FinallProject-RasPi-/Mainer.py at main · SmartMan-Roy/FinallProject-RasPi-

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import time #An import that is Used for calculating time
import numpy as np #An import for calculating The camera Speed(Saved as np)
import cv2 #An import for controling the camera feed
import pyrealsense2 as rs #An import for calibrating the realsense camera and using the feed (Saved as rs)
import socket #Used for communicating back and forth with the Esp32
import threading #The import is used for Preforming multiple tasks in the same time
from flask import Flask, Response, render_template_string #It takes from the flask import oarts to controll the Self hosted flask website
# ==-- Initial Wifi + Socket --==
host_ip = '0.0.0.0' #The Ras-Pi 4b Ip(Our IP)
EspIP = '192.168.13.100' # Will be updated from user input
EspInputPort = EIP = 6010 #It Asighnes An input port for the Esp32 (In the Ras-Pi)
EspOutputPort = EOP = 6020 #IT assinghes An Output Port for the Esp32 (In the Ras-Pi)
GetConnectionFromEsp = socket.socket(socket.AF_INET, socket.SOCK_STREAM) #Establishes an Connection socket input and Output socket using the AF_init protocol(Ipv4), and socket stream, to start and stop 
OutputToEsp = socket.socket(socket.AF_INET, socket.SOCK_STREAM) #Establishes with the ESP32 an 2 way socket using (Ipv4) throguh AF_init protocol, and socket stream to comunicate with the esp
InputFromEsp = None #Declares that there isn't any input from the ESP32 socket
# ==-- Variable Decleration --==
CALIB = 0.01 #It shrinks the Value by 1/100(to make the pixle motion more realistic)
ROI = (100, 100, 200, 200) #Declares the futer Reagon of itrest to be dimentions (x,y,width,height)(x,y,רוחב,גובה) Pixels/Image
fb_params = dict(pyr_scale=0.5, levels=3, winsize=15, iterations=3, poly_n=5, poly_sigma=1.2, flags=0) #Calib Paramaters- Only half of the omage,levals is for levals of manitude of zoom ,WindSide is 15x15 pixels ,Iteration is for it to have 3 tries ,poly + polysigma is for smothing ,defaulte = 0 
TimeInc = 0.25 #Time increment (place Holder) in seconds
StopExper = False #An Var why To stop the exerminet
KillSwitch = False #Imedatly stops/Kills the experiment
ExperRequested = None #To start the Experiment
Duration = None #How much time will the expirament have
MaxExp = 60*30 #Maxuimum Duration
LAT = [] #List of Avarege Tempeturee
LPR = []  #List of PRessure
LWSPd = [] #The Delata Speed
LWSPB = [] #a List for the Speed Of Before 
LWSC = [] #a List of the Speed that the Camera detecs
LAH = [] # A List for the Avarege Humidity
Stable = [] #It Asigns when will the first time that i would detect that the Wind is Stable
TimeIncCalcL = [] #It will be used to calc the Time Incrments, and the deltas in the time
# ==-- Camera Class --==
class SharedRealSenseStream: #זה יוצר מחלקה שלהיא מגדירה את הפרמטרים של המצלמה
    def __init__(self): #זה הבנאי של המצלמה שמגדיר משתנים של המחלקה
        self.Frame = None #A var to Save the Last frame
        self.Lock = threading.Lock() #Locds that cirten thred so only 1 thred could acess the camera feed
        self.Pipeline = rs.pipeline() #It Creates a Pipe Line(אובייקט שהספריה של המצלמה יכולה לעשות שינויים)
        self.Config = rs.config() #It will be used to connfigure the stuf later
        self.Config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 60) #Connfigers the camera to be with couleer, 640x480 ratio (frames in 480p), in a format for OpenCv, and with 60 FPS
        self.Pipeline.start(self.Config) #It starts the pipeline With the config from earlier
        self.Running = True #A Var that Can Stop/start the Camera 
    def StartCaptureLoop(self): #הפונקציה קולטת את התצלומים
        try: #It is like an if statment just it is for getting data from frames & if it fails, it will be caught as e
            while self.Running == True: #While the Camera Is Running
                frames = self.Pipeline.wait_for_frames() #A comand to suspend the Camera So it could load another frame
                color_frame = frames.get_color_frame() #It gets the colur Data from the frame
                if color_frame != None: #An if statment to varify that it got colour from the last frame 
                    frame = np.asanyarray(color_frame.get_data()) #Turens that in to a Numpy array data struckert(פורמט) so other lybareris could work with the data
