Distance Sensor been added

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/",
+            "databaseURL": "https://vehicleantitheftrecognition.firebaseio.com",
-          "storageBucket": "vehicleantitheftrecognition.firebaseapp.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):
@@ -86,28 +109,85 @@ class Motor:
         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()
+            
+        # 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)