Distance Sensor been added
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LEYAO LI
parent
e652045ce8
commit
75ab50acc1
1 changed files with 92 additions and 12 deletions
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@ -1,38 +1,61 @@
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import os, signal
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import RPi.GPIO as GPIO
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import pyrebase # u need to install Pyrebase module firstly
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import time
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from picamera import PiCamera
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from time import sleep
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class Motor:
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class Car:
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print("Starting of the program")
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def __init__(self):
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config = {
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"apiKey": "AIzaSyAdL0W5HscjEDFPK4BDi6Cnc7FLa30GPYY",
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"authDomain": "vehicleantitheftrecognition.firebaseapp.com",
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"databaseURL": "https://vehicleantitheftrecognition.firebaseio.com/",
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"storageBucket": "vehicleantitheftrecognition.firebaseapp.com"
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"databaseURL": "https://vehicleantitheftrecognition.firebaseio.com",
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"projectId": "vehicleantitheftrecognition",
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"storageBucket": "vehicleantitheftrecognition.appspot.com",
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"messagingSenderId": "163692530359",
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"appId": "1:163692530359:web:b6dc7ccfc56a79afb11b32",
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"measurementId": "G-EPWP2LK89Q"
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}
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self.firebase = pyrebase.initialize_app(config)
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GPIO.setmode(GPIO.BCM)
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GPIO.setwarnings(False)
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#preset GPIO ports for 2 motors
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# preset GPIO ports for 2 motors
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self.Motor1 = {'EN': 25, 'input1': 24, 'input2': 23}
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self.Motor2 = {'EN': 17, 'input1': 27, 'input2': 22}
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# preset the port for buttons and alarm
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GPIO.setup(26,GPIO.OUT) # alarm output
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# preset the port for the distance sensor
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self.GPIO_TRIGGER = 18
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self.GPIO_ECHO = 4
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# set GPIO direction (IN / OUT)
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GPIO.setup(self.GPIO_TRIGGER, GPIO.OUT)
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GPIO.setup(self.GPIO_ECHO, GPIO.IN)
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for x in self.Motor1:
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GPIO.setup(self.Motor1[x], GPIO.OUT)
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GPIO.setup(self.Motor2[x], GPIO.OUT)
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#utilize PWM function, enable motors and frequency is 100Hz
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# utilize PWM function, enable motors and frequency is 100Hz
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self.EN1 = GPIO.PWM(self.Motor1['EN'], 100)
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self.EN2 = GPIO.PWM(self.Motor2['EN'], 100)
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self.EN1.start(0)
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self.EN2.start(0)
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#stop signals for motors and alarm
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# stop signals for motors and alarm
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self.motorStop=True
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self.alarmStop=True
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self.cameraOff=True
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# countor for theaf picture been taken
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self.counter = self.firebase.database().child("signal").child(1).child("counter").get().val()
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print(str(self.counter))
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# new update motor and alarm functions, are able to connect embedded system throught firebase
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def start_motor(self):
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@ -86,28 +109,85 @@ class Motor:
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print("Remote camera is off")
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#return False
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def distance(self):
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# set Trigger to HIGH
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GPIO.output(self.GPIO_TRIGGER, True)
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# set Trigger after 0.01ms to LOW
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time.sleep(0.00001)
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GPIO.output(self.GPIO_TRIGGER, False)
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StartTime = time.time()
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StopTime = time.time()
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# save StartTime
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while GPIO.input(self.GPIO_ECHO) == 0:
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StartTime = time.time()
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# save time of arrival
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while GPIO.input(self.GPIO_ECHO) == 1:
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StopTime = time.time()
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# time difference between start and arrival
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TimeElapsed = StopTime - StartTime
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# multiply with the sonic speed (34300 cm/s)
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# and divide by 2, because there and back
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distance = (TimeElapsed * 34300) / 2
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return distance
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if __name__=="__main__":
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#print("Execute function...")
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car=Motor()
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car=Car()
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while True: # turn on the system forever
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database = car.firebase.database() # get camera on/off signal from firebase
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# get connection to firebase
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database = car.firebase.database()
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signals = database.child("signal")
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auth = car.firebase.auth()
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storage = car.firebase.storage()
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# get signal from firebase
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motorSignal = signals.child(1).child("motor").get().val()
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signals = database.child("signal")
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alarmSignal = signals.child(1).child("alarm").get().val()
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signals = database.child("signal")
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cameraSignal = signals.child(1).child("camera").get().val()
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# get distance data from distance sensor
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dist = car.distance()
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#print ("Measured Distance = %.1f cm" % dist)
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# Turn on motor if get sensor signal
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if (motorSignal=="on" and car.motorStop):
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car.start_motor()
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elif (motorSignal=="off" and not car.motorStop):
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elif ((motorSignal=="off" or dist<=5) and not car.motorStop):
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# Stop the motor if the vehicle is too close to the item at front as well
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car.stop_motor()
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# Turn on alarm if get sensor signal
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if (alarmSignal=="on" and car.alarmStop):
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car.start_alarm()
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elif (alarmSignal=="off" and not car.alarmStop):
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car.stop_alarm()
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# Turn on remote camera if get sensor signal
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if (cameraSignal=="on" and car.cameraOff):
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car.start_camera()
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elif (cameraSignal=="off" and not car.cameraOff):
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car.stop_camera()
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# Take a picture of someone or some thing try to get close to the vehicle
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if (dist<=15 and car.cameraOff and car.motorStop and car.alarmStop):
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print('Take a theaf picture due to distance at ' + str(int(dist)) + 'cm')
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camera = PiCamera()
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camera.start_preview()
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# Camera warm-up time
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time.sleep(1)
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camera.capture('/home/pi/Vehicle-Anti-Theft-Face-Recognition-System/sensor/picture'+str(car.counter)+'.jpg')
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camera.close()
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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')
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car.counter+=1
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car.firebase.database().child("signal").child(1).child("counter").set(car.counter)
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time.sleep(1)
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