OTHER_CODE/KDAIS_20191212/aisky-mqttd

#!/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

""" 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 = "52.195.10.119"
mqtt_port = 1883
mqtt_alive = 60
# camera API command
camera_ircut_high = 'http://192.168.50.94/cgi-bin/camerasetting_cgi?action=set&channel=0&user=admin&pwd=abcd1234&TRCutLevel=high'
camera_ircut_low = 'http://192.168.50.94/cgi-bin/camerasetting_cgi?action=set&channel=0&user=admin&pwd=abcd1234&TRCutLevel=low'
camera_image = 'http://192.168.50.94/cgi-bin/images_cgi?channel=0&user=admin&pwd=abcd1234'
camera_zoomin = "http://192.168.50.94/cgi-bin/ptz_cgi?action=ZoomAdd&user=admin&pwd=abcd1234"
camera_zoomout = "http://192.168.50.94/cgi-bin/ptz_cgi?action=ZoomSub&user=admin&pwd=abcd1234"
#php path
ndvi_path = 'http://60.250.156.234/cust/c21.php'
ppv_path = 'http://60.250.156.234/cust/p21.php'
impv_path = 'http://60.250.156.234/cust/im21.php'
log_path = 'http://52.195.10.119/MQTT/BBtoMQTT.php'
logpv_path = 'http://52.195.10.119/MQTT/BBtoMQTT_preview.php'

#log
logging.basicConfig(level=logging.INFO, filename='/tmp/mqtt.log',format='%(asctime)s - %(filename)s[line:%(lineno)d] - %(levelname)s: %(message)s')
# @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 = "KDARES21"
##angle
Tilt_old = 0
Pan_old = 0
Zoom_old = 0
## 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, response):
    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,
        'command': command,
        'response': response
    }
    jsonobj = json.dumps(payload, sort_keys=True, indent=4)
    mqtt_client.publish(mqtt_pub_topic, jsonobj, qos=2)
    print('Sent:')
    print(jsonobj)

## Reset this device.
def system_reboot():
    server_log('reboot', 'Restarting system')
    logging.info('system reboot')
    time.sleep(5)
    os.system('sudo reboot')
    time.sleep(10)

## Reset this device to factory default.
def factory_reset():
    server_log('factory_reset', 'Resetting to factory default')
    logging.info('system reset')
    time.sleep(5)
    os.system('firstboot -y')
    os.system('reboot -f')
    time.sleep(10)

## Receive the system action  to this device .

def ndvi_1(msg):
    server_log('ndvi_1', 'start')
    print(msg['orPan'])
    print(msg['orTilt'])
    print(msg['orZoom'])
    print(msg['position'])
    orpan(msg)
    ortilt(msg)
    orzoom(msg)
    time.sleep(2)
    ndvi1()
    logging.info('ndvi 1')
    data = {'nr': nr, 'tilt_angle': int(msg['orTilt']), 'pan_angle': int(msg['orPan']),'zoom': int(msg['orZoom'])}
    data = urllib.parse.urlencode(data)
    data = data.encode('utf-8')
    req = urllib.request.Request(log_path, data)
    req.add_header('User-Agent', 'Magic Browser')
    resp = urllib.request.urlopen(req)
    respData = resp.read()
    print("NDVI 1 angle  ok")
    data = {'nr': nr, 'MODE': int(msg['position']), 'p1': 0, 'p2': 0, 'p3': 0, 'p4': 0, 'p5': 0, 'p6': 0, 'p7': 0,'p8': 0}
    data = urllib.parse.urlencode(data)
    data = data.encode('utf-8')
    req = urllib.request.Request(logpv_path, data)
    req.add_header('User-Agent', 'Magic Browser')
    resp = urllib.request.urlopen(req)
    respData = resp.read()
    print("NDVI 1 ok")

def ndvi_2(msg):
    server_log('ndvi_2', 'start')
    print(msg['orPan'])
    print(msg['orTilt'])
    print(msg['orZoom'])
    print(msg['position'])
    orpan(msg)
    ortilt(msg)
    orzoom(msg)
    time.sleep(2)
    ndvi2()
    logging.info('ndvi 2')
    data = {'nr': nr, 'tilt_angle': int(msg['orTilt']), 'pan_angle': int(msg['orPan']),'zoom': int(msg['orZoom'])}
    data = urllib.parse.urlencode(data)
    data = data.encode('utf-8')
    req = urllib.request.Request(log_path, data)
    req.add_header('User-Agent', 'Magic Browser')
    resp = urllib.request.urlopen(req)
    respData = resp.read()
    print("NDVI 2 angle  ok")
    data = {'nr': nr, 'MODE': int(msg['position']), 'p1': 0, 'p2': 0, 'p3': 0, 'p4': 0, 'p5': 0, 'p6': 0, 'p7': 0,'p8': 0}
    data = urllib.parse.urlencode(data)
    data = data.encode('utf-8')
    req = urllib.request.Request(logpv_path, data)
    req.add_header('User-Agent', 'Magic Browser')
    resp = urllib.request.urlopen(req)
    respData = resp.read()
    print("NDVI 2 ok")

def ndvi_3(msg):
    server_log('ndvi_3', 'start')
    print(msg['orPan'])
    print(msg['orTilt'])
    print(msg['orZoom'])
    print(msg['position'])
    orpan(msg)
    ortilt(msg)
    orzoom(msg)
    time.sleep(2)
    ndvi3()
    logging.info('ndvi 3')
    data = {'nr': nr, 'tilt_angle': int(msg['orTilt']), 'pan_angle': int(msg['orPan']),'zoom': int(msg['orZoom'])}
    data = urllib.parse.urlencode(data)
    data = data.encode('utf-8')
    req = urllib.request.Request(log_path, data)
    req.add_header('User-Agent', 'Magic Browser')
    resp = urllib.request.urlopen(req)
    respData = resp.read()
    print("NDVI 3 angle  ok")
    data = {'nr': nr, 'MODE': int(msg['position']), 'p1': 0, 'p2': 0, 'p3': 0, 'p4': 0, 'p5': 0, 'p6': 0, 'p7': 0,'p8': 0}
    data = urllib.parse.urlencode(data)
    data = data.encode('utf-8')
    req = urllib.request.Request(logpv_path, data)
    req.add_header('User-Agent', 'Magic Browser')
    resp = urllib.request.urlopen(req)
    respData = resp.read()
    print("NDVI 3 ok")

def ndvi_4(msg):
    server_log('ndvi_4', 'start')
    print(msg['orPan'])
    print(msg['orTilt'])
    print(msg['orZoom'])
    print(msg['position'])
    orpan(msg)
    ortilt(msg)
    orzoom(msg)
    time.sleep(2)
    ndvi4()
    logging.info('ndvi 4')
    data = {'nr': nr, 'tilt_angle': int(msg['orTilt']), 'pan_angle': int(msg['orPan']),'zoom': int(msg['orZoom'])}
    data = urllib.parse.urlencode(data)
    data = data.encode('utf-8')
    req = urllib.request.Request(log_path, data)
    req.add_header('User-Agent', 'Magic Browser')
    resp = urllib.request.urlopen(req)
    respData = resp.read()
    print("NDVI 4 angle  ok")
    data = {'nr': nr, 'MODE': int(msg['position']), 'p1': 0, 'p2': 0, 'p3': 0, 'p4': 0, 'p5': 0, 'p6': 0, 'p7': 0,'p8': 0}
    data = urllib.parse.urlencode(data)
    data = data.encode('utf-8')
    req = urllib.request.Request(logpv_path, data)
    req.add_header('User-Agent', 'Magic Browser')
    resp = urllib.request.urlopen(req)
    respData = resp.read()
    print("NDVI 4 ok")

