ROV code

ROV/cameratest.py

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+import cv2
+import numpy
+from flask import Flask, render_template, Response, stream_with_context, request
+
+video = cv2.VideoCapture(0)
+app = Flask('__name__')
+
+
+def video_stream():
+    while True:
+        ret, frame = video.read()
+        if not ret:
+            break;
+        else:
+            ret, buffer = cv2.imencode('.jpeg',frame)
+            frame = buffer.tobytes()
+            yield (b' --frame\r\n' b'Content-type: imgae/jpeg\r\n\r\n' + frame +b'\r\n')
+
+
+@app.route('/camera')
+def camera():
+    return render_template('camera.html')
+
+
+@app.route('/video_feed')
+def video_feed():
+    return Response(video_stream(), mimetype='multipart/x-mixed-replace; boundary=frame')
+
+
+app.run(host='0.0.0.0', port='5000', debug=False)

ROV/guikey.py

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+from tkinter import *
+# from PIL import Image, ImageTk
+# import cv2
+# import time
+import pigpio
+
+# Create an instance of TKinter Window or frame
+app = Tk()
+
+width = app.winfo_screenwidth()
+height = app.winfo_screenheight()
+# Set the size of the window
+app.geometry("%dx%d" % (width, height))
+
+# Create thvalue[0] Label to capture the Video frames
+# label =Label(app )
+# label.place(relwidth=1, relheight=0.45, rely=0.03)
+# label.place(x  = 25 , y = 5 , height= 450 , width= 900)
+# label.grid(row=0, column=0, columnspan=5, padx = 20 , pady=40)
+# cap= cv2.VideoCapture(0)
+
+# Define function to show frame
+# def show_frames():
+#    # Get the latest frame and convert into Image
+#    cv2image= cv2.cvtColor(cap.read()[1],cv2.COLOR_BGR2RGB)
+#    img = Image.fromarray(cv2image)
+#    # Convert image to PhotoImage
+#    imgtk = ImageTk.PhotoImage(image = img)
+#    label.imgtk = imgtk
+#    label.configure(image=imgtk)
+#    # Repeat after an interval to capture continiously
+#    label.after(1, show_frames)
+
+# show_frames()
+
+thruster_one = 10    #Enter the PIN Number to Which Thrsuter 1 is coonected
+thruster_two = 7    #Enter the PIN Number to Which Thrsuter 2 is coonected
+thruster_three = 3  #Enter the PIN Number to Which Thrsuter 3 is coonected
+thruster_four = 27  #Enter the PIN Number to Which Thrsuter 4 is coonected
+
+thruster_pins = [thruster_one, thruster_two, thruster_three, thruster_four]
+
+pi = pigpio.pi()
+
+for item in thruster_pins:
+    pi.set_servo_pulsewidth(item,1500)
+
+
+
+thvalue = [1500, 1500,1500,1500]
+
+def forward(eve):
+   if thvalue[0] < 1850 and thvalue[1]<1850:
+      thvalue[0] = thvalue[0] + 10
+      thvalue[1] = thvalue[1] + 10
+      pi.set_servo_pulsewidth(thruster_one, thvalue[0])
+      pi.set_servo_pulsewidth(thruster_two, thvalue[1])
+
+   if thvalue[0] > 1500 and thvalue[1] > 1500:
+      result_str = "ROV IS IN MOTION \n" + "Thruster 1 is moving forward with " + \
+      str(abs(1500-thvalue[0])) +  " unit speed \n" + \
+            "Thruster 2 is moving forward with " + \
+               str(abs(1500-thvalue[1])) + " unit speed"
+
+   elif thvalue[0] == 1500 and thvalue[1] == 1500:
+      result_str = "ROV IS AT REST"
+
+   else:
+      result_str = "ROV IS IN MOTION \n" + "Thruster 1 is moving backward with " + \
+      str(abs(1500-thvalue[0])) + " unit speed \n" + \
+            "Thruster 2 is moving backward with " + \
+               str(abs(1500-thvalue[1])) + " unit speed"
+
+   ele.delete("1.0","end")
+   ele.insert(INSERT, result_str)
+   if thvalue[2]<1500:
+      more_str = " \nROV IS moving Vertically Down with " + str(abs(1500 - thvalue[2])) + " unit speed"
+      ele.insert(INSERT, more_str)
+   if thvalue[2]>1500:
+      more_str = " \nROV IS moving Vertically UP with " + str(abs(1500 - thvalue[2])) + " unit speed"
+      ele.insert(INSERT, more_str)
+
+
+def backward(eve):
+   if thvalue[0] > 1150 and thvalue[1] > 1150:
+      thvalue[0] = thvalue[0] - 10
+      thvalue[1] = thvalue[1] - 10
+      pi.set_servo_pulsewidth(thruster_one, thvalue[0])
