diff --git a/Hardware/Motor.py b/Hardware/Motor.py
deleted file mode 100644
index b73efeb3b..000000000
--- a/Hardware/Motor.py
+++ /dev/null
@@ -1,98 +0,0 @@
-import RPi.GPIO as GPIO
-from time import sleep
-
-
-class Motor:
-
- def __init__(self):
- print("Starting of the program")
-
- GPIO.setmode(GPIO.BCM)
- GPIO.setwarnings(False)
-
- # 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(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.alarmStop = False
-
- def start_motor(self):
-
- while (not self.motorStop) or (not GPIO.input(5)): # break the loop when motor stop signal is detected
-
- print("FORWARD MOTION")
- self.motorStop = self.stop_motor()
-
- 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)
-
- GPIO.cleanup()
-
- def stop_motor(self):
-
- userStop = input("Stop the motor? choose between Y/N")
-
- if (userStop == "Y") or (not GPIO.input(13)):
- print("stopping motor...")
- self.EN1.ChangeDutyCycle(0)
- self.EN2.ChangeDutyCycle(0)
- print("motor stops")
- return True
- elif userStop == "N":
- return False
- else:
- self.stop_motor(self)
-
- def start_alarm(self):
-
- while (not self.alarmStop) or (not GPIO.input(16)):
- self.alarmStop = self.stop_alarm()
- GPIO.output(26, True)
-
- GPIO.cleanup()
-
- def stop_alarm(self):
-
- stopRequest = input("Turn off the alarm? choose between Y/N")
- if stopRequest == "Y":
- print("Alarm turning off...")
- GPIO.output(26, False)
- print("Alarm is off")
- return True
- elif stopRequest == "N":
- return False
- else:
- self.stop_alarm()
-
-
-if __name__ == "__main__":
- # print("Execute function...")
-
- motor1 = Motor()
- # motor1.start_motor()
- motor1.start_alarm()
diff --git a/Hardware/README.txt b/Hardware/README.txt
index c147decfc..8ab66469d 100644
--- a/Hardware/README.txt
+++ b/Hardware/README.txt
@@ -1,8 +1,11 @@
-Motor class has the following functions:
+Car class has the following functions:
--------waiting to be verified by LeYao Lee----------
+-------waiting to be verified by Leyao Lee----------
- - start motor by physical button or app call
- - stop motor by physical button or app call
- - turn on the alarm by physical button or app call
- - turn off the alarm by physical button or app call
+ - start motor when motor signal on firebase is "on"
+ - stop motor when motor signal on firebase is "off"
+ - start alarm when alarm signal on firebase is "on"
+ - stop alarm when alarm signal on firebase is "off"
+ - start remote camera when camera signal on firebase is "on" and the power signal on firebase is "off"
+ - stop remote camera when camera on firebase is "off" or the power signal on firebase is "on"
+ - take a theif picture when item in front of the distance sensor for more than 5 seconds
diff --git a/Hardware/Updated_HW_codes/NewMotorFunc.py b/Hardware/Updated_HW_codes/NewMotorFunc.py
deleted file mode 100644
index b5d142294..000000000
--- a/Hardware/Updated_HW_codes/NewMotorFunc.py
+++ /dev/null
@@ -1,127 +0,0 @@
-import RPi.GPIO as GPIO
-import pyrebase # u need to install Pyrebase module firstly
-from time import sleep
-
-class Motor:
-
-
- print("Starting of the program")
-
- def __init__(self):
-
- config = {
- "apiKey": "AIzaSyAdL0W5HscjEDFPK4BDi6Cnc7FLa30GPYY",
- "authDomain": "vehicleantitheftrecognition.firebaseapp.com",
- "databaseURL": "https://vehicleantitheftrecognition.firebaseio.com/",
- "storageBucket": "vehicleantitheftrecognition.firebaseapp.com"
- }
-
- self.firebase = pyrebase.initialize_app(config)
-
- GPIO.setmode(GPIO.BCM)
- GPIO.setwarnings(False)
-
- #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(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.alarmStop=False
-
-
-
-# new update motor and alarm functions, are able to connect embedded system throught firebase
-
- def start_motor(self):
-
- self.motorStop=self.stop_motor()
-
- while (not self.motorStop) or (not GPIO.input(5)): #break the loop when motor stop signal is detected
-
- self.motorStop=self.stop_motor()
-
-
- def stop_motor(self):
-
- database = self.firebase.database() # get alarm on/off signal from firebase
- signals = database.child("signal")
- motorSignal = signals.child("motor").get().val()
-
-
- if (motorSignal=="off") or (not GPIO.input(13)):
- print("stopping motor...")
