio.time.sleep(2)
break
i = 0 #변수 : 줄어들 시간
while(True):
#리니어 모터가 줄어들 떄까지 2초 간격
liner.setMoterControl(99,2)
if(i>5):
print(data2,'자동차 빼기 완료')
break
i = i +1
while(True):
#대기 주차장이 내려갈떄 까지
data3 = client.sendNrecv(name+' : down')
if(int(data3) > 0):
print('주차 빼기 완료')
break
finsh = True
except Exception as e:
print('예외가 발생했습니다.', e)
return finsh
def openM():
while (True):
data = client.sendNrecv(State.name() + ' : open')
if (int(data) > 0):
State.stateChange()
break
gpio.time.sleep(0.5)
def arrive(number, value):
while (True):
data = client.sendNrecv(State.name() + ' : arrive ' + value + ' = ' +
number)
if (int(data) > 0):
break
gpio.time.sleep(0.5)
def onDown(data):
global myPark, sing
sing = -1
myPark.setState(pEnum.down)
#limit.setting_interrupt()
#app2.setting_interrupt()
limit.data_inerrupt = 0
#app2.data_inerrupt = 0
if (myPark.floor() != 1):
while (True):
act.setActControl(95, 2)
#time.sleep(0.2)
delay_time(0.2)
if (limit.data_inerrupt == 31 or limit.data_inerrupt == 35
or limit.data_inerrupt == 29 or limit.data_inerrupt == 21):
print(limit.data_inerrupt, 'is')
act.setActControl(0, 3)
#time.sleep(0.5)
delay_time(0.5)
myPark.setFloor(1)
break
else:
myPark.setFloor(1)
data = client.sendNrecv(myPark.name() + ' : run,' + 'stop')
if (int(data) > 0):
print('onDown 종료')
#limit.remove_interrput()
#app2.remove_interrput()
sing = 0
delay_time(0.5)
def openM():
global myPark
while (True):
data = client.sendNrecv(myPark.name() + ' : open')
if (int(data) > 0):
myPark.setState(pEnum.open)
break
time.sleep(0.5)
def openM():
global state
while(True):
data = client.sendNrecv(name+' : open')
if(int(data) > 0):
state. = state + 1
break
time.sleep(0.5)
def checkM():
global state
while(True):
data = client.sendNrecv(name+' : check')
if(data.find('Ischecking') < 0):
state = state + 1
break
time.sleep(0.5)
def checkM():
while (True):
data = client.sendNrecv(State.name() + ' : check')
if (data.find('Ischecking') < 0):
State.setCarNumber(data)
State.stateChange()
break
gpio.time.sleep(0.5)
def onM():
global myPark
data = app.read_approach()
data = client.sendNrecv(myPark.name() + ' : on=' + str(data[0]) + ',' +
str(data[1]) + ',' + str(data[2]) + ',' +
str(data[3]) + ',' + str(data[4]) + ',' +
str(data[5]))
if (data != ''):
myPark.setState(pEnum.on)
def onRun():
#올라가는지 확인
#올라가면 다시 내려갈떄 까지 대기
#내려가라는 신호 받으면 내려감
global myPark, sing
if (sing == 0):
data = client.sendNrecv(myPark.name() + ' : run :' + 'up')
if (int(data) > 200):
arg1 = int(data) - 200
t = threading.Thread(target=onUp, args={arg1})
t.start()
return
elif (sing == 1):
data2 = client.sendNrecv(myPark.name() + ' : run : ' + 'down')
if (int(data2) > 0):
arg1 = int(data2)
t = threading.Thread(target=onDown, args={int(data2)})
t.start()
return
def onM():
_type = False
arinit()
while (True):
data = client.sendNrecv(State.name() + ' : getOsend')
if (int(data) > 0):
State.setCarType(1)
break
else:
jodo_data = jodo.jodo_data_d0()
if (jodo_data == 1):
print('자동차 탑재 완료')
servo.setMoterControl(1)
gpio.time.sleep(2)
break
gpio.time.sleep(1)
if (State.car_type() == 0):
while (True):
data = client.sendNrecv(State.name() + ' : on1')
if (int(data) > 0):
State.stateChange()
break
gpio.time.sleep(0.5)
elif (State.car_type() == 1):
while (True):
data = client.sendNrecv(State.name() + ' : on2')
if (data.find('IsOn') < 0):
State.stateChange(2)
State.setCarNumber(data)
print("자동차 뺴기")
break
else:
break
def onM():
global state, car_type, car_number
_type = False
while(True):
data = client.sendNrecv(name+' : getOsend')
if(int(data) > 0):
car_type = 1
break
else:
jodo_data = gpio.GPIO.input(jodo.pin_jodo)
if(jodo_data == 1):
print('자동차 탑재 완료')
servo.setMoterControl(1)
time.sleep(2)
break
time.sleep(1)
if(car_type == 0):
while(True):
data = client.sendNrecv(name+' : on1')
if(int(data) > 0):
state = state + 1
break
time.sleep(0.5)
elif(car_type == 1):
while(True):
data = client.sendNrecv(name+' : on2')
if(data.find('IsOn') < 0):
state = state + 2
car_number = data
print("자동차 뺴기")
break
def onUp(data):
global myPark, sing
sing = -1
myPark.setState(pEnum.up)
#limit.setting_interrupt()
#app2.setting_interrupt()
limit.data_inerrupt = 0
app2.data_inerrupt = 0
if (data != 1):
while (True):
act.setActControl(95, 1)
#time.sleep(0.2)
delay_time(0.2)
if (data == 2):
if (app2.data_inerrupt == 22):
print(app2.data_inerrupt, 'ars')
act.setActControl(0, 3)
#time.sleep(0.5)
delay_time(0.5)
app2.data_inerrupt = 0
myPark.setFloor(2)
break
elif (data == 3):
if (limit.data_inerrupt == 19 or limit.data_inerrupt == 23
or limit.data_inerrupt == 33
or limit.data_inerrupt == 37):
act.setActControl(0, 3)
#time.sleep(0.5)
delay_time(0.5)
limit.data_inerrupt = 0
myPark.setFloor(3)
break
else:
myPark.setFloor(1)
data = client.sendNrecv(myPark.name() + ' : run,' + 'stop')
if (int(data) > 0):
print('onUp 종료')
#limit.remove_interrput()
delay_time(0.5)
#app2.remove_interrput()
sing = 1
def active(value):
while (True):
data = client.sendNrecv(State.name() + ' : active = ' + value)
if (int(data) > 0):
break
gpio.time.sleep(0.5)
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 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()
