def move(direction):
# Choose the direction of the request
if direction == 'camleft':
video_dir.move_decrease_x()
elif direction == 'camright':
video_dir.move_increase_x()
elif direction == 'camup':
video_dir.move_increase_y()
elif direction == 'camdown':
video_dir.move_decrease_y()
elif direction == 'camhome':
video_dir.home_x_y()
elif direction == 'record':
subprocess.call(['motion'], shell=True)
elif direction == 'stoprecord':
subprocess.call(['./stop.sh'], shell=True)
elif direction == 'forward':
motor.forward()
elif direction == 'reverse':
motor.backward()
elif direction == 'left':
car_dir.turn_left()
elif direction == 'right':
car_dir.turn_right()
elif direction == 'stop':
motor.ctrl(0)
elif direction == 'home':
car_dir.home()
def move(direction):
# Choose the direction of the request
if direction == 'camleft':
video_dir.move_decrease_x()
elif direction == 'camright':
video_dir.move_increase_x()
elif direction == 'camup':
video_dir.move_increase_y()
elif direction == 'camdown':
video_dir.move_decrease_y()
elif direction == 'camhome':
video_dir.home_x_y()
elif direction == 'record':
subprocess.call(['motion'], shell=True)
elif direction == 'stoprecord':
subprocess.call(['./stop.sh'], shell=True)
elif direction == 'forward':
motor.forward()
elif direction == 'reverse':
motor.backward()
elif direction == 'left':
car_dir.turn_left()
elif direction == 'right':
car_dir.turn_right()
elif direction == 'stop':
motor.ctrl(0)
elif direction == 'home':
car_dir.home()
def run_mode(request):
video_dir.setup()
car_dir.setup()
motor.setup()
video_dir.home_x_y()
car_dir.home()
motor.setSpeed(50)
return HttpResponse("Run mode start")
def mover():
sRobotDirection = Direction()
rospy.init_node('mover', anonymous=True)
rospy.Subscriber("motioncommand", String,
sRobotDirection.direction_callback)
video_dir.setup(busnum=busnum)
car_dir.setup(busnum=busnum)
motor.setup(
busnum=busnum
) # Initialize the Raspberry Pi GPIO connected to the DC motor.
video_dir.home_x_y()
car_dir.home()
#data = sRobotDirection.directionMsg
rospy.spin()
busnum = 1 # Edit busnum to 0, if you uses Raspberry Pi 1 or 0
HOST = '' # The variable of HOST is null, so the function bind( ) can be bound to all valid addresses.
PORT = 21565
BUFSIZ = 1024 # Size of the buffer
ADDR = (HOST, PORT)
tcpSerSock = socket(AF_INET, SOCK_STREAM) # Create a socket.
tcpSerSock.bind(ADDR) # Bind the IP address and port number of the server.
tcpSerSock.listen(5) # The parameter of listen() defines the number of connections permitted at one time. Once the
# connections are full, others will be rejected.
video_dir.setup(busnum=busnum)
car_dir.setup(busnum=busnum)
motor.setup(busnum=busnum) # Initialize the Raspberry Pi GPIO connected to the DC motor.
video_dir.home_x_y()
car_dir.home()
while True:
print ('Waiting for connection...')
# Waiting for connection. Once receiving a connection, the function accept() returns a separate
# client socket for the subsequent communication. By default, the function accept() is a blocking
# one, which means it is suspended before the connection comes.
tcpCliSock, addr = tcpSerSock.accept()
print ('...connected from :'+ str(addr)) # Print the IP address of the client connected with the server.
while True:
data = ''
data = tcpCliSock.recv(BUFSIZ) # Receive data sent from the client.
# Analyze the command received and control the car accordingly.
if not data:
else:
setSpeed(60)
turn_right()
forward()
time.sleep(1.2)
########################
forward()
home()
motor1(forward1)
time.sleep(1.2)
stop()
time.sleep(5)'''
setup()
US_turn.setup()
US_turn.home_x_y()
stop()
distance()
distance()
time.sleep(2)
while True:
try:
#'''
setSpeed(50)
home()
forward()
#stop()
D_straight = distance()
print("Straight distance = %f" % D_straight)
if D_straight < 40:
busnum = 1 # Edit busnum to 0, if you uses Raspberry Pi 1 or 0
HOST = '' # The variable of HOST is null, so the function bind( ) can be bound to all valid addresses.
