Code used in project demonstrations

README.md

@@ -1,2 +1,2 @@
 # ExPiRior
-The entire codebase for the ExPiRior autonomous coronavirus testing site
+The entire codebase for the ExPiRior autonomous coronavirus testing site. Maintained by Aparajito Saha and Amulya Khurana, School of Electrical and Computer Engineering, Cornell University. 

arm.py

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+import RPi.GPIO as GPIO
+import time
+from gpiozero import Servo
+
+def move_arm():
+    claw = Servo(19,0)
+    updown = 12
+    elbow = Servo(13)
+
+    rotate = 21
+    GPIO.setmode(GPIO.BCM)
+
+    GPIO.setup(rotate, GPIO.OUT)
+    GPIO.setup(updown, GPIO.OUT)
+    r = GPIO.PWM(rotate, 50)
+    p = GPIO.PWM(updown, 50)
+
+    #p.start(9.5)
+    r.start(2.5)
+
+    claw.mid()
+    r.ChangeDutyCycle(2.5)
+    print("Moved towards tubes")
+    time.sleep(2)
+    print("Grabbing tube")
+    time.sleep(2)
+    claw.max()
+    time.sleep(5)
+
+    print("Moving to user")
+    r.ChangeDutyCycle(12.5)
+    time.sleep(2)
+    print("Closing claw")
+    time.sleep(2)
+
+    #GPIO.cleanup()
+    #claw.stop()
+
+def calibrate_updown():
+    p.ChangeDutyCycle(7.5)
+
+def calibrate_rotate():
+    r.ChangeDutyCycle(2.5)
+
+def calibrate():
+    r.ChangeDutyCycle(7.5)
+    claw.max()
+    elbow.mid()
+    p.ChangeDutyCycle(22.5)
+    print("Calibrating - everything in mid position, claw closed")
+    time.sleep(2)
+
+def grab_tube():
+    claw.mid()
+    r.ChangeDutyCycle(2.5)
+    print("Moved towards tubes")
+    time.sleep(2)
+    print("Grabbing tube")
+    time.sleep(2)
+    claw.max()
+    time.sleep(2)
+
+def grab_swab():
+    r.ChangeDutyCycle(3.5)
+    claw.max()
+    elbow.mid()
+    print("Moved towards tubes")
+    time.sleep(2)
+    print("Grabbing tube")
+    p.ChangeDutyCycle(22.5)
+    claw.value = 0.65
+    claw.mid()
+    time.sleep(3)
+    claw.max()
+    time.sleep(1)
+    print("Moving up")
+    #p.ChangeDutyCycle(27.5)
+    time.sleep(2)
+
+def release():
+    print("Moving to user")
+    r.ChangeDutyCycle(12.5)
+    time.sleep(2)
+    print("Closing claw")
+    time.sleep(2)
+
+#calibrate()
+#time.sleep(5)
+#grab_tube()
+#claw.max()
+#claw.mid()
+#time.sleep(3)
+#claw.max()
+#release()
+#calibrate_updown()
+#time.sleep(2)
+#calibrate_rotate()
+#time.sleep(2)
+#p.stop()
+#r.stop()
+#GPIO.cleanup()
+#claw.stop()

client.py

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+from threading import Thread
+import socket, time
+from print_manipulation import *
+import csv
+
+IP_ADDRESS = '192.168.137.216'
+IP_PORT = 65432
+
+class Client():
+    def run(self):
+        print("Client started")
+        while True:
+            try:
+                rcvMsg = self.readServerMsg()
+            except:
+                print("Exception in Client.run()")
+                isClientRunning = False
+                closeConnection()
+                break
+        print("Client thread terminated")
+
+    def readServerMsg(self):
+        bufSize = 2048
+        data = ""
+        while data[-1:] != "\0": # reply with end-of-message indicator
+            try:
+                blk = sock.recv(bufSize)
+            except:
+                raise Exception("Exception from blocking sock.recv()")
+            data += blk.decode('utf-8')
+        print("Data received:", data)
+        return data
+
+def sendCommand(data):
+    print("sendCommand() with msg = " + data)
+    data = data + "\0"
+    data = bytes(data, 'utf-8')
+    try:
+        # append \0 as end-of-message indicator
+        sock.sendall(data)
+    except:
+        print("Exception in sendCommand()")
+        closeConnection()
+
+def closeConnection():
+    global isConnected
+    print("Closing socket")
+    sock.close()
+    isConnected = False
+
+def connect():
+    global sock
+    sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+    print("Connecting...")
+    try:
+        sock.connect((IP_ADDRESS, IP_PORT))
+    except:
+        print("Connection failed.")
+        return False
+    return True
+
+def read_csv(id):
+    rows = []
+    data = open("sample_student_data_read.csv", "r")
+    csvreader = csv.reader(data)
+    # extracting each data row one by one
+    for row in csvreader:
+        rows.append(row)
+    for row in rows:
+        if row[0] == str(id):
+            return row[2] + " " + row[3]
+
+    return ""
+
+sock = None
+isConnected = False
+id = 0
+
+if connect():
+    isConnected = True
+    client = Client()
+    print("Connection established")
+    time.sleep(1)
+    while isConnected:
+        rcvd = client.readServerMsg()
+        if (rcvd[:-1] == "yes"):
+            print_label(id)
+        elif (rcvd[0] == '@'):
+            id = rcvd[1:-1]
+            print(id, len(id))
+            id = int(id)
+            print(id, type(id))
+            data = read_csv(id)
+            if (type(id) == int):
+                sendCommand(data)
+else:
+    print("Connection to %s:%d failed" % (IP_ADDRESS, IP_PORT))
+print("done")    

