TamamZaman.py

#!/usr/bin/env python
# -*- coding: utf-8 -*-
from __future__ import print_function
import threading
import logging
import dronekit_sitl
from dronekit import connect, VehicleMode, LocationGlobalRelative, Command, LocationGlobal
import numpy as np
import cv2
from picamera import PiCamera
from picamera.array import PiRGBArray
import math
import time
from pymavlink import mavutil
import serial as sl
import Magnet_control
from datetime import datetime

# print('Connecting to vehicle on: %s' % connection_string)
# vehicle = connect(connection_string, wait_ready=True)
vehicle = connect('/dev/ttyACM0', wait_ready=True)
mag = Magnet_control.magnet()
vehicle.airspeed = 3
vehicle.groundspeed = 3
ay = 0
ax = 0

def zaman(t1 , t2):
    tM = t1.minute
    tS = t1.second

    zM = t2.minute
    zS = t2.second

    farkM = zM - tM
    farkS = zS - tS
    saniye = farkM * 60
    sonZaman = saniye + farkS
    return sonZaman

def arm_and_takeoff(aTargetAltitude):
    """
    Arms vehicle and fly to aTargetAltitude.
    """

    print("Basic pre-arm checks")
    # Don't try to arm until autopilot is ready
    while not vehicle.is_armable:
        print(" Waiting for vehicle to initialise...")
        time.sleep(1)

    print("Arming motors")
    # Copter should arm in GUIDED mode
    vehicle.mode = VehicleMode("GUIDED")
    vehicle.armed = True

    # Confirm vehicle armed before attempting to take off
    while not vehicle.armed:
        print(" Waiting for arming...")
        time.sleep(1)

    print("Taking off!")
    vehicle.simple_takeoff(aTargetAltitude)  # Take off to target altitude

    # Wait until the vehicle reaches a safe height before processing the goto
    #  (otherwise the command after Vehicle.simple_takeoff will execute
    #   immediately).
    while True:
        print(" Altitude: ", vehicle.location.global_relative_frame.alt)
        # Break and return from function just below target altitude.
        if vehicle.location.global_relative_frame.alt >= aTargetAltitude * 0.95:
            print("Reached target altitude")
            break
        time.sleep(1)


def alan_dolu(alt1, alt2):
    a1 = LocationGlobalRelative(41.0005797, 28.9512378, alt1)  # Tam dolu alanı
    vehicle.simple_goto(a1, groundspeed=10)  # 39.8723430, 32.7323806
    time.sleep(20)
    a2 = LocationGlobalRelative(41.0005797, 28.9512378, alt2)
    vehicle.simple_goto(a2, groundspeed=10)
    time.sleep(15)


def alan_yarim(alt1, alt2):
    a1 = LocationGlobalRelative(41.0004422, 28.9512951, alt1)  # Yarı dolu alanı
    vehicle.simple_goto(a1, groundspeed=10)  # 39.8723430, 32.7323806
    time.sleep(20)
    a2 = LocationGlobalRelative(41.0004422, 28.9512951, alt2)
    vehicle.simple_goto(a2, groundspeed=10)
    time.sleep(15)


def go(p):
    vehicle.simple_goto(p, 3)


class Sensor(threading.Thread):
    logging.basicConfig(level=logging.DEBUG, format='%(message)s', )

    def __init__(self):
        threading.Thread.__init__(self)
        return

    def run(self):
        ser = sl.Serial('/dev/ttyUSB0', baudrate=9600)
        while True:
            a1 = str(ser.readline())
            b = a1.split('/')
            logging.debug('Veriler: %s , %s', a1, time.ctime(time.time()))
            time.sleep(0.1)
            return b[0], b[1]


class Output(threading.Thread):
    logging.basicConfig(level=logging.DEBUG, format=' %(message)s')

    def __init__(self, ilk, son):
        threading.Thread.__init__(self)
        self.ilk = ilk
        self.son = son
        return

    def run(self):
        while True:
            logging.debug('Sonuc1: %s , sonuc2: %s ,  %s', self.ilk, self.son, time.ctime(time.time()))
            return


class Velocity():
    def set_velocity_body(self, vehicle, vx, vy, vz):
        """ Remember: vz is positive downward!!!
        http://ardupilot.org/dev/docs/copter-commands-in-guided-mode.html