def ndvi_5(msg):
    server_log('ndvi_5', 'start')
    print(msg['orPan'])
    print(msg['orTilt'])
    print(msg['orZoom'])
    print(msg['position'])
    orpan(msg)
    ortilt(msg)
    orzoom(msg)
    time.sleep(2)
    ndvi5()
    logging.info('ndvi 5')
    data = {'nr': nr, 'tilt_angle': int(msg['orTilt']), 'pan_angle': int(msg['orPan']),'zoom': int(msg['orZoom'])}
    data = urllib.parse.urlencode(data)
    data = data.encode('utf-8')
    req = urllib.request.Request(log_path, data)
    req.add_header('User-Agent', 'Magic Browser')
    resp = urllib.request.urlopen(req)
    respData = resp.read()
    print("NDVI 5 angle  ok")
    data = {'nr': nr, 'MODE': int(msg['position']), 'p1': 0, 'p2': 0, 'p3': 0, 'p4': 0, 'p5': 0, 'p6': 0, 'p7': 0,'p8': 0}
    data = urllib.parse.urlencode(data)
    data = data.encode('utf-8')
    req = urllib.request.Request(logpv_path, data)
    req.add_header('User-Agent', 'Magic Browser')
    resp = urllib.request.urlopen(req)
    respData = resp.read()
    print("NDVI 5 ok")

def ndvi_6(msg):
    server_log('ndvi_6', 'start')
    print(msg['orPan'])
    print(msg['orTilt'])
    print(msg['orZoom'])
    print(msg['position'])
    orpan(msg)
    ortilt(msg)
    orzoom(msg)
    time.sleep(2)
    ndvi6()
    logging.info('ndvi 6')
    data = {'nr': nr, 'tilt_angle': int(msg['orTilt']), 'pan_angle': int(msg['orPan']),'zoom': int(msg['orZoom'])}
    data = urllib.parse.urlencode(data)
    data = data.encode('utf-8')
    req = urllib.request.Request(log_path, data)
    req.add_header('User-Agent', 'Magic Browser')
    resp = urllib.request.urlopen(req)
    respData = resp.read()
    print("NDVI 6 angle  ok")
    data = {'nr': nr, 'MODE': int(msg['position']), 'p1': 0, 'p2': 0, 'p3': 0, 'p4': 0, 'p5': 0, 'p6': 0, 'p7': 0,'p8': 0}
    data = urllib.parse.urlencode(data)
    data = data.encode('utf-8')
    req = urllib.request.Request(logpv_path, data)
    req.add_header('User-Agent', 'Magic Browser')
    resp = urllib.request.urlopen(req)
    respData = resp.read()
    print("NDVI 6 ok")

def ndvi_7(msg):
    server_log('ndvi_7', 'start')
    print(msg['orPan'])
    print(msg['orTilt'])
    print(msg['orZoom'])
    print(msg['position'])
    orpan(msg)
    ortilt(msg)
    orzoom(msg)
    time.sleep(2)
    ndvi7()
    logging.info('ndvi 7')
    data = {'nr': nr,'tilt_angle': int(msg['orTilt']), 'pan_angle': int(msg['orPan']),'zoom': int(msg['orZoom'])}
    data = urllib.parse.urlencode(data)
    data = data.encode('utf-8')
    req = urllib.request.Request(log_path, data)
    req.add_header('User-Agent', 'Magic Browser')
    resp = urllib.request.urlopen(req)
    respData = resp.read()
    print("NDVI 7 angle  ok")
    data = {'nr': nr, 'MODE': int(msg['position']), 'p1': 0, 'p2': 0, 'p3': 0, 'p4': 0, 'p5': 0, 'p6': 0, 'p7': 0, 'p8': 0}
    data = urllib.parse.urlencode(data)
    data = data.encode('utf-8')
    req = urllib.request.Request(logpv_path, data)
    req.add_header('User-Agent', 'Magic Browser')
    resp = urllib.request.urlopen(req)
    respData = resp.read()
    print("NDVI 7 ok")

def ndvi_8(msg):
    server_log('ndvi_8', 'start')
    print(msg['orPan'])
    print(msg['orTilt'])
    print(msg['orZoom'])
    print(msg['position'])
    orpan(msg)
    ortilt(msg)
    orzoom(msg)
    time.sleep(2)
    ndvi8()
    logging.info('ndvi 8')
    data = {'nr': nr, 'tilt_angle': int(msg['orTilt']), 'pan_angle': int(msg['orPan']),'zoom': int(msg['orZoom'])}
    data = urllib.parse.urlencode(data)
    data = data.encode('utf-8')
    req = urllib.request.Request(log_path, data)
    req.add_header('User-Agent', 'Magic Browser')
    resp = urllib.request.urlopen(req)
    respData = resp.read()
    print("NDVI 8 angle  ok")
    data = {'nr': nr, 'MODE': int(msg['position']), 'p1': 0, 'p2': 0, 'p3': 0, 'p4': 0, 'p5': 0, 'p6': 0, 'p7': 0,'p8': 0}
    data = urllib.parse.urlencode(data)
    data = data.encode('utf-8')
    req = urllib.request.Request(logpv_path, data)
    req.add_header('User-Agent', 'Magic Browser')
    resp = urllib.request.urlopen(req)
    respData = resp.read()
    print("NDVI 8 ok")

def manual_ndvi():
    server_log('manual_ndvi', 'start')
    ndvi()
    logging.info('manual ndvi ')
    # -----------------------log---------------------------------------------------
    data = {'nr': nr, 'MODE': 9,'p1': 0, 'p2': 0, 'p3': 0, 'p4': 0, 'p5': 0, 'p6': 0, 'p7': 0, 'p8': 0}
    data = urllib.parse.urlencode(data)
    data = data.encode('utf-8')
    req = urllib.request.Request(logpv_path, data)
    req.add_header('User-Agent', 'Magic Browser')
    resp = urllib.request.urlopen(req)
    respData = resp.read();
    print("MANUAL NDVI  ok")

def p1_preview_photo():
    server_log('p1_preview_photo', 'start')
    req = requests.get(camera_ircut_high)
    fileName = datetime.datetime.now().strftime("/home/pi/p1/1.tif")
    req = requests.get(camera_image)
    file = open(fileName, 'wb')
    for chunk in req.iter_content(100000):
        file.write(chunk)
    file.close()

    dress = '/home/pi/p1/'
    for root, dirs, files in os.walk(dress):
        print('files: {}'.format(len(files)))
        if len(files) >= 1:
            files.sort()
            for f in files:
                with open(os.path.join(root, f), "rb") as imageFile:
                    str = base64.b64encode(imageFile.read())
                url = ppv_path
                values = {'p22_1': str, 'p22_name_1': f}
                p22_1 = urllib.parse.urlencode(values)
                p22_1 = p22_1.encode('utf-8')
                req = urllib.request.Request(url, p22_1)
                req.add_header('User-Agent', 'Magic Browser')
                resp = urllib.request.urlopen(req)
                respData = resp.read()
                print(os.path.join(root, f))
                #print(respdata)
                os.remove(os.path.join(root, f))
                print("ok")
                logging.info('p1_preview_photo')
    data = {'nr': nr,'MODE': 0, 'p1': 1, 'p2': 0, 'p3': 0, 'p4': 0, 'p5': 0, 'p6': 0, 'p7': 0, 'p8': 0}
    data = urllib.parse.urlencode(data)
    data = data.encode('utf-8')
    req = urllib.request.Request(logpv_path, data)
    req.add_header('User-Agent', 'Magic Browser')
    resp = urllib.request.urlopen(req)
    respData = resp.read()
    print("p1_preview_photo ok")

def p2_preview_photo():
    server_log('p2_preview_photo', 'start')
    req = requests.get(camera_ircut_high)
    fileName = datetime.datetime.now().strftime("/home/pi/p2/2.tif")
    req = requests.get(camera_image)
    file = open(fileName, 'wb')
    for chunk in req.iter_content(100000):
        file.write(chunk)
    file.close()

