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server.py
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server.py
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#!/usr/bin/env/python
# File name : server.py
# Production : RaspRover
# Website : www.adeept.com
# E-mail : [email protected]
# Author : William
# Date : 2019/02/23
import socket
import time
import threading
import move
import Adafruit_PCA9685
from rpi_ws281x import *
import argparse
import os
import ultra
import FPV
import psutil
import servo
import LED
import findline
step_set = 1
speed_set = 100
rad = 0.6
new_frame = 0
direction_command = 'no'
turn_command = 'no'
pwm = Adafruit_PCA9685.PCA9685()
pwm.set_pwm_freq(50)
pos_input = 1
catch_input = 1
cir_input = 6
ultrasonicMode = 0
FindLineMode = 0
FindColorMode = 0
SportModeOn = 0
SpeedBase = 70
def findline_thread(): #Line tracking mode
while 1:
while FindLineMode:
findline.run()
time.sleep(0.2)
def get_cpu_tempfunc():
""" Return CPU temperature """
result = 0
mypath = "/sys/class/thermal/thermal_zone0/temp"
with open(mypath, 'r') as mytmpfile:
for line in mytmpfile:
result = line
result = float(result)/1000
result = round(result, 1)
return str(result)
def get_gpu_tempfunc():
""" Return GPU temperature as a character string"""
res = os.popen('/opt/vc/bin/vcgencmd measure_temp').readline()
return res.replace("temp=", "")
def get_cpu_use():
""" Return CPU usage using psutil"""
cpu_cent = psutil.cpu_percent()
return str(cpu_cent)
def get_ram_info():
""" Return RAM usage using psutil """
ram_cent = psutil.virtual_memory()[2]
return str(ram_cent)
def get_swap_info():
""" Return swap memory usage using psutil """
swap_cent = psutil.swap_memory()[3]
return str(swap_cent)
def info_get():
global cpu_t,cpu_u,gpu_t,ram_info
while 1:
cpu_t = get_cpu_tempfunc()
cpu_u = get_cpu_use()
ram_info = get_ram_info()
time.sleep(3)
def info_send_client():
SERVER_IP = addr[0]
SERVER_PORT = 2256 #Define port serial
SERVER_ADDR = (SERVER_IP, SERVER_PORT)
Info_Socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM) #Set connection value for socket
Info_Socket.connect(SERVER_ADDR)
print(SERVER_ADDR)
while 1:
try:
Info_Socket.send((get_cpu_tempfunc()+' '+get_cpu_use()+' '+get_ram_info()).encode())
time.sleep(1)
except:
pass
def ultra_send_client():
ultra_IP = addr[0]
ultra_PORT = 2257 #Define port serial
ultra_ADDR = (ultra_IP, ultra_PORT)
ultra_Socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM) #Set connection value for socket
ultra_Socket.connect(ultra_ADDR)
print(ultra_ADDR)
while 1:
while ultrasonicMode:
try:
if not FindColorMode:
ultra_Socket.send(str(round(ultra.checkdist(),2)).encode())
time.sleep(0.5)
continue
fpv.UltraData(round(ultra.checkdist(),2))
time.sleep(0.2)
except:
pass
time.sleep(0.5)
def FPV_thread():
fpv=FPV.FPV()
fpv.capture_thread(addr[0])
def ap_thread():
os.system("sudo create_ap wlan0 eth0 AdeeptCar 12345678")
def run():
global direction_command, turn_command, pos_input, catch_input, cir_input, ultrasonicMode, FindLineMode, FindColorMode, SportModeOn
move.setup()
findline.setup()
info_threading=threading.Thread(target=info_send_client) #Define a thread for FPV and OpenCV
info_threading.setDaemon(True) #'True' means it is a front thread,it would close when the mainloop() closes
info_threading.start() #Thread starts
ultra_threading=threading.Thread(target=ultra_send_client) #Define a thread for FPV and OpenCV
ultra_threading.setDaemon(True) #'True' means it is a front thread,it would close when the mainloop() closes
ultra_threading.start() #Thread starts
findline_threading=threading.Thread(target=findline_thread) #Define a thread for FPV and OpenCV
findline_threading.setDaemon(True) #'True' means it is a front thread,it would close when the mainloop() closes
findline_threading.start() #Thread starts
#move.stand()
ws_R = 0
ws_G = 0
ws_B = 0
Y_pitch = 0
Y_pitch_MAX = 200
Y_pitch_MIN = -200
while True:
data = ''
