def index():
if request.method == 'POST':
if request.form["direction"] == "forward":
car.forward()
elif request.form["direction"] == "backward":
car.backward()
else:
car.stop()
return render_template('./UI.html')
def car_control(keyboard, car):
"""Control the movement of the car using keyboard.
Args:
keyboard: Keyboard to handle key events.
car: Car object to control the movement.
"""
# A key flag indicating which key has been pressed.
# This key flag will be used to classify the images.
global key_flag
# Start handle the key enents in this infinite loop.
while True:
for event in keyboard.event.get():
# Capture key press events.
if event.type == keyboard.KEYDOWN:
# Get the key value.
key_input = keyboard.key.get_pressed()
# When you press the up arrow key, control the car to move forward.
if key_input[keyboard.K_UP]:
# Sets the PWM value to the car.
car.move_forward(4)
key_flag = 'f' # Update the key flag.
print('Move forward')
# When you press the left arrow key, control the car to turn left.
elif key_input[keyboard.K_LEFT]:
# Sets the PWM value to the car.
car.rotate_left(4)
key_flag = 'l' # Update the key flag.
print('Ture left')
# When you press the right arrow key, control the car to turn right.
elif key_input[keyboard.K_RIGHT]:
# Sets the PWM value to the car.
car.rotate_right(4)
key_flag = 'r' # Update the key flag.
print('Ture right')
# Capture key up events.
# After releasing the key, control the car to stop moving.
elif event.type == keyboard.KEYUP:
# Stop the car.
car.stop()
key_flag = 's' # Update the key flag.
print('Stop')
# Quit key events loop.
elif event.type == keyboard.QUIT:
raise SystemExit
def driving(qRead):
global state
global running
while running:
s = state
if s == DRIVING:
#start the car if it is stopped
if car.stopped:
car.start()
try:
#read the steering angle from the remote control and update the car
angle = qRead.get(True, 0.2)
car.steeringAngle = angle
car.update()
except queue.Empty as e:
print('Timeout on get angle from queue')
elif s == AI:
#start the car if it is stopped
if car.stopped:
car.start()
#use the neural network to compute the steering angle from the current video frame
angle = car_ai.compute_steering_angle(cap)
print("angle " + str(angle))
car.steeringAngle = angle
car.update()
elif s == LD:
#start the car if it is stopped
if car.stopped:
car.start()
#use the lane algorithm to compute the steering angle from the current video frame
angle = car_ai.computeSteeringAngleWithHough(cap)
print("angle " + str(angle))
car.steeringAngle = angle
car.update()
else:
if not car.stopped:
#stop the car
print('STOP CAR')
car.stop()
try:
port = 5555
s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
s.bind(("", port))
print "waiting on port:", port
data = bytearray(10)
while True:
s.recvfrom_into(data)
direction = data[0]
angle = struct.unpack_from('<d', data, 1)[0]
if direction == 0:
car.stop()
elif direction == 1:
car.forward()
elif direction == 2:
car.backward()
car.stear(angle)
except KeyboardInterrupt:
pass
except:
raise
finally:
car.cleanup()
def SetInstruction_processing(bot, update):
global car_user
global Failure_time
global photos
global car_user
text = str(update.message.text)
car.update_user(update.message.from_user.id, update.message.from_user.username,
update.message.from_user.last_name, update.message.from_user.first_name)
if '/save_photos' == text[0:12]:
if photos != []:
car.new_car_data(photos, 1)
photos = []
update.message.reply_text("OK")
else:
update.message.reply_text("沒資料")
elif '/start_car' == text[0:10]:
dd = car.blacklist(update.message.from_user.id)
if dd == -1:
car.Start(bot_id, server_host, username, password, from_port)
dd = car.blacklist(update.message.from_user.id)