    dress = '/home/pi/p2/'
    for root, dirs, files in os.walk(dress):
        print('files: {}'.format(len(files)))
        if len(files) >= 1:
            files.sort()
            for f in files:
                with open(os.path.join(root, f), "rb") as imageFile:
                    str = base64.b64encode(imageFile.read())
                url = ppv_path

                values = {'p22_2': str, 'p22_name_2': f}
                p22_2 = urllib.parse.urlencode(values)
                p22_2 = p22_2.encode('utf-8')
                req = urllib.request.Request(url, p22_2)
                req.add_header('User-Agent', 'Magic Browser')
                resp = urllib.request.urlopen(req)
                respData = resp.read()
                print(os.path.join(root, f))
                #print(respdata)
                os.remove(os.path.join(root, f))
                print("ok")
                logging.info('p2_preview_photo')

    data = {'nr': nr,'MODE': 0,'p1': 0, 'p2': 1, 'p3': 0, 'p4': 0, 'p5': 0, 'p6': 0, 'p7': 0, 'p8': 0}
    data = urllib.parse.urlencode(data)
    data = data.encode('utf-8')
    req = urllib.request.Request(logpv_path, data)
    req.add_header('User-Agent', 'Magic Browser')
    resp = urllib.request.urlopen(req)
    respData = resp.read()
    print("p2_preview_photo ok")

def p3_preview_photo():
    server_log('p3_preview_photo', 'start')
    req = requests.get(camera_ircut_high)
    fileName = datetime.datetime.now().strftime("/home/pi/p3/3.tif")
    req = requests.get(camera_image)
    file = open(fileName, 'wb')
    for chunk in req.iter_content(100000):
        file.write(chunk)
    file.close()

    dress = '/home/pi/p3/'
    for root, dirs, files in os.walk(dress):
        print('files: {}'.format(len(files)))
        if len(files) >= 1:
            files.sort()
            for f in files:
                with open(os.path.join(root, f), "rb") as imageFile:
                    str = base64.b64encode(imageFile.read())
                url = ppv_path
                values = {'p22_3': str, 'p22_name_3': f}
                p22_3 = urllib.parse.urlencode(values)
                p22_3 = p22_3.encode('utf-8')
                req = urllib.request.Request(url, p22_3)
                req.add_header('User-Agent', 'Magic Browser')
                resp = urllib.request.urlopen(req)
                respData = resp.read()
                print(os.path.join(root, f))
                #print(respdata)
                os.remove(os.path.join(root, f))
                print("ok")
                logging.info('p3_preview_photo')

    data = {'nr': nr,'MODE': 0, 'p1': 0, 'p2': 0, 'p3': 1, 'p4': 0, 'p5': 0, 'p6': 0, 'p7': 0, 'p8': 0}
    data = urllib.parse.urlencode(data)
    data = data.encode('utf-8')
    req = urllib.request.Request(logpv_path, data)
    req.add_header('User-Agent', 'Magic Browser')
    resp = urllib.request.urlopen(req)
    respData = resp.read()
    print("p3_preview_photo ok")

def p4_preview_photo():
    server_log('p4_preview_photo', 'start')
    req = requests.get(camera_ircut_high)
    fileName = datetime.datetime.now().strftime("/home/pi/p4/4.tif")
    req = requests.get(camera_image)
    file = open(fileName, 'wb')
    for chunk in req.iter_content(100000):
        file.write(chunk)
    file.close()

    dress = '/home/pi/p4/'
    for root, dirs, files in os.walk(dress):
        print('files: {}'.format(len(files)))
        if len(files) >= 1:
            files.sort()
            for f in files:
                with open(os.path.join(root, f), "rb") as imageFile:
                    str = base64.b64encode(imageFile.read())
                url = ppv_path
                values = {'p22_4': str, 'p22_name_4': f}
                p22_4 = urllib.parse.urlencode(values)
                p22_4 = p22_4.encode('utf-8')
                req = urllib.request.Request(url, p22_4)
                req.add_header('User-Agent', 'Magic Browser')
                resp = urllib.request.urlopen(req)
                respData = resp.read()
                print(os.path.join(root, f))
                #print(respdata)
                os.remove(os.path.join(root, f))
                print("ok")
                logging.info('p4_preview_photo')

    data = {'nr': nr,'MODE': 0,'p1': 0, 'p2': 0, 'p3': 0, 'p4': 1, 'p5': 0, 'p6': 0, 'p7': 0, 'p8': 0}
    data = urllib.parse.urlencode(data)
    data = data.encode('utf-8')
    req = urllib.request.Request(logpv_path, data)
    req.add_header('User-Agent', 'Magic Browser')
    resp = urllib.request.urlopen(req)
    respData = resp.read()
    print("p4_preview_photo ok")

def p5_preview_photo():
    server_log('p5_preview_photo', 'start')
    req = requests.get(camera_ircut_high)
    fileName = datetime.datetime.now().strftime("/home/pi/p5/5.tif")
    req = requests.get(camera_image)
    file = open(fileName, 'wb')
    for chunk in req.iter_content(100000):
        file.write(chunk)
    file.close()

    dress = '/home/pi/p5/'
    for root, dirs, files in os.walk(dress):
        print('files: {}'.format(len(files)))
        if len(files) >= 1:
            files.sort()
            for f in files:
                with open(os.path.join(root, f), "rb") as imageFile:
                    str = base64.b64encode(imageFile.read())
                url = ppv_path
                values = {'p22_5': str, 'p22_name_5': f}
                p22_5 = urllib.parse.urlencode(values)
                p22_5 = p22_5.encode('utf-8')
                req = urllib.request.Request(url, p22_5)
                req.add_header('User-Agent', 'Magic Browser')
                resp = urllib.request.urlopen(req)
                respData = resp.read()
                print(os.path.join(root, f))
                #print(respdata)
                os.remove(os.path.join(root, f))
                print("ok")
                logging.info('p5_preview_photo')

    data = {'nr': nr,'MODE': 0,'p1': 0, 'p2': 0, 'p3': 0, 'p4': 0, 'p5': 1, 'p6': 0, 'p7': 0, 'p8': 0}
    data = urllib.parse.urlencode(data)
    data = data.encode('utf-8')
    req = urllib.request.Request(logpv_path, data)
    req.add_header('User-Agent', 'Magic Browser')
    resp = urllib.request.urlopen(req)
    respData = resp.read()
    print("p5_preview_photo ok")

def p6_preview_photo():
    server_log('p6_preview_photo', 'start')
    req = requests.get(camera_ircut_high)
    fileName = datetime.datetime.now().strftime("/home/pi/p6/6.tif")
    req = requests.get(camera_image)
    file = open(fileName, 'wb')
    for chunk in req.iter_content(100000):
        file.write(chunk)
    file.close()

    dress = '/home/pi/p6/'
    for root, dirs, files in os.walk(dress):
        print('files: {}'.format(len(files)))
        if len(files) >= 1:
            files.sort()
            for f in files:
                with open(os.path.join(root, f), "rb") as imageFile:
                    str = base64.b64encode(imageFile.read())
                url = ppv_path
                values = {'p22_6': str, 'p22_name_6': f}
                p22_6 = urllib.parse.urlencode(values)
                p22_6 = p22_6.encode('utf-8')
                req = urllib.request.Request(url, p22_6)
                req.add_header('User-Agent', 'Magic Browser')
                resp = urllib.request.urlopen(req)
                respData = resp.read()
                print(os.path.join(root, f))
                #print(respdata)
                os.remove(os.path.join(root, f))
                print("ok")
                logging.info('p6_preview_photo')

