diff --git a/README.md b/README.md index 707636aa..c1cf15f1 100755 --- a/README.md +++ b/README.md @@ -54,6 +54,11 @@ For detailed information on architecture, hardware specifics and technical choic (Note: The Wiki is currently private and reserved to INTech members) + +# some dependencies needed +libcap-dev +python3-libcamera + # License This project is distributed under the MIT License. See the Licence file for details. diff --git a/UV_USAGE.md b/UV_USAGE.md index 87a42f31..637b14a8 100644 --- a/UV_USAGE.md +++ b/UV_USAGE.md @@ -9,7 +9,10 @@ This project now uses [UV](https://github.com/astral-sh/uv) for fast, reliable P curl -LsSf https://astral.sh/uv/install.sh | sh source $HOME/.cargo/env ``` - +## Initialise uv for using external dependencies not installable in uv +```bash +uv venv --system-site-packages +``` ### Install Project Dependencies ```bash # Install all runtime dependencies diff --git a/pyproject.toml b/pyproject.toml index 7fa3358c..048b860f 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -41,28 +41,27 @@ rpi = [ # Note: picamera2 causes UV to auto-include rpi extras even when not requested # This is likely a UV bug. Add back when needed: # "picamera2>=0.3.0", - # AI Inference "onnxruntime>=1.8.0", - # Raspberry Pi specific hardware control "rpi-hardware-pwm>=0.1.0", "RPi.GPIO>=0.7.1", "gpiozero>=1.6.0", - # I2C and SPI communication (Linux specific) "smbus>=1.1.post2", "spidev>=3.5", - # OLED display support "luma.oled>=3.8.0", "luma.core>=2.3.0", "Adafruit-SSD1306>=1.6.0", - # Time-of-Flight sensor support "adafruit-circuitpython-vl53l0x>=3.6.0", "adafruit-blinka>=8.0.0", - # PS4 controller support "pyPS4Controller>=1.2.0", + "zmq>=0.0.0", + "netifaces>=0.11.0", + "matplotlib>=3.10.5", + "opencv-python>=4.12.0.88", + "scipy>=1.15.3", ] diff --git a/scripts/bluetooth_auto/bluethootconnect.sh b/scripts/bluetooth_auto/bluethootconnect.sh index b3ac0317..5b774d1f 100755 --- a/scripts/bluetooth_auto/bluethootconnect.sh +++ b/scripts/bluetooth_auto/bluethootconnect.sh @@ -31,4 +31,4 @@ while read -r line; do bluetoothctl connect "$mac" echo -done < ./bluethoot_mac.txt +done < ./scripts/bluetooth_auto/bluethoot_mac.txt diff --git a/scripts/commande_PS4.py b/scripts/commande_PS4.py index f5c731dd..5ae3a14c 100644 --- a/scripts/commande_PS4.py +++ b/scripts/commande_PS4.py @@ -1,133 +1,159 @@ from pyPS4Controller.controller import Controller import time +import os from threading import Thread - -#Pour le protocole I2C de communication entre la rasberie Pi et l'arduino -import smbus #type: ignore #ignore the module could not be resolved error because it is a linux only module -import numpy as np -import struct - +from src.HL.programme.programme import Program +from src.HL.Autotech_constant import MAX_ANGLE +import logging ################################################### -#Intialisation du protocole I2C +#Intialisation du protocole zmq ################################################## -# Create an SMBus instance -bus = smbus.SMBus(1) # 1 indicates /dev/i2c-1 - -# I2C address of the slave -SLAVE_ADDRESS = 0x08 - -def write_vitesse_direction(vitesse,direction): - # Convert string to list of ASCII values - data = struct.pack(' 0): - set_vitesse_m_ms(0) + self.vitesse_mms = 0 else: - set_vitesse_m_ms(vit) + self.vitesse_mms = vit def on_L2_release(self): #arrete la voiture lorsque L2 est arrété d'étre préssé. - set_vitesse_m_ms(0) - -#envoie de la direction et de l'angle toute les millisecondes -def envoie_direction_degre(): - while True : - write_vitesse_direction(int(vitesse_m), int(direction_d)) - time.sleep(0.001) - - -# boucle principal -controller = MyController(interface="/dev/input/js0", connecting_using_ds4drv=False) -try: - Thread(target = envoie_direction_degre, daemon=True).start() - controller.listen(timeout=60) - -except KeyboardInterrupt: - print("Arrêt du programme") - controller.stop() - exit(0) + self.vitesse_mms = 0 + + def on_L3_up(self,value): + pass + def on_L3_down(self,value): + pass + def on_L3_y_at_rest(self): + pass +if __name__ == "__main__": + controller = MyController(interface="/dev/input/js0", connecting_using_ds4drv=False) + try: + Thread(target = envoie_donnee,args=(controller,), daemon=True).start() + controller.listen(timeout=60) + except KeyboardInterrupt: + print("Arrêt du programme") + controller.stop() + exit(0) diff --git a/scripts/envoie_camera_sur_web.py b/scripts/envoie_camera_sur_web.py new file mode 100644 index 00000000..19f2b409 --- /dev/null +++ b/scripts/envoie_camera_sur_web.py @@ -0,0 +1,97 @@ +import io +import logging +import socketserver +from http import server +from threading import Condition + +from picamera2 import Picamera2 +from picamera2.encoders import JpegEncoder +from picamera2.outputs import FileOutput + +# HTML page for the MJPEG streaming demo +PAGE = """\ + + +RaspberryTips Pi Cam Stream + + +

Raspberry Tips Pi Camera Live Stream Demo

+ + + +""" + +# Class to handle streaming output +class StreamingOutput(io.BufferedIOBase): + def __init__(self): + self.frame = None + self.condition = Condition() + + def write(self, buf): + with self.condition: + self.frame = buf + self.condition.notify_all() + +# Class to handle HTTP requests +class StreamingHandler(server.BaseHTTPRequestHandler): + def do_GET(self): + if self.path == '/': + # Redirect root path to index.html + self.send_response(301) + self.send_header('Location', '/index.html') + self.end_headers() + elif self.path == '/index.html': + # Serve the HTML page + 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': + # Set up MJPEG streaming + 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: + # Handle 404 Not Found + self.send_error(404) + self.end_headers() + +# Class to handle streaming server +class StreamingServer(socketserver.ThreadingMixIn, server.HTTPServer): + allow_reuse_address = True + daemon_threads = True + +# Create Picamera2 instance and configure it +picam2 = Picamera2() +picam2.configure(picam2.create_video_configuration(main={"size": (640, 480)})) +output = StreamingOutput() +picam2.start_recording(JpegEncoder(), FileOutput(output)) + +try: + # Set up and start the streaming server + address = ('', 8000) + server = StreamingServer(address, StreamingHandler) + server.serve_forever() +finally: + # Stop recording when the script is interrupted + picam2.stop_recording() \ No newline at end of file diff --git a/scripts/remote_control_controller.py b/scripts/remote_control_controller.py new file mode 100644 index 00000000..294105d9 --- /dev/null +++ b/scripts/remote_control_controller.py @@ -0,0 +1,99 @@ +import pygame +import zmq +import time +from threading import Thread +import socket +import struct +################################################### +# Init ZMQ +################################################### +sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) + +def envoie_donnee(): + global vitesse_m, direction_d + while True: + packet = struct.pack("ff", vitesse_m, direction_d) + sock.sendto(packet, ("192.168.1.10", 5556)) + time.sleep(0.05) + +################################################### +# Paramètres véhicule +################################################### +direction_d = 0 +vitesse_m = 0 + +vitesse_max_m_s_soft = 2 +vitesse_min_m_s_soft = -2 +angle_degre_max = 18 + +def map_range(x, in_min, in_max, out_min, out_max): + return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min + +def set_direction_degre(angle_degre): + global direction_d + direction_d = angle_degre + print(direction_d, vitesse_m) + +def set_vitesse_m_ms(vit): + global vitesse_m + vitesse_m = vit + +################################################### +# Init pygame + manette +################################################### +pygame.init() +pygame.joystick.init() + +if pygame.joystick.get_count() == 0: + print("Aucune manette détectée") + exit(1) + +joy = pygame.joystick.Joystick(0) +joy.init() +print("Manette détectée:", joy.get_name()) + +################################################### +# Boucle principale +################################################### +Thread(target=envoie_donnee, daemon=True).start() + +try: + while True: + pygame.event.pump() + + # Axes : + # Pour Xbox/PS4 USB : + # L2 = axis 2 (souvent 0..1) + # R2 = axis 5 (souvent 0..1) + # Stick gauche horizontal = axis 0 (-1..1) + + axis_lx = joy.get_axis(0) # Gauche droite + axis_l2 = joy.get_axis(2) # Accélération inverse + axis_r2 = joy.get_axis(5) # Accélération + + # Direction + direction = map_range(axis_lx, -1, 1, -angle_degre_max, angle_degre_max) + set_direction_degre(round(direction)) + + # Accélération + accel = (axis_r2 + 1)/2 + brake = (axis_l2 + 1)/2 + + # Certaines manettes vont de -1..1, d'autres 0..1 + + # Avant + if accel > 0.05: + vit = accel * vitesse_max_m_s_soft * 1000 + set_vitesse_m_ms(round(vit)) + + # Arrière + elif brake > 0.05: + vit = brake * vitesse_min_m_s_soft * 1000 + set_vitesse_m_ms(round(vit)) + else : + set_vitesse_m_ms(0) + time.sleep(0.01) + +except KeyboardInterrupt: + print("Fin du programme.") + pygame.quit() diff --git a/scripts/startup.sh b/scripts/startup.sh index 6571a8df..5892df06 100755 --- a/scripts/startup.sh +++ b/scripts/startup.sh @@ -1,7 +1,8 @@ #!