#!/usr/bin/python # -*- coding: utf-8 -*- import io import socket import struct import time import picamera import fcntl import sys import threading from Motor import * from servo import * from Led import * from Buzzer import * from ADC import * from Thread import * from Light import * from Ultrasonic import * from Line_Tracking import * from threading import Timer from threading import Thread from Command import COMMAND as cmd class Server: def __init__(self): self.PWM=Motor() self.servo=Servo() self.led=Led() self.ultrasonic=Ultrasonic() self.buzzer=Buzzer() self.adc=Adc() self.light=Light() self.infrared=Line_Tracking() self.tcp_Flag = True self.sonic=False self.Light=False self.Mode = 'one' self.endChar='\n' self.intervalChar='#' def get_interface_ip(self): s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) return socket.inet_ntoa(fcntl.ioctl(s.fileno(), 0x8915, struct.pack('256s', "wlan0"[:15]))[20:24]) def StartTcpServer(self): HOST=str(self.get_interface_ip()) self.server_socket1 = socket.socket() self.server_socket1.setsockopt(socket.SOL_SOCKET,socket.SO_REUSEPORT,1) self.server_socket1.bind((HOST, 5000)) self.server_socket1.listen(1) self.server_socket = socket.socket() self.server_socket.setsockopt(socket.SOL_SOCKET,socket.SO_REUSEPORT,1) self.server_socket.bind((HOST, 8000)) self.server_socket.listen(1) print('Server address: '+HOST) def StopTcpServer(self): try: self.connection.close() self.connection1.close() except Exception , e: print '\n'+"No client connection" def Reset(self): self.StopTcpServer() self.StartTcpServer() self.SendVideo=Thread(target=self.sendvideo) self.ReadData=Thread(target=self.readdata) self.SendVideo.start() self.ReadData.start() def sendvideo(self): try: self.connection,self.client_address = self.server_socket.accept() self.connection=self.connection.makefile('rb') except: pass self.server_socket.close() try: with picamera.PiCamera() as camera: camera.resolution = (400,300) # pi camera resolution camera.framerate = 30 # 15 frames/sec time.sleep(2) # give 2 secs for camera to initilize start = time.time() stream = io.BytesIO() # send jpeg format video stream print "Start transmit ... " for foo in camera.capture_continuous(stream, 'jpeg', use_video_port = True): try: self.connection.flush() stream.seek(0) b = stream.read() length=len(b) if length >5120000: continue lengthBin = struct.pack('L', length) self.connection.write(lengthBin) self.connection.write(b) stream.seek(0) stream.truncate() except : print "End transmit ... " break except: #print "Camera unintall" pass def stopMode(self): try: stop_thread(self.infraredRun) self.PWM.setMotorModel(0,0,0,0) except: pass try: stop_thread(self.lightRun) self.PWM.setMotorModel(0,0,0,0) except: pass try: stop_thread(self.ultrasonicRun) self.PWM.setMotorModel(0,0,0,0) self.servo.setServoPwm('0',90) self.servo.setServoPwm('1',90) except: pass def readdata(self): try: self.connection1,self.client_address1 = self.server_socket1.accept() print "Client connection successful !" except: print "Client connect failed" restCmd="" self.server_socket1.close() while True: try: AllData=restCmd+self.connection1.recv(1024) except: if self.tcp_Flag: self.Reset() break if len(AllData) < 5: restCmd=AllData if restCmd=='' and self.tcp_Flag: self.Reset() break restCmd="" if AllData=='': break else: cmdArray=AllData.split("\n") if(cmdArray[-1] != ""): restCmd=cmdArray[-1] cmdArray=cmdArray[:-1] for oneCmd in cmdArray: data=oneCmd.split("#") if data==None: continue elif cmd.CMD_MODE in data: if data[1]=='one': self.stopMode() self.Mode='one' elif data[1]=='two': self.stopMode() self.Mode='two' self.lightRun=Thread(target=self.light.run) self.lightRun.start() elif data[1]=='three': self.stopMode() self.Mode='three' self.ultrasonicRun=threading.Thread(target=self.ultrasonic.run) self.ultrasonicRun.start() elif data[1]=='four': self.stopMode() self.Mode='four' self.infraredRun=threading.Thread(target=self.infrared.run) self.infraredRun.start() elif (cmd.CMD_MOTOR in data) and self.Mode=='one': try: data1=int(data[1]) data2=int(data[2]) data3=int(data[3]) data4=int(data[4]) if data1==None or data2==None or data2==None or data3==None: continue self.PWM.setMotorModel(data1,data2,data3,data4) except: pass elif cmd.CMD_SERVO in data: try: data1=data[1] data2=int(data[2]) if data1==None or data2==None: continue self.servo.setServoPwm(data1,data2) except: pass elif cmd.CMD_LED in data: try: data1=int(data[1]) data2=int(data[2]) data3=int(data[3]) data4=int(data[4]) if data1==None or data2==None or data2==None or data3==None: continue self.led.ledIndex(data1,data2,data3,data4) except: pass elif cmd.CMD_LED_MOD in data: self.LedMoD=data[1] if self.LedMoD== '0': try: stop_thread(Led_Mode) except: pass self.led.ledMode(self.LedMoD) time.sleep(0.1) self.led.ledMode(self.LedMoD) else : try: stop_thread(Led_Mode) except: pass time.sleep(0.1) Led_Mode=Thread(target=self.led.ledMode,args=(data[1],)) Led_Mode.start() elif cmd.CMD_SONIC in data: if data[1]=='1': self.sonic=True self.ultrasonicTimer = threading.Timer(0.5,self.sendUltrasonic) self.ultrasonicTimer.start() else: self.sonic=False elif cmd.CMD_BUZZER in data: try: self.buzzer.run(data[1]) except: pass elif cmd.CMD_LIGHT in data: if data[1]=='1': self.Light=True self.lightTimer = threading.Timer(0.3,self.sendLight) self.lightTimer.start() else: self.Light=False elif cmd.CMD_POWER in data: ADC_Power=self.adc.recvADC(2)*3 try: self.connection1.send(cmd.CMD_POWER+'#'+str(ADC_Power)+'\n') except: pass self.StopTcpServer() def sendUltrasonic(self): if self.sonic==True: ADC_Ultrasonic=self.ultrasonic.get_distance() if ADC_Ultrasonic==self.ultrasonic.get_distance(): try: self.connection1.send(cmd.CMD_SONIC+"#"+str(ADC_Ultrasonic)+'\n') except: self.sonic=False self.ultrasonicTimer = threading.Timer(0.13,self.sendUltrasonic) self.ultrasonicTimer.start() def sendLight(self): if self.Light==True: ADC_Light1=self.adc.recvADC(0) ADC_Light2=self.adc.recvADC(1) try: self.connection1.send(cmd.CMD_LIGHT+'#'+str(ADC_Light1)+'#'+str(ADC_Light2)+'\n') except: self.Light=False self.lightTimer = threading.Timer(0.17,self.sendLight) self.lightTimer.start() def Power(self): while True: ADC_Power=self.adc.recvADC(2)*3 time.sleep(3) if ADC_Power < 6.8: for i in range(4): self.buzzer.run('1') time.sleep(0.1) self.buzzer.run('0') time.sleep(0.1) elif ADC_Power< 7: for i in range(2): self.buzzer.run('1') time.sleep(0.1) self.buzzer.run('0') time.sleep(0.1) else: self.buzzer.run('0') if __name__=='__main__': passS