    data = {'nr': nr,'MODE': 0,'p1': 0, 'p2': 0, 'p3': 0, 'p4': 0, 'p5': 0, 'p6': 1, 'p7': 0, 'p8': 0}
    data = urllib.parse.urlencode(data)
    data = data.encode('utf-8')
    req = urllib.request.Request(logpv_path, data)
    req.add_header('User-Agent', 'Magic Browser')
    resp = urllib.request.urlopen(req)
    respData = resp.read()
    print("p6_preview_photo ok")

def p7_preview_photo():
    server_log('p7_preview_photo', 'start')
    req = requests.get(camera_ircut_high)
    fileName = datetime.datetime.now().strftime("/home/pi/p7/7.tif")
    req = requests.get(camera_image)
    file = open(fileName, 'wb')
    for chunk in req.iter_content(100000):
        file.write(chunk)
    file.close()

    dress = '/home/pi/p7/'
    for root, dirs, files in os.walk(dress):
        print('files: {}'.format(len(files)))
        if len(files) >= 1:
            files.sort()
            for f in files:
                with open(os.path.join(root, f), "rb") as imageFile:
                    str = base64.b64encode(imageFile.read())
                url = ppv_path
                values = {'p22_7': str, 'p22_name_7': f}
                p22_7 = urllib.parse.urlencode(values)
                p22_7 = p22_7.encode('utf-8')
                req = urllib.request.Request(url, p22_7)
                req.add_header('User-Agent', 'Magic Browser')
                resp = urllib.request.urlopen(req)
                respData = resp.read()
                print(os.path.join(root, f))
               # print(respdata)
                os.remove(os.path.join(root, f))
                print("ok")
                logging.info('p7_preview_photo')

    data = {'nr': nr,'MODE': 0,'p1': 0, 'p2': 0, 'p3': 0, 'p4': 0, 'p5': 0, 'p6': 0, 'p7': 1, 'p8': 0}
    data = urllib.parse.urlencode(data)
    data = data.encode('utf-8')
    req = urllib.request.Request(logpv_path, data)
    req.add_header('User-Agent', 'Magic Browser')
    resp = urllib.request.urlopen(req)
    respData = resp.read()
    print("p7_preview_photo ok")

def p8_preview_photo():
    server_log('p8_preview_photo', 'start')
    req = requests.get(camera_ircut_high)
    fileName = datetime.datetime.now().strftime("/home/pi/p8/8.tif")
    req = requests.get(camera_image)
    file = open(fileName, 'wb')
    for chunk in req.iter_content(100000):
        file.write(chunk)
    file.close()

    dress = '/home/pi/p8/'
    for root, dirs, files in os.walk(dress):
        print('files: {}'.format(len(files)))
        if len(files) >= 1:
            files.sort()
            for f in files:
                with open(os.path.join(root, f), "rb") as imageFile:
                    str = base64.b64encode(imageFile.read())
                url = ppv_path
                values = {'p22_8': str, 'p22_name_8': f}
                p22_8 = urllib.parse.urlencode(values)
                p22_8 = p22_8.encode('utf-8')
                req = urllib.request.Request(url, p22_8)
                req.add_header('User-Agent', 'Magic Browser')
                resp = urllib.request.urlopen(req)
                respData = resp.read()
                print(os.path.join(root, f))
                #print(respdata)
                os.remove(os.path.join(root, f))
                print("ok")
                logging.info('p8_preview_photo')

    data = {'nr': nr,'MODE': 0,'p1': 0, 'p2': 0, 'p3': 0, 'p4': 0, 'p5': 0, 'p6': 0, 'p7': 0, 'p8': 1}
    data = urllib.parse.urlencode(data)
    data = data.encode('utf-8')
    req = urllib.request.Request(logpv_path, data)
    req.add_header('User-Agent', 'Magic Browser')
    resp = urllib.request.urlopen(req)
    respData = resp.read()
    print("p8_preview_photo ok")

def tilt(msg):
    global Tilt_old
    Tilt_old = msg['Tilt'] + Tilt_old
    if (Tilt_old > 90):
        Tilt_old = 90
        server_log('tilt', Tilt_old)
        Tilt(90)
        take_preview_photo()
        logging.info('tilt max')
    elif (Tilt_old < -25):
        Tilt_old = -25
        server_log('tilt', Tilt_old)
        Tilt(-25)
        take_preview_photo()
        logging.info('tilt min')
    else:
        server_log('tilt', Tilt_old)
        Tilt(Tilt_old)
        take_preview_photo()
        logging.info('tilt')
    data = {'nr': nr,'tilt_angle': Tilt_old,'pan_angle':Pan_old,'zoom':  Zoom_old}
    data = urllib.parse.urlencode(data)
    data = data.encode('utf-8')
    req = urllib.request.Request(log_path, data)
    req.add_header('User-Agent', 'Magic Browser')
    resp = urllib.request.urlopen(req)
    respData = resp.read()
    print("Tilt ok")

def pan(msg):
    global Pan_old
    Pan_old = msg['Pan'] + Pan_old
    if (Pan_old > 360):
        Pan_old = Pan_old - 360
        server_log('pan', Pan_old)
        Pan(Pan_old)
        take_preview_photo()
    elif (Pan_old < 0):
        Pan_old = 360 + Pan_old
        server_log('pan', Pan_old)
        Pan(Pan_old)
        take_preview_photo()
    else:
        server_log('pan', Pan_old)
        Pan(Pan_old)
        take_preview_photo()
        logging.info('pan')
    data = {'nr': nr,'tilt_angle':Tilt_old, 'pan_angle': Pan_old,'zoom': Zoom_old}
    data = urllib.parse.urlencode(data)
    data = data.encode('utf-8')
    req = urllib.request.Request(log_path, data)
    req.add_header('User-Agent', 'Magic Browser')
    resp = urllib.request.urlopen(req)
    respData = resp.read()
    print("Pan ok")

def zoom(msg):
    global Zoom_old
    Zoom_old = msg['Zoom']+ Zoom_old
    print(Zoom_old)
    if (Zoom_old > 5):
        Zoom_old = 5
        server_log('zoom', Zoom_old)
        Zoom(0)
        take_preview_photo()
        logging.info('zoom max')
    elif (Zoom_old < 0):
        Zoom_old = 0
        server_log('zoom', Zoom_old)
        Zoom(0)
        take_preview_photo()
        logging.info('zoom min')
    else:
        server_log('zoom', Zoom_old)
        Zoom(int(msg['Zoom']))
        take_preview_photo()
        logging.info('zoom')
    data = {'nr': nr,'tilt_angle':Tilt_old, 'pan_angle':Pan_old,'zoom': Zoom_old}
    data = urllib.parse.urlencode(data)
    data = data.encode('utf-8')
    req = urllib.request.Request(log_path, data)
    req.add_header('User-Agent', 'Magic Browser')
    resp = urllib.request.urlopen(req)
    respData = resp.read()
    print("Zoom ok")



def orpan(msg):
    global Pan_old
    Pan_old = int(msg['orPan'])
    if (Pan_old>360):
        Pan_old = Pan_old - 360
        server_log('orpan', Pan_old)
        Pan(Pan_old)
    elif(Pan_old<0):
        Pan_old = 360 + Pan_old
        server_log('orpan', Pan_old)
        Pan(Pan_old)
    else:
        server_log('orpan',Pan_old)
        Pan(Pan_old)
        logging.info('pan')

def ortilt(msg):
    global Tilt_old
    Tilt_old = int(msg['orTilt'])
    if (Tilt_old > 90):
        Tilt_old = 90
        server_log('ortilt', Tilt_old)
        Tilt(90)
        logging.info('ortilt max')
    elif (Tilt_old < -25):
        Tilt_old = -25
        server_log('ortilt',Tilt_old)
        Tilt(-25)
        logging.info('ortilt min')
    else:
        server_log('ortilt',  Tilt_old)
        Tilt(Tilt_old)
        logging.info('ortilt')

def orzoom(msg):
    global Zoom_old
    Zoom_old = int(msg['orZoom']) - Zoom_old
    print(Zoom_old)
    server_log('orzoom', int(msg['orZoom']))
    Zoom(Zoom_old)
    Zoom_old = int(msg['orZoom'])
    logging.info('orzoom')

