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aisky-mqttd

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+#!/usr/bin/env python3.5
+import paho.mqtt.client as mqtt
+import time
+import sys
+import http.client, urllib
+import json
+import threading
+import os
+import shutil
+import uuid
+import hashlib
+import serial
+import array
+import base64
+import urllib.request
+import datetime
+import requests
+import logging
+import RPi.GPIO as GPIO
+
+
+""" Device Information - the information about this device
+These device information is used for the MQTT topic. This program will subscribe and publish to
+the MQTT topic.
+MQTT topic to subscribe to: AISKY/<project_name>/<model_name>/<device_id>
+MQTT topic to publish to : AISKY/<project_name>/<model_name>/<device_id>/Log
+"""
+# @var project_name  The project name comes from the u-boot environment variable 'project'.
+# @var model_name    The model name comes from the u-boot environment variable 'model'.
+# @var device_id     The device id comes from the mac address of eth0.
+project_name = os.popen('cat /etc/aisky.conf | grep project').readline().split('=')[1].strip()
+model_name = os.popen('cat /etc/aisky.conf | grep model').readline().split('=')[1].strip()
+device_id = open('/sys/class/net/eth0/address').readline().strip()
+
+""" NOTE: Remember to setup the u-boot environment variables before executing this program. The
+commands to setup the u-boot environment variables are as follows.
+Setup the 'project' variable: The following command sets the 'project' variable to AppleFarm.
+    root@mylinkit:~# fw_setenv project AppleFarm
+Setup the 'model' variable: The following command sets the 'model' variable to MK-G.
+    root@mylinkit:~# fw_setenv model MK-G
+Then, the following command can be used to display the u-boot environment variables.
+    root@mylinkit:~# fw_printenv
+"""
+
+""" MQTT Server
+If you don't have your own MQTT server, you can use the public MQTT server 'iot.eclipse.org'. But
+with the public MQTT server, you can only publish and subscribe without a user name and password.
+Sometimes the public MQTT server is unstable.
+"""
+# @var mqtt_server  The URL or IP address of the MQTT server to connect to.
+# @var mqtt_port    The port of the MQTT server to connect to.
+# @var mqtt_alive   Maximum period in seconds allowed between communications with the broker. If
+#                   no other messages are being exchanged, this controls the rate at which the 
+#                   client will send ping messages to the broker.
+mqtt_server = "60.250.156.234"
+mqtt_port = 1883
+mqtt_alive = 60
+# camera API command
+
+#php path
+
+
+#reboot_path ="http://www.aisky.com.tw/field/status.php"
+
+#log
+
+# @var mqtt_sub_topic  The MQTT topic to subscribe to.
+# @var mqtt_pub_topic  The MQTT topic to publish to.
+mqtt_sub_topic = "AISKY/" + project_name + "/" + model_name + "/" + device_id
+mqtt_pub_topic = mqtt_sub_topic + "/Log"
+
+##nr
+nr = "AGV_CAR"
+
+##gpio
+
+GPIO.setmode(GPIO.BOARD)
+GPIO.setwarnings(False)
+GPIO.setup(11, GPIO.OUT, initial=GPIO.LOW)
+GPIO.setup(12, GPIO.OUT, initial=GPIO.LOW)
+GPIO.setup(13, GPIO.OUT, initial=GPIO.LOW)
+GPIO.setup(15, GPIO.OUT, initial=GPIO.LOW)
+GPIO.setup(16, GPIO.OUT, initial=GPIO.LOW)
+
+##sonic
+
+trigger_pin = 22
+echo_pin = 24
+GPIO.setup(trigger_pin, GPIO.OUT, initial=GPIO.LOW)
+GPIO.setup(echo_pin, GPIO.IN,pull_up_down = GPIO.PUD_DOWN)
+
+##water_level
+
+water_level_pin1 =18
+signal_read_pin1 =19
+
+water_level_pin2 =21
+signal_read_pin2 =23
+
+GPIO.setup(water_level_pin1, GPIO.OUT, initial=GPIO.HIGH)
+GPIO.setup(signal_read_pin1, GPIO.IN,pull_up_down = GPIO.PUD_DOWN)
+GPIO.setup(water_level_pin2, GPIO.OUT, initial=GPIO.HIGH)
+GPIO.setup(signal_read_pin2, GPIO.IN,pull_up_down = GPIO.PUD_DOWN)
+
+
+## Calculate the SHA256 checksum of the file.
+# @param file  [in] The file path for which you want to calculate the checksum.
+def get_sha256sum(file):
+    with open(file, "rb") as f:
+        bytes = f.read()
+        return hashlib.sha256(bytes).hexdigest()
+
+## Send logs to the server.