if(dd):
x = bot.send_message(
update.message.chat.id, "你現在無法發車,你濫用機器人遭封鎖.\n%s解除封鎖\n如有疑問請尋找管理員 @abab5601" % (dd))
car.log(update.message.chat.id, update.message.from_user.id,
update.message.message_id, "黑名單要求開車")
car.check_message(x.chat.id, x.message_id, 7)
bot.deleteMessage(update.message.chat.id,
update.message.message_id)
return True
if not car.start_car(update.message.chat.id, update.message.from_user.id):
bot.send_message(user_id, '發車錯誤\n頻道 : %s 使用者 : %s' % (
update.message.chat.id, update.message.from_user.id))
d = update.message.reply_text('無法發車--請重試\n多次無發發車請通知管理員 @abab5601')
car.check_message(update.message.chat.id,
update.message.message_id, 7)
car.check_message(d.chat.id, d.message_id, 7)
return False
id_ = update.message.from_user.name
car_user = [update.message.chat.id,
update.message.from_user.id, time.time()+Failure_time]
message = bot.send_message(update.message.chat.id, '%s 你可以了開車\n我可以幫你收車\n開車時間至%s'
% (id_, time.strftime('%Y-%m-%d %H:%M:%S', time.localtime(time.time()+Failure_time))))
car.check_message(message.chat.id, message.message_id, 7)
message = bot.send_message(
update.message.chat.id, '#發車記錄點!(開始)%s' % (update.message.from_user.name))
car.new_car(update.message.chat.id, message.message_id)
car.log(update.message.chat.id, update.message.from_user.id,
update.message.message_id, '開始開車')
elif '/car' == text[0:4]:
car.new_car(update.message.chat.id, update.message.message_id)
car.log(update.message.chat.id, update.message.from_user.id,
update.message.message_id, '發送資源\n%s' % (update.message.text))
message = bot.send_message(
update.message.chat.id, '倒數%s秒後刪除' % (car_time))
car.check_message(message.chat.id, message.message_id, 7)
elif '/stop_car' == text[0:9]:
ren = car.stop_car(update.message.chat.id, update.message.from_user.id)
if ren == -1:
car.Start(
bot_id=bot_id,
host=server_host,
user=username,
password=password,
database=from_port
)
ren = car.stop_car(update.message.chat.id,
update.message.from_user.id)
if(ren == -1):
bot.send_message(user_id, '發生錯誤:\n頻道 : %s 使用者 : %s' % (
update.message.chat.id, update.message.from_user.id))
update.message.reply_text('無法停止發車--請重試\n多次無發發車請通知管理員')
return False
if ren and ren != -1:
car_user = [update.message.chat.id,
update.message.from_user.id, time.time()]
message = bot.send_message(
update.message.chat.id, '停止\n資源時間到會自動刪除')
car.check_message(message.chat.id, message.message_id, 10)
message = bot.send_message(
update.message.chat.id, '#發車記錄點!(結束)%s' % (update.message.from_user.name))
car.new_car(update.message.chat.id, message.message_id)
car.log(update.message.chat.id, update.message.from_user.id,
update.message.message_id, '停止發車')
elif ren != -1:
message = bot.send_message(update.message.chat.id, '你沒有正在開車')
car.check_message(message.chat.id, message.message_id, 5)
car.log(update.message.chat.id, update.message.from_user.id,
update.message.message_id, '停止發車無效')
elif '/status_car' == text[0:11]:
id_ = update.message.from_user.name
if caruser(update.message.chat.id, update.message.from_user.id):
message = bot.send_message(
update.message.chat.id, '%s 現在開車狀態 : 開車中' % (id_))
car.check_message(message.chat.id, message.message_id, 5)
else:
message = bot.send_message(
update.message.chat.id, '%s 現在開車狀態 : 休息中' % (id_))
car.check_message(message.chat.id, message.message_id, 5)
elif '/黑名單' == text[0:4]:
admin = False
car.log(update.message.chat.id, update.message.from_user.id,
update.message.message_id, "要求封鎖黑名單")
if(update.message.reply_to_message):
blacklist_id = car.messageLookFor(
update.message.chat.id, update.message.reply_to_message.message_id)
if(blacklist_id == -2):
a = bot.send_message(update.message.chat.id,
"操作太快請稍後重試\n如多次錯誤請通知管理員")