##  device action.

def take_preview_photo():
    im = datetime.datetime.now().strftime('/home/pi/immediate/PV.jpg')
    save_photo = datetime.datetime.now().strftime(im)

    fileName = datetime.datetime.now().strftime(save_photo)
    req = requests.get(camera_image)
    file = open(fileName, 'wb')
    for chunk in req.iter_content(100000):
        file.write(chunk)
    file.close()

    dress = '/home/pi/immediate/'
    for root, dirs, files in os.walk(dress):
        print('files: {}'.format(len(files)))
        if len(files) >= 1:
            files.sort()
            for f in files:
                with open(os.path.join(root, f), "rb") as imageFile:
                    str = base64.b64encode(imageFile.read())
                url = impv_path

                values = {'data': str, 'name': f}
                data = urllib.parse.urlencode(values)
                data = data.encode('utf-8')
                req = urllib.request.Request(url, data)
                req.add_header('User-Agent', 'Magic Browser')
                resp = urllib.request.urlopen(req)
                respData = resp.read()
                #print(respData)
                #os.remove(os.path.join(root, f))
                print("ok")

def ndvi():
    fileName = datetime.datetime.now().strftime("/home/pi/n_image1/b.tif")
    req = requests.get(camera_image)
    file = open(fileName, 'wb')
    for chunk in req.iter_content(100000):
        file.write(chunk)
    file.close()

    req = requests.get(camera_ircut_low)

    fileName = datetime.datetime.now().strftime("/home/pi/ir_image1/a.tif")
    req = requests.get(camera_image)
    file = open(fileName, 'wb')
    for chunk in req.iter_content(100000):
        file.write(chunk)
    file.close()

    def main_n():
        dress = '/home/pi/ir_image1/'
        for root, dirs, files in os.walk(dress):
            print('files: {}'.format(len(files)))
            if len(files) >= 1:
                files.sort()
                for f in files:
                    with open(os.path.join(root, f), "rb") as imageFile:
                        str = base64.b64encode(imageFile.read())
                    url = ndvi_path
                    nr = '21'
                    values = {'data_ira21': str, 'name_ira21': f, 'nr21': nr}
                    data = urllib.parse.urlencode(values)
                    data = data.encode('utf-8')
                    req = urllib.request.Request(url, data)
                    req.add_header('User-Agent', 'Magic Browser')
                    resp = urllib.request.urlopen(req)
                    respData = resp.read()
                    print(os.path.join(root, f))
                   # print(respData)
                    os.remove(os.path.join(root, f))
                    print("ok")

    def main_ir():
        dress = '/home/pi/n_image1/'
        for root, dirs, files in os.walk(dress):
            print('files: {}'.format(len(files)))
            if len(files) >= 1:
                files.sort()
                for f in files:
                    with open(os.path.join(root, f), "rb") as imageFile:
                        str = base64.b64encode(imageFile.read())
                    url = ndvi_path
                    nr = '21'
                    values = {'c_na21': str, 'name_na21': f, 'nr21': nr}
                    c = urllib.parse.urlencode(values)
                    c = c.encode('utf-8')
                    req = urllib.request.Request(url, c)
                    req.add_header('User-Agent', 'Magic Browser')
                    resp = urllib.request.urlopen(req)
                    respData = resp.read()
                    print(os.path.join(root, f))
                    #print(respData)
                    os.remove(os.path.join(root, f))
                    print("ok")

        # ---------------------------------------------------------------------------------------

    main_n()
    main_ir()

def Pan(pan):
    a = pan

    if a == 360:
        w = a - 1
        a1 = w * 100
        print(a1)

        k = '{0:x}'.format(a1)
        h = k.zfill(4)
        print(h)
        p3 = (h[0:2])
        p4 = (h[2:])
        str_10 = int(p3, 16)
        str_10_2 = int(p4, 16)
        sum_10 = (str_10 + str_10_2 + 76)

        str_16 = hex(sum_10)

        sum = (str_16[-2:])
        str_10_sum = int(sum, 16)

        SERIAL_PORT = '/dev/ttyS0'
        ser = serial.Serial(SERIAL_PORT, baudrate=9600, timeout=5)
        Pan = [0xFF, 0x01, 0x00, 0x4B, str_10, str_10_2, str_10_sum]
        ser.write(array.array('B', Pan).tostring())
        print('left360')

    elif 0 < a <= 359:
        a1 = a * 100
        print(a1)
        k = '{0:x}'.format(a1)
        h = k.zfill(4)
        print(h)
        p3 = (h[0:2])
        p4 = (h[2:])
        str_10 = int(p3, 16)
        str_10_2 = int(p4, 16)
        sum_10 = (str_10 + str_10_2 + 76)
        str_16 = hex(sum_10)
        sum = (str_16[-2:])
        str_10_sum = int(sum, 16)
        SERIAL_PORT = '/dev/ttyS0'
        ser = serial.Serial(SERIAL_PORT, baudrate=9600, timeout=5)
        Pan = [0xFF, 0x01, 0x00, 0x4B, str_10, str_10_2, str_10_sum]
        ser.write(array.array('B', Pan).tostring())
        print('left')
    elif a == 0:

        SERIAL_PORT = '/dev/ttyS0'
        ser = serial.Serial(SERIAL_PORT, baudrate=9600, timeout=5)
        Pan = [0xFF, 0x01, 0x00, 0x4B, 0x00, 0x00, 0x4C]
        ser.write(array.array('B', Pan).tostring())
        print('leftzore')

def Tilt(tilt):
    a = tilt

    def up():
        q = int(360)
        a1 = (q - a) * 100
        print(a1)

        k = '{0:x}'.format(a1)
        h = k.zfill(4)
        print(h)

        p3 = (h[0:2])
        ##print(p3)
        p4 = (h[2:])
        ##print(p4)

        str_10 = int(p3, 16)
        str_10_2 = int(p4, 16)
        sum_10 = (str_10 + str_10_2 + 78)

        str_16 = hex(sum_10)
        ##print(str_16)

        sum = (str_16[-2:])
        str_10_sum = int(sum, 16)

        SERIAL_PORT = '/dev/ttyS0'
        ser = serial.Serial(SERIAL_PORT, baudrate=9600, timeout=5)
        Pan = [0xFF, 0x01, 0x00, 0x4D, str_10, str_10_2, str_10_sum]
        ser.write(array.array('B', Pan).tostring())
        print('up')

    def down():
        k = abs(a)
        a1 = k * 100
        print (a1)

        k = '{0:x}'.format(a1)
        h = k.zfill(4)
        print(h)

        p3 = (h[0:2])
        ##print(p3)
        p4 = (h[2:])
        ##print(p4)

        str_10 = int(p3, 16)
        str_10_2 = int(p4, 16)
        sum_10 = (str_10 + str_10_2 + 78)

        str_16 = hex(sum_10)
        ##print(str_16)

        sum = (str_16[-2:])
        str_10_sum = int(sum, 16)

