class MqttSubscriber:
def __init__(self, brokerIp=None, brokerPort=1883, topic=None):
self.__brokerIp = brokerIp
self.__brokerPort = brokerPort
self.__topic = topic
# mqtt의 Client 객체 생성
self.__client = mqtt.Client()
# 콜백 함수 설정
self.__client.on_connect = self.__on_connect
self.__client.on_disconnect = self.__on_disconnect
# 메시지를 받았을때 자동을 호출되는 콜백함수
self.__client.on_message = self.__on_message
# 센서 객체 생성
self.rgbLed = RgbLed(redpin=16, greenpin=18, bluepin=22)
self.pca9685 = Pca9685()
self.buzzer = ActiveBuzzer(35)
self.laser = Laser(37)
self.laser2 = Laser(29)
self.sg90direction = Sg90(self.pca9685, channel=15)
self.sg90sensor = Sg90(self.pca9685, channel=14)
self.sg90camera_vertical = Sg90(self.pca9685, channel=13)
self.sg90camera_horizontal = Sg90(
self.pca9685, channel=8) #12번인데 지금 개박살나서 8번으로 비활성화 해놨어요
self.lcd1602 = Lcd1602(0x27)
# 서보모터 각도 고정값
self.camera_angle_vertical = 10
self.camera_angle_horizontal = 70
self.direction_angle = 90
self.sensor_angle = 70
# mqtt 연결에 성공했을 경우 자동적으로 호출되는 콜백함수
def __on_connect(self, client, userdata, flags, rc):
print('** connection **')
self.__client.subscribe(self.__topic, qos=0)
# mqtt 연결이 끊어졌을 경우 자동적으로 호출되는 콜백함수
def __on_disconnect(self, client, userdata, rc):
print('** disconnection **')
# message가 도착했을 때 자동으로 호출되는 콜백함수
def __on_message(self, client, userdata, message):
# self.status = str(message.payload, encoding='UTF-8')
# 각각의 토픽에 따라 메시지 내용 처리방식
# print(str(message.payload, encoding='UTF-8'))
if message.topic == '/Control/RgbLed':
if str(message.payload, encoding='UTF-8') == 'ledOn':
self.rgbLed.red()
elif str(message.payload, encoding='UTF-8') == 'ledOff':
self.rgbLed.off()
if message.topic == '/Control/Direction/Camera':
if str(message.payload, encoding='UTF-8') == 'down':
self.camera_angle_vertical -= 4
if self.camera_angle_vertical < 0:
self.camera_angle_vertical = 0
self.sg90camera_vertical.angle(self.camera_angle_vertical)
elif str(message.payload, encoding='UTF-8') == 'up':
self.camera_angle_vertical += 4
if self.camera_angle_vertical > 120:
self.camera_angle_vertical = 120
self.sg90camera_vertical.angle(self.camera_angle_vertical)
elif str(message.payload, encoding='UTF-8') == 'right':
self.camera_angle_horizontal -= 4
if self.camera_angle_horizontal < 10:
self.camera_angle_horizontal = 10
self.sg90camera_horizontal.angle(self.camera_angle_horizontal)
elif str(message.payload, encoding='UTF-8') == 'left':
self.camera_angle_horizontal += 4
if self.camera_angle_horizontal > 170:
self.camera_angle_horizontal = 170
self.sg90camera_horizontal.angle(self.camera_angle_horizontal)
elif str(message.payload, encoding='UTF-8') == 'stop':
self.sg90camera_vertical.angle(self.camera_angle_vertical)
elif str(message.payload, encoding='UTF-8') == 'horizonstop':
self.sg90camera_horizontal.angle(self.camera_angle_horizontal)
if message.topic == '/Control/Laser':
if str(message.payload, encoding='UTF-8') == 'on':
self.laser.on()
self.laser2.on()
elif str(message.payload, encoding='UTF-8') == 'off':
self.laser.off()
self.laser2.off()
if message.topic == '/Control/Direction/FrontWheel':
if str(message.payload, encoding='UTF-8') == 'left':
self.direction_angle -= 3
self.sensor_angle += 3
if self.direction_angle < 60:
self.direction_angle = 60
if self.sensor_angle > 100:
self.sensor_angle = 100
self.sg90direction.angle(self.direction_angle)
self.sg90sensor.angle(self.sensor_angle)
elif str(message.payload, encoding='UTF-8') == 'right':
self.direction_angle += 3