/bin/bash # Specify the PATH -export PATH=/usr/local/bin:/usr/bin:/bin:/usr/sbin:/sbin +export PATH="$HOME/.local/bin:/usr/local/bin:/usr/bin:/bin:/usr/sbin:/sbin" +export PYTHONPATH=$PYTHONPATH:/home/intech/CoVAPSy # Wait until WiFi is acquired while ! ping -c 1 google.com &> /dev/null; do @@ -15,5 +16,5 @@ cd /home/intech/CoVAPSy # Pull the latest changes from the repository git pull -# Run the main Python script -python /home/intech/CoVAPSy/src/HL/main.py \ No newline at end of file +uv sync --extra rpi +uv run /home/intech/CoVAPSy/src/HL/Serveur_mq.py diff --git a/src/HL/Autotech_constant.py b/src/HL/Autotech_constant.py index 8829095c..a54703a9 100644 --- a/src/HL/Autotech_constant.py +++ b/src/HL/Autotech_constant.py @@ -1,9 +1,9 @@ import os import numpy as np -MAX_SOFT_SPEED = 6000 # en milimetre par secondes -MIN_SOFT_SPEED = -4000 -MAX_ANGLE = 30 +MAX_SOFT_SPEED = 6 # en metre par secondes +MIN_SOFT_SPEED = -4 +MAX_ANGLE = 18 CRASH_DIST = 110 REAR_BACKUP_DIST = 100 #mm Distance at which the car will NOT reverse due to the obstacle behind it LIDAR_DATA_AMPLITUDE = 1 @@ -13,7 +13,7 @@ script_dir = os.path.dirname(os.path.abspath(__file__)) MODEL_PATH = os.path.join(script_dir, "model_CNN1D.onnx") # Allows the model to be loaded from the same directory as the script regardless of the current working directory (aka where the script is run from) - +SLAVE_ADDRESS = 0x08 SOCKET_ADRESS = { "IP": '192.168.0.10', "PORT": 10940 @@ -24,4 +24,7 @@ Temperature = 0.7 # Temperature parameter for softmax function, used to control the sharpness of the distribution resols around 1 # the higher the temperature the more unprobalbe actions become probable, the lower the temperature the more probable actions become probable. -# In our case Higher temperature means less agressive driving and lower temperature means more aggressive driving. \ No newline at end of file +# In our case Higher temperature means less agressive driving and lower temperature means more aggressive driving. + +import logging +LOGGING_LEVEL = logging.DEBUG # can be either NOTSET, DEBUG, INFO, WARNING, ERROR, CRITICAL \ No newline at end of file diff --git a/src/HL/Car.py b/src/HL/Car.py deleted file mode 100644 index 09b45d85..00000000 --- a/src/HL/Car.py +++ /dev/null @@ -1,199 +0,0 @@ -import time -from rpi_hardware_pwm import HardwarePWM -import onnxruntime as ort -from scipy.special import softmax -import numpy as np -from gpiozero import LED, Button -import logging as log -import smbus # type: ignore #ignore the module could not be resolved error because it is a linux only module -import struct -from masterI2C import write_vitesse_direction - -SLAVE_ADDRESS = 0x08 -# Create an SMBus instance -bus = smbus.SMBus(1) # 1 indicates /dev/i2c-1 - - -# Import constants from HL.Autotech_constant to share them between files and ease of use -from Autotech_constant import MAX_SOFT_SPEED, MAX_ANGLE, CRASH_DIST, MODEL_PATH, SOCKET_ADRESS, REAR_BACKUP_DIST, LIDAR_DATA_SIGMA, LIDAR_DATA_AMPLITUDE, LIDAR_DATA_OFFSET -from Driver import Driver -from Lidar import Lidar -from Camera import Camera -from ToF import ToF - -class Car: - def __init__(self, driver): - """Initialize the car's components.""" - self.vitesse_milimetres_s = 0 # Speed in millimeters per second - self.angle_degre = 0 # Steering angle in degrees - - def _initialize_ai(): - """Initialize the AI session.""" - try: - self.ai_session = ort.InferenceSession(MODEL_PATH) - log.info("AI session initialized successfully") - except Exception as e: - log.error(f"Error initializing AI session: {e}") - raise - - def _initialize_lidar(): - """Initialize the Lidar sensor.""" - try: - self.lidar = Lidar(SOCKET_ADRESS["IP"], SOCKET_ADRESS["PORT"]) - self.lidar.stop() - self.lidar.startContinuous(0, 1080) - log.info("Lidar initialized successfully") - except Exception as e: - log.error(f"Error initializing Lidar: {e}") - raise - - def _initialize_camera(): - """Initialize the camera.""" - try: - self.reverse_count = 0 - self.camera = Camera() - self.camera.start() - time.sleep(0.2) # Allow time for the camera to start - log.info("Camera initialized successfully") - except Exception as e: - log.error(f"Error initializing Camera: {e}") - raise - - def _initialize_tof(): - """Initialize the ToF sensor.""" - try: - self.tof = ToF() - log.info("ToF initialized successfully") - except Exception as e: - log.error(f"Error initializing ToF: {e}") - raise - - - # Initialize AI session - _initialize_ai() - - # Initialize Lidar - _initialize_lidar() - - _initialize_camera() - - _initialize_tof() - - self.driving = driving_strategy - - - - log.info("Car initialization complete") - - def set_vitesse_m_s(self, vitesse_m_s): - """Set the car's speed in meters per second.""" - self.vitesse_milimetres_s = int(vitesse_m_s * 1000) # Convert to millimeters per second - write_vitesse_direction(self.vitesse_milimetres_s,self.angle_degre) #take the vitesse in milimeters per second - - - def set_direction_degre(self, n_angle_degre): - """Set the car's steering angle in degrees.""" - self.angle_degre = n_angle_degre - write_vitesse_direction(self.vitesse_milimetres_s, self.angle_degre) #take the angle in degrees - - - def stop(self): - self.vitesse_milimetres_s = 0 - self.angle_degre = 0 - write_vitesse_direction(self.vitesse_milimetres_s, self.angle_degre) #stop the car - log.info("Arrêt du moteur") - self.lidar.stop() - - - def has_Crashed(self): - - small_distances = [d for d in self.lidar.rDistance[200:880] if 0 < d < CRASH_DIST] # 360 to 720 is the front of the car. 1/3 of the fov of the lidar - log.debug(f"Distances: {small_distances}") - if len(small_distances) > 2: - # min_index = self.lidar.rDistance.index(min(small_distances)) - while self.tof.get_distance() < REAR_BACKUP_DIST: - log.info(f"Obstacle arriere détecté {self.tof.get_distance()}") - self.set_vitesse_m_s(0) - time.sleep(0.1) - return True - return False - - def turn_around(self): - """Turn the car around.""" - log.info("Turning around") - - self.set_vitesse_m_s(0) - self.set_direction_degre(MAX_ANGLE) - self.set_vitesse_m_s(-2) #blocing call - time.sleep(1.8) # Wait for the car to turn around - if self.camera.is_running_in_reversed(): - self.turn_around() - - - - def main(self): - # récupération des données du lidar. On ne prend que les 1080 premières valeurs et on ignore la dernière par facilit" pour l'ia - - lidar_data = (self.lidar.rDistance[:1080]/1000) - lidar_data_ai= (lidar_data-0.5)*( - LIDAR_DATA_OFFSET + LIDAR_DATA_AMPLITUDE * np.exp(-1/2*((np.arange(1080) - 135) / LIDAR_DATA_SIGMA**2)) - ) #convertir en mètre et ajouter un bruit gaussien #On traffique les données fournit a l'IA - angle, vitesse = self.driving(lidar_data_ai) #l'ai prend des distance en mètre et non en mm - log.debug(f"Min Lidar: {min(lidar_data)}, Max Lidar: {max(lidar_data)}") - self.set_direction_degre(angle) - self.set_vitesse_m_s(vitesse) - if self.camera.is_running_in_reversed(): - self.reverse_count += 1 - else: - self.reverse_count = 0 - if self.reverse_count > 2: - self.turn_around() - self.reverse_count = 0 - if self.has_Crashed(): - print("Obstacle détecté") - color= self.camera.is_green_or_red(lidar_data) - if color == 0: - small_distances = [d for d in self.lidar.rDistance if 0 < d < CRASH_DIST] - if len(small_distances) == 0: - log.info("Aucun obstacle détecté") - return - min_index = np.argmin(small_distances) - direction = MAX_ANGLE if min_index < 540 else -MAX_ANGLE #540 is the middle of the lidar - color = direction/direction - log.info("Obstacle détecté, Lidar Fallback") - if color == -1: - log.info("Obstacle rouge