- self.EN1.ChangeDutyCycle(0)
- self.EN2.ChangeDutyCycle(0)
- print("motor stops")
- return True
- elif motorSignal=="on":
-
- 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) or (not GPIO.input(16)): # 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("alarm").get().val()
-
- if alarmSignal=="off":
- print("Alarm turning off...")
- self.alarmStop=True
- GPIO.output(26,False)
- print("Alarm is off")
- return True
- elif alarmSignal=="on":
- GPIO.output(26,True)
- print("Alarm is turned on")
- return False
-
-
-if __name__=="__main__":
-
- #print("Execute function...")
-
-
- motor1=Motor()
-
- while True: # turn on the system forever
-
- motor1.start_alarm() # alarm on/off test
- motor1.start_motor() # motor on/off test
diff --git a/Hardware/Updated_HW_codes/README.md b/Hardware/Updated_HW_codes/README.md
deleted file mode 100644
index d91e1e537..000000000
--- a/Hardware/Updated_HW_codes/README.md
+++ /dev/null
@@ -1,12 +0,0 @@
-*******************************************************************************************************************
-Date: 11.17 2020 Tuesday, Qian Ma
-
-motor, alarm tests are completed,
-
-functionalities work perfectly without errors
-
-expected objectives achieved: by changing real-time signals on Firebase, the embedded system can be controlled properly
- ;turn on/off motor/alarm
-
-physical button tests are planned to be completed soon......
-
diff --git a/Hardware/Updated_HW_codes/__pycache__/NewMotorFunc.cpython-36.pyc b/Hardware/Updated_HW_codes/__pycache__/NewMotorFunc.cpython-36.pyc
deleted file mode 100644
index 1fe7c4e90..000000000
Binary files a/Hardware/Updated_HW_codes/__pycache__/NewMotorFunc.cpython-36.pyc and /dev/null differ
diff --git a/Hardware/__pycache__/Motor.cpython-36.pyc b/Hardware/__pycache__/Motor.cpython-36.pyc
deleted file mode 100644
index 33ca6a5e8..000000000
Binary files a/Hardware/__pycache__/Motor.cpython-36.pyc and /dev/null differ
diff --git a/Hardware/final_demo.py b/Hardware/final_demo.py
new file mode 100644
index 000000000..9eb78625f
--- /dev/null
+++ b/Hardware/final_demo.py
@@ -0,0 +1,214 @@
+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 Car:
+ print("Starting of the program")
+ def __init__(self):
+ config = {
+ "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
+ self.Motor1 = {'EN': 25, 'input1': 24, 'input2': 23}
+ self.Motor2 = {'EN': 17, 'input1': 27, 'input2': 22}
+ self.Motor3 = {'EN': 6, 'input1': 19, 'input2': 13}
+ self.Motor4 = {'EN': 16, 'input1': 20, 'input2': 21}
+
+ # 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)
+ GPIO.setup(self.Motor3[x], GPIO.OUT)
+ GPIO.setup(self.Motor4[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.EN3 = GPIO.PWM(self.Motor3['EN'], 100)
+ self.EN4 = GPIO.PWM(self.Motor4['EN'], 100)
+ self.EN1.start(0)
+ self.EN2.start(0)
+ self.EN3.start(0)
+ self.EN4.start(0)
+
+ # 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):
+ self.motorStop=False
+ self.EN1.ChangeDutyCycle(50)
+ self.EN2.ChangeDutyCycle(50)
+ self.EN3.ChangeDutyCycle(50)
+ self.EN4.ChangeDutyCycle(50)
+ GPIO.output(self.Motor1['input1'], GPIO.LOW)
+ GPIO.output(self.Motor1['input2'], GPIO.HIGH)
+ GPIO.output(self.Motor2['input1'], GPIO.HIGH)
+ GPIO.output(self.Motor2['input2'], GPIO.LOW)
+ GPIO.output(self.Motor3['input1'], GPIO.LOW)
+ GPIO.output(self.Motor3['input2'], GPIO.HIGH)
+ GPIO.output(self.Motor4['input1'], GPIO.HIGH)
+ GPIO.output(self.Motor4['input2'], GPIO.LOW)
+ print("motor is turned on")
+
+ def stop_motor(self):
+ print("stopping motor...")