                    with self.Lock: #It Locks the thred (Gives it asingle thred) (לסדר את זה לדבר יחיד בלי בלגן)
                        self.Frame = frame #Updates to the latest Frame
                time.sleep(0.01) #It gives it alitle bit of time to refresh
        except Exception as e: #Finds the Exepetion and stors the Exeption as e
            print(f"Error RealSense camera thread failed: {e}") #It presents a Camera Thred Error + the reason
            global StopExper, KillSwitch #It Makes the Variables listed Global(Being able to read and Write) 
            StopExper = True #The var is True, and it stops the experiment
            KillSwitch = True #Asginigning True to the kill switch Variable(To kill the experimaent)            
        finally: #It Just works after the try and excepet like they were not there  
            self.Pipeline.stop() #It stops the pipeline compleatly
    def GetLatestFrame(self): #הפונקציה מעדכנת את התמונה\פריים אחרון
        with self.Lock: #It Locks the thred (Gives it asingle thred) (לסדר את זה לדבר יחיד בלי בלגן)
            if self.Frame is not None: #If there is data in the farme
                return self.Frame.copy() #It returns a coppy of the same frame
            else: #If there isn't any data in the frame
                return None # Returns None (Null/nothing)
    def Stop(self): #הפונקציה מפיסקה את התוכנה
        self.Running = False #It stops the Camera
        self.Pipeline.stop() #It stops the Pipeline
SharedStream = SharedRealSenseStream() #It starts the Camera Class
# ==-- Site Block --==
app = Flask(__name__) #It starts the Flask Part and interaction with the website
#It Creates an HTML Page
<!DOCTYPE html>
<html lang="en"> <!-- It conifguirs the html site's language as English -->
<head> <!--Configurs data so the site could work properly, and have Better in the Head Part -->
    <meta charset="UTF-8"> <!-- It Configurs the Chares(Each LEtter) to be apart of the UTF-8 Format -->
    <meta name="viewport" content="width=device-width, initial-scale=1.0"> <!-- -->
    <title>Roy and Nivs Camera Feed </title> <!-- It gives it Internal Data And the web name of the site-->
</head> <!-- It closes the Head Devider -->
<body> <!-- It Starts the Body of the file and the stuff that would be shown -->
  <div> <!-- Opens a divider For The shown File Name -->
    <h1> <!-- It defines the bigest text size -->
        <pr> Roy & Niv's Final Project Camera Site </pr> <!-- The projects name, and aparagrath -->
    </h1> <!-- Closes the font size -->
  </div> <!-- Closes the divider -->
  <br> </br> <!-- Small brake line so there will be space between the title tand the camera feed ahead -->
  <div> <!-- Main Divider -->
    <h3> <!-- Smaller font For less emphesis -->
      <br> <The Live Feed of our Camera:> </br> <!-- Text explaining what is hapaning --> 
      <img src="{{ url_for('video_feed') }}" alt="Video Feed"> <!-- Gives the sourcre of the image that will be displaied -->
    </h3> <!-- Closes the font size -->   
  </div> <!-- Closes the divider -->
</body> <!-- End of the Body part -->
</html> <!-- The end of the site -->
def generate_frames(): #הפונקציה ממירה את הפריים האחרון לאתר
    while True: #While not stoped
        frame = SharedStream.GetLatestFrame() #It asgings The latest frame from the fuction inside the class 
        if frame is None: #If the Frame Variable has any content
            time.sleep(0.05) #It gives it 0.05 seconds(50 miliseconds) to wait
            continue #countines to the next thing without Returning an if error
        ReturnFrame, buffer = cv2.imencode('.jpg', frame) #To check if it Encoded, and Encoding the frame in to a .jpg format
        if not ReturnFrame: # If It encoded it is False
            continue #If it returned a frame the loop should continue
        frame_bytes = buffer.tobytes() #It Turnes the .jpg file in to Pure Bites
        yield (b'--frame\r\n' b'Content-Type: image/jpeg\r\n\r\n' + frame_bytes + b'\r\n') #It makes the code Become ready for sending it to a website
@app.route('/video_feed') #It makes the route to the feed to being able to transmit the frames in to the http format
def video_feed(): #הפונקציה פה יוצרת אפשרות להעלעת תמונות לאתר
    return Response(generate_frames(), mimetype='multipart/x-mixed-replace; boundary=frame') #It Activates the Frame generation func, and it replaces it with the old Frame.
