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main.py
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import threading
import os
import RPi.GPIO as GPIO
import numpy as np
import cv2
from time import sleep
import time
import subprocess
class Motors:
def __init__(self, out1, out2):
# initialize
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BOARD)
GPIO.setup(out1, GPIO.OUT)
GPIO.setup(out2, GPIO.OUT)
self.pin1 = out1
self.pin2 = out2
self.pwm1 = GPIO.PWM(out1, 50) # setup frequency
self.pwm2 = GPIO.PWM(out2, 50) # setup frequency
self.pwm1.start(0) # starts with 0% duty cycle
self.pwm2.start(0) # starts with 0% duty cycle
# changes servo 1 angle
def set_angle1(self, angle):
angle = int(angle) * -1
if angle < -60 or angle > 60:
return
duty = (90 + angle) / 18.0 + 2
GPIO.output(self.pin1, True)
self.pwm1.ChangeDutyCycle(duty)
sleep(1)
GPIO.output(self.pin1, False)
self.pwm1.ChangeDutyCycle(0)
# changes servo 2 angle
def set_angle2(self, angle):
angle = int(angle) * -1
if angle < -60 or angle > 60:
return
duty = (90 + angle) / 18.0 + 2
GPIO.output(self.pin2, True)
self.pwm2.ChangeDutyCycle(duty)
sleep(1)
GPIO.output(self.pin2, False)
self.pwm2.ChangeDutyCycle(0)
class FileMonitor(threading.Thread):
def __init__(self, file_name):
self.file_name = file_name
global motors_cam1
global motors_cam2
global cam1
global cam2
self.pri_ang1 = None
self.pri_ang2 = None
self.alt_ang1 = None
self.alt_ang2 = None
if os.path.exists(self.file_name):
self.last_modified = os.path.getmtime(self.file_name)
f = open(self.file_name, "r")
lines = f.read().splitlines()
print lines
if self.file_name == "/home/pi/.wildradio/config/principal.txt":
cam1.active = (lines[0] == '1') # type: bool
cam1.periodic = (lines[1] == '1') # type: bool
cam1.sensor_flag = False # type: bool
self.pri_ang1 = lines[3]
self.pri_ang2 = lines[4]
motors_cam1.set_angle1(lines[3])
sleep(1)
motors_cam1.set_angle2(lines[4])
cam1.sensor_flag = (lines[2] == '1') # type: bool
elif self.file_name == "/home/pi/.wildradio/config/alternativa.txt":
cam2.active = (lines[0] == '1') # type: bool
cam2.periodic = (lines[1] == '1') # type: bool
cam2.sensor_flag = False # type: bool
if int(lines[3]) > 40:
lines[3] = '40'
elif int(lines[3]) < -40:
lines[3] = '-40'
if int(lines[4]) > 40:
lines[4] = '40'
elif int(lines[4]) < -40:
lines[4] = '-40'
self.alt_ang1 = lines[3]
self.alt_ang2 = lines[4]
motors_cam2.set_angle1(lines[3])
sleep(1)
motors_cam2.set_angle2(lines[4])
cam2.sensor_flag = (lines[2] == '1') # type: bool
f.close()
else:
self.last_modified = None
threading.Thread.__init__(self)
def run(self):
global motors_cam1
global motors_cam2
global cam1
global cam2
while True:
if os.path.exists(self.file_name) and os.path.getmtime(self.file_name) != self.last_modified:
self.last_modified = os.path.getmtime(self.file_name)
print('%s modified' % self.file_name)
f = open(self.file_name, "r")
lines = f.read().splitlines()
print lines
if self.file_name == "/home/pi/.wildradio/config/principal.txt":
cam1.active = (lines[0] == '1') # type: bool
cam1.periodic = (lines[1] == '1') # type: bool
cam1.sensor_flag = False # type: bool
if self.pri_ang1 != lines[3]:
self.pri_ang1 = lines[3]
motors_cam1.set_angle1(lines[3])
sleep(1)
if self.pri_ang2 != lines[4]:
self.pri_ang2 = lines[4]
motors_cam1.set_angle2(lines[4])
if lines[5] == '1':
sleep(0.3)
cam1.take_picture("/home/pi/.wildradio/pictures/main/confirmation_cam_1.ppm")
cam1.sensor_flag = (lines[2] == '1') # type: bool
elif self.file_name == "/home/pi/.wildradio/config/alternativa.txt":
cam2.active = (lines[0] == '1') # type: bool
cam2.periodic = (lines[1] == '1') # type: bool