client_testing.py

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+import socket
+
+HOST = '192.168.0.241'  # The server's hostname or IP address
+PORT = 65432        # The port used by the server
+
+with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
+    s.connect((HOST, PORT))
+    s.sendall(b'Hello, world')
+    data = s.recv(1024)
+
+print('Received', repr(data))

print_manipulation.py

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+import time
+import pyautogui
+import csv 
+
+def print_label(id):
+    fields = []
+    rows = []
+
+    data = open("sample_student_data_read.csv", "r")
+    csvreader = csv.reader(data)
+    # extracting field names through first row
+    fields = next(csvreader)
+
+    # extracting each data row one by one
+    for row in csvreader:
+        rows.append(row)
+
+    ind = 0     
+    time.sleep(5)
+
+    for row in rows:
+        if row[0] != str(id):
+            pyautogui.press('down')
+            ind = rows.index(row)
+            ind += 1
+        else:            
+            for col in row:
+                print(col)
+            break
+
+    time.sleep(5)
+    pyautogui.hotkey('ctrl', 'p')
+    time.sleep(3)
+    pyautogui.hotkey('enter')
+    time.sleep(3)
+
+    for i in range(ind):
+        pyautogui.press('up')

record.sh

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+#!/bin/bash
+sudo arecord --format=S16_LE --rate=44100 -D hw:1,0 --file-type=wav hi.wav

redo.sh

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+#!/bin/bash
+sudo arecord --format=S16_LE --rate=44100 -D hw:1,0 --file-type=wav redo.wav

sample_student_data.csv

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+StudentId,Name,NetID,Date of Birth
+4875937,Aparajito Saha,as2537,07-07-2000
+1234567,Jonathan Doe,jd098,01-01-1999
+9876543,Janet Smith,js100,10/21/2002
+1357924,Joseph Skovira,jfs9,06/22/1998
+2833794,Amulya Khurana,ak2425,3/30/2000

sample_student_data_read.csv

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+StudentId,Name,NetID,Date of Birth
+4873837,Aparajito Saha,as2537,07-07-2000
+1234567,Jonathan Doe,jd098,01-01-1999
+9876543,Janet Smith,js100,10/21/2002
+1357924,Joseph Skovira,jfs9,06/22/1990
+2930848,Amulya Khurana,ak2425,03/30/2000

server.py

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+import socket
+import threading as Thread
+import time
+import sys
+
+class SocketServer():
+    def __init__(self, conn):
+        # conn represents client connection, initializes the TCP/IP connection
+        # between server on Pi and client on laptop
+        self.conn = conn
+
+    def run(self):
+        # Runs the server on the Pi, checking for incoming connections from 
+        # client over wireless TCP/IP
+        global isConnected
+        print("Python server started")
+        while True:
+            cmd = ""
+            try:
+                print("Calling blocking conn.recv()")
+                msg = recvClientMessage()
+            except:
+                print("exception in conn.recv()") 
+                # happens when connection is reset from the client
+                break
+
+        conn.close()
+        print("Client disconnected. Waiting for next client...")
+        isConnected = False
+        print("SocketServer terminated")
+
+    def sendClientMessage(self, msg):
+        # Sends a string message over to the client 
+        msg = msg + "\0"
+        msg = bytes(msg, 'utf-8')
+        print("Message sent to client: ", msg)
+        self.conn.sendall(msg)
+
+    def recvClientMessage(self):
+        # receives message from client and passes it on to 
+        # other code modules
+        msg = self.conn.recv(4096)
+        msg = msg.decode('utf-8')
+        print("Message received = ", msg[:-1])
+        return msg

server_test.py

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+import socket
+
+HOST = '192.168.0.201'  # Standard loopback interface address (localhost)
+PORT = 65432        # Port to listen on (non-privileged ports are > 1023)
+
+with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
+    print("binding socket")
+    s.bind((HOST, PORT))
+    print("socket ready")
+    s.listen()
+    print("waiting for connection")
+    conn, addr = s.accept()
+    with conn:
+        print('Connected by', addr)
+        while True:
+            data = conn.recv(1024)
+            if not data:
+                break
+            conn.sendall(data)