+# @param command   [in] The command received from the server.
+# @param response  [in] The response message to the command.
+def server_log(command, rqnn):
+    localtime = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime())
+    # message to be sent in JSON format
+    payload = {
+        # let server know which device the message came from
+        'device_id': device_id,
+        # let server know when the message was sent from the device
+        'localtime': localtime,
+        'node_id': nr,
+        'command': command,
+        'rqnn': rqnn
+    }
+    jsonobj = json.dumps(payload, sort_keys=True, indent=4)
+    mqtt_client.publish(mqtt_pub_topic, jsonobj, qos=2)
+    print('Sent:')
+    print(jsonobj)
+
+def get_ip_address(ifname):
+    s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+    try:
+        return socket.inet_ntoa(fcntl.ioctl(
+            s.fileno(),
+            0x8915,  # SIOCGIFADDR
+            struct.pack('256s', ifname[:15])
+        )[20:24])
+    except:
+        return ""
+## Reset this device.
+def system_reboot():
+    server_log('a035', '1')
+    time.sleep(5)
+    os.system('sudo reboot')
+    time.sleep(10)
+
+def system_update_code():
+    os.system('sudo su')
+    os.system('rm -rf /home/pi/AGVCAR')
+    os.system('git clone -b AGVCAR --single-branch http://60.250.156.230:3000/allen/AGV.git /home/pi/AGVCAR')
+    time.sleep(3)
+    os.system('cp /home/pi/AGVCAR/aisky-mqttd /usr/sbin/')
+    time.sleep(1)
+    os.system('cp /home/pi/AGVCAR/udp_client.py /home/pi/')
+    time.sleep(1)
+    os.system('sudo chmod 777 /usr/sbin/aisky-mqttd')
+    os.system('sudo chmod 777 /home/pi/udp_client.py')
+    time.sleep(5)
+    server_log('a033', '1')
+    os.system('sudo reboot')
+    time.sleep(10)
+
+## Receive the system action  to this device .
+
+def fan(msg):
+    if  (msg['value'] == 'on'):
+        GPIO.output(11, GPIO.HIGH)
+        server_log(' fan', "on")
+    elif (msg['value'] == 'off'):
+        GPIO.output(11, GPIO.LOW)
+        server_log(' fan', "off")
+    else:
+        server_log(' fan', "NULL")
+
+def water_bump(msg):
+    if  (msg['value'] == 'on'):
+        GPIO.output(12, GPIO.HIGH)
+        server_log('water_bump', "on")
+    elif (msg['value'] == 'off'):
+        GPIO.output(12, GPIO.LOW)
+        server_log('water_bump', "off")
+    else:
+        server_log(' water_bump', "NULL")
+
+def red_light(msg):
+    if  (msg['value'] == 'on'):
+         GPIO.output(13, GPIO.HIGH)
+         server_log(' red_light', "on")
+    elif (msg['value'] == 'off'):
+        GPIO.output(13, GPIO.LOW)
+        server_log(' red_light', "off")
+    else:
+        server_log(' red_light', "NULL")
+
+def yellow_light(msg):
+    if  (msg['value'] == 'on'):
+        GPIO.output(15, GPIO.HIGH)
+        server_log('  yellow_light', "on")
+    elif (msg['value'] == 'off'):
+        GPIO.output(15, GPIO.LOW)
+        server_log(' yellow_light', "off")
+    else:
+        server_log('  yellow_light', "NULL")
+
+def green_light(msg):
+    if  (msg['value'] == 'on'):
+        GPIO.output(16, GPIO.HIGH)
+        server_log(' green_light', "on")
+    elif (msg['value'] == 'off'):
+        GPIO.output(16, GPIO.LOW)
+        server_log(' green_light', "off")
+    else:
+        server_log('green_light', "NULL")
+
+
+
+def send_trigger_pulse():
+    GPIO.output(trigger_pin, True)
+    time.sleep(0.001)
+    GPIO.output(trigger_pin, False)
+
+def wait_for_echo(value, timeout):
+    count = timeout
+    while GPIO.input(echo_pin) != value and count > 0:
+        count = count - 1
+
+def sonic():
+    send_trigger_pulse()
+    wait_for_echo(True, 5000)
+    start = time.time()
+    wait_for_echo(False, 5000)
+    finish = time.time()
+    pulse_len = finish - start
+    distance_cm = pulse_len * 340 *100 /2
+    distance_in = distance_cm / 2.5
+    print(distance_cm)
+    server_log('sonic',distance_cm)
+
+
+def water_level():
+    level_1=GPIO.input(signal_read_pin1)
+    level_2=GPIO.input(signal_read_pin2)
+    print(level_1)
+    print(level_2)
+    if(level_1 == False):
+       if(level_2 == False):
+         server_log('water_level', "top")
+       elif(level_2 == False):
+         server_log('water_level', "error")
+    elif(level_1 == True):
+       if(level_2 == False):
+         server_log('water_level', "center")
+       elif(level_2 == True):
+         server_log('water_level', "bottom")
+
+def video2(msg):
+    if(msg['value']=="on"):
+        os.system('sudo su')
+        os.system('cd /hmoe/pi')
+        os.system('sudo nohup python3.5 /home/pi/udp_client.py>/home/pi/nohup.out 2>&1 &')
+        time.sleep(2)
+        server_log('video2', 'on')
+    elif (msg['value'] == 'off'):
+         os.system('sudo su')
+         os.system("ps aux | grep /home/pi/udp_client.py | awk '{print $2}' | xargs kill -9")
+         time.sleep(2)
+         server_log('video2', "off")
+    else:
+        server_log('video2', "error")
+
+## The callback function for connecting.
