Remote camera function finish

final_demo.py

@@ -19,102 +19,95 @@ class Motor:
         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(5,GPIO.IN)     # start motor button, initially True
-        GPIO.setup(13,GPIO.IN)    # stop motor button, initially True
-        GPIO.setup(16,GPIO.IN)    # start alarm button, initially True
         GPIO.setup(26,GPIO.OUT)   # alarm output
-
         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
         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
-        self.motorStop=False
+        self.motorStop=True
-        self.alarmStop=False
+        self.alarmStop=True
-        
+        self.cameraOff=True
-     
         
 # new update motor and alarm functions, are able to connect embedded system throught firebase
 
     def start_motor(self):
-        
+        self.motorStop=False
-        self.motorStop=self.stop_motor()
+        self.EN1.ChangeDutyCycle(50)
-        
+        self.EN2.ChangeDutyCycle(50)
-        while (not self.motorStop): #break the loop when motor stop signal is detected
+        GPIO.output(self.Motor1['input1'], GPIO.HIGH)
-            
+        GPIO.output(self.Motor1['input2'], GPIO.LOW)
-            self.motorStop=self.stop_motor()
+        GPIO.output(self.Motor2['input1'], GPIO.HIGH)
-
+        GPIO.output(self.Motor2['input2'], GPIO.LOW)
+        print("motor is turned on")
 
     def stop_motor(self):
-        
-        database = self.firebase.database() # get alarm on/off signal from firebase
-        signals = database.child("signal")
-        motorSignal = signals.child(1).child("motor").get().val()
-        
-        
-        if (motorSignal=="off") or (not GPIO.input(13)):
         print("stopping motor...")
+        self.motorStop=True
         self.EN1.ChangeDutyCycle(0)
         self.EN2.ChangeDutyCycle(0)
         print("motor stops")
-            return True
-        elif (motorSignal=="on") or (not GPIO.input(5)):
-            
-            self.EN1.ChangeDutyCycle(50)
-            self.EN2.ChangeDutyCycle(50)
-
-            GPIO.output(self.Motor1['input1'], GPIO.HIGH)
-            GPIO.output(self.Motor1['input2'], GPIO.LOW)
-                
-            GPIO.output(self.Motor2['input1'], GPIO.HIGH)
-            GPIO.output(self.Motor2['input2'], GPIO.LOW)
-            
-            print("motor is turned on")
-            return False
-
     
     def start_alarm(self):
-        
-        self.alarmStop=self.stop_alarm()
-        
-        while (not self.alarmStop): # if alarmStop is False or button is pressed
-#                                                           # enter the loop
-            self.alarmStop=self.stop_alarm()                # infinitely check if alarmStop True
-            
-                                                            # break the loop if alarm is turned off
-    def stop_alarm(self):
-        
-        database = self.firebase.database() # get alarm on/off signal from firebase
-        signals = database.child("signal")
-        alarmSignal = signals.child(1).child("alarm").get().val()
-
-        if (alarmSignal=="on" or (not GPIO.input(16))):
         print("Alarm is turned on")
+        self.alarmStop=False
         GPIO.output(26,True)
         return False
-        elif alarmSignal=="off":
+
+    def stop_alarm(self):
         print("Alarm turning off...")
         self.alarmStop=True
         GPIO.output(26,False)
         print("Alarm is off")
         return True
 
+    def kill_target(self, target):
+        cmd_run="ps aux | grep {}".format(target)
+        out=os.popen(cmd_run).read()
+        for line in os.popen("ps ax | grep "+target+" | grep -v grep"):
+            fields = line.split()
+            #print(fields)
+            pid = fields[0]
+            a = os.kill(int(pid),signal.SIGKILL)
+            print('Killed PID %s, return value:%s' % (pid, a))
 
+    def start_camera(self):
+        self.cameraOff=False
+        print("Remote camera is turned on")
+        os.system('python3 remote_camera.py &')
+
+    def stop_camera(self):        
+        self.cameraOff=True
+        self.kill_target("remote_camera.py")
+        print("Remote camera is off")
+        #return False
         
 if __name__=="__main__":
-        
     #print("Execute function...")
     
-    
+    car=Motor()
-    motor1=Motor()
     
     while True: # turn on the system forever
-        
+        database = car.firebase.database() # get camera on/off signal from firebase
-        motor1.start_alarm() # alarm on/off test
+        signals = database.child("signal")
-        motor1.start_motor() # motor on/off test
+        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()
+        if (motorSignal=="on" and car.motorStop):
+            car.start_motor()
+        elif (motorSignal=="off" and not car.motorStop):
+            car.stop_motor()
+        if (alarmSignal=="on" and car.alarmStop):
+            car.start_alarm()
+        elif (alarmSignal=="off" and not car.alarmStop):
+            car.stop_alarm()
+        if (cameraSignal=="on" and car.cameraOff):
+            car.start_camera()
+        elif (cameraSignal=="off" and not car.cameraOff):
+            car.stop_camera()