détecté") - if color == 1: - log.info("Obstacle vert détecté") - angle= -color*MAX_ANGLE - self.set_vitesse_m_s(-2) - self.set_direction_degre(angle) - - - -if __name__ == '__main__': - Format= '%(asctime)s:%(name)s:%(levelname)s:%(message)s' - if input("Appuyez sur D pour démarrer en debug ou sur n'importe quelle autre touche pour démarrer en mode normal") in ("D", "d"): - log.basicConfig(level=log.DEBUG, format=Format) - else: - log.basicConfig(level=log.INFO, format=Format) - bp2 = Button("GPIO6") - try: - Schumacher = Driver(128, 128) - GR86 = Car(Schumacher) - log.info("Initialisation terminée") - if input("Appuyez sur D pour démarrer ou tout autre touche pour quitter") in ("D", "d") or bp2.is_pressed: - log.info("Depart") - while True: - GR86.main() - else: - raise Exception("Le programme a été arrêté par l'utilisateur") - except KeyboardInterrupt: - GR86.stop() - log.info("Le programme a été arrêté par l'utilisateur") - - except Exception as e: # catch all exceptions to stop the car - GR86.stop() - log.error("Erreur inconnue") - raise e # re-raise the exception to see the error message - \ No newline at end of file diff --git a/src/HL/Serveur_mq.py b/src/HL/Serveur_mq.py new file mode 100644 index 00000000..fcefc6ec --- /dev/null +++ b/src/HL/Serveur_mq.py @@ -0,0 +1,356 @@ +import zmq +context = zmq.Context() +import cv2 +import time +import threading +import smbus +import logging +import struct +import os, signal + + +from luma.core.interface.serial import i2c +from luma.core.render import canvas +from luma.oled.device import ssd1306 +from PIL import Image, ImageDraw, ImageFont +from gpiozero import LED, Button, Buzzer +import textwrap +import socket + +from src.HL.programme.scripts.get_ip import check_ssh_connections +import subprocess +from src.HL.actionneur_capteur.Lidar import Lidar +from src.HL.actionneur_capteur.Camera import Camera +from src.HL.actionneur_capteur.ToF import ToF +from Autotech_constant import SOCKET_ADRESS, SLAVE_ADDRESS + +#différent programme +from scripts.commande_PS4 import PS4ControllerProgram +from src.HL.programme.SshProgramme import SshProgramme +from src.HL.programme.RemoteControl import RemoteControl +from src.HL.programme.Poweroff import Poweroff +from src.HL.actionneur_capteur.Camera import ProgramStreamCamera +from src.HL.programme.module_initialisation import Initialisation +from src.HL.programme.Car import Ai_Programme + + + + #le nombre de donnée récupéré par l'i2c + + +TEXT_HEIGHT = 11 +TEXT_LEFT_OFFSET = 3 # Offset from the left of the screen to ensure no cuttoff + + +private = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) +private.bind(("127.0.0.1", 5555)) + +# on utilise tcp pour les infos des différents informations +telemetry = context.socket(zmq.REP) +telemetry.bind("tcp://0.0.0.0:5557") + + +class Serveur(): + + def __init__(self): + self.log = logging.getLogger(__name__) + #initialisation des différents module qui tourne tout le temps + self.log.info("Initialisation du serveur") + + + self.bp_next = Button("GPIO5", bounce_time=0.1) + self.bp_entre = Button("GPIO6", bounce_time=0.1) + + self.led1 = LED("GPIO17") + self.led2 = LED("GPIO27") + self.buzzer = Buzzer("GPIO26") + self.log.info("GPIO: boutons, LEDs, buzzer initialisés") + + self.remote_control = False # on initialise le remote control à False + + + self.serial = i2c(port=1, address=0x3C) + self.device = ssd1306(self.serial) + self.bus = smbus.SMBus(1) # 1 indicates /dev/i2c-1 + self.log.info("I2C: bus ouvert sur /dev/i2c-1") + + self.length_i2c_received = 3 #nombre de donnée à récupéré de l'arduino (voltage lipo, voltage nimh) + + # initialisation des donnnée de la voiture + self.vitesse_d = 0 #vitesse demandé par le programme + self.direction = 0 #direction des roue + + #initialisation des variable reçue de l'arduino pour débugage + self.voltage_lipo = 0 + self.voltage_nimh = 0 + self.vitesse_r = 0 #vitesse réel de la voiture + + self.camera_reverse = True + + # initialisation des commande de temps + self.initial_time = time.time() + self.last_cmd_time = time.time() + + #donnée des process + self.process_output = "" + self.last_programme_control = 0 + self.process = None + self.temp = None + + self.initialisation_module = Initialisation(Camera,Lidar,ToF) + + + + self.programme = [SshProgramme(), self.initialisation_module, Ai_Programme(self), PS4ControllerProgram(), RemoteControl(), ProgramStreamCamera(self), Poweroff()] + self.log.debug("Programmes chargés: %s", [type(p).__name__ for p in self.programme]) + + # donnée de l'écran + self.Screen = 0 + self.State = 0 + self.scroll_offset = 3 + + + @property + def camera(self): + return self.initialisation_module.camera + + @property + def lidar(self): + return self.initialisation_module.lidar + + @property + def tof(self): + return self.initialisation_module.tof + #----------------------------------------------------------------------------------------------------- + # affichage de l'écrans + #----------------------------------------------------------------------------------------------------- + def affichage_oled(self,selected): #test non utilisé + im = Image.new("1", (128, 64), "black") + draw = ImageDraw.Draw(im) + font = ImageFont.load_default() + + for num, i in enumerate(range(max(selected - self.scroll_offset, 0), min(len(self.programme), selected + self.scroll_offset))): + y = num * TEXT_HEIGHT + + if i == selected: + draw.rectangle((0, y, 127, y + TEXT_HEIGHT), fill="white") + draw.text((3, y), self.programme[i]["name"], fill="black", font=font) + else: + draw.text((3, y), self.programme[i]["name"], fill="white", font=font) + + with canvas(self.device) as display: + display.bitmap((0, 0), im, fill="white") + + def make_voltage_im(self): + """crée l'image de la derniére ligne qui affiche le voltage des deux batterie de la pi en temps réel""" + + received = [self.voltage_lipo , self.voltage_nimh] + # filter out values below 6V and round to 2 decimal places + received = [round(elem, 2) if elem > 6 else 0.0 for elem in received] + text = f"LiP:{received[0]:.2f}V|NiH:{received[1]:.2f}V" + im = Image.new("1", (128, TEXT_HEIGHT), "black") + draw = ImageDraw.Draw(im) + font = ImageFont.load_default() + draw.text((3, 0), text, fill="white", font=font) + return im + + def display_combined_im(self,text): + """ fonction qui écris sur l'écran le texte qu'on lui fourni (et remet par dessus toujours le voltage des batteries)""" + im = Image.new("1", (128, 64), "black") + draw = ImageDraw.Draw(im) + font = ImageFont.load_default() + + # Wrap the text to fit within the width of the display + wrapped_text = textwrap.fill(text, width=20) # Adjust width as needed + draw.text((3, 0), wrapped_text, fill="white", font=font) + + voltage_im = self.make_voltage_im() + im.paste(voltage_im, (0, 64 - TEXT_HEIGHT)) + + with canvas(self.device) as draw: + draw.bitmap((0, 0), im, fill="white") + + + def Idle(self): + """ + gére l'affichage de l'écrans en fonction des fonction en cour ou choisie. + le changement d'écran est géré par les fonction des boutons juste en dessous + """ + if check_ssh_connections(): + self.led1.on() + + if not check_ssh_connections(): + self.led1.off() + + if (self.Screen < len(self.programme)): + text = self.programme[self.Screen].display() + self.display_combined_im(text) + + def bouton_next(self): + """ passe à l'écrans suivant (juste visuelle)""" + self.Screen+=1 + if self.Screen>=len(self.programme): + self.Screen=0 + + def bouton_entre(self,num=None): + """séléctionne le programme afficher à l'acrans et le lance""" + if num!