Remote camera function finish
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LEYAO LI
parent
14dd6f7e98
commit
76da8a15d5
2 changed files with 66 additions and 73 deletions
133
final_demo.py
133
final_demo.py
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@ -19,102 +19,95 @@ class Motor:
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self.Motor1 = {'EN': 25, 'input1': 24, 'input2': 23}
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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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self.Motor2 = {'EN': 17, 'input1': 27, 'input2': 22}
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# preset the port for buttons and alarm
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# preset the port for buttons and alarm
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GPIO.setup(5,GPIO.IN) # start motor button, initially True
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GPIO.setup(13,GPIO.IN) # stop motor button, initially True
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GPIO.setup(16,GPIO.IN) # start alarm button, initially True
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GPIO.setup(26,GPIO.OUT) # alarm output
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GPIO.setup(26,GPIO.OUT) # alarm output
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for x in self.Motor1:
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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.Motor1[x], GPIO.OUT)
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GPIO.setup(self.Motor2[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.EN1 = GPIO.PWM(self.Motor1['EN'], 100)
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self.EN2 = GPIO.PWM(self.Motor2['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.EN1.start(0)
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self.EN2.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=False
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self.motorStop=True
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self.alarmStop=False
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self.alarmStop=True
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self.cameraOff=True
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# new update motor and alarm functions, are able to connect embedded system throught firebase
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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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def start_motor(self):
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self.motorStop=False
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self.motorStop=self.stop_motor()
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self.EN1.ChangeDutyCycle(50)
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self.EN2.ChangeDutyCycle(50)
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while (not self.motorStop): #break the loop when motor stop signal is detected
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GPIO.output(self.Motor1['input1'], GPIO.HIGH)
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GPIO.output(self.Motor1['input2'], GPIO.LOW)
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self.motorStop=self.stop_motor()
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GPIO.output(self.Motor2['input1'], GPIO.HIGH)
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GPIO.output(self.Motor2['input2'], GPIO.LOW)
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print("motor is turned on")
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def stop_motor(self):
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def stop_motor(self):
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print("stopping motor...")
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database = self.firebase.database() # get alarm on/off signal from firebase
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self.motorStop=True
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signals = database.child("signal")
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self.EN1.ChangeDutyCycle(0)
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motorSignal = signals.child(1).child("motor").get().val()
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self.EN2.ChangeDutyCycle(0)
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print("motor stops")
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if (motorSignal=="off") or (not GPIO.input(13)):
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print("stopping motor...")
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self.EN1.ChangeDutyCycle(0)
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self.EN2.ChangeDutyCycle(0)
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print("motor stops")
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return True
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elif (motorSignal=="on") or (not GPIO.input(5)):
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self.EN1.ChangeDutyCycle(50)
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self.EN2.ChangeDutyCycle(50)
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GPIO.output(self.Motor1['input1'], GPIO.HIGH)
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GPIO.output(self.Motor1['input2'], GPIO.LOW)
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GPIO.output(self.Motor2['input1'], GPIO.HIGH)
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GPIO.output(self.Motor2['input2'], GPIO.LOW)
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print("motor is turned on")
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return False
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def start_alarm(self):
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def start_alarm(self):
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print("Alarm is turned on")
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self.alarmStop=False
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GPIO.output(26,True)
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return False
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self.alarmStop=self.stop_alarm()
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while (not self.alarmStop): # if alarmStop is False or button is pressed
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# # enter the loop
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self.alarmStop=self.stop_alarm() # infinitely check if alarmStop True
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# break the loop if alarm is turned off
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def stop_alarm(self):
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def stop_alarm(self):
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print("Alarm turning off...")
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self.alarmStop=True
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GPIO.output(26,False)
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print("Alarm is off")
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return True
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database = self.firebase.database() # get alarm on/off signal from firebase
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def kill_target(self, target):
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signals = database.child("signal")
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cmd_run="ps aux | grep {}".format(target)
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alarmSignal = signals.child(1).child("alarm").get().val()
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out=os.popen(cmd_run).read()
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for line in os.popen("ps ax | grep "+target+" | grep -v grep"):
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if (alarmSignal=="on" or (not GPIO.input(16))):
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fields = line.split()
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print("Alarm is turned on")
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#print(fields)
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GPIO.output(26,True)
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pid = fields[0]
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return False
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a = os.kill(int(pid),signal.SIGKILL)
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elif alarmSignal=="off":
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print('Killed PID %s, return value:%s' % (pid, a))
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print("Alarm turning off...")
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self.alarmStop=True
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GPIO.output(26,False)
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print("Alarm is off")
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return True
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def start_camera(self):
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self.cameraOff=False
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print("Remote camera is turned on")
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os.system('python3 remote_camera.py &')
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def stop_camera(self):
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self.cameraOff=True
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self.kill_target("remote_camera.py")
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print("Remote camera is off")
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#return False
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if __name__=="__main__":
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if __name__=="__main__":
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#print("Execute function...")
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#print("Execute function...")
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car=Motor()
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motor1=Motor()
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while True: # turn on the system forever
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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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motor1.start_alarm() # alarm on/off test
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signals = database.child("signal")
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motor1.start_motor() # motor on/off test
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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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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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car.stop_motor()
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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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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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