init

tracker.py

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+#Standard Libs
+import time
+import datetime
+import json
+import os
+import requests
+import math
+from ftplib import FTP
+
+#Sensor Libs
+from microstacknode.hardware.accelerometer.mma8452q import MMA8452Q
+import microstacknode.hardware.gps.l80gps
+import picamera
+
+
+#Loop Control Variables
+POLL_LOOP = 50
+COMMAND_LOOP = 10000
+TRACKING_LOOP = 10000
+currentTime = int(round(time.time() * 1000))
+commandLoop = currentTime
+pollLoop = currentTime
+trackingLoop = currentTime
+
+#Tilt Thresholds
+YThreshold = 10
+
+#Armed Features
+armed = False
+tracking = False
+
+#Sensors
+gps = microstacknode.hardware.gps.l80gps.L80GPS()
+
+G_RANGE = 2
+accelCal = {}
+accelCal['x'] = 0
+accelCal['y'] = 0
+accelCal['z'] = 0
+angle = {}
+
+def accelPoll():
+    global tracking
+    with MMA8452Q() as accelerometer:
+        accel = accelerometer.get_xyz_ms2()
+        R = math.sqrt(pow(accel['x'],2) + pow(accel['y'],2) + pow(accel['z'],2))
+        angle['x'] = (math.acos(accel['x']/R) * 57.29578) - 90
+        angle['y'] = (math.acos(accel['y']/R) * 57.29578) - 90
+        angle['z'] = math.acos(accel['z']/R) * 57.29578
+
+        angle['x'] -= accelCal['x']
+        angle['y'] -= accelCal['y']
+        angle['z'] -= accelCal['z']
+
+        if (angle['y'] > YThreshold) or (angle['y'] < (YThreshold * -1)):
+            t = 0
+            print('Exceded threshold, taking pictures')
+            takePic()
+            tracking = True
+    return
+
+def accelCalibrate():
+    with MMA8452Q() as accelerometer:
+        accelerometer.standby()
+        accelerometer.set_g_range(G_RANGE)
+        accelerometer.activate()
+
+        for i in range(0,50):
+            accel = accelerometer.get_xyz_ms2()
+            R = math.sqrt(pow(accel['x'],2) + pow(accel['y'],2) + pow(accel['z'],2))
+            angle['x'] = (math.acos(accel['x']/R) * 57.29578) - 90
+            angle['y'] = (math.acos(accel['y']/R) * 57.29578) - 90
+            angle['z'] = math.acos(accel['z']/R) * 57.29578
+            accelCal['x'] += angle['x']
+            accelCal['y'] += angle['y']
+            accelCal['z'] += angle['z']
+            time.sleep(0.05)
+        accelCal['x'] /= 50
+        accelCal['y'] /= 50
+        accelCal['z'] /= 50
+    return    
+def takePic():
+    print("taking picture")
+    with picamera.PiCamera() as camera:
+            camera.resolution = (640, 480)
+            #camera.resolution = (1024, 768)
+            camera.start_preview()
+            start = time.time()
+            camera.capture_sequence((
+                '/home/pi/images/image%03d.jpg' % i
+                for i in range(5)
+            ), use_video_port=True)
+            #print('captured 10 images at %.2ffps' % (10 /(time.time() - start)))
+            camera.stop_preview()
+            #uploadPics()
+            uploadFtp()
+    return
+
+def uploadFtp():
+    ftp = FTP()
+    ftp.connect('SERVER_NAME')
+    ftp.login('root','password')
+    ftp.cwd('/var/www/html/uploads')
+
+    for root, dirs, files in os.walk('/home/pi/images'):
+        for fname in files:
+            full_name = os.path.join(root, fname)
+            ftp.storbinary('STOR ' + fname, open(full_name, 'rb'))
+            ftp.sendcmd("SITE CHMOD 777 " + fname)
+            os.remove('/home/pi/images/' + fname)
+
+    ftp.close()
+    return
+
+def checkActions():
+    global armed
+    global tracking
+    response = requests.get(url="http://SERVER_NAME/api.php?action=arm")
+    if (response.json()):
+        if not armed:
+            print ("Arming Accel")
+            armed = True
+            setParkingLocation()
+            accelCalibrate()
+    else:
+        if not response.json():
+            if armed:
+                print("Disarming Accel")
+                armed = False
+                tracking = False
+
+    response = requests.get(url="http://SERVER_NAME/api.php?action=takepicture")
+    if (response.json()):
+        takePic()
+        requests.get(url="http://SERVER_NAME/api.php?action=picturetaken")
+
+
+    return
+
+def setParkingLocation():
+    print ("Setting Parking Location");
+    data = gps.get_gpgga()
+    response = requests.get(url="http://SERVER_NAME/api.php?action=setparking&latitude=" + str(data['latitude']) + "&longitude=" + str(data['longitude']))
+    return
+
+def uploadGPSCoords():
+    print ("Uploading GPS coords");
+    data = gps.get_gpgga()
+    response = requests.get(url="http://SERVER_NAME/api.php?action=uploadcoords&latitude=" + str(data['latitude']) + "&longitude=" + str(data['longitude']))
+    return    
+
+while 1:
+    currentTime = int(round(time.time() * 1000))
+
+    if (currentTime > commandLoop):
+        print("Checking for actions");
+        checkActions()
+        commandLoop = currentTime + COMMAND_LOOP
+
+    if (currentTime > pollLoop):
+        if (armed):
+            accelPoll()
+        pollLoop = currentTime + POLL_LOOP
+
+    if (currentTime > trackingLoop):
+        if (tracking):
+            uploadGPSCoords()
+        trackingLoop = currentTime + TRACKING_LOOP
+
+
+
+