PORT = 21567
BUFSIZ = 1024 # Size of the buffer
ADDR = (HOST, PORT)
tcpSerSock = socket(AF_INET, SOCK_STREAM) # Create a socket.
tcpSerSock.bind(ADDR) # Bind the IP address and port number of the server.
tcpSerSock.listen(5) # The parameter of listen() defines the number of connections permitted at one time. Once the
# connections are full, others will be rejected.
video_dir.setup(busnum=busnum)
car_dir.setup(busnum=busnum)
motor.setup(busnum=busnum) # Initialize the Raspberry Pi GPIO connected to the DC motor.
video_dir.home_x_y()
car_dir.home()
while True:
print 'Waiting for connection...'
# Waiting for connection. Once receiving a connection, the function accept() returns a separate
# client socket for the subsequent communication. By default, the function accept() is a blocking
# one, which means it is suspended before the connection comes.
tcpCliSock, addr = tcpSerSock.accept()
print '...connected from :', addr # Print the IP address of the client connected with the server.
while True:
data = ''
data = tcpCliSock.recv(BUFSIZ) # Receive data sent from the client.
# Analyze the command received and control the car accordingly.
if not data:
def camera_home(request):
video_dir.home_x_y()
return HttpResponse("Camera back to defaultrequest")
def run_server(key):
#!/usr/bin/env python
import RPi.GPIO as GPIO
import video_dir
import car_dir
import motor
from time import ctime # Import necessary modules
ctrl_cmd = [
'forward', 'backward', 'left', 'right', 'stop', 'read cpu_temp',
'home', 'distance', 'x+', 'x-', 'y+', 'y-', 'xy_home'
]
busnum = 1 # Edit busnum to 0, if you uses Raspberry Pi 1 or 0
HOST = '' # The variable of HOST is null, so the function bind( ) can be bound to all valid addresses.
PORT = 21567
BUFSIZ = 1024 # Size of the buffer
ADDR = (HOST, PORT)
tcpSerSock = socket(AF_INET, SOCK_STREAM) # Create a socket.
tcpSerSock.bind(ADDR) # Bind the IP address and port number of the server.
tcpSerSock.listen(
5
) # The parameter of listen() defines the number of connections permitted at one time. Once the
# connections are full, others will be rejected.
#video_dir.setup(busnum=busnum)
#car_dir.setup(busnum=busnum)
#motor.setup(busnum=busnum) # Initialize the Raspberry Pi GPIO connected to the DC motor.
#video_dir.home_x_y()
#car_dir.home()
while True:
print 'Waiting for connection...'
# Waiting for connection. Once receiving a connection, the function accept() returns a separate
# client socket for the subsequent communication. By default, the function accept() is a blocking
# one, which means it is suspended before the connection comes.
tcpCliSock, addr = tcpSerSock.accept()
print '...connected from :', addr # Print the IP address of the client connected with the server.
while True:
try:
data = ''
data = tcpCliSock.recv(
BUFSIZ) # Receive data sent from the client.
print "\nEncrypted command recieved from client = ,", eval(
data)[2]
data = crypto.AES_decrypt(eval(data), key)
except:
print "INCOMPLETE PACKET ERROR - try to input the command again"
# Analyze the command received and control the car accordingly.
if not data:
break
if data == ctrl_cmd[0]:
print 'motor moving forward'
motor.forward()
elif data == ctrl_cmd[1]:
print 'recv backward cmd'
motor.backward()
elif data == ctrl_cmd[2]:
print 'recv left cmd'
car_dir.turn_left()
elif data == ctrl_cmd[3]:
print 'recv right cmd'
car_dir.turn_right()
elif data == ctrl_cmd[6]:
print 'recv home cmd'
car_dir.home()
elif data == ctrl_cmd[4]:
print 'recv stop cmd'
motor.ctrl(0)
elif data == ctrl_cmd[5]:
print 'read cpu temp...'