cam2.sensor_flag = False # type: bool
if int(lines[3]) > 40:
lines[3] = '40'
elif int(lines[3]) < -40:
lines[3] = '-40'
if int(lines[4]) > 40:
lines[4] = '40'
elif int(lines[4]) < -40:
lines[4] = '-40'
if self.alt_ang1 != lines[3]:
self.alt_ang1 = lines[3]
motors_cam2.set_angle1(lines[3])
sleep(1)
if self.alt_ang2 != lines[4]:
self.alt_ang2 = lines[4]
motors_cam2.set_angle2(lines[4])
if lines[5] == '1':
sleep(0.3)
cam2.take_picture("/home/pi/.wildradio/pictures/secondary/confirmation_cam_2.ppm")
cam2.sensor_flag = (lines[2] == '1') # type: bool
f.close()
sleep(0.5)
class Camera(threading.Thread):
def __init__(self, cam, folder):
self.cam = cv2.VideoCapture(cam) # starts cam capturing
self.cam_folder = folder # cam number to img name
self.active = False
self.periodic = False
self.timer_flag = False
self.sensor_flag = False
self.frame = None
self.timed_photo()
threading.Thread.__init__(self)
def run(self):
global sensor_cam1
global sensor_cam2
while True:
if self.active:
if (self.cam_folder == "main" and sensor_cam1 and self.sensor_flag) or (
self.cam_folder == "secondary" and sensor_cam2 and self.sensor_flag) or (
self.periodic and self.timer_flag):
img_name = "/home/pi/.wildradio/pictures/{}/{}.ppm".format(self.cam_folder, int(time.time()))
self.take_picture(img_name)
self.timer_flag = False
if self.cam_folder == "main":
sensor_cam1 = False
elif self.cam_folder == "secondary":
sensor_cam2 = False
else:
self.timer_flag = False
sleep(0.05)
def take_picture(self, img_name):
if self.cam.isOpened():
for i in range(10):
self.frame = self.cam.grab()
im = self.cam.read()[1]
print im
if im is not None:
img = cv2.resize(im, (320, 240))
cv2.imwrite(img_name, img)
print("{} written!".format(img_name))
def timed_photo(self):
if self.periodic:
self.timer_flag = True
print "{} timer".format(self.cam_folder)
threading.Timer(600, self.timed_photo).start()
def get_cams_ids():
lsusb = subprocess.check_output(["lsusb"])
ls_dev = subprocess.check_output(["ls", "/dev"])
cam1_dev = None
cam2_dev = None
cam1_index = None
cam2_index = None
dev_ids = []
for line in ls_dev.splitlines():
if "video" in line:
dev_ids.append(int(line[-1]))
dev_ids.sort()
for line in lsusb.splitlines():
words = line.split()
if words[6] == 'Z-Star':
cam1_dev = int(words[3].replace(":", ""))
elif words[6] == 'GEMBIRD':
cam2_dev = int(words[3].replace(":", ""))
if cam1_dev and cam2_dev and cam1_dev > cam2_dev:
cam1_index = dev_ids[1]
cam2_index = dev_ids[0]
elif cam1_dev and cam2_dev and cam1_dev < cam2_dev:
cam1_index = dev_ids[0]
cam2_index = dev_ids[1]
elif cam1_dev:
cam1_index = 0
elif cam2_dev:
cam2_index = 0
print "cam1 index = {}".format(cam1_index)
print "cam1 dev = {}".format(cam1_dev)
print "cam2 index = {}".format(cam2_index)
print "cam2 dev = {}".format(cam2_dev)
return [cam1_index, cam2_index]
motors_cam1 = Motors(35, 33)
motors_cam2 = Motors(38, 36)
sensor_pin = 7
GPIO.setup(sensor_pin, GPIO.IN)
GPIO.add_event_detect(sensor_pin, GPIO.RISING)
sensor_cam1 = False
sensor_cam2 = False
cam1_id, cam2_id = get_cams_ids()
cam1 = Camera(cam1_id, "main")
if not cam1.cam.isOpened():
print "cam1 nao conectada"
else:
cam1.start()
cam2 = Camera(cam2_id, "secondary")
if not cam2.cam.isOpened():
print "cam2 nao conectada"
else:
cam2.start()
file_monitor1 = FileMonitor("/home/pi/.wildradio/config/principal.txt")
file_monitor1.start()
file_monitor2 = FileMonitor("/home/pi/.wildradio/config/alternativa.txt")
file_monitor2.start()
try:
while True:
if GPIO.event_detected(sensor_pin):
sleep(0.3)
sensor_cam1 = True
sensor_cam2 = True
sleep(0.05)
except KeyboardInterrupt:
cam1.cam.release()
cam2.cam.release()
exit(1)