From 75ab50acc12ea808c8c514864802c67dc50d1a96 Mon Sep 17 00:00:00 2001 From: LEYAO LI Date: Sun, 4 Apr 2021 11:42:34 -0400 Subject: [PATCH] Distance Sensor been added --- final_demo.py | 104 ++++++++++++++++++++++++++++++++++++++++++++------ 1 file changed, 92 insertions(+), 12 deletions(-) diff --git a/final_demo.py b/final_demo.py index 7da791bc8..ac9c5638f 100644 --- a/final_demo.py +++ b/final_demo.py @@ -1,38 +1,61 @@ import os, signal import RPi.GPIO as GPIO import pyrebase # u need to install Pyrebase module firstly +import time +from picamera import PiCamera from time import sleep -class Motor: +class Car: print("Starting of the program") def __init__(self): config = { - "apiKey": "AIzaSyAdL0W5HscjEDFPK4BDi6Cnc7FLa30GPYY", - "authDomain": "vehicleantitheftrecognition.firebaseapp.com", - "databaseURL": "https://vehicleantitheftrecognition.firebaseio.com/", - "storageBucket": "vehicleantitheftrecognition.firebaseapp.com" + "apiKey": "AIzaSyAdL0W5HscjEDFPK4BDi6Cnc7FLa30GPYY", + "authDomain": "vehicleantitheftrecognition.firebaseapp.com", + "databaseURL": "https://vehicleantitheftrecognition.firebaseio.com", + "projectId": "vehicleantitheftrecognition", + "storageBucket": "vehicleantitheftrecognition.appspot.com", + "messagingSenderId": "163692530359", + "appId": "1:163692530359:web:b6dc7ccfc56a79afb11b32", + "measurementId": "G-EPWP2LK89Q" } + self.firebase = pyrebase.initialize_app(config) GPIO.setmode(GPIO.BCM) GPIO.setwarnings(False) - #preset GPIO ports for 2 motors + + # preset GPIO ports for 2 motors self.Motor1 = {'EN': 25, 'input1': 24, 'input2': 23} self.Motor2 = {'EN': 17, 'input1': 27, 'input2': 22} + # preset the port for buttons and alarm GPIO.setup(26,GPIO.OUT) # alarm output + + # preset the port for the distance sensor + self.GPIO_TRIGGER = 18 + self.GPIO_ECHO = 4 + # set GPIO direction (IN / OUT) + GPIO.setup(self.GPIO_TRIGGER, GPIO.OUT) + GPIO.setup(self.GPIO_ECHO, GPIO.IN) + for x in self.Motor1: GPIO.setup(self.Motor1[x], GPIO.OUT) GPIO.setup(self.Motor2[x], GPIO.OUT) - #utilize PWM function, enable motors and frequency is 100Hz + + # utilize PWM function, enable motors and frequency is 100Hz self.EN1 = GPIO.PWM(self.Motor1['EN'], 100) self.EN2 = GPIO.PWM(self.Motor2['EN'], 100) self.EN1.start(0) self.EN2.start(0) - #stop signals for motors and alarm + + # stop signals for motors and alarm self.motorStop=True self.alarmStop=True self.cameraOff=True + # countor for theaf picture been taken + self.counter = self.firebase.database().child("signal").child(1).child("counter").get().val() + print(str(self.counter)) + # new update motor and alarm functions, are able to connect embedded system throught firebase def start_motor(self): @@ -85,29 +108,86 @@ class Motor: self.kill_target("remote_camera.py") print("Remote camera is off") #return False + + def distance(self): + # set Trigger to HIGH + GPIO.output(self.GPIO_TRIGGER, True) + + # set Trigger after 0.01ms to LOW + time.sleep(0.00001) + GPIO.output(self.GPIO_TRIGGER, False) + + StartTime = time.time() + StopTime = time.time() + + # save StartTime + while GPIO.input(self.GPIO_ECHO) == 0: + StartTime = time.time() + + # save time of arrival + while GPIO.input(self.GPIO_ECHO) == 1: + StopTime = time.time() + + # time difference between start and arrival + TimeElapsed = StopTime - StartTime + # multiply with the sonic speed (34300 cm/s) + # and divide by 2, because there and back + distance = (TimeElapsed * 34300) / 2 + + return distance if __name__=="__main__": #print("Execute function...") - car=Motor() + car=Car() while True: # turn on the system forever - database = car.firebase.database() # get camera on/off signal from firebase + # get connection to firebase + database = car.firebase.database() signals = database.child("signal") + auth = car.firebase.auth() + storage = car.firebase.storage() + + # get signal from firebase motorSignal = signals.child(1).child("motor").get().val() signals = database.child("signal") alarmSignal = signals.child(1).child("alarm").get().val() signals = database.child("signal") cameraSignal = signals.child(1).child("camera").get().val() + + # get distance data from distance sensor + dist = car.distance() + #print ("Measured Distance = %.1f cm" % dist) + + # Turn on motor if get sensor signal if (motorSignal=="on" and car.motorStop): car.start_motor() - elif (motorSignal=="off" and not car.motorStop): + elif ((motorSignal=="off" or dist<=5) and not car.motorStop): + # Stop the motor if the vehicle is too close to the item at front as well car.stop_motor() + + # Turn on alarm if get sensor signal if (alarmSignal=="on" and car.alarmStop): car.start_alarm() elif (alarmSignal=="off" and not car.alarmStop): car.stop_alarm() + + # Turn on remote camera if get sensor signal if (cameraSignal=="on" and car.cameraOff): car.start_camera() elif (cameraSignal=="off" and not car.cameraOff): - car.stop_camera() \ No newline at end of file + car.stop_camera() + + # Take a picture of someone or some thing try to get close to the vehicle + if (dist<=15 and car.cameraOff and car.motorStop and car.alarmStop): + print('Take a theaf picture due to distance at ' + str(int(dist)) + 'cm') + camera = PiCamera() + camera.start_preview() + # Camera warm-up time + time.sleep(1) + camera.capture('/home/pi/Vehicle-Anti-Theft-Face-Recognition-System/sensor/picture'+str(car.counter)+'.jpg') + camera.close() + storage.child('Photos_of_Thieves/Thief_Sensor/picture'+str(car.counter)+'.jpg').put('/home/pi/Vehicle-Anti-Theft-Face-Recognition-System/sensor/picture'+str(car.counter)+'.jpg') + car.counter+=1 + car.firebase.database().child("signal").child(1).child("counter").set(car.counter) + time.sleep(1) \ No newline at end of file