        SERIAL_PORT = '/dev/ttyS0'
        ser = serial.Serial(SERIAL_PORT, baudrate=9600, timeout=5)
        Pan = [0xFF, 0x01, 0x00, 0x4D, str_10, str_10_2, str_10_sum]
        ser.write(array.array('B', Pan).tostring())
        print('down')

    if -1 < a <= 90:
        up()
    elif 0 > a >= -25:
        down()

def Zoom(zoom):
    def Zoom1():
        headers = {'Content-Type': 'text/xml'}
        data = '<?xml version="1.0" encoding="utf-8"?><request><ptzcmd><protocol>0</protocol><cmd>0</cmd><addr>1</addr></</request>'
        url = camera_zoomin
        r = requests.post(url, headers=headers, data=data)
        print (r.content)


    def Zoom_1():
        headers = {'Content-Type': 'text/xml'}
        data = '<?xml version="1.0" encoding="utf-8"?><request><ptzcmd><protocol>0</protocol><cmd>0</cmd><addr>1</addr></</request>'
        url = camera_zoomout
        r = requests.post(url, headers=headers, data=data)
        print (r.content)
        print ('you')
    a = zoom
    print(a)
    if (a == 0):
        print("NO")
    elif (a>0):
        for i in range((10*a)):
            Zoom1()
    else:
        a=-1*a
        for i in range((10*a)):
            Zoom_1()



def ndvi1():

    fileName = datetime.datetime.now().strftime("/home/pi/b1/b1.tif")
    req = requests.get(camera_image)
    file = open(fileName, 'wb')
    for chunk in req.iter_content(100000):
        file.write(chunk)
    file.close()

    req = requests.get(camera_ircut_low)

    fileName = datetime.datetime.now().strftime("/home/pi/a1/a1.tif")
    req = requests.get(camera_image)
    file = open(fileName, 'wb')
    for chunk in req.iter_content(100000):
        file.write(chunk)
    file.close()

    def main_n():
        dress = '/home/pi/a1/'
        for root, dirs, files in os.walk(dress):
            print('files: {}'.format(len(files)))
            if len(files) >= 1:
                files.sort()
                for f in files:
                    with open(os.path.join(root, f), "rb") as imageFile:
                        str = base64.b64encode(imageFile.read())
                    url = ndvi_path
                    nr = '21'
                    values = {'data_ira21': str, 'name_ira21': f, 'nr21': nr}
                    data = urllib.parse.urlencode(values)
                    data = data.encode('utf-8')
                    req = urllib.request.Request(url, data)
                    req.add_header('User-Agent', 'Magic Browser')
                    resp = urllib.request.urlopen(req)
                    respData = resp.read()
                    print(os.path.join(root, f))
                    #print(respData)
                    os.remove(os.path.join(root, f))
                    print("ok")

    def main_ir():
        dress = '/home/pi/b1/'
        for root, dirs, files in os.walk(dress):
            print('files: {}'.format(len(files)))
            if len(files) >= 1:
                files.sort()
                for f in files:
                    with open(os.path.join(root, f), "rb") as imageFile:
                        str = base64.b64encode(imageFile.read())
                    url = ndvi_path
                    nr = '21'
                    values = {'c_na21': str, 'name_na21': f, 'nr21': nr}
                    c = urllib.parse.urlencode(values)
                    c = c.encode('utf-8')
                    req = urllib.request.Request(url, c)
                    req.add_header('User-Agent', 'Magic Browser')
                    resp = urllib.request.urlopen(req)
                    respData = resp.read()
                    print(os.path.join(root, f))
                    #print(respData)
                    os.remove(os.path.join(root, f))
                    print("ok")

        # ---------------------------------------------------------------------------------------

    main_n()
    main_ir()

def ndvi2():

    fileName = datetime.datetime.now().strftime("/home/pi/b2/b2.tif")
    req = requests.get(camera_image)
    file = open(fileName, 'wb')
    for chunk in req.iter_content(100000):
        file.write(chunk)
    file.close()

    req = requests.get(camera_ircut_low)

    fileName = datetime.datetime.now().strftime("/home/pi/a2/a2.tif")
    req = requests.get(camera_image)
    file = open(fileName, 'wb')
    for chunk in req.iter_content(100000):
        file.write(chunk)
    file.close()

    def main_n():
        dress = '/home/pi/a2/'
        for root, dirs, files in os.walk(dress):
            print('files: {}'.format(len(files)))
            if len(files) >= 1:
                files.sort()
                for f in files:
                    with open(os.path.join(root, f), "rb") as imageFile:
                        str = base64.b64encode(imageFile.read())
                    url = ndvi_path
                    nr = '21'
                    values = {'data_ira21': str, 'name_ira21': f, 'nr21': nr}
                    data = urllib.parse.urlencode(values)
                    data = data.encode('utf-8')
                    req = urllib.request.Request(url, data)
                    req.add_header('User-Agent', 'Magic Browser')
                    resp = urllib.request.urlopen(req)
                    respData = resp.read()
                    print(os.path.join(root, f))
                    #print(respData)
                    os.remove(os.path.join(root, f))
                    print("ok")

    def main_ir():
        dress = '/home/pi/b2/'
        for root, dirs, files in os.walk(dress):
            print('files: {}'.format(len(files)))
            if len(files) >= 1:
                files.sort()
                for f in files:
                    with open(os.path.join(root, f), "rb") as imageFile:
                        str = base64.b64encode(imageFile.read())
                    url = ndvi_path
                    nr = '21'
                    values = {'c_na21': str, 'name_na21': f, 'nr21': nr}
                    c = urllib.parse.urlencode(values)
                    c = c.encode('utf-8')
                    req = urllib.request.Request(url, c)
                    req.add_header('User-Agent', 'Magic Browser')
                    resp = urllib.request.urlopen(req)
                    respData = resp.read()
                    print(os.path.join(root, f))
                    #print(respData)
                    os.remove(os.path.join(root, f))
                    print("ok")

        # ---------------------------------------------------------------------------------------

    main_n()
    main_ir()

def ndvi3():

    fileName = datetime.datetime.now().strftime("/home/pi/b3/b3.tif")
    req = requests.get(camera_image)
    file = open(fileName, 'wb')
    for chunk in req.iter_content(100000):
        file.write(chunk)
    file.close()

    req = requests.get(camera_ircut_low)

    fileName = datetime.datetime.now().strftime("/home/pi/a3/a3.tif")
    req = requests.get(camera_image)
    file = open(fileName, 'wb')
    for chunk in req.iter_content(100000):
        file.write(chunk)
    file.close()

    def main_n():
        dress = '/home/pi/a3/'
        for root, dirs, files in os.walk(dress):
            print('files: {}'.format(len(files)))
            if len(files) >= 1:
                files.sort()
                for f in files:
                    with open(os.path.join(root, f), "rb") as imageFile:
                        str = base64.b64encode(imageFile.read())
                    url = ndvi_path
                    nr = '21'
                    values = {'data_ira21': str, 'name_ira21': f, 'nr21': nr}
                    data = urllib.parse.urlencode(values)
                    data = data.encode('utf-8')
                    req = urllib.request.Request(url, data)
                    req.add_header('User-Agent', 'Magic Browser')
                    resp = urllib.request.urlopen(req)
                    respData = resp.read()
                    print(os.path.join(root, f))
                   # print(respData)
                    os.remove(os.path.join(root, f))
                    print("ok")

    def main_ir():
        dress = '/home/pi/b3/'
        for root, dirs, files in os.walk(dress):
            print('files: {}'.format(len(files)))
            if len(files) >= 1:
                files.sort()
                for f in files:
                    with open(os.path.join(root, f), "rb") as imageFile:
                        str = base64.b64encode(imageFile.read())
                    url = ndvi_path
                    nr = '21'
                    values = {'c_na21': str, 'name_na21': f, 'nr21': nr}
                    c = urllib.parse.urlencode(values)
                    c = c.encode('utf-8')
                    req = urllib.request.Request(url, c)
                    req.add_header('User-Agent', 'Magic Browser')
                    resp = urllib.request.urlopen(req)
                    respData = resp.read()
                    print(os.path.join(root, f))
                    #print(respData)
                    os.remove(os.path.join(root, f))
                    print("ok")