car.log(update.message.chat.id, a.from_user.id,
a.message_id, "封鎖錯誤 : 找不到訊息ID")
car.check_message(a.chat.id, a.message_id, 7)
car.check_message(update.message.chat.id,
update.message.message_id, 7)
return False
else:
a = bot.send_message(update.message.chat.id, "指令使用錯誤\n請回復要黑名單的訊息")
car.log(update.message.chat.id, a.from_user.id,
a.message_id, "封鎖錯誤 : 指令格式錯誤")
car.check_message(a.chat.id, a.message_id, 7)
car.check_message(update.message.chat.id,
update.message.message_id, 7)
return False
if(blacklist_id == bot.id):
bot.send_message(update.message.chat.id, "此訊息由機器人主動發出(非匿名發車),無法封鎖")
a = bot.deleteMessage(update.message.chat.id,
update.message.message_id)
car.log(update.message.chat.id, a.from_user.id,
a.message_id, "封鎖錯誤 : 機器人訊息")
car.check_message(a.chat.id, a.message_id, 7)
car.check_message(update.message.chat.id,
update.message.message_id, 7)
return False
for x in bot.get_chat_administrators(-1001278835291):
if(x.user.id == blacklist_id):
a = bot.send_message(update.message.chat.id,
"錯誤 : 無發封鎖管理員\n請聯絡 @abab5601")
car.log(update.message.chat.id, a.from_user.id,
a.message_id, "封鎖錯誤 : 無法封鎖管理員 %s" % (blacklist_id))
bot.deleteMessage(update.message.chat.id,
update.message.message_id)
car.check_message(a.chat.id, a.message_id, 7)
return False
elif(x.user.id == update.message.from_user.id):
admin = True
The_reason, DD, Day = text[4:].replace(" ", "").partition(':')
try:
f = int(Day)
except ValueError:
f = 0
if(DD != ':' and (f < -1)):
a = bot.send_message(update.message.chat.id,
"指令發送錯誤\n格式 : \n/黑名單 封鎖原因 : 天數 \n如日期為永久則輸入-1\n取消黑名單天數輸入0")
car.log(update.message.chat.id, a.from_user.id,
a.message_id, "封鎖錯誤 : 指令格式錯誤")
bot.deleteMessage(update.message.chat.id,
update.message.message_id)
car.check_message(update.message.chat.id,
update.message.message_id, 7)
car.check_message(a.chat.id, a.message_id, 7)
return False
da = bot.get_chat_member(update.message.chat.id, blacklist_id)
if(not admin):
c = bot.send_message(update.message.chat.id,
"你不是管理員無法封鎖\n以幫你向管理員檢舉")
car.log(update.message.chat.id, c.from_user.id,
c.message_id, "封鎖錯誤 : 不是管理員 想封鎖對象 , 回復")
d = bot.send_message(-1001215609662, "%s檢舉%s請確認\n群組名稱 : %s\n原因 : %s" %
(update.message.from_user.name, da.user.name, update.message.chat.title, The_reason))
car.log(-1001215609662, d.from_user.id,
d.message_id, "封鎖錯誤 : 不是管理員 想封鎖對象 : %s" % (blacklist_id))
bot.deleteMessage(update.message.chat.id,
update.message.message_id)
car.check_message(c.chat.id, c.message_id, 7)
return False
if(not car.blacklist_status(blacklist_id, True, f)):
a = bot.send_message(update.message.chat.id,
"錯誤 : \n系統錯誤")
car.log(update.message.chat.id, a.from_user.id,
a.message_id, "封鎖失敗 %s" % (blacklist_id))
car.check_message(a.chat.id, a.message_id, 7)
else:
car_user[3] = time.time()-1
car.point_Reset(blacklist_id)
car.stop_car(1, update.message.from_user.id)
a = update.message.reply_text("已成功封鎖")
car.log(update.message.chat.id, a.from_user.id,
a.message_id, "新增黑名單成員 : %s 因%s被%s封鎖%s天" % (blacklist_id, The_reason, update.message.from_user.name, Day))
car.check_message(a.chat.id, a.message_id, 7)
car.check_message(update.message.chat.id,
update.message.message_id, 7)
for user in get_subscriber(0):
message = bot.send_message(
user, "%s因為%s被封鎖%s天" % (da.user.name, The_reason, Day))
car.log(user, update.message.from_user.id,
message.message_id, '發送%s因為%s被封鎖%s天訊息' % (da.user.name, The_reason, Day))
bot.send_message(-1001215609662, "%s因為%s被封鎖%s天" %
(da.user.name, The_reason, Day))
return True
elif '/GetID' == text[0:6]:
bot.send_message(update.message.chat.id, '頻道 ID : '+str(
update.message.chat.id)+'\n使用者 ID : '+str(update.message.from_user.id))
car.log(update.message.chat.id, update.message.from_user.id,
update.message.message_id, '取得ID')