=None: + self.Screen = num + self.State=self.Screen + self.start_process(self.Screen) + + + + #--------------------------------------------------------------------------------------------------- + # fonction pour la communication + #--------------------------------------------------------------------------------------------------- + def i2c_loop(self): + """Envoie vitesse/direction régulièrement au microcontroleur. (toute les frames actuellement)""" + self.log.info("Thread I2C loop démarré") + while True: + try : + data = struct.pack('= length: + float_values = struct.unpack('f' * self.length_i2c_received, bytes(data[:length])) + list_valeur = list(float_values) + + # on enregistre les valeur + self.voltage_lipo = list_valeur[0] + self.voltage_nimh = list_valeur[1] + self.vitesse_r = list_valeur[2] + else: + self.log.warning("I2C: taille inattendue (%d au lieu de %d)", len(data), length) + time.sleep(0.1) + + def envoie_donnee(self, socket): + """ on regarde si il s'agit de lappelle pour le control interne + (is_private) ou si on veux prendre le controle depuis le pc.""" + import base64 + from io import BytesIO + while True: + info = socket.recv_json() + if info["get"] == "info": + socket.send_json({ + "voltage_lipo": self.voltage_lipo, + "voltage_nimh": self.voltage_nimh, + "vitesse_reelle": self.vitesse_r, + "vitesse_demande": self.vitesse_d, + "direction" : self.direction, + "timestamp": time.time() - self.initial_time + }) + elif info["cmd"] == "menu": + if info["menu"] in self.programme.key: + self.start_process(self,info["menu"]) #lancement du menu reçue + socket.send_json({"status":"ok"}) + elif info["get"] == "menu": + socket.send_json(self.programme) + else : + socket.send_json({"Error" : "not understand"}) + + + + + #--------------------------------------------------------------------------------------------------- + # Processus + #--------------------------------------------------------------------------------------------------- + + + def start_process(self,num_programme): + """lance le porgramme référencé avec son numéro: + si il sagit d'un programme qui controle la voiture il kill lancient programme qui controlé, + sinon le programme est lancé ou tué celon si il était déjà lancé ou tué avant""" + self.log.info("Action utilisateur: programme %d (%s)", + num_programme, + self.programme[num_programme].name) + if self.programme[num_programme].running: + self.programme[num_programme].kill() + if self.programme[num_programme].controls_car: + self.last_programme_control = 0 + self.log.warning( + "Changement de contrôle voiture: %s -> %s", + type(self.programme[num_programme]).__name__, + type(self.programme[self.last_programme_control]).__name__ + ) + + + self.log.info("Arrêt du programme %s", + self.programme[num_programme].name) + + elif self.programme[num_programme].controls_car: + self.programme[self.last_programme_control].kill() + self.programme[num_programme].start() + self.log.warning( + "Changement de contrôle voiture: %s -> %s", + type(self.programme[self.last_programme_control]).__name__, + type(self.programme[num_programme]).__name__ + ) + self.last_programme_control = num_programme + + + else: + self.programme[num_programme].start() + + + + + + + #--------------------------------------------------------------------------------------------------- + # car function + #--------------------------------------------------------------------------------------------------- + + + + def main(self): + self.bp_next.when_pressed = self.bouton_next + self.bp_entre.when_pressed = self.bouton_entre + + threading.Thread(target=self.i2c_loop, daemon=True).start() + threading.Thread(target=self.i2c_received, daemon=True).start() + threading.Thread(target=self.envoie_donnee, args=(telemetry,), daemon=True).start() + + self.log.info("Serveur démarré, entrée dans la boucle principale") + + while True: + self.Idle() + +#--------------------------------------------------------------------------------------------------- +# main +#--------------------------------------------------------------------------------------------------- + +if __name__ == "__main__": + + logging.basicConfig( + level=logging.INFO, + format="%(asctime)s | %(levelname)s | %(name)s | %(message)s", + handlers=[ + logging.FileHandler("/home/intech/CoVAPSy/covapsy.log"), + logging.StreamHandler() + ] + + ) + log_serveur = logging.getLogger("__main__") + log_serveur.setLevel(level=logging.DEBUG) + + log_serveur = logging.getLogger("src.HL") + log_serveur.setLevel(level=logging.DEBUG) + + log_lidar = logging.getLogger("src.HL.actionneur_capteur.Lidar") + log_lidar.setLevel(level=logging.INFO) + + print([logging.getLogger(name) for name in logging.root.manager.loggerDict]) + + boot = Serveur() + boot.main() diff --git a/src/HL/Camera.py b/src/HL/actionneur_capteur/Camera.py similarity index 62% rename from src/HL/Camera.py rename to src/HL/actionneur_capteur/Camera.py index 4d2a78ac..d79c8b8f 100644 --- a/src/HL/Camera.py +++ b/src/HL/actionneur_capteur/Camera.py @@ -1,3 +1,4 @@ +import cv2 from picamera2 import Picamera2 # type: ignore from PIL import Image import numpy as np @@ -6,7 +7,12 @@ import threading import shutil import scipy as sp +import time +import logging +from picamera2 import Picamera2 +from picamera2.encoders import JpegEncoder +from picamera2.outputs import FileOutput N_IMAGES = 100 # Number of images to capture SAVE_DIR = "Captured_Frames" # Directory to save frames DEBUG_DIR = "Debug" # Directory for debug images @@ -19,66 +25,165 @@ COLOR_THRESHOLD = 20 # Threshold for color intensity difference Y_OFFSET = -80 # Offset for the y-axis in the image +from picamera2.outputs import Output + +class JpegCallback(Output): + def __init__(self, parent_cam): + super().__init__() + self.parent = parent_cam + + def outputframe(self, frame, keyframe=True): + # frame = bytes JPEG + self.parent._on_new_frame(frame) + + + + +from src.HL.programme.Camera_serv import StreamServer, StreamHandler, StreamOutput, frame_buffer +from src.HL.programme.programme import Program + +class ProgramStreamCamera(Program): + def __init__(self,serveur): + super().__init__() + self.log = logging.getLogger(__name__) + self.name = "Streaming Video" + self.serveur = serveur + self.running = False + self.controls_car = False + + @property + def camera(self): + # accès dynamique + return self.serveur.camera + + + def start(self): + cam = self.camera + if cam is None: + self.log.error("Camera not initialized yet") + return + + self.running = True + self.camera.start_stream() + + def kill(self): + self.running = False + self.camera.stop_stream() + + + + class Camera: - def __init__(self): - os.environ["LIBCAMERA_LOG_LEVELS"] = "WARN" - self.debug_counter = 0 # Counter for debug images + def __init__(self, size=(1280, 720), port=8000): + self.size = size + self.port = port + + self.streaming = False + self.stream_thread = None + self.picam2 = None + + self.last_frame = None + self.debug_counter = 0 self.image_no = 0 - self.image_path = None + + + # Démarrage en mode "acquisition locale sans stream" + self._start_local_capture() + + + # ---------------------------------------------------------- + # Capture locale (sans MJPEG server) + # ---------------------------------------------------------- + def _start_local_capture(self): self.picam2 = Picamera2() - config = self.picam2.create_preview_configuration(main={"size": (1920, 1080)}) + config = self.picam2.create_video_configuration( + main={"size": self.size}, # plus large, moins zoomé + controls={"FrameRate": 30} # FPS stable + ) + self.picam2.configure(config) - self.picam2.start() - self.flag_stop = False - self.thread = None # Stocke le thread pour contrôle ultérieur - picamera2_logger = log.getLogger("picamera2") - picamera2_logger.setLevel(log.INFO) - os.makedirs(SAVE_DIR, exist_ok=True) # Crée le répertoire s'il n'existe pas - os.makedirs(DEBUG_DIR, exist_ok=True) # Crée le répertoire de débogage s'il n'existe pas - os.makedirs(DEBUG_DIR_wayfinding, exist_ok=True) # Crée le répertoire de débogage s'il n'existe pas - self.capture_image() # Capture une image pour initialiser le répertoire de sauvegarde - - def capture_image(self): - - self.image_path = os.path.join(SAVE_DIR, f"frame_{self.image_no:02d}.jpg") - frame = self.picam2.capture_array() - image = Image.fromarray(frame).convert("RGB") - image.save(self.image_path) - self.image_no += 1 - return image - - def capture_images_continus(self): + self.output = StreamOutput() + + # Qualité JPEG custom + self.picam2.start_recording(JpegEncoder(q=10), FileOutput(self.output)) + + # thread lecture last_frame + self.capture_thread = threading.Thread( + target=self._update_last_frame_loop, + daemon=True + ) + self.capture_thread.start() + + + def _update_last_frame_loop(self): + """Récupère en continu la dernière frame JPEG.""" while True: - for i in range(N_IMAGES): - self.capture_image() - if self.flag_stop: - break - if self.flag_stop: - break - self.image_no = 0 + jpeg = frame_buffer.get() + if jpeg: + np_frame = cv2.imdecode(np.frombuffer(jpeg, np.uint8), cv2.IMREAD_COLOR) + if np_frame is not None: + self.last_frame = cv2.cvtColor(np_frame, cv2.COLOR_BGR2RGB) + time.sleep(0.01) - def start(self): - """Démarre la capture en continu dans