+# @param client    [in] The client instance for this callback.
+# @param userdata  [in] The private user data as set in Client() or user_data_set().
+# @param flags     [in] Response flags sent by the broker.
+# @param rc        [in] The connection result.
+def on_connect(client, userdata, flags, rc):
+    # subscribe MQTT topic on connection
+    client.subscribe(mqtt_sub_topic, qos=2)
+    server_log('a035', '1')
+    #logging.info('system running')
+    #data = {'nr': nr, 'status': 'reboot'}
+    #data = urllib.parse.urlencode(data)
+    #data = data.encode('utf-8')
+    #req = urllib.request.Request(reboot_path, data)
+    #req.add_header('User-Agent', 'Magic Browser')
+    #resp = urllib.request.urlopen(req)
+    #respData = resp.read()
+    print("reboot check  ok")
+
+
+## The callback function for processing messages from the server.
+# @param client    [in] The client instance for this callback.
+# @param userdata  [in] The private user data as set in Client() or user_data_set().
+# @param msg       [in] An instance of MQTT message.
+def on_message(client, userdata, msg):
+    # print(msg.payload)
+    msg.payload = msg.payload.decode('utf-8')
+    jsonmsg = json.loads(msg.payload)
+    #print(jsonmsg)
+    print('Received:')
+    print(json.dumps(jsonmsg, sort_keys=True, indent=4, separators=(',', ':')))
+    # processing the command from the server
+    if (jsonmsg['command'] == 'a035'):
+        system_reboot()
+    elif (jsonmsg['command'] == 'a033'):
+        system_update_code()
+    elif (jsonmsg['command'] == 'vpn_connect'):
+        vpn_connect()
+    elif (jsonmsg['command'] == 'vpn_disconnect'):
+        vpn_disconnect()
+    elif (jsonmsg['command'] == 'fan'):
+        fan(jsonmsg)
+    elif (jsonmsg['command'] == 'water_bump'):
+        water_bump(jsonmsg)
+    elif (jsonmsg['command'] == 'red_light'):
+        red_light(jsonmsg)
+    elif (jsonmsg['command'] == 'yellow_light'):
+        yellow_light(jsonmsg)
+    elif (jsonmsg['command'] == 'green_light'):
+        green_light(jsonmsg)
+    elif (jsonmsg['command'] == 'sonic'):
+        sonic()
+    elif (jsonmsg['command'] == 'water_level'):
+        water_level()
+    elif (jsonmsg['command'] == 'video2'):
+        video2(jsonmsg)
+    else:
+        server_log(jsonmsg['command'], 'ERROR: Unknown command')
+
+## A thread used to subscribe to and wait for messages from the server.
+def thread_job():
+    # create a MQTT client with a user name and password to subscribe to the messages
+    mqtt_thread_client = mqtt.Client()
+    mqtt_thread_client.on_connect = on_connect
+    mqtt_thread_client.on_message = on_message
+    mqtt_thread_client.username_pw_set(username='aisky-client', password='aiskyc')
+    mqtt_thread_client.connect(mqtt_server, mqtt_port, mqtt_alive)
+    mqtt_thread_client.loop_forever()
+
+# create a MQTT client with a user name and password to publish messages
+mqtt_client = mqtt.Client()
+mqtt_client.username_pw_set(username='aisky-client', password='aiskyc')
+mqtt_client.connect(mqtt_server, mqtt_port, mqtt_alive)
+
+# create a thread to subscribe to and wait for messages from the server
+mqtt_subscribe_thread = threading.Thread(target=thread_job)
+mqtt_subscribe_thread.start()
+
+mqtt_client.loop_forever()