bot.deleteMessage(update.message.chat.id, update.message.message_id)
elif '/time_message' == text[0:13]:
bot.deleteMessage(update.message.chat.id, update.message.message_id)
car.start_car(update.message.chat, update.message.chat)
message = bot.send_message(update.message.chat, '群組開始進入限時對話\n限時對話將於%s結束或是手動關閉\n限時對話 : 每則訊息會在發出後的%s秒後刪除'
% (str(time.strftime('%Y-%m-%d %H:%M:%S', time.localtime(time.time()+Failure_time))), str(car_time)))
car.check_message(message.chat.id, message.message_id, car_time)
car.log(update.message.chat.id, update.message.from_user.id,
update.message.message_id, '開啟限時對話')
elif '/stop_time_message' == text[0:18]:
bot.deleteMessage(update.message.chat.id, update.message.message_id)
if car.stop_car(update.message.chat.id, update.message.from_user.id):
message = bot.send_message(
update.message.chat, '已恢復正常對話模式\n限時對話模式中的訊息會在倒數計時到後刪除')
car.check_message(message.chat.id, message.message_id, 5)
car.log(update.message.chat.id, update.message.from_user.id,
update.message.message_id, '結束限時對話')
else:
message = bot.send_message(update.message.chat, '頻道未開啟限時對話')
car.check_message(message.chat.id, message.message_id, 5)
car.log(update.message.chat.id, update.message.from_user.id,
update.message.message_id, '結束限時對話失敗')
elif '/status_time_message' == text[0:20]:
if timemessage(update.message.chat.id):
message = bot.send_message(update.message.chat.id, '對話狀態 : 限時對話')
car.check_message(message.chat.id, message.message_id, 5)
else:
message = bot.send_message(update.message.chat.id, '對話狀態 : 正常狀態')
car.check_message(message.chat.id, message.message_id, 5)
car.log(update.message.chat.id, update.message.from_user.id,
update.message.message_id, "查詢頻道狀態")
elif '/status_point' == text[0:13]:
re = bot.get_chat_member(Backup, update.message.from_user.id)
if(re.status == 'member' or re.status == 'restricted' or re.status == 'administrator'):
car.vip_group_members(update.message.from_user.id, 1)
else:
car.vip_group_members(update.message.from_user.id, 0)
ls = car.point_vip_get(update.message.from_user.id)
if(update.message.chat.id < 0):
message = bot.send_message(update.message.chat.id, "請在私人聊天室查詢")
car.check_message(message.chat.id, message.message_id, 2)
elif(ls[1] == 1):
if ls[0] > 0:
bot.send_message(update.message.chat.id, "你已在群組內\n 今日差 %s 分浮出水面 \n 每日所需最低積分 : %s" % (
ls[0], death_message))
car.log(update.message.chat.id, update.message.from_user.id,
update.message.message_id, '使用者查詢vip資格 : 已在群內 -- 今日積分未達成 差 %s 分' % (ls[0]))
else:
ls[0] -= death_message
ls[0] *= -1
bot.send_message(update.message.chat.id, "你已在群組內\n 今日積分已達 %s 分 \n 每日所需最低積分 : %s\n已達成今日所需!" % (
ls[0], death_message))
car.log(update.message.chat.id, update.message.from_user.id,
update.message.message_id, '使用者查詢vip資格 : 已在群內 -- 今日積分已達成 %s 分' % (ls[0]))
elif ls[0] <= 0:
id_ = update.message.from_user.id
bot.send_message(update.message.chat.id, "你好歡迎進入群組\n群組規則 : 只要積分未達%s分連續%s天將會被強制剔除\n請在今日24點前進入\n連結 : %s" % (
death_message, death_day, str(bot.export_chat_invite_link(Backup))))
car.log(update.message.chat.id, update.message.from_user.id,
update.message.message_id, "申請進入群組(完成)")
try:
bot.unban_chat_member(Backup, id_)
except:
pass
else:
bot.send_message(update.message.chat.id, "你在%s分即可進入備份群" % (ls[0]))
car.log(update.message.chat.id, update.message.from_user.id,
update.message.message_id, "無法進入vip群 缺少積分 : %s" % (ls[0]))
elif '/start' == text[0:6]:
car.log(update.message.chat.id, update.message.from_user.id,
update.message.message_id, '查詢機器人指令')
message = bot.send_message(update.message.chat.id, '%s\n%s\n%s\n%s\n%s\n%s\n%s\n%s\n%s\n%s\n%s\n%s' % (
'機器人指令列表 :',
'/start : 查看所有指令',
'/start_car : 開始發大量資源 \n-->發完指令後你個人發的訊息在特定時間內都會算做資源',
#'/car : 發網址資源(指令只能發在訊息的第一行,同一則訊息才算)',