        Bitmask to indicate which dimensions should be ignored by the vehicle
        (a value of 0b0000000000000000 or 0b0000001000000000 indicates that
        none of the setpoint dimensions should be ignored). Mapping:
        bit 1: x,  bit 2: y,  bit 3: z,
        bit 4: vx, bit 5: vy, bit 6: vz,
        bit 7: ax, bit 8: ay, bit 9:


        """
        msg = vehicle.message_factory.set_position_target_local_ned_encode(
            0,
            0, 0,
            mavutil.mavlink.MAV_FRAME_BODY_NED,
            0b0000111111000111,  # -- BITMASK -> Consider only the velocities
            0, 0, 0,  # -- POSITION
            vx, vy, vz,  # -- VELOCITY
            0, 0, 0,  # -- ACCELERATIONS
            0, 0)

        vehicle.send_mavlink(msg)
        vehicle.flush()
        time.sleep(0.5)


def ironmaiden(x, y, w, h, frame, t, color, a):
    cv2.putText(frame, color + str(t), (int(x), int(y + 20)), cv2.FONT_HERSHEY_SIMPLEX, 0.75, (0, 255, 255))
    M = cv2.moments(a)
    ax = int(M["m10"] / M["m00"])
    ay = int(M["m01"] / M["m00"])
    cv2.circle(frame, (ax, ay), 3, (255, 255, 255), -1)
    cv2.putText(frame, "center", (ax - 20, ay - 20), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (255, 255, 255), 1)
    return (ax, ay)


def moving(ax, ay):
    v2 = Velocity()
    if ax < 240:

        v2.set_velocity_body(vehicle, 1, 0, 0)
        print("ileri")
    elif ax > 240:
        v2.set_velocity_body(vehicle, -1, 0, 0)
        print("geri")
    if ay > 240:
        v2.set_velocity_body(vehicle, 0, -1, 0)
        print("sol")
    elif ay < 240:
        v2.set_velocity_body(vehicle, 0, 1, 0)
        print("sag")


arm_and_takeoff(5)
time.sleep(2)

tStart = datetime.now()

print("Set default/target airspeed to 10")

p = LocationGlobalRelative(41.0003157, 28.9504601, 5)
go(p)
time.sleep(5)

################################################################

def opencv(ax, ay):
    merkez = False
    print("Kamera ciliyor")
    camera = PiCamera()
    camera.resolution = (480, 480)
    camera.framerate = 32
    rawCapture = PiRGBArray(camera, size=(480, 480))
    lower_red = np.array([130, 150, 150])
    upper_red = np.array([200, 255, 255])
    time.sleep(0.1)
    print("Kamera acildi")

    for frame in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True):
        t = 0
        shot = frame.array
        cv2.circle(shot, (240, 240), 3, (255, 255, 255), -1)
        blur = cv2.GaussianBlur(shot, (11, 11), 0)
        hsv = cv2.cvtColor(blur, cv2.COLOR_BGR2HSV)
        j = 0
        mask = cv2.inRange(hsv, lower_red, upper_red)
        kernelOPen = np.ones((20, 20))
        mask = cv2.dilate(mask, kernelOPen, iterations=5)

        __, countours, hierarchy = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
        if j == 0:
            for a in countours:
                peri = 0.01 * cv2.arcLength(a, True)
                approx = cv2.approxPolyDP(a, peri, True)
                if len(approx) >= 3:
                    if (cv2.contourArea(a) > 100):
                        x, y, w, h = cv2.boundingRect(a)
                        color = "Fire"
                        ax, ay = ironmaiden(x, y, w, h, shot, t, color, a)
                        moving(ax, ay)

        cv2.imshow('cam', shot)
        cv2.imshow('mask', mask)
        rawCapture.truncate(0)
        if (180 <= ax <= 300 and 180 <= ay <= 300):
            merkez = True
        if (merkez == True):
            lat = vehicle.location.global_relative_frame.lat
            lon = vehicle.location.global_relative_frame.lon  # O an ki konum
            currentLoc = LocationGlobalRelative(lat, lon, 2.5)
            vehicle.simple_goto(currentLoc)
            time.sleep(7)
            camera.close()
            cv2.destroyAllWindows()
            break
    ######################################################################
opencv(ax, ay)

