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jinyuxu2
cs437-lab2-code
Commits
7e531baf
Commit
7e531baf
authored
1 week ago
by
dl35
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wifi_server.py
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7e531baf
import
socket
import
picar_4wd
as
fc
import
time
import
os
import
json
import
threading
import
numpy
as
np
HOST
=
"
192.168.31.81
"
# IP address of your Raspberry PI
PORT
=
65432
# Port to listen on (non-privileged ports are > 1023)
SPEED
=
20
# default speed
cur_speed
=
SPEED
Forward_count
=
0
Backward_count
=
0
car_status
=
{
# "battery": 0.0,
"
direction
"
:
"
stop
"
,
"
temperature
"
:
0.0
,
"
speed
"
:
0.0
,
"
distance_traveled
"
:
0.0
,
"
timestamp
"
:
0
}
# Flag to control the background thread
running
=
True
def
get_battery_level
():
voltage
=
fc
.
power_read
()
# Read voltage from picar_4wd
# Map voltage to percentage (adjust min/max values for your battery)
min_voltage
=
6.0
max_voltage
=
8.4
percentage
=
((
voltage
-
min_voltage
)
/
(
max_voltage
-
min_voltage
))
*
100
return
max
(
0
,
min
(
100
,
round
(
percentage
,
1
)))
def
get_pi_temperature
():
# Read CPU temperature from system file
temp
=
os
.
popen
(
"
vcgencmd measure_temp
"
).
readline
()
temp
=
float
(
temp
.
replace
(
"
temp=
"
,
""
).
replace
(
"'
C
"
,
""
))
return
temp
# def estimate_speed():
# # This is just an approximation - ideally you'd use wheel encoders
# # You might need to adjust this based on your specific motor settings
# # This assumes fc.speed gives a value between -100 and 100
# motor_speed = fc.speed # You may need to adjust this based on your library
# # Convert motor power level to approximate cm/s
# # This conversion factor (0.5) needs calibration for your specific car
# speed_cms = np.absolute(motor_speed) * 0.5
# return round(speed_cms, 2)
def
update_car_status
():
global
car_status
last_update_time
=
time
.
time
()
last_distance
=
0.0
while
running
:
current_time
=
time
.
time
()
# elapsed_time = current_time - last_update_time
# Update battery level
# car_status["battery"] = get_battery_level()
# Update temperature
car_status
[
"
temperature
"
]
=
get_pi_temperature
()
# Update speedw
# current_speed = estimate_speed()
car_status
[
"
speed
"
]
=
cur_speed
# Calculate distance traveled (speed * time)
distance_increment
=
(
Forward_count
+
Backward_count
)
*
0.03
car_status
[
"
distance_traveled
"
]
=
distance_increment
car_status
[
"
timestamp
"
]
=
int
(
current_time
)
last_update_time
=
current_time
time
.
sleep
(
0.1
)
# Update 10 times per second
# Start the background thread to update car status
status_thread
=
threading
.
Thread
(
target
=
update_car_status
)
status_thread
.
daemon
=
True
status_thread
.
start
()
def
car_movement
(
direction
):
# Map key codes to car movements
# 87 - W (forward)
# 83 - S (backward)
# 65 - A (left)
# 68 - D (right)
global
SPEED
,
cur_speed
global
Forward_count
global
Backward_count
if
direction
==
87
:
# W - Forward
print
(
"
Moving forward
"
)
car_status
[
"
direction
"
]
=
"
forward
"
Forward_count
+=
1
cur_speed
=
SPEED
fc
.
forward
(
cur_speed
)
# Speed value can be adjusted
elif
direction
==
83
:
# S - Backward
print
(
"
Moving backward
"
)
car_status
[
"
direction
"
]
=
"
backward
"
Backward_count
+=
1
cur_speed
=
SPEED
fc
.
backward
(
cur_speed
)
elif
direction
==
65
:
# A - Left
print
(
"
Turning left
"
)
car_status
[
"
direction
"
]
=
"
left
"
cur_speed
=
SPEED
/
2
fc
.
turn_left
(
cur_speed
)
elif
direction
==
68
:
# D - Right
print
(
"
Turning right
"
)
car_status
[
"
direction
"
]
=
"
right
"
cur_speed
=
SPEED
/
2
fc
.
turn_right
(
cur_speed
)
else
:
# If anything else comes in, stop the car
cur_speed
=
0
car_status
[
"
direction
"
]
=
"
stop
"
print
(
"
Stopping car
"
)
fc
.
stop
()
# You might want to return some status information
return
direction
# with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
# s.bind((HOST, PORT))
# s.listen()
# # fc.cpu_temperature()
# try:
# while 1:
# client, clientInfo = s.accept()
# print("server recv from: ", clientInfo)
# data = client.recv(1024) # receive 1024 Bytes of message in binary format
# if data != b"":
# print(f"Received: {data}")
# # Convert bytes to integer, removing trailing \r\n
# direction = int(data.decode().strip())
# status = car_movement(direction)
# # Send back status information
# client.sendall(f"Received command: {direction}, {status}".encode())
# except:
# print("Closing socket")
# client.close()
# s.close()
with
socket
.
socket
(
socket
.
AF_INET
,
socket
.
SOCK_STREAM
)
as
s
:
s
.
bind
((
HOST
,
PORT
))
s
.
listen
()
print
(
f
"
Server started, listening on
{
HOST
}
:
{
PORT
}
"
)
try
:
while
True
:
client
,
clientInfo
=
s
.
accept
()
print
(
"
server recv from:
"
,
clientInfo
)
data
=
client
.
recv
(
1024
)
# car_movement(0)
if
data
!=
b
""
:
print
(
data
)
command
=
data
.
decode
().
strip
()
if
command
==
"
GET_STATUS
"
:
# Send full car status
response
=
json
.
dumps
(
car_status
)
client
.
sendall
(
response
.
encode
())
else
:
# Assume it's a direction command
direction
=
int
(
command
)
ret_val
=
car_movement
(
direction
)
# Send back status along with confirmation
response
=
json
.
dumps
({
"
command_received
"
:
direction
,
"
status
"
:
car_status
})
client
.
sendall
(
response
.
encode
())
# except ValueError:
# print(f"Invalid command: {command}")
# client.sendall(b"Invalid command format")
# break
# finally:
# client.close()
else
:
fc
.
stop
()
client
.
close
()
except
Exception
as
e
:
print
(
f
"
Error:
{
e
}
"
)
finally
:
fc
.
stop
()
print
(
"
Closing server
"
)
running
=
False
# Stop the background thread
s
.
close
()
\ No newline at end of file
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