Distance Sensor been added
This commit is contained in:
LEYAO LI
parent
e652045ce8
commit
75ab50acc1
1 changed files with 92 additions and 12 deletions
102
final_demo.py
102
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):
|
||||
|
|
@ -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)
|
||||
Loading…
Reference in a new issue