        # ---------------------------------------------------------------------------------------

    main_n()
    main_ir()

def ndvi4():

    fileName = datetime.datetime.now().strftime("/home/pi/b4/b4.tif")
    req = requests.get(camera_image)
    file = open(fileName, 'wb')
    for chunk in req.iter_content(100000):
        file.write(chunk)
    file.close()

    req = requests.get(camera_ircut_low)

    fileName = datetime.datetime.now().strftime("/home/pi/a4/a4.tif")
    req = requests.get(camera_image)
    file = open(fileName, 'wb')
    for chunk in req.iter_content(100000):
        file.write(chunk)
    file.close()

    def main_n():
        dress = '/home/pi/a4/'
        for root, dirs, files in os.walk(dress):
            print('files: {}'.format(len(files)))
            if len(files) >= 1:
                files.sort()
                for f in files:
                    with open(os.path.join(root, f), "rb") as imageFile:
                        str = base64.b64encode(imageFile.read())
                    url = ndvi_path
                    nr = '21'
                    values = {'data_ira21': str, 'name_ira21': f, 'nr21': nr}
                    data = urllib.parse.urlencode(values)
                    data = data.encode('utf-8')
                    req = urllib.request.Request(url, data)
                    req.add_header('User-Agent', 'Magic Browser')
                    resp = urllib.request.urlopen(req)
                    respData = resp.read()
                    print(os.path.join(root, f))
                    #print(respData)
                    os.remove(os.path.join(root, f))
                    print("ok")

    def main_ir():
        dress = '/home/pi/b4/'
        for root, dirs, files in os.walk(dress):
            print('files: {}'.format(len(files)))
            if len(files) >= 1:
                files.sort()
                for f in files:
                    with open(os.path.join(root, f), "rb") as imageFile:
                        str = base64.b64encode(imageFile.read())
                    url = ndvi_path
                    nr = '21'
                    values = {'c_na21': str, 'name_na21': f, 'nr21': nr}
                    c = urllib.parse.urlencode(values)
                    c = c.encode('utf-8')
                    req = urllib.request.Request(url, c)
                    req.add_header('User-Agent', 'Magic Browser')
                    resp = urllib.request.urlopen(req)
                    respData = resp.read()
                    print(os.path.join(root, f))
                    #print(respData)
                    os.remove(os.path.join(root, f))
                    print("ok")

        # ---------------------------------------------------------------------------------------

    main_n()
    main_ir()

def ndvi5():

    fileName = datetime.datetime.now().strftime("/home/pi/b5/b5.tif")
    req = requests.get(camera_image)
    file = open(fileName, 'wb')
    for chunk in req.iter_content(100000):
        file.write(chunk)
    file.close()

    req = requests.get(camera_ircut_low)

    fileName = datetime.datetime.now().strftime("/home/pi/a5/a5.tif")
    req = requests.get(camera_image)
    file = open(fileName, 'wb')
    for chunk in req.iter_content(100000):
        file.write(chunk)
    file.close()

    def main_n():
        dress = '/home/pi/a5/'
        for root, dirs, files in os.walk(dress):
            print('files: {}'.format(len(files)))
            if len(files) >= 1:
                files.sort()
                for f in files:
                    with open(os.path.join(root, f), "rb") as imageFile:
                        str = base64.b64encode(imageFile.read())
                    url = ndvi_path
                    nr = '21'
                    values = {'data_ira21': str, 'name_ira21': f, 'nr21': nr}
                    data = urllib.parse.urlencode(values)
                    data = data.encode('utf-8')
                    req = urllib.request.Request(url, data)
                    req.add_header('User-Agent', 'Magic Browser')
                    resp = urllib.request.urlopen(req)
                    respData = resp.read()
                    print(os.path.join(root, f))
                   # print(respData)
                    os.remove(os.path.join(root, f))
                    print("ok")

    def main_ir():
        dress = '/home/pi/b5/'
        for root, dirs, files in os.walk(dress):
            print('files: {}'.format(len(files)))
            if len(files) >= 1:
                files.sort()
                for f in files:
                    with open(os.path.join(root, f), "rb") as imageFile:
                        str = base64.b64encode(imageFile.read())
                    url = ndvi_path
                    nr = '21'
                    values = {'c_na21': str, 'name_na21': f, 'nr21': nr}
                    c = urllib.parse.urlencode(values)
                    c = c.encode('utf-8')
                    req = urllib.request.Request(url, c)
                    req.add_header('User-Agent', 'Magic Browser')
                    resp = urllib.request.urlopen(req)
                    respData = resp.read()
                    print(os.path.join(root, f))
                    #print(respData)
                    os.remove(os.path.join(root, f))
                    print("ok")

        # ---------------------------------------------------------------------------------------

    main_n()
    main_ir()

def ndvi6():

    fileName = datetime.datetime.now().strftime("/home/pi/b6/b6.tif")
    req = requests.get(camera_image)
    file = open(fileName, 'wb')
    for chunk in req.iter_content(100000):
        file.write(chunk)
    file.close()

    req = requests.get(camera_ircut_low)

    fileName = datetime.datetime.now().strftime("/home/pi/a6/a6.tif")
    req = requests.get(camera_image)
    file = open(fileName, 'wb')
    for chunk in req.iter_content(100000):
        file.write(chunk)
    file.close()

    def main_n():
        dress = '/home/pi/a6/'
        for root, dirs, files in os.walk(dress):
            print('files: {}'.format(len(files)))
            if len(files) >= 1:
                files.sort()
                for f in files:
                    with open(os.path.join(root, f), "rb") as imageFile:
                        str = base64.b64encode(imageFile.read())
                    url = ndvi_path
                    nr = '21'
                    values = {'data_ira21': str, 'name_ira21': f, 'nr21': nr}
                    data = urllib.parse.urlencode(values)
                    data = data.encode('utf-8')
                    req = urllib.request.Request(url, data)
                    req.add_header('User-Agent', 'Magic Browser')
                    resp = urllib.request.urlopen(req)
                    respData = resp.read()
                    print(os.path.join(root, f))
                    #print(respData)
                    os.remove(os.path.join(root, f))
                    print("ok")

    def main_ir():
        dress = '/home/pi/b6/'
        for root, dirs, files in os.walk(dress):
            print('files: {}'.format(len(files)))
            if len(files) >= 1:
                files.sort()
                for f in files:
                    with open(os.path.join(root, f), "rb") as imageFile:
                        str = base64.b64encode(imageFile.read())
                    url = ndvi_path
                    nr = '21'
                    values = {'c_na21': str, 'name_na21': f, 'nr21': nr}
                    c = urllib.parse.urlencode(values)
                    c = c.encode('utf-8')
                    req = urllib.request.Request(url, c)
                    req.add_header('User-Agent', 'Magic Browser')
                    resp = urllib.request.urlopen(req)
                    respData = resp.read()
                    print(os.path.join(root, f))
                    #print(respData)
                    os.remove(os.path.join(root, f))
                    print("ok")