tfonk = datetime.now()

merkez = False
print("Kamera ciliyor")
camera = PiCamera()
camera.resolution = (480, 480)
camera.framerate = 32
rawCapture = PiRGBArray(camera, size=(480, 480))
lower_red = np.array([130, 150, 150])
upper_red = np.array([200, 255, 255])
time.sleep(0.1)
print("Kamera acildi")

for frame in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True):
    t = 0
    shot = frame.array
    cv2.circle(shot, (240, 240), 3, (255, 255, 255), -1)
    blur = cv2.GaussianBlur(shot, (11, 11), 0)
    hsv = cv2.cvtColor(blur, cv2.COLOR_BGR2HSV)
    j = 0
    mask = cv2.inRange(hsv, lower_red, upper_red)
    kernelOPen = np.ones((20, 20))
    mask = cv2.dilate(mask, kernelOPen, iterations=5)

    __, countours, hierarchy = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
    if j == 0:
        for a in countours:
            peri = 0.01 * cv2.arcLength(a, True)
            approx = cv2.approxPolyDP(a, peri, True)
            if len(approx) >= 3:
                if (cv2.contourArea(a) > 100):
                    x, y, w, h = cv2.boundingRect(a)
                    color = "Fire"
                    ax, ay = ironmaiden(x, y, w, h, shot, t, color, a)
                    moving(ax, ay)
                    tSon = datetime.now()
                    zamanSon = zaman(tfonk, tSon)
                    if (zamanSon >= 30):
                        sise = LocationGlobalRelative(41.0003225, 28.9504421, 5)
                        vehicle.simple_goto(sise, 3)
                        opencv(ax, ay)

    cv2.imshow('cam', shot)
    cv2.imshow('mask', mask)
    rawCapture.truncate(0)
    if (200 <= ax <= 280 and 200 <= ay <= 280):
        merkez = True
    if (merkez == True):
        lat1 = vehicle.location.global_relative_frame.lat
        lon1 = vehicle.location.global_relative_frame.lon  # O an ki konum
        currentLoc2 = LocationGlobalRelative(lat1, lon1, 0.35)
        vehicle.simple_goto(currentLoc2)
        time.sleep(3)
        camera.close()
        cv2.destroyAllWindows()
        break
    ############################################################

fail = False
while True:
    lat = vehicle.location.global_relative_frame.lat
    lon = vehicle.location.global_relative_frame.lon  # O an ki konum
    mag.turnOn()
    time.sleep(10)

    ps = LocationGlobalRelative(lat, lon, 1.25)
    vehicle.simple_goto(ps, 3)

    i1 = 0
    dataW = []
    while (i1 < 3):
        t = Sensor()
        ilk , son = t.run()
        th = Output(ilk , son)
        th.start()
        weight = float((th.son).replace("\n", ""))
        dataW.append(weight)
        time.sleep(1)
        i1 = i1 + 1
    toplamW = dataW[0] + dataW[1] + dataW[2]
    ortalamaW = toplamW / 3

    if (ortalamaW <= 20.00):
        fail = True

    if (fail == True):  # basarisizlik durumunda#########################################################
        p = LocationGlobalRelative(41.0003157, 28.9504601, 5)
        go(p)
        time.sleep(5)
        print("Kamera ciliyor")
        camera = PiCamera()
        camera.resolution = (480, 480)
        camera.framerate = 32
        rawCapture = PiRGBArray(camera, size=(480, 480))
        lower_red = np.array([130, 150, 150])
        upper_red = np.array([200, 255, 255])
        time.sleep(0.1)
        print("Kamera acildi")

        for frame in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True):
            t = 0
            shot = frame.array
            cv2.circle(shot, (240, 240), 3, (255, 255, 255), -1)
            blur = cv2.GaussianBlur(shot, (11, 11), 0)
            hsv = cv2.cvtColor(blur, cv2.COLOR_BGR2HSV)
            j = 0
            mask = cv2.inRange(hsv, lower_red, upper_red)
            kernelOPen = np.ones((20, 20))
            mask = cv2.dilate(mask, kernelOPen, iterations=5)