un thread séparé.""" - if self.thread is None or not self.thread.is_alive(): # Évite de lancer plusieurs threads - self.flag_stop = False # Réinitialiser le flag d'arrêt - self.thread = threading.Thread(target=self.capture_images_continus, daemon=True) - self.thread.start() - - def stop(self): - """Arrête la capture et attend que le thread se termine proprement.""" - self.flag_stop = True - if self.thread is not None: - self.thread.join() # Attendre la fin du thread avant de continuer - self.picam2.stop() - self.picam2.close() - shutil.rmtree(SAVE_DIR) # Supprime le répertoire des images capturées - + + # ---------------------------------------------------------- + # Contrôle streaming MJPEG + # ---------------------------------------------------------- + def start_stream(self): + if self.streaming: + return + import Camera_serv + Camera_serv.streaming_enabled = True + + self.httpd = StreamServer(("", self.port), StreamHandler) + + def run_server(): + print(f"[INFO] MJPEG stream on http://:{self.port}/stream.mjpg") + try: + self.httpd.serve_forever() + except Exception as e: + print("Serveur MJPEG arrêté:", e) + + self.stream_thread = threading.Thread(target=run_server, daemon=True) + self.stream_thread.start() + self.streaming = True + + + + def stop_stream(self): + if not self.streaming: + return + + import Camera_serv + Camera_serv.streaming_enabled = False + + print("[INFO] Shutting down MJPEG server...") + + self.httpd.shutdown() + self.httpd.server_close() + self.stream_thread.join() + + self.streaming = False + print("[INFO] Stream stopped.") + + + + + def toggle_stream(self): + if self.streaming: + print("[INFO] Stopping stream") + self.stop_stream() + else: + print("[INFO] Starting stream") + self.start_stream() + + + # ---------------------------------------------------------- + # Interface publique + # ---------------------------------------------------------- def get_last_image(self): - last_image_no= self.image_no - 1 if self.image_no > 0 else 99 # - image_path = os.path.join(SAVE_DIR, f"frame_{last_image_no:02d}.jpg") - image= Image.open(image_path).convert("RGB") - image_np = np.array(image) - return image_np + return self.last_frame + def camera_matrix(self, vector_size=128, image=None): """ @@ -210,10 +315,20 @@ def is_running_in_reversed(self, image = None, LEFT_IS_GREEN=True): if __name__ == "__main__": log.basicConfig(level=log.DEBUG) - image_path = "src\HL\wrong_direction33.jpg" # Replace with your image path + camera = Camera() - camera.start() - pil_image = Image.open(image_path).convert("RGB") # Open and ensure it's in RGB format - image = np.array(pil_image) # Convert to NumPy array - - print(camera.is_running_in_reversed(image=image, LEFT_IS_GREEN=True)) # Check if the car is running in reverse \ No newline at end of file + + print("Attente frame...") + while camera.get_last_image() is None: + time.sleep(0.05) + + frame = camera.get_last_image() + matrix = camera.camera_matrix() + print("camera_matrix OK") + + input("Appuyer pour lancer le stream...") + camera.toggle_stream() + + while True: + if input("Toggle ? ") == "o": + camera.toggle_stream() diff --git a/src/HL/Lidar.py b/src/HL/actionneur_capteur/Lidar.py similarity index 93% rename from src/HL/Lidar.py rename to src/HL/actionneur_capteur/Lidar.py index f3461400..42195572 100644 --- a/src/HL/Lidar.py +++ b/src/HL/actionneur_capteur/Lidar.py @@ -27,7 +27,7 @@ import _thread as thread import numpy as np import matplotlib.pyplot as plt -import logging as log +import logging class Lidar(): measureMsgHeads = {'ME', 'GE', 'MD', 'GD'} @@ -66,6 +66,7 @@ def partition(n: int, lst): return ns def __init__(self, ip, port, startStep=0): + self.log = logging.getLogger(__name__) self.ip = ip self.port = port # For decoding measuring data @@ -109,9 +110,9 @@ def toCartesian(xTheta, xR): # axp.set_thetamax(deg2theta(45)) # axp.set_thetamax(deg2theta(270 + 45)) axp.grid(True) - log.info('Plotter started, press any key to exit') + self.log.info('Plotter started, press any key to exit') - log.debug(f'{self.xTheta}, {self.rDistance}') + self.log.debug(f'{self.xTheta}, {self.rDistance}') while True: X, Y = toCartesian(self.xTheta, self.rDistance) @@ -143,14 +144,14 @@ def formatZeros(addr): gateway = formatZeros(gateway) netmask = formatZeros(netmask) cmd = f'$IP{ip}{netmask}{gateway}\r\n' - log.debug(f'ChangeIP cmd: {cmd}') + self.log.debug(f'ChangeIP cmd: {cmd}') self.send(cmd) # Start continous read mode def startContinuous(self, start: int, end: int, withIntensity=False): head = 'ME' if withIntensity else 'MD' cmd = f'{head}{start:04d}{end:04d}00000\r\n' - log.debug(cmd) + self.log.debug(cmd) self.head = cmd.strip() self.send(cmd) @@ -184,7 +185,7 @@ def handleMsgLine(self, line): return True else: self.buf += line.strip() - # log.debug(f'buf size {len(self.buf)}') + # self.log.debug(f'buf size {len(self.buf)}') if len(self.buf) >= self.expectedPacketSize: self.decodeDistance(self.buf) self.buf = '' @@ -197,7 +198,7 @@ def handleMeasuring(msg): lines = msg.split() for line in lines: if not self.handleMsgLine(line): - log.debug(f'ignore {line}') + self.log.debug(f'ignore {line}') def loop(): try: @@ -207,7 +208,7 @@ def loop(): msg = m.decode() handleMeasuring(msg) except socket.timeout as e: - log.error('Read timeout, sensor disconnected?') + self.log.error('Read timeout, sensor disconnected?') os._exit(1) finally: self.sock.close() diff --git a/src/HL/ToF.py b/src/HL/actionneur_capteur/ToF.py similarity index 82% rename from src/HL/ToF.py rename to src/HL/actionneur_capteur/ToF.py index 9a9c1a96..2fc75b5e 100644 --- a/src/HL/ToF.py +++ b/src/HL/actionneur_capteur/ToF.py @@ -10,7 +10,7 @@ class ToF: """ def __init__(self): - + self.log = logging.getLogger(__name__) i2c = busio.I2C(board.SCL, board.SDA) self.vl53 = VL53L0X(i2c) @@ -22,6 +22,6 @@ def get_distance(self): distance = self.vl53.range return distance except Exception as e: - logging.error(f"Error reading rear ToF sensor: {e}") + self.log.error(f"Error reading rear ToF sensor: {e}") return None diff --git a/src/HL/main.py b/src/HL/main.py deleted file mode 100644 index 84e89e4b..00000000 --- a/src/HL/main.py +++ /dev/null @@ -1,176 +0,0 @@ -# States -# 0 - Idle -# 1 - Auto Driving -# 2 - Manual Driving with ps4 controller -# 3 - tune prop_pwm -# 4 - tune dir_pwm - -from gpiozero import LED, Button, Buzzer -from luma.core.interface.serial import i2c -from luma.core.render import canvas -from luma.oled.device import ssd1306 -from PIL import Image, ImageDraw, ImageFont -import struct -import smbus # type: ignore #ignore the module could not be resolved error because it is a linux only module -import textwrap - -from get_ip import get_ip, check_ssh_connections - -bus = smbus.SMBus(1) # 1 indicates /dev/i2c-1 -#oled -serial = i2c(port=1, address=0x3C) -device = ssd1306(serial) - - -SLAVE_ADDRESS = 0x08 # I2C address of the slave arduino or stm32 -bp_next = Button("GPIO5", bounce_time=0.1) -bp_entre = Button("GPIO6", bounce_time=0.1) -led1 = LED("GPIO17") -led2 = LED("GPIO27") -buzzer = Buzzer("GPIO26") -State = 0 -Screen = 0 -TEXT_HEIGHT = 11 -TEXT_LEFT_OFFSET = 3 # Offset from the left of the screen to ensure no cuttoff - - -def make_voltage_im(): - try: #Will fail if arduino is rest ex: temporary power loss when plugu=ing in usb - received = read_data(2) # Adjust length as needed - except OSError: - received = [0.0, 0.0] - print("I2C bus error") - - # filter out values below 6V and round to 2 decimal places - received = [round(elem, 2) if elem > 6 else 0.0 for elem in received] - text = f"LiP:{received[0]:.2f}V|NiH:{received[1]:.2f}V" - im = Image.new("1", (128, TEXT_HEIGHT), "black") - draw = ImageDraw.Draw(im) - font = ImageFont.load_default() - draw.text((3, 0), text, fill="white", font=font) - return im - -def display_combined_im(text): - im = Image.new("1", (128, 64), "black") - draw = ImageDraw.Draw(im) - font = ImageFont.load_default() - - # Wrap the text to fit within the width of the display - wrapped_text = textwrap.fill(text, width=20) # Adjust width as needed - draw.text((3, 0), wrapped_text, fill="white", font=font) - - voltage_im = make_voltage_im() - im.paste(voltage_im, (0, 64 - TEXT_HEIGHT)) - - with canvas(device) as draw: - draw.bitmap((0, 0), im, fill="white") - -def write_data(float_data): - # Convert the float to bytes - print(float_data) - byte_data = struct.pack('f', float_data) - # Convert the