self.sensor_angle -= 3
if self.direction_angle > 120:
self.direction_angle = 120
if self.sensor_angle < 40:
self.sensor_angle = 40
self.sg90direction.angle(self.direction_angle)
self.sg90sensor.angle(self.sensor_angle)
elif str(message.payload, encoding='UTF-8') == 'stop':
self.sg90direction.angle(self.direction_angle)
self.sg90sensor.angle(self.sensor_angle)
if message.topic == '/Control/Buzzer':
if str(message.payload, encoding='UTF-8') == 'buzzerOn':
self.buzzer.on()
elif str(message.payload, encoding='UTF-8') == 'buzzerOff':
self.buzzer.off()
if message.topic == '/Control/Lcd':
received_message = str(message.payload, encoding='UTF-8')
self.lcd1602.write(0, 0, 'Received Message')
self.lcd1602.write(0, 1, '>' + received_message)
if message.topic == '/Control/imagecapture':
videoCapture = cv2.VideoCapture(0)
if videoCapture.isOpened():
retval, frame = videoCapture.read()
img = np.copy(frame)
cv2.imwrite("C:/Temp" + str(datetime.now()) + ".jpg", img)
# subscribe 메소드를 스레드방식으로 시작하는 메소드
def start(self):
thread = threading.Thread(target=self.__subscribe)
thread.start()
# mqtt client에 구독자로서 연결
def __subscribe(self):
self.__client.connect(self.__brokerIp, self.__brokerPort)
self.__client.loop_forever()
# 강제적으로 연결 종료
def stop(self):
self.__client.unsubscribe(self.__topic)
self.__client.disconnect()
class ControllerMqttSubscriber:
def __init__(self, brokerIp=None, brokerPort=1883, topic=None):
self.__brokerIp = brokerIp
self.__brokerPort = brokerPort
self.__topic = topic
self.__client = mqtt.Client()
self.__client.on_connect = self.__on_connect
self.__client.on_disconnect = self.__on_disconnect
self.__client.on_message = self.__on_message
self.pca9685 = Pca9685()
self.dcMotorL = DCMotor(IN1=11, IN2=12, pca9685=self.pca9685, pwm=5)
self.dcMotorR = DCMotor(IN1=13, IN2=15, pca9685=self.pca9685, pwm=4)
self.sg90direction = Sg90(self.pca9685, channel=15)
self.sg90sensor = Sg90(self.pca9685, channel=14)
self.sg90camera_vertical = Sg90(self.pca9685, channel=13)
self.sg90camera_horizontal = Sg90(self.pca9685, channel=8)
# 속도 정보가 저장되는 싱글톤 객체 생성
self.singletonSpeed = SingletonSpeed()
# 모터의 기본 속도 정의
self.motorspeed = 0
self.camera_angle_vertical = 10
self.camera_angle_horizontal = 70
self.direction_angle = 90
self.sensor_angle = 70
self.laser1 = Laser(37)
self.laser2 = Laser(29)
self.buzzer = ActiveBuzzer(35)
self.rgbLed = RgbLed(redpin=16, greenpin=18, bluepin=22)
self.checkStatus = False
# 연결 되었을 때 자동으로 호출되는 콜백함수
def __on_connect(self, client, userdata, flags, rc):
print('** connection **')
self.__client.subscribe(self.__topic, qos=0)
# 연결이 끊겼을 때 자동으로 호출되는 콜백함수
def __on_disconnect(self, client, userdata, rc):
print('** disconnection **')
# 메시지가 도착했을 때 자동으로 호출되는 콜백함수
def __on_message(self, client, userdata, message):
# self.status = str(message.payload, encoding='UTF-8')
if message.topic == '/Controller/Move/Speed': # 모터 속도 설정
message = str(message.payload, encoding='UTF-8').split(':', -1)
axesValue = float(message[1]) * -1 # 컨트롤러 9번 값 받아와서(-1 ~ 1)
self.motorspeed = 2000 + int(
2000 * axesValue
) # 9번 값을 2000 곱한다음 2000에 더한다 = (-1 ~ 1) * 2000 + 2000 =(0 ~ 4000) 설정됨
if message.topic == '/Controller/Move/Forward':
message = str(message.payload, encoding='UTF-8').split(':', -1)
axesValue = abs(float(message[1]))
axesCalValue = int(4000 * axesValue**2)
if axesCalValue > self.motorspeed:
self.motorspeed = self.motorspeed
else:
self.motorspeed = axesCalValue
self.dcMotorR.setSpeed(self.motorspeed)