+      pi.set_servo_pulsewidth(thruster_two, thvalue[1])
+
+   if thvalue[0] > 1500 and thvalue[1] > 1500:
+      result_str = "ROV IS IN MOTION \n" + "Thruster 1 is moving forward with " + \
+      str(abs(1500-thvalue[0])) + " unit speed \n" + \
+            "Thruster 2 is moving forward with " + \
+               str(abs(1500-thvalue[1])) + " unit speed"
+
+   elif thvalue[0] == 1500 and thvalue[1] == 1500:
+      result_str = "ROV IS AT REST"
+
+   else:
+      result_str = "ROV IS IN MOTION \n" + "Thruster 1 is moving backward with " + \
+      str(abs(1500-thvalue[0])) + " unit speed \n" + \
+            "Thruster 2 is moving backward with " + \
+               str(abs(1500-thvalue[1])) + " unit speed"
+
+   ele.delete("1.0","end")
+   ele.insert(INSERT, result_str)
+   if thvalue[2]<1500:
+      more_str = " \nROV IS moving Vertically Down with " + str(abs(1500 - thvalue[2])) + " unit speed"
+      ele.insert(INSERT, more_str)
+   if thvalue[2]>1500:
+      more_str = " \nROV IS moving Vertically UP with " + str(abs(1500 - thvalue[2])) + " unit speed"
+      ele.insert(INSERT, more_str)
+
+def down(eve):
+   if thvalue[2] <= 1800 and thvalue[2]>1200:
+      thvalue[2] = thvalue[2] - 10
+      thvalue[3] = thvalue[3] - 10
+      pi.set_servo_pulsewidth(thruster_three, thvalue[2])
+      pi.set_servo_pulsewidth(thruster_four, thvalue[3])
+
+   if thvalue[2] > 1500:
+      result_str = "Rov is going up with " + str(abs(1500-thvalue[2])) + " unit speed"
+   elif thvalue[2] == 1500:
+      result_str = "Vertical Motion Of Rov has Stopped"
+   else:
+      result_str = "Rov is going down with " + str(abs(1500-thvalue[2])) + " unit speed"
+
+   ele.delete("1.0","end")
+   ele.insert(INSERT, result_str)
+   if thvalue[0]!=1500 or thvalue[1] != 1500:
+      more_str =  "\n ROV Is also in Horizontal Forward Motion " + \
+          "You can Press Enter to Stop It "
+      ele.insert(INSERT, more_str)
+
+def upward(eve):
+   if thvalue[2]>=1200 and thvalue[2]<1800:
+      thvalue[2] = thvalue[2] + 10
+      thvalue[3] = thvalue[3] + 10
+      pi.set_servo_pulsewidth(thruster_three, thvalue[2])
+      pi.set_servo_pulsewidth(thruster_four, thvalue[3])
+
+   if thvalue[2] > 1500:
+      result_str = "Rov is going up with " + str(abs(1500-thvalue[2])) + " unit speed"
+   elif thvalue[2] == 1500:
+      result_str = "Vertical Motion Of Rov has Stopped"
+   else:
+      result_str = "Rov is going down with " + str(abs(1500-thvalue[2])) + " unit speed"
+
+   ele.delete("1.0","end")
+   ele.insert(INSERT, result_str)
+   if thvalue[0]!=1500 or thvalue[1] != 1500:
+      more_str =  "\n ROV Is also in Horizontal Forward Motion " + \
+          "You can Press Enter to Stop It "
+      ele.insert(INSERT, more_str)
+
+def left(eve):
+   if thvalue[0] > 1500:
+      thvalue[0] = thvalue[0] - 50
+      thvalue[1] = thvalue[1] + 50
+      pi.set_servo_pulsewidth(thruster_one, thvalue[0])
+      pi.set_servo_pulsewidth(thruster_two, thvalue[1])
+      result_str = "Rov is turning left and speed of thruster 1 is " + str(abs(1500-thvalue[0])) + " unit and thruster 2 is " + str(abs(1500-thvalue[1])) + " unit"
+
+   elif thvalue[0] == 1500:
+      thvalue[1] = thvalue[1] + 10
+      pi.set_servo_pulsewidth(thruster_two, thvalue[1])
+      result_str = "Left Thruster is Stopped and Rov is turning left\n and speed of right thruster is " + \
+         str(abs(1500-thvalue[1])) + " unit"
+
+   else:
+      thvalue[0] = thvalue[0] + 10
+      thvalue[1] = thvalue[1] - 10
+      pi.set_servo_pulsewidth(thruster_one, thvalue[0])
+      pi.set_servo_pulsewidth(thruster_two, thvalue[1])
+      result_str = "Rov is turning right and speed of thruster 1 is " + str(abs(1500-thvalue[0])) + " unit and thruster 2 is " + str(abs(1500-thvalue[1])) + " unit"
+
+   ele.delete("1.0","end")
+   ele.insert(INSERT, result_str)
+   if thvalue[2]<1500:
+      more_str = " \nROV IS moving Vertically Down with " + str(abs(1500 - thvalue[2])) + " unit speed"
