#import the required libraries import RPi.GPIO as GPIO import time import datetime import thread import SocketServer #setup the connection handler. This will handle all of the communication with the network clients. class MyTCPHandler(SocketServer.StreamRequestHandler): #static variables #reed switch connections sensor1 = 18 sensor2 = 23 #LED lights that indicate status, not used RED_LED = 4 GREEN_LED = 14 #Pin used to fire the solenoid solenoid = 5 #status variables armed = False current_count = 0 count_trigger = 3 solenoid_triggered = False start_time = 0 DEBUG = False trigger_delay = 0 def handle(self): #On an initial connection by the client, setup the Pi self.GPIO_setup() self.initialize() self.sendClient("Catapult ready") notDone = True #Loop used to handle network communication while notDone: #Read commands from the client choice = self.rfile.readline().strip() choice = choice.lower() #handle the command if choice != "": print "Choice:",choice else: return if choice == "arm": self.arm() if choice == "disarm": self.disarm() if "count" in choice: text,trigger = choice.split(":") self.count_trigger = int(trigger) #This choice is used to test the triggering of the catpult if choice == "trigger": GPIO.output(self.solenoid,GPIO.HIGH) time.sleep(.5) GPIO.output(self.solenoid,GPIO.LOW) self.sendClient("Triggered") if choice == "status": arm_status = "Armed:"+str(self.armed) self.sendClient( arm_status) trigger_status = "Trigger count:"+str(self.count_trigger) self.sendClient(trigger_status) if "delay:" in choice: text,delay = choice.split(":") trigger_delay = int(delay) if choice == "quit": notDone = False #Send the status of the variables to the client def sendStatus(self): global armed,current_count,count_trigger,trigger_delay self.sendClient("----------Status---------") text = "Armed:" + str(self.armed) self.sendClient(text) text = "Trigger:" + str(count_trigger) self.sendClient(text) text = "Delay:"+ str(trigger_delay) self.sendClient(text) #Send to the client def sendClient(self,data): data = data + "\n" self.wfile.write(data) #Every time the reed switch is tripped, this function is called def sensorCallback(self,sensor): global armed,current_count,count_trigger,solenoid_triggered, solenoid, start_time, total_time, DEBUG, trigger_delay #check to see if the solenoid was already triggered if self.solenoid_triggered: return #if the catapult is armed, increment the current count if self.armed: self.current_count = self.current_count + 1 if self.start_time == 0: self.start_time = time.time() #if the current count is equal to or greater then the trigger count, trigger the solenoid if self.current_count >= self.count_trigger: if self.armed: print "triggered" time.sleep(trigger_delay) self.duration = time.time() - self.start_time self.solenoid_triggered = True GPIO.output(self.solenoid,GPIO.HIGH) time.sleep(.5) GPIO.output(self.solenoid,GPIO.LOW) self.current_count = 0 self.armed = False #do some calculations for speed, time, etc, and send to the client self.mps = (0.2392 * self.count_trigger)/self.duration totalTime = "Time:" + str(self.duration) mpsData = "meters per second:" + str(self.mps) self.sendClient(totalTime) self.sendClient(mpsData) self.start_time = 0 #Arm the catapult def arm(self): global GREEN_LED,armed,current_count,solenoid_triggered self.armed = True self.solenoid_triggered = False self.current_count = 0 print "Armed" self.LED_one_on(self.GREEN_LED) self.sendClient("Armed") #Disarm the catapult def disarm(self): global RED_LED,armed print "Disarmed" self.armed = False self.LED_one_on(self.RED_LED) self.sendClient("Disarmed") #initialize the catapult def initialize(self): global armed self.LED_all_on() time.sleep(1.0) self.LED_all_off() self.arm() self.disarm() #turn one LED on and the other off def LED_one_on(self,button): global RED_LED,GREEN_LED ON = GPIO.HIGH OFF = GPIO.LOW button = 1 if button is self.RED_LED: GPIO.output(self.RED_LED,ON) else: GPIO.output(self.RED_LED,OFF) if button is self.GREEN_LED: GPIO.output(self.GREEN_LED,ON) else: GPIO.output(self.GREEN_LED,OFF) #turn on all the LEDs def LED_all_on(self): global RED_LED,GREEN_LED ON = GPIO.HIGH GPIO.output(self.RED_LED,ON) GPIO.output(self.GREEN_LED,ON) #turn off all the LEDs def LED_all_off(self): global RED_LED,GREEN_LED OFF = GPIO.LOW GPIO.output(self.RED_LED,OFF) GPIO.output(self.GREEN_LED,OFF) #setup the GPIO pins def GPIO_setup(self): global sensorCallback,sensor1,sensor2,RED_LED,GREEN_LED,solenoid #Global Initialization print "GPIO initalization started" count = 0 GPIO.setmode(GPIO.BCM) GPIO.setup(self.sensor1,GPIO.IN,pull_up_down=GPIO.PUD_UP) GPIO.setup(self.sensor2,GPIO.IN,pull_up_down=GPIO.PUD_UP) #setup the call back functions for the input pins GPIO.add_event_detect(self.sensor1, GPIO.FALLING, callback=self.sensorCallback,bouncetime=100) GPIO.add_event_detect(self.sensor2, GPIO.FALLING, callback=self.sensorCallback,bouncetime=100) #setup the output pins GPIO.setup(self.RED_LED, GPIO.OUT) GPIO.setup(self.GREEN_LED, GPIO.OUT) GPIO.setup(self.solenoid, GPIO.OUT) print "GPIO initialization complete" def main(): HOST, PORT = "192.168.2.1", 9999 # Create the server, binding to localhost on port 9999 server = SocketServer.TCPServer((HOST, PORT), MyTCPHandler) # Activate the server; this will keep running until you # interrupt the program with Ctrl-C server.serve_forever() if __name__ == "__main__": main()