@app.route('/') #It makes it the route fo the main site template(how the site will be built)
def index(): #הפונקצינה יוצרת את האתר אל בסיס הHTML
    return render_template_string(Site) #It makes the site acsesible in the browser(Google/FireFox/Brave or any other altenative)
def run_flask(): #זה מתחיל את השידור למקום המדוייק
    app.run(host='0.0.0.0', port=5000, debug=False) #The Ip that it's runing on is '0.0.0.0', The port is 5000, and the debug fetcher is off(it Caused problemes)
# ==-- Socket & Functions --==
def GetESPIp(): #הפונקציה מקבלת מהמשתמש כתובת IP של הESP32
    global EspIP #It Gives acses to read and change the EspIp adress as a global variable
    time.sleep(5) #Give the it time for the flask site to load
    EspIpInput = input(f"Current ESP32 IP is {EspIP}. Enter new IP or press Enter to keep: ") #Function to get the new IP from the ESP32
    if EspIpInput.strip() != '': #If the Esp32 Input is Not Empty after Clearing the spaces
        EspIP = EspIpInput.strip() #It changes the old Ip Addrees for the New IP addres
    print(f"Using ESP32 IP: {EspIP}") #IT prints the Esp32 Ip address
def TryConnectToEspWithTimeout(timeout=180): #הפונקציה אחראית לחיבור אם הESP32
	global OutputToEsp, KillSwitch, StartTime #It Makes the Variables listed Global(Being able to read and Write) 
	StartTime = time.time() #Assighns a start time to the Variable
	connected = False #It is not connected
	while (time.time() - StartTime < timeout): #While the Time - The start time is less then the Maimum Time out (הזמן שמוקצה לחיבור) is Reached
		try: #It Tries(like an if without Ending the program in case of faliure) to Compleatly connect to the Esp32
			OutputToEsp.settimeout(5) #IT sets 5 seconds Timer To get a connnection 
			OutputToEsp.connect((EspIP, EOP)) #It Connects Compleatly to the esp32 Based on the esp32 Ip and the Ras pi asghined port
			connected = True #Continues The value
			print("Connected to ESP32!") #Sends a massege To the user
			break #Stops the While loop 
		except Exception as e: #Finds the Exepetion and stors the Exeption as e
			print(f"Connect failed: {e}. Retrying in 3 seconds...") #Sends The Failier meseage to the user 
			time.sleep(3) #It gives it a 3 seconds buffer
	if connected == False: #If the connection Faild 
		print("Connection Failed. Experiment Forfeited.") #Sends out a message to the user about falier
		KillSwitch = True #It kills the expirament Compleatly
		StopExper = True #Another reasurence that the expirament will be ended Proparly
	return connected #It returns the Value of the Vareiable connected
def CreateConnectionWithEsp32(): #הפונקציה אחראית אל ליצור קשר סופי אם הESP32
    global InputFromEsp #Declares for writing a Global Socket variable
    GetConnectionFromEsp.bind((host_ip, EIP)) #It binds compleatly the Esp32 Socket for conection and it makes it listen to the Esp32, from the Users Ip 
    GetConnectionFromEsp.listen(1) #It makes it use only a single connection
    InputFromEsp, IgnoreThisVariable_ItIs_Usless = GetConnectionFromEsp.accept() #The Variable is tied to a socket & it ignors the senders addrr (we alredy have it)
    try: #It Tries to send data to the esp32
        OutputToEsp.send(b'StartExper') #It sends data to the Esp32 
    except Exception as e: #In case of an problem it stors the Exeption as e
        print(f"SendToEsp failed: {e}") #It prints the posible error to the the user 
def SortMessegeByTitleFromEsp(data): #הפונקציה אחראית אל פיצול המידע המתקבל מן הESP32
    global StopExper #It Makes the Stop experiment Var a Global(Being able to read and Write to it) 