'/status_car : 查詢目前開車狀態',
'/stop_car : 與 /start_car 關聯\n-->發完資源後回復正常對話模式\n',
#'/time_message : 在此模式下期間,所有訊息會被刪除',
#'/status_time_message : 查詢目前對話模式',
#'/stop_time_message : 與 /time_message 搭配\n-->用於提早結束限時對話模式\n',
'新備份群機制說明 :\n因備份群公開後經常被舉報群組掛掉\n因此現在改積分制管理',
'\n累計積分方法:\n在群內發車(2分)或聊天一則訊息(1分)-指令除外\n使用機器人匿名發車一台車2分(匿名開車教學往下看)\n積分會在每日24奌扣%s\n\n進群發法:\n使用查詢活躍度指令當積分足夠會得到群網址' % (death_message),
'\n備份群規範 : \n進群須達積分%s分才可進入\n進入後如%s天以上未達%s分會被強制剔除!\n(如被剔除重進方法: 與進群方法相同)(積分上限 : 1000)' % (
death_message, death_day, death_message),
'/status_point :查詢活躍度',
'與機器人的對話將在 60 秒後刪除\n機器人開發者 : @abab5601',
'目前機器人剛開發完成有BUG或其他問題情直接聯繫開發者',
# 點名 : 自動通知群內溺水的人起來呼吸(說警告比較貼切)'
'新增功能 : \n匿名發車 : 再羅咖以外的聊天室發 /start_car 即可開始發車\n'
))
car.check_message(message.chat.id, message.message_id, 60)
elif '/reboot' == text[0:7]:
if((update.message.chat.id == user_id) or (update.message.chat.id == -1001297029945)):
bot.send_message(update.message.chat.id, 'ok')
car.log(update.message.chat.id, update.message.from_user.id,
update.message.message_id, '重新啟動 - %s' % (bot_id))
if os.name == 'posix':
t = threading.Thread(target=reboot)
t.start()
car.stop()
else:
bot.send_message(update.message.chat.id,
'重啟失敗:目前使用系統 = win system')
else:
bot.send_message(update.message.chat.id, '權限不足')
car.log(update.message.chat.id, update.message.from_user.id,
update.message.message_id, '呼叫重新啟動')
else:
car.check_message(update.message.chat.id, update.message.message_id, 5)
message = bot.send_message(
update.message.chat.id, '無效指令\n輸入 /start 查看全指令')
car.check_message(message.chat.id, message.message_id, 5)
car.log(update.message.chat.id, update.message.from_user.id,
update.message.message_id, '無效指令 : %s' % (update.message.text))
bot.deleteMessage(update.message.chat.id, update.message.message_id)
from flask import Flask,render_template,request
app = Flask(__name__)
@app.route("/",methods=['GET','POST'])
def index():
if request.method == 'POST':
if request.form["direction"] == "forward":
car.forward()
elif request.form["direction"] == "backward":
car.backward()
else:
car.stop()
return render_template('./UI.html')
if __name__ == "__main__":
app.run(host='0.0.0.0',port=8888)
car.stop()
car.terminate()
GPIO.cleanup()
def back(on):
print "back: %s" % on
if on:
car.back()
else:
car.stop()
def stop():
print "stop"
car.stop()
# Clear command once issued
cmd = ""
# Move onto next character
i += 1
##
## Main starting piont of server
##
running = True
try:
while running:
print "Waiting ..."
# Wait to accept a connection from client control app
conn, addr = s.accept()
print 'Connected with ' + addr[0] + ':' + str(addr[1])
# Start listening to new socket on seperate thread
start_new_thread(clientthread, (conn, ))
finally:
print "Exiting"
try:
car.stop() # Stop the car if we get here in error
except:
pass
s.close()
time.sleep(0.1) # wait a little for threads to finish
car.cleanup()
def forward(on):
print "forward: %s" % on
if on:
car.forward()
else:
car.stop()
def stop():
print "stop"
car.stop()
def back(on):
print "back: %s" % on
if on:
car.back()
else:
car.stop()
def forward(on):
print "forward: %s" % on
if on:
car.forward()
else:
car.stop()
cmd = ""
# Move onto next character
i += 1
##
## Main starting piont of server
##
running = True
try:
while running:
print "Waiting ..."
# Wait to accept a connection from client control app
conn, addr = s.accept()
print 'Connected with ' + addr[0] + ':' + str(addr[1])
# Start listening to new socket on seperate thread
start_new_thread(clientthread ,(conn,))
finally:
print "Exiting"
try:
car.stop() # Stop the car if we get here in error
except:
pass
s.close()
time.sleep(0.1) # wait a little for threads to finish
car.cleanup()
def stop_controller():
stop()
return 'OK'