temp = cpu_temp.read()
tcpCliSock.send('[%s] %0.2f' % (ctime(), temp))
elif data == ctrl_cmd[8]:
print 'recv x+ cmd'
video_dir.move_increase_x()
elif data == ctrl_cmd[9]:
print 'recv x- cmd'
video_dir.move_decrease_x()
elif data == ctrl_cmd[10]:
print 'recv y+ cmd'
video_dir.move_increase_y()
elif data == ctrl_cmd[11]:
print 'recv y- cmd'
video_dir.move_decrease_y()
elif data == ctrl_cmd[12]:
print 'home_x_y'
video_dir.home_x_y()
elif data[0:5] == 'speed': # Change the speed
print data
numLen = len(data) - len('speed')
if numLen == 1 or numLen == 2 or numLen == 3:
tmp = data[-numLen:]
print 'tmp(str) = %s' % tmp
spd = int(tmp)
print 'spd(int) = %d' % spd
if spd < 24:
spd = 24
motor.setSpeed(spd)
elif data[0:5] == 'turn=': #Turning Angle
print 'data =', data
angle = data.split('=')[1]
try:
angle = int(angle)
car_dir.turn(angle)
except:
print 'Error: angle =', angle
elif data[0:8] == 'forward=':
print 'data =', data
spd = data[8:]
try:
spd = int(spd)
motor.forward(spd)
except:
print 'Error speed =', spd
elif data[0:9] == 'backward=':
print 'data =', data
spd = data.split('=')[1]
try:
spd = int(spd)
motor.backward(spd)
except:
print 'ERROR, speed =', spd
else:
#print 'Command Error! Cannot recognize command: ' + data
print "COMMAND ERROR - Unable to interpret recieved command"
tcpSerSock.close()
def on_message(ws, data):
print data
# Analyze the command received and control the car accordingly.
#if not data:
if data == ctrl_cmd[0]:
print 'motor moving forward'
motor.forward()
elif data == ctrl_cmd[1]:
print 'recv backward cmd'
motor.backward()
elif data == ctrl_cmd[2]:
print 'recv left cmd'
car_dir.turn_left()
elif data == ctrl_cmd[3]:
print 'recv right cmd'
car_dir.turn_right()
elif data == ctrl_cmd[6]:
print 'recv home cmd'
car_dir.home()
elif data == ctrl_cmd[4]:
print 'recv stop cmd'
motor.ctrl(0)
elif data == ctrl_cmd[5]:
print 'read cpu temp...'
temp = cpu_temp.read()
tcpCliSock.send('[%s] %0.2f' % (ctime(), temp))
elif data == ctrl_cmd[8]:
print 'recv x+ cmd'
video_dir.move_increase_x()
elif data == ctrl_cmd[9]:
print 'recv x- cmd'
video_dir.move_decrease_x()
elif data == ctrl_cmd[10]:
print 'recv y+ cmd'
video_dir.move_increase_y()
elif data == ctrl_cmd[11]:
print 'recv y- cmd'
video_dir.move_decrease_y()
elif data == ctrl_cmd[12]:
print 'home_x_y'
video_dir.home_x_y()
elif data[0:12] == ctrl_cmd[13]: # Change the speed
print data
#numLen = len(data) - len('speed')
#if numLen == 1 or numLen == 2 or numLen == 3:
# tmp = data[-numLen:]
# print 'tmp(str) = %s' % tmp
# spd = int(tmp)
# print 'spd(int) = %d' % spd
# if spd < 24:
# spd = 24
motor.setSpeed(30)
elif data[0:5] == 'turn=': #Turning Angle
print 'data =', data
angle = data.split('=')[1]
try:
angle = int(angle)
car_dir.turn(angle)
except:
print 'Error: angle =', angle
elif data[0:8] == 'forward=':
print 'data =', data
spd = 30
try:
spd = int(spd)
motor.forward(spd)
except:
print 'Error speed =', spd
elif data[0:9] == 'backward=':
print 'data =', data
spd = data.split('=')[1]
try:
spd = int(spd)
motor.backward(spd)
except:
print 'ERROR, speed =', spd
else:
print 'Command Error! Cannot recognize command: ' + data
"""
if __name__ == '__main__':
# Obstacle Detection
sleep_time = 0.3
GPIO.setmode(GPIO.BOARD)
# Settings initialization
busnum = 1 # Edit busnum to 0, if you uses Raspberry Pi 1 or 0
video_dir.setup(busnum=busnum)
car_dir.setup(busnum=busnum)
motor.setup(busnum=busnum) # Initialize the Raspberry Pi GPIO connected to the DC motor.
motor.setSpeed(50)
video_dir.home_x_y()
car_dir.home()
motor.ctrl(0)
# Load classifier
model_path = os.path.join('..', '..', 'models', 'model_aug_bright.h5')
model = load_model(model_path)
ctrl_cmd = ['forward',
'backward',
'left',
'right',
'stop',
'read cpu_temp',
def home_pan_tilt(self):
sfpantilt.home_x_y()
return True
def process_request(data):
# Analyze the command received and control the car accordingly.
if not data:
return "cmd not understood"
if data == ctrl_cmd[0]:
print('motor moving forward')
motor.forward()
elif data == ctrl_cmd[1]:
print('recv backward cmd')
motor.backward()
elif data == ctrl_cmd[2]:
print('recv left cmd')
car_dir.turn_left()
elif data == ctrl_cmd[3]:
print('recv right cmd')
car_dir.turn_right()
elif data == ctrl_cmd[6]:
print('recv home cmd')
car_dir.home()
elif data == ctrl_cmd[4]:
print('recv stop cmd')
motor.ctrl(0)
elif data == ctrl_cmd[5]:
print('read cpu temp...')