    try: #It is a Try Block to Decode the data from the Esp32
        parts = data.decode('utf-8').split(',') #It splits the data in to the utf-8 format, and it splits the data(parts) from the Esp32
        if parts[0] == "Stop": #If the first val in the dictionnery is Stop
            StopExpereriment() #Activates the Stop Expirament Function
        elif parts[0] == "Data": #If the first val in the dictionnery is Data
            GetData(parts) #It sends the parts in to a function to put the data indexes in to lists
        else: #If The if and Elif fail
            print("Unknown ESP32 message:", parts) #It prints the error, and themeassage from the esp32
    except Exception as e: #Finds the Exepetion(In case there is an exception) and stors the Exeption as e
        print("Error parsing ESP32 data:", e) #Prints the posible Error to the user
def ReciveDataFromEsp(): #הפונקציה אחראית אל קבלת מידע מהESP32
    global StopExper, KillSwitch #It Makes the Expirament ending Variables listed Global (Being able to read and Write to) 
    try: #Try block to Get data from the esp32
        while not StopExper and not KillSwitch: #While The experiment did not end & The Expirament was not killed
            DataBndwith = InputFromEsp.recv(8192)#It makes the Data Bandwith for 8192 bites per send & it waits untill it gets data from the esp32
            if not DataBndwith: #if no messaage has been recived
                break #Stops the While loop 
            SortMessegeByTitleFromEsp(DataBndwith) #Sends the Sort function The Data from the Esp32
    except Exception as e: #Finds the Exepetion(error) and it stores the Exeption in the Variable e
        print(f"Error ESP32 receiver thread failed: {e}") #Sends out the Error message
        StopExpereriment() #Starts a function that stops the expirmaent
def StartTheExpirament(): #הפונקציה מכינה את המערכת והתמשתמש לתחילת הניסוי
    global ExperRequested, KillSwitch #It Makes the variables listed as Global Type(Being able to read from The Vars declaered earlier and being able to read and write to)
    while ExperRequested != 'Y' and ExperRequested != 'y':  #While the expirament was not requsted(Acsepted)
        ExperRequested = input("If you wish to start the experiment\nPlease Press Y: ") #Asks again if it wants an expirament
        if ExperRequested == 'n' or ExperRequested == 'N': #If an exerament was not requested
            print("Are you sure you want to Quit?") #Reashurence message 
            ExperRequested = input("Press N again to forfeit: ") #Another option to request an expirament
            if ExperRequested == 'n' or ExperRequested == 'N': #if an expirament was still not requested
                KillSwitch = True #It kills the expirament
                StopExper = True #Another reasurence that the expirament will be ended
                break #Break the while loop
    return (ExperRequested) #It returns true To the expirament beeing acepted
def GetDuration(): #הפונקציה מחליטה אל כמות הזמן שהניסוי יתרחש בתוכו
	global Duration #It Makes the Duration listed Global(Being able to read from earlier and to being able write to)
	MaxExp = 60*30 #Maximum Experiment is 30 Minuits (60 Sec * 30 times)
	while Duration is None: #While i did not get the Duration
		try: #it Starts with an atempt to get the duration from the user
			Duration = float(input("Please Enter the amount of seconds you want this Experiment to last: ")) #Gets the Sconds From the user
			if int(Duration) == float(Duration): #IF the duration if the durations are eaquel just in a floating point type