data = str(tcpCliSock.recv(BUFSIZ).decode())
if not data:
continue
elif 'SportModeOn' == data:
SportModeOn = 1
tcpCliSock.send(('SportModeOn').encode())
elif 'SportModeOff' == data:
SportModeOn = 0
tcpCliSock.send(('SportModeOff').encode())
elif 'forward' == data:
direction_command = 'forward'
if SportModeOn:
move.move(speed_set, direction_command, turn_command, rad)
else:
move.move(SpeedBase, direction_command, turn_command, rad)
elif 'backward' == data:
direction_command = 'backward'
if SportModeOn:
move.move(speed_set, direction_command, turn_command, rad)
else:
move.move(SpeedBase, direction_command, turn_command, rad)
elif 'DS' in data:
direction_command = 'no'
move.move(speed_set, direction_command, turn_command, rad)
elif 'left' == data:
turn_command = 'left'
if SportModeOn:
move.move(speed_set, direction_command, turn_command, rad)
else:
move.move(SpeedBase, direction_command, turn_command, rad)
elif 'right' == data:
turn_command = 'right'
if SportModeOn:
move.move(speed_set, direction_command, turn_command, rad)
else:
move.move(SpeedBase, direction_command, turn_command, rad)
elif 'TS' in data:
turn_command = 'no'
move.move(speed_set, direction_command, turn_command, rad)
elif 'headup' == data:
servo.camera_ang('lookup','no')
elif 'headdown' == data:
servo.camera_ang('lookdown','no')
elif 'headhome' == data:
servo.camera_ang('home','no')
time.sleep(0.2)
servo.clean_all()
elif 'wsR' in data:
try:
set_R=data.split()
ws_R = int(set_R[1])
LED.colorWipe(Color(ws_R,ws_G,ws_B))
except:
pass
elif 'wsG' in data:
try:
set_G=data.split()
ws_G = int(set_G[1])
LED.colorWipe(Color(ws_R,ws_G,ws_B))
except:
pass
elif 'wsB' in data:
try:
set_B=data.split()
ws_B = int(set_B[1])
LED.colorWipe(Color(ws_R,ws_G,ws_B))
except:
pass
elif 'FindColor' in data:
fpv.FindColor(1)
FindColorMode = 1
ultrasonicMode = 1
tcpCliSock.send(('FindColor').encode())
elif 'WatchDog' in data:
fpv.WatchDog(1)
tcpCliSock.send(('WatchDog').encode())
elif 'steady' in data:
ultrasonicMode = 1
tcpCliSock.send(('steady').encode())
elif 'FindLine' in data:
FindLineMode = 1
tcpCliSock.send(('FindLine').encode())
elif 'funEnd' in data:
fpv.FindColor(0)
fpv.WatchDog(0)
ultrasonicMode = 0
FindLineMode = 0
FindColorMode = 0
tcpCliSock.send(('FunEnd').encode())
move.motorStop()
else:
pass
#print(data)
if __name__ == '__main__':
HOST = ''
PORT = 10223 #Define port serial
BUFSIZ = 1024 #Define buffer size
ADDR = (HOST, PORT)
try:
LED = LED.LED()
LED.colorWipe(Color(255,16,0))
except:
print('Use "sudo pip3 install rpi_ws281x" to install WS_281x package')
pass
while 1:
try:
s =socket.socket(socket.AF_INET,socket.SOCK_DGRAM)
s.connect(("1.1.1.1",80))
ipaddr_check=s.getsockname()[0]
s.close()
print(ipaddr_check)
except:
ap_threading=threading.Thread(target=ap_thread) #Define a thread for data receiving
ap_threading.setDaemon(True) #'True' means it is a front thread,it would close when the mainloop() closes
ap_threading.start() #Thread starts
LED.colorWipe(Color(0,16,50))
time.sleep(1)
LED.colorWipe(Color(0,16,100))
time.sleep(1)
LED.colorWipe(Color(0,16,150))
time.sleep(1)
LED.colorWipe(Color(0,16,200))
time.sleep(1)
LED.colorWipe(Color(0,16,255))
time.sleep(1)
LED.colorWipe(Color(35,255,35))
try:
tcpSerSock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
tcpSerSock.setsockopt(socket.SOL_SOCKET,socket.SO_REUSEADDR,1)
tcpSerSock.bind(ADDR)
tcpSerSock.listen(5) #Start server,waiting for client
print('waiting for connection...')
tcpCliSock, addr = tcpSerSock.accept()
print('...connected from :', addr)
fpv=FPV.FPV()
fps_threading=threading.Thread(target=FPV_thread) #Define a thread for FPV and OpenCV
fps_threading.setDaemon(True) #'True' means it is a front thread,it would close when the mainloop() closes
fps_threading.start() #Thread starts
break
except:
LED.colorWipe(Color(0,0,0))
try:
LED.colorWipe(Color(0,80,255))
except:
pass
try:
run()
except:
LED.colorWipe(Color(0,0,0))
servo.clean_all()
move.destroy()