            __, countours, hierarchy = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
            if j == 0:
                for a in countours:
                    peri = 0.01 * cv2.arcLength(a, True)
                    approx = cv2.approxPolyDP(a, peri, True)
                    if len(approx) >= 3:
                        if (cv2.contourArea(a) > 100):
                            x, y, w, h = cv2.boundingRect(a)
                            color = "Fire"
                            ax, ay = ironmaiden(x, y, w, h, shot, t, color, a)
                            moving(ax, ay)

            cv2.imshow('cam', shot)
            cv2.imshow('mask', mask)
            rawCapture.truncate(0)
            if (200 <= ax <= 280 and 200 <= ay <= 280):
                merkez = True
            if (merkez == True):
                lat1 = vehicle.location.global_relative_frame.lat
                lon1 = vehicle.location.global_relative_frame.lon  # O an ki konum
                currentLoc2 = LocationGlobalRelative(lat1, lon1, 0.35)
                vehicle.simple_goto(currentLoc2)
                time.sleep(3)
                camera.close()
                cv2.destroyAllWindows()
                merkez = False
                pass

                # basarisizlik durumunda#########################################################

    if (fail == False):
        p_son = LocationGlobalRelative(lat, lon, 5)
        vehicle.simple_goto(p_son, 5)
        time.sleep(10)

        print("BASLADI")
        raw_data = []
        i2 = 0
        while i2 < 10:
            t2 = Sensor()
            ilk, son = t2.run()
            th2 = Output(ilk, son)
            th2.start()
            op = float((th2.son).replace("\n", ""))
            raw_data.append(op)
            time.sleep(1)
            i2 = i2 + 1
        print(raw_data)
        toplam = raw_data[0] + raw_data[1] + raw_data[2] + raw_data[3] + raw_data[4] + raw_data[5] + raw_data[6] + \
                 raw_data[7] + raw_data[8] + raw_data[9]
        ortalama = toplam / 10
        print(ortalama)

        if (ortalama > 600):
            alan_dolu(5, 1)
            mag.turnOff()
            alan_no = 1
            time.sleep(10)

        else:
            alan_yarim(5, 1)
            mag.turnOff()
            alan_no = 2
            time.sleep(10)

        print("Birinci sise bitti!!!")
        break
    ###############################################################

    ###########ikinci sise########################################
locsise = LocationGlobalRelative(41.0003170, 28.95044336, 5)
go(locsise)  # ikinci sise konumunu ekle!!!!

opencv(ax, ay)

    ####################################################################
tZaman = datetime.now()
ZamanFrk = zaman(tStart, tZaman)
if(ZamanFrk >= 285):
    vehicle.mode = VehicleMode("RTL")
    print("Bulunamadı, RTL...")
tFonksiyon = datetime.now()

merkez = False
print("Kamera ciliyor")
camera = PiCamera()
camera.resolution = (480, 480)
camera.framerate = 32
rawCapture = PiRGBArray(camera, size=(480, 480))
lower_red = np.array([130, 150, 150])
upper_red = np.array([200, 255, 255])
time.sleep(0.1)
print("Kamera acildi")

for frame in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True):
    t = 0
    shot = frame.array
    cv2.circle(shot, (240, 240), 3, (255, 255, 255), -1)
    blur = cv2.GaussianBlur(shot, (11, 11), 0)
    hsv = cv2.cvtColor(blur, cv2.COLOR_BGR2HSV)
    j = 0
    mask = cv2.inRange(hsv, lower_red, upper_red)
    kernelOPen = np.ones((20, 20))
    mask = cv2.dilate(mask, kernelOPen, iterations=5)

    __, countours, hierarchy = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
    if j == 0:
        for a in countours:
            peri = 0.01 * cv2.arcLength(a, True)
            approx = cv2.approxPolyDP(a, peri, True)
            if len(approx) >= 3:
                if (cv2.contourArea(a) > 100):
                    x, y, w, h = cv2.boundingRect(a)
                    color = "Fire"
                    ax, ay = ironmaiden(x, y, w, h, shot, t, color, a)
                    moving(ax, ay)
                    tZaman = datetime.now()
                    ZamanFrk = zaman(tFonksiyon, tZaman)
                    if (ZamanFrk >= 285):
                        vehicle.mode = VehicleMode("RTL")
                        print("Bulunamadı, RTL...")