+ self.motorStop=True
+ self.EN1.ChangeDutyCycle(0)
+ self.EN2.ChangeDutyCycle(0)
+ self.EN3.ChangeDutyCycle(0)
+ self.EN4.ChangeDutyCycle(0)
+ print("motor stops")
+
+ def start_alarm(self):
+ print("Alarm is turned on")
+ self.alarmStop=False
+ GPIO.output(26,True)
+ return False
+
+ 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
+
+ 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=Car()
+
+ while True: # turn on the system forever
+ # 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()
+ signals = database.child("signal")
+ powerSignal = signals.child(1).child("power").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 dist>15) and car.motorStop):
+ car.start_motor()
+ elif ((motorSignal=="off" or dist<=10) 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 and powerSignal=="off"):
+ car.start_camera()
+ elif ((cameraSignal=="off" and not car.cameraOff) or powerSignal =="on"):
+ 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):
+ time.sleep(5)
+ dist = car.distance()
+ if (dist<=15):
+ 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)
diff --git a/Hardware/remote_camera.py b/Hardware/remote_camera.py
new file mode 100644
index 000000000..4474eebad
--- /dev/null
+++ b/Hardware/remote_camera.py
@@ -0,0 +1,94 @@
+# Web streaming example
+# Source code from the official PiCamera package
+# http://picamera.readthedocs.io/en/latest/recipes2.html#web-streaming
+
+import io
+import picamera
+import logging
+import socketserver
+from threading import Condition
+from http import server
+
+PAGE="""\
+
+
+Raspberry Pi - Remote Camera
+
+
+Raspberry Pi - Remote Camera
+
+
+
+"""
+
+class StreamingOutput(object):
+ def __init__(self):
+ self.frame = None
+ self.buffer = io.BytesIO()
+ self.condition = Condition()
+
+ def write(self, buf):
+ if buf.startswith(b'\xff\xd8'):
+ # New frame, copy the existing buffer's content and notify all
+ # clients it's available
+ self.buffer.truncate()
+ with self.condition:
+ self.frame = self.buffer.getvalue()
+ self.condition.notify_all()
+ self.buffer.seek(0)
+ return self.buffer.write(buf)
+
+class StreamingHandler(server.BaseHTTPRequestHandler):
+ def do_GET(self):
+ if self.path == '/':
+ self.send_response(301)
+ self.send_header('Location', '/index.html')
+ self.end_headers()
+ elif self.path == '/index.html':
+ content = PAGE.encode('utf-8')
+ self.send_response(200)
+ self.send_header('Content-Type', 'text/html')
+ self.send_header('Content-Length', len(content))
+ self.end_headers()
+ self.wfile.write(content)
+ elif self.path == '/stream.mjpg':
+ self.send_response(200)
+ self.send_header('Age', 0)
+ self.send_header('Cache-Control', 'no-cache, private')
+ self.send_header('Pragma', 'no-cache')
+ self.send_header('Content-Type', 'multipart/x-mixed-replace; boundary=FRAME')
+ self.end_headers()
+ try:
+ while True:
+ with output.condition:
+ output.condition.wait()
+ frame = output.frame
+ self.wfile.write(b'--FRAME\r\n')
+ self.send_header('Content-Type', 'image/jpeg')
+ self.send_header('Content-Length', len(frame))
+ self.end_headers()
+ self.wfile.write(frame)
+ self.wfile.write(b'\r\n')
+ except Exception as e:
+ logging.warning(
+ 'Removed streaming client %s: %s',
+ self.client_address, str(e))
+ else:
+ self.send_error(404)
+ self.end_headers()
+
+class StreamingServer(socketserver.ThreadingMixIn, server.HTTPServer):
+ allow_reuse_address = True
+ daemon_threads = True
+
+with picamera.PiCamera(resolution='1080x720', framerate=24) as camera:
+ output = StreamingOutput()
+ #Uncomment the next line to change your Pi's Camera rotation (in degrees)
+ camera.rotation = 90
+ camera.start_recording(output, format='mjpeg')
+ try:
+ address = ('', 8000)
+ server = StreamingServer(address, StreamingHandler)
+ server.serve_forever()
+ finally:
+ camera.stop_recording()
\ No newline at end of file