temp = cpu_temp.read()
tcpCliSock.send('[%s] %0.2f' % (ctime(), temp))
elif data == ctrl_cmd[8]:
print('recv x+ cmd')
video_dir.move_increase_x()
elif data == ctrl_cmd[9]:
print('recv x- cmd')
video_dir.move_decrease_x()
elif data == ctrl_cmd[10]:
print('recv y+ cmd')
video_dir.move_increase_y()
elif data == ctrl_cmd[11]:
print('recv y- cmd')
video_dir.move_decrease_y()
elif data == ctrl_cmd[12]:
print('home_x_y')
video_dir.home_x_y()
elif data[0:5] == 'speed': # Change the speed
print(data)
numLen = len(data) - len('speed')
if numLen == 1 or numLen == 2 or numLen == 3:
tmp = data[-numLen:]
print('tmp(str) = %s' % tmp)
spd = int(tmp)
print('spd(int) = %d' % spd)
if spd < 24:
spd = 24
motor.setSpeed(spd)
elif data[0:5] == 'turn=': # Turning Angle
print('data =', data)
angle = data.split('=')[1]
try:
angle = int(angle)
car_dir.turn(angle)
except:
print('Error: angle =', angle)
elif data[0:8] == 'forward=':
print('data =', data)
spd = data[8:]
try:
spd = int(spd)
motor.forward(spd)
except:
print('Error speed =', spd)
elif data[0:9] == 'backward=':
print('data =', data)
spd = data.split('=')[1]
try:
spd = int(spd)
motor.backward(spd)
except:
print('ERROR, speed =', spd)
else:
print('Command Error! Cannot recognize command: ' + data)
def run(self):
while True:
print 'Waiting for connection...'
tcpCliSock, addr = tcpSerSock.accept()
print '...connected from :', addr
while True:
data = ''
data = tcpCliSock.recv(BUFSIZ)
if not data:
break
if data == ctrl_cmd[0]:
print 'motor moving forward'
motor.forward()
elif data == ctrl_cmd[1]:
print 'recv backward cmd'
motor.backward()
elif data == ctrl_cmd[2]:
print 'recv left cmd'
car_dir.turn_left()
elif data == ctrl_cmd[3]:
print 'recv right cmd'
car_dir.turn_right()
elif data == ctrl_cmd[6]:
print 'recv home cmd'
car_dir.home()
elif data == ctrl_cmd[4]:
print 'recv stop cmd'
motor.ctrl(0)
elif data == ctrl_cmd[5]:
print 'read cpu temp...'
temp = cpu_temp.read()
tcpCliSock.send('[%s] %0.2f' % (ctime(), temp))
elif data == ctrl_cmd[8]:
print 'recv x+ cmd'
video_dir.move_increase_x()
elif data == ctrl_cmd[9]:
print 'recv x- cmd'
video_dir.move_decrease_x()
elif data == ctrl_cmd[10]:
print 'recv y+ cmd'
video_dir.move_increase_y()
elif data == ctrl_cmd[11]:
print 'recv y- cmd'
video_dir.move_decrease_y()
elif data == ctrl_cmd[12]:
print 'home_x_y'
video_dir.home_x_y()
elif data[0:5] == 'speed':
print data
numLen = len(data) - len('speed')
if numLen == 1 or numLen == 2 or numLen == 3:
tmp = data[-numLen:]
print 'tmp(str) = %s' % tmp
spd = int(tmp)
print 'spd(int) = %d' % spd
if spd < 24:
spd = 24
motor.setSpeed(spd)
elif data[0:5] == 'turn=':
print 'data =', data
angle = data.split('=')[1]
try:
angle = int(angle)
car_dir.turn(angle)
except:
print 'Error: angle =', angle
elif data[0:8] == 'forward=':
print 'data =', data
spd = data[8:]
try:
spd = int(spd)
motor.forward(spd)
except:
print 'Error speed =', spd
elif data[0:9] == 'backward=':
print 'data =', data
spd = data.split('=')[1]
try:
spd = int(spd)
motor.backward(spd)
except:
print 'ERROR, speed =', spd
else:
print 'Command Error! Cannot recognize command: ' + data
tcpSerSock.close()
