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import os
import subprocess
import signal
import serial
import select
from time import sleep
import math
import RPi.GPIO as GPIO
LED = 17 # Light emitting diode
PT = 27 # Phototransistor
GPIO.setmode(GPIO.BCM)
GPIO.setup(PT, GPIO.IN)
GPIO.setup(LED, GPIO.OUT)
GPIO.output(LED, False)
# DWM Process Code
DWMProcess = subprocess.Popen(["/home/pi/filterpy/bin/python", "-u", "/home/pi/TNE107-RPI/DWM.py"], stdout=subprocess.PIPE, stderr=open(os.devnull, 'wb'), text=True)
print(f"DWM PID: {DWMProcess.pid}")
# Open serial port to Arduino Nano
NANO = serial.Serial('/dev/ttyUSB1', 115200, timeout=1)
sleep(2)
BluetoothProcess = subprocess.Popen(["python", "-u", "/home/pi/TNE107-RPI/bt.py"], stdout=subprocess.PIPE, stderr=open(os.devnull, 'wb'), text=True)
# Waiting on connection
NANO.write(b"Bluetooth up\n")
print(BluetoothProcess.stdout.readline().strip())
# Connected?
# Bluetooth output
bto = BluetoothProcess.stdout.readline().strip()
print(bto)
newCommand = False
dwm = ""
x = 0
y = 0
oldX = 0
oldY = 0
forward = False
backward = False
curDir = 0
desDir = 0
normDir = 0
iteration = 0
if bto.find("Connected") != -1:
nanoBtMessage = "Bluetooth connected " + bto[13:].translate({ord(c): None for c in ':'}) # Address to send to nano
NANO.write(nanoBtMessage.encode())
print(nanoBtMessage)
# LIDAR Process Code
LIDARProcess = subprocess.Popen(["/home/pi/TNE107-RPI/LIDARProg", "--channel", "--serial", "/dev/ttyUSB0", "460800"], stdout=open(os.devnull, 'wb'))
print(f"LIDAR PID: {LIDARProcess.pid}")
sleep(2)
while bto != "1000":
btReady, _, _ = select.select([BluetoothProcess.stdout], [], [], 0.0005)
if btReady:
bto = BluetoothProcess.stdout.readline().strip()
newCommand = True
else:
newCommand = False
dwmReady, _, _ = select.select([DWMProcess.stdout], [], [], 0.0005)
if dwmReady:
dwm = DWMProcess.stdout.readline().strip("\n")
x, y = dwm.split(",")
x = int(x)
y = int(y)
#print("Quality factor: " + qf)
# if float(qf) > 80:
if newCommand:
print(f"Command: {bto}")
if bto == "11":
# Store current position => old pos
# NANO.write(b"Forward\n")
if forward == False:
oldX = x
oldY = y
forward = True
backward = False
elif bto == "22":
# Store current position => old pos
# NANO.write(b"Backward\n")
if backward == False:
oldX = x
oldY = y
forward = False
backward = True
elif bto == "33":
desDir = desDir - 90
if desDir < 0:
desDir = desDir + 360
curDir = desDir
with open("angle.txt", "w") as f:
f.write(f"{desDir}" + '\n')
f.close()
NANO.write(b"Stop\n")
sleep(0.1)
NANO.write(b"Right\n")
sleep(0.95)
NANO.write(b"Stop\n")
elif bto == "44":
desDir = desDir + 90
if desDir >= 360:
desDir = desDir - 360
curDir = desDir
with open("angle.txt", "w") as f:
f.write(f"{desDir}" + '\n')
f.close()
NANO.write(b"Stop\n")
sleep(0.1)
NANO.write(b"Left\n")
sleep(0.9)
NANO.write(b"Stop\n")
elif bto == "55":
desDir = desDir - 45
if desDir < 0:
desDir = desDir + 360
curDir = desDir
with open("angle.txt", "w") as f:
f.write(f"{desDir}" + '\n')
f.close()
NANO.write(b"Stop\n")
sleep(0.1)
NANO.write(b"Right\n")
sleep(0.45)
NANO.write(b"Stop\n")
elif bto == "66":
desDir = desDir + 45
if desDir >= 360:
desDir = desDir - 360
curDir = desDir
with open("angle.txt", "w") as f:
f.write(f"{desDir}" + '\n')
f.close()
NANO.write(b"Stop\n")
sleep(0.1)
NANO.write(b"Left\n")
sleep(0.45)
NANO.write(b"Stop\n")
elif bto == "420":
print("reset")
desDir = 0
elif bto == "0":
NANO.write(b"Stop\n")
forward = False
backward = False
elif bto == "10":
NANO.write(b"Stop\n")
forward = False
backward = False
sleep(2)
for i in range(30):
dwm = DWMProcess.stdout.readline().strip("\n")
x, y = dwm.split(",")
x = int(x)
y = int(y)
curDir = calcCurDir(x, y, oldX, oldY)
adiff = calcAngleDiff(desDir, curDir)
adjustAngle(adiff, forward, backward)
forward = False
backward = False
elif bto == "98":
GPIO.output(LED, True)
sleep(1)
GPIO.output(LED, False)
with open("distances.txt", "r") as f:
for line in f:
a, d = line.split()
a = int(a)
d = int(d)
if (a < 25 or a > 335) and (d > 0 and d < 300):
forward = False
if backward == False:
NANO.write(b"Stop\n")
if ((a > 155 and a < 165) or (a > 195 and a < 205)) and (d > 0 and d < 300):
backward = False
if forward == False:
NANO.write(b"Stop\n")
if forward:
NANO.write(b"Forward\n")
if backward:
NANO.write(b"Backward\n")
print(f"current pos ({x}, {y}) <- old pos ({oldX}, {oldY})")
print(f"Current direction: {curDir}")
print(f"Normalized direction: {normDir}")
print(f"Desired direction: {desDir}")
with open("angle.txt", "w") as f:
f.write(f"{desDir}" + '\n')
f.close()
# Print current status (current command, heading? position? Could we include a cool progress bar? TO MISSION COMPLETETION?????)
print("Terminating LIDAR process")
os.kill(LIDARProcess.pid, signal.SIGINT)
print("Terminating DWM Process")
os.kill(DWMProcess.pid, signal.SIGINT)
print("Terminating Bluetooth Process")
os.kill(BluetoothProcess.pid, signal.SIGINT)
print("Terminating Serial port to Arduino Nano")
NANO.write(b"Closing down\n")
sleep(1)
NANO.close()
# Takes desired direction and current direction to get angle difference from desired direction
# Returns this angle difference with positive differences being left turns and negative ones being right turns
def calcAngleDiff(a1, a2):
diff = a1 - a2
if diff < -180:
diff += 360
return diff
def calcCurDir(x, y, xo, yo):
curDir = math.atan2(y - yo, x - xo) * (180/math.pi)
if curDir < 0:
curDir = curDir + 360
if curDir >= 360:
curDir = curDir - 360
return curDir
def adjustAngle(adiff, f, b):
if f:
if adiff > 10:
print("Adjusting to the right")
NANO.write(b"Right\n")
sleep(abs(adiff) / 90)
if normDir < -10:
print("Adjusting to the left")
NANO.write(b"Left\n")
sleep(abs(adiff) / 90)
else if b:
if adiff < -10:
print("Adjusting to the right")
NANO.write(b"Right\n")
sleep(abs(adiff) / 90)
if normDir > 10:
print("Adjusting to the left")
NANO.write(b"Left\n")
sleep(abs(adiff) / 90)
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