bytes to a list of integers - int_data = list(byte_data) - print(int_data) - int_data.append(0) - # Write the data to the I2C bus - bus.write_i2c_block_data(SLAVE_ADDRESS, int_data[0], int_data[1:4]) - -def read_data(num_floats=3): - - # Each float is 4 bytes - length = num_floats * 4 - # Read a block of data from the slave - data = bus.read_i2c_block_data(SLAVE_ADDRESS, 0, length) - # Convert the byte data to floats - if len(data) >= length: - float_values = struct.unpack('f' * num_floats, bytes(data[:length])) - return list(float_values) - else: - raise ValueError("Not enough data received from I2C bus") - - -def Idle(): #Enable chossing between states - global Screen - global State - if Screen==0 and check_ssh_connections(): - led1.on() - Screen=1 - if not check_ssh_connections(): - led1.off() - match Screen: #Display on OLED - case 0: #IP and ssh status - ip=get_ip() - text = "Ready to SSH\nIP:"+ip - case 1: #AutoDriving mode - text = "Auto Driving" - case 2: #Manual Driving mode - text = "Manual Driving With PS4 Controller" - #PS4 controller status - case 3: #tune prop_pwm - text = "Tune Prop PWM" - #PS4 controller status - - case 4: #tune dir_pwm - text = "Tune Dir PWM" - #PS4 controller status - - display_combined_im(text) - if bp_next.is_pressed: - bp_next.wait_for_release() - Screen+=1 - if Screen>4: - Screen=0 - if bp_entre.is_pressed: - bp_entre.wait_for_release() - State=Screen - - - - -def Auto_Driving(): - global State - try: - if Driving_has_not_started: - from Car import Car - GR86 = Car() - GR86.main() - if bp_entre.is_pressed or bp_next.is_pressed: - raise KeyboardInterrupt - except KeyboardInterrupt: - GR86.stop() - Driving_has_not_started = False - State=0 - - -def Manual_Driving(): - global State - print("Manual Driving") - State=0 -def tune_prop_pwm(): - global State - print("Tune Prop PWM") - State=0 -def tune_dir_pwm(): - global State - print("Tune Dir PWM") - State=0 - - -def main(): - while True: - match State: - case 0: #Idle - Idle() - case 1: #Auto Driving - Auto_Driving() - case 2: #Manual Driving with ps4 controller - Manual_Driving() - case 3: #tune prop_pwm - tune_prop_pwm() - case 4: #tune dir_pwm - tune_dir_pwm() - - -if __name__ == "__main__": - main() \ No newline at end of file diff --git a/src/HL/masterI2C.py b/src/HL/masterI2C.py index 76b3ea60..832864ca 100644 --- a/src/HL/masterI2C.py +++ b/src/HL/masterI2C.py @@ -1,47 +1,58 @@ -#masteri2c est la pour debug la communication entre l'arduino et la pi. - import smbus #type: ignore #ignore the module could not be resolved error because it is a linux only module import time -import numpy as np import struct -# Create an SMBus instance -bus = smbus.SMBus(1) # 1 indicates /dev/i2c-1 # I2C address of the slave SLAVE_ADDRESS = 0x08 - -vitesse = 200 # en millimetre par seconde -direction = 100 # en degré - - -def write_vitesse_direction(vitesse,direction): - # Convert string to list of ASCII values - data = struct.pack('= length: - float_values = struct.unpack('f' * num_floats, bytes(data[:length])) - return list(float_values) - else: - raise ValueError("Not enough data received from I2C bus") -if __name__ == "__main__": - while(True): - vitesse= float(input("vitesse en millimetre par seconde:")) - rotation= float(input("rotation en degré:")) - write_vitesse_direction(vitesse,rotation) - time.sleep(0.1) # Wait for the slave to process the data - received = read_data(3) # Adjust length as needed - print("Received from slave:", received[0],received[1], "vitesse voiture",received[2]) - - # Request data from the slave - \ No newline at end of file +class I2c_arduino: + def __init__(self,serveur): + self.log = logging.getLogger(__name__) + self.serveur = serveur + self.vitesse_r = 0 + self.length_i2c_received = 3 + self.send_running = True + self.receive_running = True + self.time_between_received = 0.1 + + #voltage des lipos + self.voltage_lipo = 0 + self.voltage_nimh = 0 + + #initialisation du bus i2c + self.bus = smbus.SMBus(1) # 1 indicates /dev/i2c-1 + self.log.info("I2C: bus ouvert sur /dev/i2c-1") + + #initialization of i2c send and received + threading.Thread(target=self.start_send(), daemon=True).start() + threading.Thread(target=self.start_received(), daemon=True).start() + + def start_send(self): + """Envoie vitesse/direction régulièrement au microcontroleur. (toute les frames actuellement)""" + self.log.info("Thread I2C loop démarré") + while self.send_running: + try : + data = struct.pack('= length: + float_values = struct.unpack('f' * self.length_i2c_received, bytes(data[:length])) + list_valeur = list(float_values) + + # on enregistre les valeur + self.voltage_lipo = list_valeur[0] + self.voltage_nimh = list_valeur[1] + self.vitesse_r = list_valeur[2] + else: + self.log.warning("I2C: taille inattendue (%d au lieu de %d)", len(data), length) + time.sleep(self.time_between_received) \ No newline at end of file diff --git a/src/HL/programme/Camera_serv.py b/src/HL/programme/Camera_serv.py new file mode 100644 index 00000000..7c700439 --- /dev/null +++ b/src/HL/programme/Camera_serv.py @@ -0,0 +1,77 @@ +# camera_server.py +import io +import logging +from http import server +import socketserver +from threading import Condition +streaming_enabled = True + +from src.HL.programme.Camera_serv import streaming_enabled + +class FrameBuffer: + def __init__(self): + self.frame = None + self.condition = Condition() + + def update(self, data): + # Only accept full JPEG frames + if data.startswith(b'\xff\xd8') and data.endswith(b'\xff\xd9'): + with self.condition: + self.frame = data + self.condition.notify_all() + + def get(self): + return self.frame + + +frame_buffer = FrameBuffer() + + +class StreamOutput(io.BufferedIOBase): + def write(self, buf): + frame_buffer.update(buf) + return len(buf) + + +class StreamHandler(server.BaseHTTPRequestHandler): + def __init__(self): + self.log = logging.getLogger(__name__) + + def log_message(self, format, *args): + logging.getLogger(__name__).info(format % args) + + def do_GET(self): + if self.path != "/stream.mjpg": + self.send_error(404) + return + + 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 streaming_enabled: + with frame_buffer.condition: + frame_buffer.condition.wait() + frame = frame_buffer.frame + + if frame is None: + continue + + 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: + self.log.warning("Client disconnected: %s", e) + + +class StreamServer(socketserver.ThreadingMixIn, server.HTTPServer): + daemon_threads = True + allow_reuse_address = True diff --git a/src/HL/programme/Car.py b/src/HL/programme/Car.py new file mode 100644 index 00000000..f6f1e2b9 --- /dev/null +++ b/src/HL/programme/Car.py @@ -0,0 +1,215 @@ +import time +import onnxruntime as ort +from scipy.special import softmax +import numpy as np +from gpiozero import LED, Button +import logging +import smbus # type: ignore #ignore the module could not be resolved error because it is a linux only module +import struct +from threading import Thread +from src.HL.programme.programme import Program + +# Import constants from HL.Autotech_constant to share them between files and ease of use +from ..Autotech_constant import MAX_SOFT_SPEED, MAX_ANGLE, CRASH_DIST, MODEL_PATH, SOCKET_ADRESS, REAR_BACKUP_DIST, LIDAR_DATA_SIGMA, LIDAR_DATA_AMPLITUDE, LIDAR_DATA_OFFSET +from src.HL.programme.scripts.Driver import Driver + + +class Car: + def __init__(self,driving_strategy, serveur): + self.log = logging.getLogger(__name__) + + """Initialize the car's components.""" + self.vitesse_d = 0 # Speed in millimeters per second + self.direction_d = 0 # Steering angle in degrees + self.serveur = serveur + self.reverse_count = 0 + def _initialize_ai(): + """Initialize the AI session.""" + try: + self.ai_session = ort.InferenceSession(MODEL_PATH) + self.log.info("AI session initialized successfully") + except Exception as e: + self.log.error(f"Error initializing AI session: {e}") + raise + # Initialize AI session + _initialize_ai() + + self.driving = driving_strategy + + self.log.info("Car initialization complete") + # accès dynamique aux capteurs + @property + def camera(self): + return self.serveur.camera + + @property + def lidar(self): + return self.serveur.lidar + + @property + def tof(self): + return self.serveur.tof + + + def stop(self): + self.vitesse_d = 0 + self.direction_d = 0 + self.log.info("Arrêt du moteur") + + + def has_Crashed(self): + + small_distances = [d for d in self.lidar.rDistance[200:880] if 0 < d < CRASH_DIST] # 360 to 720 is the front of the car. 1/3 of the fov of the lidar + self.log.debug(f"Distances: {small_distances}") + if len(small_distances) > 2: + # min_index = self.lidar.rDistance.index(min(small_distances)) + while self.tof.get_distance() < REAR_BACKUP_DIST: + self.log.info(f"Obstacle arriere détecté {self.tof.get_distance()}") + self.vitesse_d = 0 + time.sleep(0.1) + return True + return False + + def turn_around(self): + """Turn the car around.""" + self.log.info("Turning around") + + self.vitesse_d = 0 + self.direction_d = MAX_ANGLE + self.vitesse_d = -2 #blocing call + time.sleep(1.8) # Wait for the car to turn around + if self.camera.is_running_in_reversed(): + self.turn_around() + + + + def main(self): + # récupération des données du lidar. On ne prend que les 1080 premières valeurs et on ignore la dernière par facilit" pour l'ia + if self.camera is None or self.lidar is None or self.tof is None: + self.log.debug("Capteurs pas encore prêts") + print("Capteurs pas encore prêts") + return + lidar_data = (self.lidar.rDistance[:1080]/1000) + lidar_data_ai= (lidar_data-0.5)*( + LIDAR_DATA_OFFSET + LIDAR_DATA_AMPLITUDE * np.exp(-1/2*((np.arange(1080) - 135) / LIDAR_DATA_SIGMA**2)) + ) #convertir en mètre et ajouter un bruit gaussien #On traffique les données fournit a l'IA + self.direction_d, self.vitesse_d = self.driving(lidar_data_ai) #l'ai prend des distance en mètre et non en mm + self.log.debug(f"Min Lidar: {min(lidar_data)}, Max Lidar: {max(lidar_data)}") + + if self.camera.is_running_in_reversed(): + self.reverse_count += 1 + else: + self.reverse_count = 0 + if self.reverse_count > 2: + self.turn_around() + self.reverse_count = 0 + if self.has_Crashed(): + print("Obstacle détecté") + color= self.camera.is_green_or_red(lidar_data) + if color == 0: + small_distances = [d for d in self.lidar.rDistance if 0 < d < CRASH_DIST] + if len(small_distances) == 0: + self.log.info("Aucun obstacle détecté") + return + min_index = np.argmin(small_distances) + direction = MAX_ANGLE if min_index < 540 else -MAX_ANGLE #540 is the middle of the lidar + color = direction/direction + self.log.info("Obstacle détecté, Lidar Fallback") + if color == -1: + self.log.info("Obstacle rouge détecté") + if color == 1: + self.log.info("Obstacle vert détecté") + angle= -color*MAX_ANGLE + self.vitesse_d = -2 + self.direction_d = angle + + + + +class Ai_Programme(Program): + def __init__(self, serveur): + super().__init__() + self.log = logging.getLogger(__name__) + self.name = "IA autonome" + + self.serveur = serveur + self.driver = None + self.GR86 = None + self.running = False + self.controls_car = True + + @property + def vitesse_d(self): + if self.GR86 == None: + return 0 + return self.GR86.vitesse_d + + @property + def direction_d(self): + if self.GR86 == None: + return 0 + return self.GR86.direction_d + + def run(self): + while self.running: + try: + self.GR86.main() + except Exception as e: + self.log.error(f"Erreur IA: {e}") + self.running = False + + def start(self): + if self.running: + return + + if self.serveur.camera is None or self.serveur.lidar is None or self.serveur.tof is None: + print("Capteurs non initialisés") + return + + try: + self.driver = Driver(128, 128) + self.driver.load_model() + self.GR86 = Car(self.driver, self.serveur) + except Exception as e: + self.log.error(f"Impossible de démarrer l'IA: {e}") + self.driver = None + self.GR86 = None + return + + self.running = True + Thread(target=self.run, daemon=True).start() + + + def stop(self): + self.running = False + self.GR86.stop() + + +if __name__ == '__main__': + Format= '%(asctime)s:%(name)s:%(levelname)s:%(message)s' + if input("Appuyez sur D pour démarrer en debug ou sur n'importe quelle autre touche pour démarrer en mode normal") in ("D", "d"): + logging.basicConfig(level=logging.DEBUG, format=Format) + else: + logging.basicConfig(level=logging.INFO, format=Format) + bp2 = Button("GPIO6") + try: + Schumacher = Driver(128, 128) + GR86 = Car(Schumacher,None,None) + GR86._initialize_camera() + GR86._initialize_lidar() + logging.info("Initialisation terminée") + if input("Appuyez sur D pour démarrer ou tout autre touche pour quitter") in ("D", "d") or bp2.is_pressed: + logging.info("Depart") + while True: + GR86.main() + else: + raise Exception("Le programme a été arrêté par l'utilisateur") + except KeyboardInterrupt: + GR86.stop() + logging.info("Le programme a été arrêté par l'utilisateur") + + except Exception as e: # catch all exceptions to stop the car + GR86.stop() + logging.error("Erreur inconnue") + raise e # re-raise the exception to see the error message + \ No newline at end of file diff --git a/src/HL/programme/Poweroff.py b/src/HL/programme/Poweroff.py new file mode 100644 index 00000000..ad39cbb3 --- /dev/null +++ b/src/HL/programme/Poweroff.py @@ -0,0 +1,26 @@ +import subprocess +import os +from src.HL.programme.programme import Program +import logging + +class Poweroff(Program): + def __init__(self): + super().__init__() + self.log = logging.getLogger(__name__) + self.name = "Power off" + self.controls_car = False + self.running = False + + def kill(self): + pass + + def start(self): + self.log("Power off started") + subprocess.Popen( + "sudo poweroff", + shell=True, + stdout=subprocess.PIPE, + stderr=subprocess.STDOUT, + preexec_fn=os.setsid + ) + \ No newline at end of file diff --git a/src/HL/programme/RemoteControl.py b/src/HL/programme/RemoteControl.py new file mode 100644 index 00000000..faf6ef15 --- /dev/null +++ b/src/HL/programme/RemoteControl.py @@ -0,0 +1,43 @@ +from src.HL.programme.programme import Program +import struct +import socket +import threading +import time +import logging + +class RemoteControl(Program): + """ ce programme permet de prendre le control de la voiture à distance en utilsant des packet udp""" + def __init__(self): + super().__init__() + self.log = logging.getLogger(__name__) + self.name = "Remote Control" + self.controls_car = True + self.running = False + self.vitesse_d = 0 + self.direction_d = 0 + + #initialisation + self.public = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) + self.public.bind(("0.0.0.0", 5556)) + + self.log.info("Initialisation de Remote control fini") + + def car_controle(self,sock): + """ on regarde si il s'agit de lappelle pour le control interne + (is_private) ou si on veux prendre le controle depuis le pc.""" + sock.settimeout(0.1) + + while self.running: + try: + data, ip = sock.recvfrom(1024) + self.vitesse_d, self.direction_d = struct.unpack("ff", data) + except socket.timeout: + continue + + def start(self): + self.running = True + threading.Thread(target=self.car_controle, args=(self.public,), daemon=True).start() + + def kill(self): + """fait sortir le thread de sa boucle""" + self.running = False \ No newline at end of file diff --git a/src/HL/programme/SshProgramme.py b/src/HL/programme/SshProgramme.py new file mode 100644 index 00000000..11018895 --- /dev/null +++ b/src/HL/programme/SshProgramme.py @@ -0,0 +1,28 @@ +from src.HL.programme.programme import Program +from src.HL.programme.scripts.get_ip import get_ip, check_ssh_connections +import logging +class SshProgramme(Program): + """montre le menu ssh de la voiture et si séléctionner comme programme force la vitesse et la direction à 0""" + def __init__(self): + super().__init__() + self.ip = get_ip() + self.running = True + self.controls_car = True + + self.vitesse_d = 0 + self.direction_d = 0 + + + def start(self): + self.running = True + + def stop(self): + self.running = False + + def display(self): + text = "Ssh to:" + self.ip + if check_ssh_connections(): + text+= "\n connecté" + if self.running: + text+= "\n Voiture en stand by" + return text \ No newline at end of file diff --git a/src/HL/programme/module_initialisation.py b/src/HL/programme/module_initialisation.py new file mode 100644 index 00000000..80ce0bb3 --- /dev/null +++ b/src/HL/programme/module_initialisation.py @@ -0,0 +1,79 @@ + +from src.HL.programme.programme import Program +import threading +from ..Autotech_constant import SOCKET_ADRESS +import logging +class Initialisation(Program): + def __init__(self, camera, lidar, tof): + super().