    cv2.imshow('cam', shot)
    cv2.imshow('mask', mask)
    rawCapture.truncate(0)
    if (200 <= ax <= 280 and 200 <= ay <= 280):
        merkez = True
    if (merkez == True):
        lat1 = vehicle.location.global_relative_frame.lat
        lon1 = vehicle.location.global_relative_frame.lon  # O an ki konum
        currentLoc2 = LocationGlobalRelative(lat1, lon1, 0.35)
        mag.turnOn()
        vehicle.simple_goto(currentLoc2)
        time.sleep(3)
        camera.close()
        cv2.destroyAllWindows()
        break
    ############################################################

    ###########ikinci while########################################

fail = False
while True:
    lat = vehicle.location.global_relative_frame.lat
    lon = vehicle.location.global_relative_frame.lon  # O an ki konum
    time.sleep(10)

    ps = LocationGlobalRelative(lat, lon, 1.25)
    vehicle.simple_goto(ps, 3)

    i3 = 0
    dataW = []
    while (i3 < 3):
        t = Sensor()
        ilk, son = t.run()
        th3 = Output(ilk, son)
        th3.start()
        weight = float((th3.son).replace("\n", ""))
        dataW.append(weight)
        time.sleep(1)
        i3 = i3 + 1
    toplamW = dataW[0] + dataW[1] + dataW[2]
    ortalamaW = toplamW / 3

    if (ortalamaW >= 20.00):
        fail = True

    if (fail == True):  # basarisizlik durumunda#########################################################
        p = LocationGlobalRelative(39.8720907, 32.7319237, 5)
        go(p)
        time.sleep(5)
        print("Kamera ciliyor")
        camera = PiCamera()
        camera.resolution = (480, 480)
        camera.framerate = 32
        rawCapture = PiRGBArray(camera, size=(480, 480))
        lower_red = np.array([130, 150, 150])
        upper_red = np.array([200, 255, 255])
        time.sleep(0.1)
        print("Kamera acildi")

        for frame in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True):
            t = 0
            shot = frame.array
            cv2.circle(shot, (240, 240), 3, (255, 255, 255), -1)
            blur = cv2.GaussianBlur(shot, (11, 11), 0)
            hsv = cv2.cvtColor(blur, cv2.COLOR_BGR2HSV)
            j = 0
            mask = cv2.inRange(hsv, lower_red, upper_red)
            kernelOPen = np.ones((20, 20))
            mask = cv2.dilate(mask, kernelOPen, iterations=5)

            __, countours, hierarchy = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
            if j == 0:
                for a in countours:
                    peri = 0.01 * cv2.arcLength(a, True)
                    approx = cv2.approxPolyDP(a, peri, True)
                    if len(approx) >= 3:
                        if (cv2.contourArea(a) > 100):
                            x, y, w, h = cv2.boundingRect(a)
                            color = "Fire"
                            ax, ay = ironmaiden(x, y, w, h, shot, t, color, a)
                            moving(ax, ay)
                            tZaman = datetime.now()
                            ZamanFrk = zaman(tStart, tZaman)
                            if (ZamanFrk >= 285):
                                vehicle.mode = VehicleMode("RTL")
                                print("Bulunamadı, RTL...")

            cv2.imshow('cam', shot)
            cv2.imshow('mask', mask)
            rawCapture.truncate(0)
            if (200 <= ax <= 280 and 200 <= ay <= 280):
                merkez = True
            if (merkez == True):
                lat1 = vehicle.location.global_relative_frame.lat
                lon1 = vehicle.location.global_relative_frame.lon  # O an ki konum
                currentLoc2 = LocationGlobalRelative(lat1, lon1, 0.35)
                vehicle.simple_goto(currentLoc2)
                time.sleep(3)
                camera.close()
                cv2.destroyAllWindows()
                merkez = False
                break

                # basarisizlik durumunda#########################################################

    if (fail == False):
        p_son = LocationGlobalRelative(lat, lon, 5)
        vehicle.simple_goto(p_son, 5)
        time.sleep(10)

        if (alan_no == 1):
            alan_yarim(5, 1)
            mag.turnOff()
            time.sleep(10)

        else:
            alan_dolu(5, 1)
            mag.turnOff()
            time.sleep(10)

        print("RTL modu")
        break

    ###########ikinci while########################################

vehicle.mode = VehicleMode("RTL")