        # ---------------------------------------------------------------------------------------

    main_n()
    main_ir()

def ndvi7():

    fileName = datetime.datetime.now().strftime("/home/pi/b7/b7.tif")
    req = requests.get(camera_image)
    file = open(fileName, 'wb')
    for chunk in req.iter_content(100000):
        file.write(chunk)
    file.close()

    req = requests.get(camera_ircut_low)

    fileName = datetime.datetime.now().strftime("/home/pi/a7/a7.tif")
    req = requests.get(camera_image)
    file = open(fileName, 'wb')
    for chunk in req.iter_content(100000):
        file.write(chunk)
    file.close()

    def main_n():
        dress = '/home/pi/a7/'
        for root, dirs, files in os.walk(dress):
            print('files: {}'.format(len(files)))
            if len(files) >= 1:
                files.sort()
                for f in files:
                    with open(os.path.join(root, f), "rb") as imageFile:
                        str = base64.b64encode(imageFile.read())
                    url = ndvi_path
                    nr = '21'
                    values = {'data_ira21': str, 'name_ira21': f, 'nr21': nr}
                    data = urllib.parse.urlencode(values)
                    data = data.encode('utf-8')
                    req = urllib.request.Request(url, data)
                    req.add_header('User-Agent', 'Magic Browser')
                    resp = urllib.request.urlopen(req)
                    respData = resp.read()
                    print(os.path.join(root, f))
                    #print(respData)
                    os.remove(os.path.join(root, f))
                    print("ok")

    def main_ir():
        dress = '/home/pi/b7/'
        for root, dirs, files in os.walk(dress):
            print('files: {}'.format(len(files)))
            if len(files) >= 1:
                files.sort()
                for f in files:
                    with open(os.path.join(root, f), "rb") as imageFile:
                        str = base64.b64encode(imageFile.read())
                    url = ndvi_path
                    nr = '21'
                    values = {'c_na21': str, 'name_na21': f, 'nr21': nr}
                    c = urllib.parse.urlencode(values)
                    c = c.encode('utf-8')
                    req = urllib.request.Request(url, c)
                    req.add_header('User-Agent', 'Magic Browser')
                    resp = urllib.request.urlopen(req)
                    respData = resp.read()
                    print(os.path.join(root, f))
                    #print(respData)
                    os.remove(os.path.join(root, f))
                    print("ok")

        # ---------------------------------------------------------------------------------------

    main_n()
    main_ir()

def ndvi8():

    fileName = datetime.datetime.now().strftime("/home/pi/b8/b8.tif")
    req = requests.get(camera_image)
    file = open(fileName, 'wb')
    for chunk in req.iter_content(100000):
        file.write(chunk)
    file.close()

    req = requests.get(camera_ircut_low)

    fileName = datetime.datetime.now().strftime("/home/pi/a8/a8.tif")
    req = requests.get(camera_image)
    file = open(fileName, 'wb')
    for chunk in req.iter_content(100000):
        file.write(chunk)
    file.close()

    def main_n():
        dress = '/home/pi/a8/'
        for root, dirs, files in os.walk(dress):
            print('files: {}'.format(len(files)))
            if len(files) >= 1:
                files.sort()
                for f in files:
                    with open(os.path.join(root, f), "rb") as imageFile:
                        str = base64.b64encode(imageFile.read())
                    url = ndvi_path
                    nr = '21'
                    values = {'data_ira21': str, 'name_ira21': f, 'nr21': nr}
                    data = urllib.parse.urlencode(values)
                    data = data.encode('utf-8')
                    req = urllib.request.Request(url, data)
                    req.add_header('User-Agent', 'Magic Browser')
                    resp = urllib.request.urlopen(req)
                    respData = resp.read()
                    print(os.path.join(root, f))
                    #print(respData)
                    os.remove(os.path.join(root, f))
                    print("ok")

    def main_ir():
        dress = '/home/pi/b8/'
        for root, dirs, files in os.walk(dress):
            print('files: {}'.format(len(files)))
            if len(files) >= 1:
                files.sort()
                for f in files:
                    with open(os.path.join(root, f), "rb") as imageFile:
                        str = base64.b64encode(imageFile.read())
                    url = ndvi_path
                    nr = '21'
                    values = {'c_na21': str, 'name_na21': f, 'nr21': nr}
                    c = urllib.parse.urlencode(values)
                    c =  c.encode('utf-8')
                    req = urllib.request.Request(url, c)
                    req.add_header('User-Agent', 'Magic Browser')
                    resp = urllib.request.urlopen(req)
                    respData = resp.read()
                    print(os.path.join(root, f))
                    #print(respData)
                    os.remove(os.path.join(root, f))
                    print("ok")

        # ---------------------------------------------------------------------------------------

    main_n()
    main_ir()


## Report the system information about this device to the server.
def system_info():
    # get firmware version from the file
    fw_version = open('/etc/fw_version').readline().strip()
    localtime = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime()) 
    # message to be sent in JSON format
    payload = {
        'device_id': device_id,
        'localtime': localtime,
        'command': 'system_info',
        'project': project_name,
        'model': model_name,
        'fw_version': fw_version,
        'mqtt_sub_topic': mqtt_sub_topic,
        'mqtt_pub_topic': mqtt_pub_topic
    }
    jsonobj = json.dumps(payload, sort_keys=True, indent=4)
    mqtt_client.publish(mqtt_pub_topic, jsonobj, qos=2)
    print('Sent:')
    print(jsonobj)
    logging.info('system info')

## Update system firmware.
# @param msg  [in] The message from the server in JSON format.
def system_update(msg):
    if (msg['filetype'] == 'img'):
        # create a directory to store the firmware image
        dirname = '/tmp/' + str(uuid.uuid1()) + '/'
        filepath = dirname + 'update.img'
        os.makedirs(dirname)
        # start to download the firmware image
        server_log('system_update', 'Downloading system firmware')
        logging.info('system downloading')
        urllib.urlretrieve(msg['url'], filepath)
        # check the SHA256 checksum of the firmware image
        if (msg['sha256sum'] == get_sha256sum(filepath)):
            server_log('system_update', 'Updating system firmware')
            logging.info('system update')
            # start to upgrade the system firmware
            os.system('sysupgrade -n ' + filepath)
        else:
            server_log('system_update', 'ERROR: SHA256 checksum is wrong')
            logging.info('checksum wrong')
            shutil.rmtree(dirname, ignore_errors=True)

## 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('reboot | factory_reset', 'Boot completed')
    logging.info('system running')

## 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'] == 'reboot'):
        system_reboot()
    elif (jsonmsg['command'] == 'factory_reset'):
        factory_reset()
    elif (jsonmsg['command'] == 'system_info'):
        system_info()
    elif (jsonmsg['command'] == 'scheduled_ndvi'):
        if (jsonmsg['nr'] == "KDARES21"):
            if (jsonmsg['position'] == '1'):
                ndvi_1(jsonmsg)
            elif (jsonmsg['position'] == '2'):
                ndvi_2(jsonmsg)
            elif (jsonmsg['position'] == '3'):
                ndvi_3(jsonmsg)
            elif (jsonmsg['position'] == '4'):
                ndvi_4(jsonmsg)
            elif (jsonmsg['position'] == '5'):
                ndvi_5(jsonmsg)
            elif (jsonmsg['position'] == '6'):
                ndvi_6(jsonmsg)
            elif (jsonmsg['position'] == '7'):
                ndvi_7(jsonmsg)
            elif (jsonmsg['position'] == '8'):
                ndvi_8(jsonmsg)
    elif (jsonmsg['command'] == 'manual_ndvi'):
        manual_ndvi()
    elif (jsonmsg['command'] == 'tilt'):
        tilt(jsonmsg)
    elif (jsonmsg['command'] == 'pan'):
        pan(jsonmsg)
    elif (jsonmsg['command'] == 'zoom'):
        zoom(jsonmsg)
    elif (jsonmsg['command'] == 'p1_preview_photo'):
        p1_preview_photo()
    elif (jsonmsg['command'] == 'p2_preview_photo'):
        p2_preview_photo()
    elif (jsonmsg['command'] == 'p3_preview_photo'):
        p3_preview_photo()
    elif (jsonmsg['command'] == 'p4_preview_photo'):
        p4_preview_photo()
    elif (jsonmsg['command'] == 'p5_preview_photo'):
        p5_preview_photo()
    elif (jsonmsg['command'] == 'p6_preview_photo'):
        p6_preview_photo()
    elif (jsonmsg['command'] == 'p7_preview_photo'):
        p7_preview_photo()
    elif (jsonmsg['command'] == 'p8_preview_photo'):
        p8_preview_photo()
    elif (jsonmsg['command'] == 'system_update'):
        system_update(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()