__init__() + self.log = logging.getLogger(__name__) + self.name = "Initialisation:" + self.camera = None + self.lidar = None + self.tof = None + self.camera_init = 0 + self.lidar_init = 0 + self.tof_init = 0 + self.error = "" + threading.Thread(target=self.init_camera, args=(camera,), daemon=True).start() + threading.Thread(target=self.init_lidar, args=(lidar,), daemon=True).start() + threading.Thread(target=self.init_tof, args=(tof,), daemon=True).start() + + + def init_camera(self,camera): + try: + self.camera = camera() + self.camera_init = 1 + self.log.info("Camera initialized successfully") + except Exception as e: + self.camera_init = 2 + self.log.error("Camera init error : " + str(e)) + + def init_lidar(self,lidar): + try: + self.lidar = lidar(SOCKET_ADRESS["IP"], SOCKET_ADRESS["PORT"]) + self.lidar.stop() + self.lidar.startContinuous(0, 1080) + self.log.info("Lidar initialized successfully") + self.lidar_init = 1 + except Exception as e: + self.lidar_init = 2 + self.log.error("Lidar init error : " + str(e)) + + def init_tof(self,tof): + try: + self.tof = tof() + self.tof_init = 1 + self.log.info("Camera initialized successfully") + except Exception as e: + self.tof_init = 2 + self.log.error("Tof init error : " + str(e)) + + def display(self): + text = "Initialisation:" + + text+= "\n camera: " + if self.camera_init == 0: + text += "(en cour)" + elif self.camera_init == 1: + text += "ready." + elif self.camera_init == 2: + text += "error" + + text+= "\n lidar: " + if self.lidar_init == 0: + text += "(en cour)" + elif self.lidar_init == 1: + text += "ready." + elif self.lidar_init == 2: + text += "error" + + text+= "\n tof:" + if self.tof_init == 0: + text += "(en cour)" + elif self.tof_init == 1: + text += "ready." + elif self.tof_init == 2: + text += "error" + + return text \ No newline at end of file diff --git a/src/HL/programme/programme.py b/src/HL/programme/programme.py new file mode 100644 index 00000000..b5e3d5be --- /dev/null +++ b/src/HL/programme/programme.py @@ -0,0 +1,28 @@ +from ..Autotech_constant import LOGGING_LEVEL +import logging +from typing import Optional + +""" classe type pour tout les programme """ +class Program: + controls_car:bool + running:bool + vitesse_d:Optional[float] # change me to target speed + direction_d:Optional[float] + + def __init__(self): + self.logger = logging.getLogger(__name__) + self.logger.setLevel(LOGGING_LEVEL) + + def kill(self): + pass + + def start(self): + pass + + def display(self): + name = self.__class__.__name__ + if (self.running): + return f"{name} \n (running)" + else: + return name + \ No newline at end of file diff --git a/src/HL/Driver.py b/src/HL/programme/scripts/Driver.py similarity index 86% rename from src/HL/Driver.py rename to src/HL/programme/scripts/Driver.py index 8214fae6..375eb5ba 100644 --- a/src/HL/Driver.py +++ b/src/HL/programme/scripts/Driver.py @@ -4,20 +4,22 @@ from scipy.special import softmax import numpy as np import onnxruntime as ort -import logging as log +import logging -from Autotech_constant import SPEED_LOOKUP, ANGLE_LOOKUP, MODEL_PATH, Temperature +from src.HL.Autotech_constant import SPEED_LOOKUP, ANGLE_LOOKUP, MODEL_PATH, Temperature class Driver: def __init__(self, context_size=0, horizontal_size=0): + self.log = logging.getLogger(__name__) self.context_size = context_size self.horizontal_size = horizontal_size - self.ai_session = ort.InferenceSession(MODEL_PATH) - self.context = np.zeros([2, context_size, horizontal_size], dtype=np.float32) + self._loaded = False + self.ai_session = None + self.context = None - if log.getLogger().isEnabledFor(log.DEBUG): + if self.log.getLogger().isEnabledFor(self.log.DEBUG): self.fig, self.ax = plt.subplots(4, 1, figsize=(10, 8)) self.steering_bars = self.ax[0].bar(range(16), np.zeros(16), color='blue') self.steering_avg = [ @@ -47,6 +49,15 @@ def __init__(self, context_size=0, horizontal_size=0): ) self.ax[3].set_title('Camera Image') + def load_model(self): + if self._loaded: + return + self.log.info("Chargement du modèle IA...") + self.ai_session = ort.InferenceSession(MODEL_PATH) + self.context = np.zeros([2, self.context_size, self.horizontal_size], dtype=np.float32 ) + self._loaded = True + self.log.info("Modèle IA chargé") + def reset(self): self.context = np.zeros([2, self.context_size, self.horizontal_size], dtype=np.float32) @@ -60,7 +71,9 @@ def simple_minded(self, lidar_data): return self.farthest_distants(lidar_data) def ai_update_lidar_camera(self, lidar_data, camera_data): - log.info(f"MIN MAX lidar_data: {(min(lidar_data), max(lidar_data))}") + if not self._loaded: + raise RuntimeError("Driver non initialisé (modèle IA non chargé)") + self.log.info(f"MIN MAX lidar_data: {(min(lidar_data), max(lidar_data))}") lidar_data = sp.ndimage.zoom( np.array(lidar_data, dtype=np.float32), @@ -83,8 +96,8 @@ def ai_update_lidar_camera(self, lidar_data, camera_data): vect_dir = softmax(vect_dir) # distribution de probabilité vect_prop = softmax(vect_prop) - if log.getLogger().isEnabledFor(log.DEBUG): - log.info(f"MIN MAX lidar_data: {(min(lidar_data), max(lidar_data))}") + if self.log.getLogger().isEnabledFor(log.DEBUG): + self.log.info(f"MIN MAX lidar_data: {(min(lidar_data), max(lidar_data))}") self.lidar_img.set_array(np.log(1 + self.context[0])) self.camera_img.set_array(self.context[1]) @@ -115,6 +128,8 @@ def ai_update_lidar_camera(self, lidar_data, camera_data): return angle, vitesse def ai_update_lidar(self, lidar_data): + if not self._loaded: + raise RuntimeError("Driver non initialisé (modèle IA non chargé)") lidar_data = np.array(lidar_data, dtype=np.float32) * 1.6 # 2 vectors direction and speed. direction is between hard left at index 0 and hard right at index 1. speed is between min speed at index 0 and max speed at index 1 vect = self.ai_session.run(None, {'input': lidar_data[None]})[0][0] diff --git a/src/HL/get_ip.py b/src/HL/programme/scripts/get_ip.py similarity index 100% rename from src/HL/get_ip.py rename to src/HL/programme/scripts/get_ip.py diff --git a/src/HL/test_serveur.py b/src/HL/test_serveur.py new file mode 100644 index 00000000..6c22757a --- /dev/null +++ b/src/HL/test_serveur.py @@ -0,0 +1,91 @@ +import zmq +import base64 +from io import BytesIO +from PIL import Image +import time +import numpy as np +# on envoie les données au serveur +PI_IP = "192.168.1.10" # mets la bonne IP + +context = zmq.Context() +socket = context.socket(zmq.PULL) +socket.connect(f"tcp://{PI_IP}:6001") +def get_camera_frame(): + socket.send_json({"cmd": "cam"}) + reply = socket.recv_json() + + if reply["cam"] is None: + print("Image not ready") + return None + + jpg_bytes = base64.b64decode(reply["cam"]) # <-- aligné ici + img = Image.open(BytesIO(jpg_bytes)) + return img + +""" +context = zmq.Context() +socket = context.socket(zmq.REQ) +socket.connect("tcp://127.0.0.1:5557") + +def recoit_donnee(): + socket.send_json({"cmd": "info"}) + resp = socket.recv_json() + print(resp) + +rDistance = None +xTheta = None + +def startPlotter(self, autorange=False): + def toCartesian(xTheta, xR): + X = np.cos(xTheta) * xR + Y = np.sin(xTheta) * xR + return X,Y + + plt.show() + fig = plt.figure() + axc = plt.subplot(121) + axp = plt.subplot(122, projection='polar') + # axp.set_thetamax(deg2theta(45)) + # axp.set_thetamax(deg2theta(270 + 45)) + axp.grid(True) + log.info('Plotter started, press any key to exit') + + log.debug(f'{xTheta}, {rDistance}') + while True: + X, Y = toCartesian(xTheta, rDistance) + + axp.clear() + axc.clear() + + axp.plot(xTheta, rDistance) + + axc.plot(X, Y) + + if not autorange: + axp.set_rmax(8000) + axc.set_xlim(-5000, 5000) + axc.set_ylim(-5000, 5000) + + plt.pause(1e-17) + + if plt.waitforbuttonpress(timeout=0.02): + os._exit(0) + +""" +import cv2 + +cap = cv2.VideoCapture("tcp://192.168.1.10:6002") + + +if __name__ == "__main__": + while(True): + ret, frame = cap.read() + if not ret: + print("No frame…") + continue + + cv2.imshow("RPI H264 60fps", frame) + if cv2.waitKey(1) == 27: + break + + # Request data from the slave \ No newline at end of file diff --git a/uv.lock b/uv.lock index 6914c64b..4b5d9e52 100644 --- a/uv.lock +++ b/uv.lock @@ -2,23 +2,15 @@ version = 1 revision = 3 requires-python = ">=3.10" resolution-markers = [ - "python_full_version >= '3.13' and sys_platform == 'darwin'", - "python_full_version == '3.12.*' and sys_platform == 'darwin'", - "python_full_version >= '3.13' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "python_full_version == '3.12.*' 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