Twilio Sync for Emergency Vehicle Control

EmergencyVehicleSystemInit.py

def systemInit():
	global port, loraM, client
	obtain_port()
	gpio_init()
	emergencyVehicleState.setdefault("state",0)
	
	#loraM handles all the loraEvents 
	loraM = MCLoRa(port)
	success = loraM.testOK()
	if success:
		print "Traffic Controller Gateway Init Success"
		print (success)
	else:
		print("Traffic Controller Gateway Init FAILURE")
	loraM.pause()

	#Twilio Client 	
	client = mqtt.Client(client_id="rpi", clean_session=False)
	client.tls_set(None, pem_location, key_location)
	client.on_message = handleEmergencyMessage
    
    #
    # Use qos=1 to get your device caught up right away.
    #
	client.connect('mqtt-sync.us1.twilio.com', 8883, 60)
	client.subscribe('sync/docs/gpsData', qos=1)
	client.loop_start()

handleEmergencyMessage.py

def handleEmergencyMessage(client, userdata, msg):
	print(msg.topic + ' ' + str(msg.payload))
	dataReceived = json.loads(msg.payload)
	gpsLocation[0] = dataReceived["lat"]
	gpsLocation[1] = dataReceived["lon"]
	gps_tuple = tuple(gpsLocation)
	distanceCalculated = int(vincenty(TRAFFIC_SIGNAL, gps_tuple).meters)
	print ("Emergency Vehicle Location: ", distanceCalculated)
	if distanceCalculated >= 150:
		emergencyVehicleState["state"] = 0
		trafficLightNormalCurrState = LIGHT_RED
	else:
		emergencyVehicleState["state"] = 1

location_list.py

location_list = [(37.753925, -122.399412),(37.753925, -122.399577),
				  (37.754228, -122.399612),(37.754660, -122.399898),
				  (37.754579, -122.401350),(37.754541, -122.402021),
				  (37.754512, -122.402560),(37.754485, -122.402862),
				  (37.754430, -122.403747),(37.754289, -122.405862),
				  (37.754586, -122.406395)]

loraReceive.py

def loraReceive():
	global loraM
	count  = 0
	while True:
		print "LoRa Packet Receive Start"
		try:
			data = str(loraM.recv())
			if data == "01": #Code 01 indicates primary communication failure
				print "Received LoRa Signal from Emergeny Vehicle"
				emergencyVehicleState["state"] = 1
				count = 0
			else:
				count = count + 1
				if count == 20:
					count  = 0
					emergencyVehicleState["state"] = 0
		except Exception as error:
			print error 

syncDocUpdate.py

document = client.sync \
					    .services(SERVICE_SID) \
					    .documents("gpsData") \
					    .update(data=gps_Data)

sys_init.py

def  sys_init():
	global loraM, client
	obtain_port()

	#Twilio Client Initilize 
	client = Client(ACCOUNT_SID, AUTH_TOKEN)
	print("Primary Comm Mode, Twilio Sync Initialized\n")

	# LoRa module Initialze on the given Port
	loraM = MCLoRa(port)
	success = loraM.testOK()
	if success:
	    print("Secondary Comm Mode, LoRa RF Initialized\n")
	    print(success)
	    print(loraM.getUniqueID())
	else:
	    print("Secondary Comm Mode, LoRa RF FAILED....Exiting\n")
	    sys.exit(0)
	loraM.pause()

updateTrafficSignal.py

def updateTrafficSignal():
	global trafficLightNormalCurrState
	state = emergencyVehicleState["state"]
	if state == NORMAL:

		if (LIGHT_RED == trafficLightNormalCurrState):
			print "Switching to RED\n"	
			set_red()
		elif (LIGHT_YELLOW == trafficLightNormalCurrState):
			print "Switching to YELLOW\n"	
			set_yellow()
		elif (LIGHT_GREEN == trafficLightNormalCurrState):
			print "Switching to GREEN\n"	
			set_green()

		time.sleep(trafficLightNormalCycleTime[trafficLightNormalCurrState])

		trafficLightNormalCurrState = trafficLightNormalCycle[ (trafficLightNormalCurrState + 1) % 3]

	elif state == CRITICAL:
		set_green()
		print "Detected Critical Distance from Emergency Vehicle\n"

		print "Switching to GREEN and Hold\n"
		time.sleep(3)