+      ele.insert(INSERT, more_str)
+   if thvalue[2]>1500:
+      more_str = " \nROV IS moving Vertically UP with " + str(abs(1500 - thvalue[2])) + " unit speed"
+      ele.insert(INSERT, more_str)
+
+def right(eve):
+   if thvalue[1] > 1500:
+      thvalue[1] = thvalue[1] - 50
+      thvalue[0] = thvalue[0] + 50
+      pi.set_servo_pulsewidth(thruster_one, thvalue[0])
+      pi.set_servo_pulsewidth(thruster_two, thvalue[1])
+      result_str = "Rov is turning right and speed of thruster 1 is " + str(abs(1500-thvalue[0])) + " unit and thruster 2 is " + str(abs(1500-thvalue[1])) + " unit"
+
+   elif thvalue[1] == 1500:
+      thvalue[0] = thvalue[0] + 10
+      # pi.set_servo_pulsewidth(thruster_one, thvalue[0])
+      result_str = "right Thruster is Stopped and Rov is turning right\n and speed of left thruster is " + str(abs(1500-thvalue[0])) + " unit"
+
+   else:
+      thvalue[0] = thvalue[0] - 50
+      thvalue[1] = thvalue[1] + 50
+      pi.set_servo_pulsewidth(thruster_one, thvalue[0])
+      pi.set_servo_pulsewidth(thruster_two, thvalue[1])
+      result_str = "Rov is turning left and speed of thruster 1 is " + str(abs(1500-thvalue[0])) + " unit and thruster 2 is " + str(abs(1500-thvalue[1])) + " unit"
+   ele.delete("1.0","end")
+   ele.insert(INSERT, result_str)
+   if thvalue[2]<1500:
+      more_str = " \nROV IS moving Vertically Down with " + str(abs(1500 - thvalue[2])) + " unit speed"
+      ele.insert(INSERT, more_str)
+   if thvalue[2]>1500:
+      more_str = " \nROV IS moving Vertically UP with " + str(abs(1500 - thvalue[2])) + " unit speed"
+      ele.insert(INSERT, more_str)
+
+def reset(eve):
+   thvalue[0] = 1500
+   thvalue[1] = 1500
+   thvalue[2] = 1500
+   thvalue[3] = 1500
+   pi.set_servo_pulsewidth(thruster_one, thvalue[0])
+   pi.set_servo_pulsewidth(thruster_two, thvalue[1])
+   pi.set_servo_pulsewidth(thruster_three, thvalue[2])
+   pi.set_servo_pulsewidth(thruster_four, thvalue[3])
+   result_str = "ROV IS AT REST"
+   ele.delete("1.0","end")
+   ele.insert(INSERT, result_str)
+
+
+
+
+result = "Rov is not in Motion \nAll The thrusters aare in Idle State"
+
+e =0
+
+button_forward = Button(app, text="↑" , padx=40, pady=20 , command = lambda : forward(e)).place(x = 160 , y= 510)
+button_backward = Button(app, text="↓" , padx=40, pady=20,command = lambda : backward(e)).place(x=160,y=575 )
+button_left = Button(app, text="←" , padx=40, pady=20 ,command = lambda : left(e)).place(x=50, y=575 )
+button_right = Button(app, text="→" , padx=40, pady=20,command = lambda : right(e)).place(y =575, x = 270  )
+button_up = Button(app, text="UP" , padx=40, pady=20,command = lambda : upward(e)).place(x = 380,  y= 510 )
+button_down = Button(app, text="Down" , padx=40, pady=20,command = lambda : down(e)).place(x = 380 , y= 575 ) 
+button_reset = Button(app, text="RESET" , padx=40, pady=20 , command = lambda : reset(e)).place(x = 100, y  = 680)
+
+
+
+
+app.bind('<Key-Up>',forward)
+# app.bind('<KeyRelease-Up>',reset)
+app.bind('<Key-Left>',left)
+# app.bind('<KeyRelease-Left>',reset)
+app.bind('<Key-Down>',backward)
+# app.bind('<KeyRelease-Down>',reset)
+app.bind('<Key-Right>',right)
+# app.bind('<KeyRelease-Right>',reset)
+app.bind('<Key-c>',down)
+# app.bind('<KeyRelease-c>',reset)
+app.bind('<Key-e>',upward)
+# app.bind('<KeyRelease-e>',reset)
+app.bind('<Return>', reset)
+
+
+
+
+ele = Text(app, width=65, height = 5 ,borderwidth=5)
+ele.place(relwidth=0.42 , relheight=0.25 , relx=0.54, rely = 0.63)
+ele.insert(INSERT, result)
+app.mainloop()
+

ROV/templates/camera.html

@@ -0,0 +1,29 @@
+<html>
+
+ <head>
+
+   <meta name="viewport" content="width=device-width, initial-scale=1">
+
+   <style>
+
+      img { display: block;
+
+            margin-left: auto;
+
+            margin-right: auto;
+
+           }
+
+      h1 {text-align: center;}
+
+    </style>
+
+  </head>
+
+  <body>
+
+     <img id="bg" src="{{ url_for('video_feed') }}" style="width:88%;">
+
+  </body>
+
+</html>