self.dcMotorL.setSpeed(self.motorspeed)
self.dcMotorR.forward()
self.dcMotorL.forward()
self.singletonSpeed.set_speed(self.motorspeed)
if message.topic == '/Controller/Move/Backward':
message = str(message.payload, encoding='UTF-8').split(':', -1)
axesValue = abs(float(message[1]))
axesCalValue = int(4000 * axesValue**2)
if axesCalValue > self.motorspeed:
self.motorspeed = self.motorspeed
else:
self.motorspeed = axesCalValue
self.dcMotorR.setSpeed(self.motorspeed)
self.dcMotorL.setSpeed(self.motorspeed)
self.dcMotorR.backward()
self.dcMotorL.backward()
self.singletonSpeed.set_speed(self.motorspeed)
if message.topic == '/Controller/Move/Stop':
self.motorspeed = 0
self.dcMotorR.setSpeed(self.motorspeed)
self.dcMotorL.setSpeed(self.motorspeed)
self.singletonSpeed.set_speed(self.motorspeed)
if message.topic == '/Controller/Move/Direction':
message = str(message.payload, encoding='UTF-8').split(':', -1)
axesValue = float(message[1])
direction_angle = int(30 * axesValue + 90)
self.sg90direction.angle(direction_angle)
#self.sg90sensor.angle(self.sensor_angle)
if message.topic == '/Controller/Sensor/Direction':
message = str(message.payload, encoding='UTF-8').split(':', -1)
axesValue = float(message[1]) * (-1)
sensor_angle = int(30 * axesValue + 70)
self.sg90sensor.angle(sensor_angle)
if message.topic == '/Controller/Camera/Direction':
message = str(message.payload, encoding='UTF-8').split(':', -1)
axesValue = round(float(message[1]), 1)
if axesValue == 0.1 or axesValue == 0.4 or axesValue == -0.1:
self.camera_angle_vertical -= 4
if self.camera_angle_vertical < 0:
self.camera_angle_vertical = 0
self.sg90camera_vertical.angle(self.camera_angle_vertical) #아래
if axesValue == -1.0 or axesValue == 1.0 or axesValue == -0.7:
self.camera_angle_vertical += 4
if self.camera_angle_vertical > 120:
self.camera_angle_vertical = 120
self.sg90camera_vertical.angle(self.camera_angle_vertical) #위
if axesValue == -0.4 or axesValue == -0.1 or axesValue == -7.0:
self.camera_angle_horizontal -= 4
if self.camera_angle_horizontal < 10:
self.camera_angle_horizontal = 10
self.sg90camera_horizontal.angle(
self.camera_angle_horizontal) #오른쪽
if axesValue == 0.7 or axesValue == 0.4 or axesValue == 1.0:
self.camera_angle_horizontal += 4
if self.camera_angle_horizontal > 170:
self.camera_angle_horizontal = 170
self.sg90camera_horizontal.angle(
self.camera_angle_horizontal) #왼쪽
if message.topic == '/Controller/Laser':
if str(message.payload, encoding='UTF-8') == 'on':
self.laser1.on()
self.laser2.on()
elif str(message.payload, encoding='UTF-8') == 'off':
self.laser1.off()
self.laser2.off()
if message.topic == '/Controller/Buzzer':
if str(message.payload, encoding='UTF-8') == 'on':
self.buzzer.on()
elif str(message.payload, encoding='UTF-8') == 'off':
self.buzzer.off()
if message.topic == '/Controller/RGBLed':
if str(message.payload, encoding='UTF-8') == 'redon':
self.rgbLed.red()
elif str(message.payload, encoding='UTF-8') == 'greenon':
self.rgbLed.green()
elif str(message.payload, encoding='UTF-8') == 'blueon':
self.rgbLed.blue()
elif str(message.payload, encoding='UTF-8') == 'off':
self.rgbLed.off()
# subscribe 메소드를 스레드방식으로 시작하는 메소드
def start(self):
thread = threading.Thread(target=self.__subscribe)
thread.start()
# mqtt client에 구독자로서 연결
def __subscribe(self):
self.__client.connect(self.__brokerIp, self.__brokerPort)
self.__client.loop_forever()
# 강제적으로 연결 종료
def stop(self):
self.__client.unsubscribe(self.__topic)
self.__client.disconnect()