				Duration = int(Duration) #It changs the type to be Only an intiger
			else: #The floating point is not eaquell to the intiger
				Duration = int(Duration * 10) // 10 #An operation & calculation to make it an Intiger
		except: #In case of an error/decision to not get an duration
			print("Invalid input The duration will be The maximum duration posible") #A message to the user
			Duration = MaxExp #The Duration is the maximem duration posible
	return (Duration) #It returns the Furation
def GetData(parts): #הפונקציה אחראית אלהכנסה לתוך רשימות במוסדרות של הנדונים המתקבלים
    LAT.append(float(parts[1])) #It ads to the Avarege Temp List values to the Avarege Temp 
    LAH.append(float(parts[2])) #It adds a value to the Avarege Humidity list 
    LPR.append(float(parts[3])) #It adds a Numerical value to the Presuire list 
    LWSPd.append(float(parts[4])) #It adds another value to the Wind speed Delta in time 
    LWSPB.append(float(parts[5])) #It adds Another value to the wind speed Before/First annometers speed 
def CheckStable(): #הפונקציה בודקת אם מהירות האוויר התיצבה
	if len(LWSPB) >= 2: #If the length of the list of The wind speed Of the first annometter is grater then 2
		SpeedOldd = LWSPB[-2] #Adds another VAriable of the old speed
		SpeedNeww = LWSPB[-1] #Adds a value to the val that symbolises current/new speed
		ChkSpeedDelta = abs(SpeedNeww - SpeedOldd) #It adds A delta(Diffarence) calculation in absoulout(ארך מוחלט) Value
		if ChkSpeedDelta <= 0.5: #if the delta is less then 0.5 m/sec  
			Stable.append(len(LWSPB)) #if the diffarence is eaquell or less then 0.5 m/sec(מטרים בשניה) It adds a value to a stable list
			return True #It returns True (The speed is Stable)
		return False #if it is not eauqell or less then 0.5 m/s then it returns False (The wind is Not stable)
	return False #if it is not eauqell or less then 0.5 m/s it returns False (The wind is Not stable)
def StopExpereriment(): #הפונקציה מוודאת שהניסוי נגמר
	global KillSwitch, StopExper, LAH #It Makes the Expirament ending Variables Global (Being able to Read from earlier and  beeing able to Write to the vars) 
	KillSwitch = True #Asginigning True to the kill switch Variable(To kill the experimaent)
	StopExper = True #The var is True, and it stops the experiment
	print("Stopping the experiment") #To the USer it explains what happaning
	OutputToEsp.send(b'StopExper') #Sends to the ESP32 as a mesage to stop the experiment
	if LAH is not None: #If a randomly chousen data peramater that was sent From the ESP32 has been ressived (It came with more data) and after stabliasation
		CalcculateAvareges() #It will activate the function that will caclulate and print the (Stabalised) avareges
	return (KillSwitch) #Returns The Kill Switch value to the Point where it activated the Function
def camera_loop(): #הפונקציה אחראית אל חישוב המהירות המתקבלת מן המצלמה
	global LWSC, StopExper, KillSwitch #It Decalres the Variables as a Global type in the func (Being able to Read & Write to the vars From Eariler)
	try: #It is like an if statment that dose in case of failier it will be remeberes as e in the next block
		PreviousFrameGray = None #Because there isn't any previous data
		PreviousTime = time.time() #It gets the Privious Time (for the frame)
		while StopExper != True and KillSwitch == False: #while the expirament was not ended or there was a kill switch 
			frame = SharedStream.GetLatestFrame() #It takes the value(frame) from the func Get Latest Frame in the Shared Screen Class
			if frame is None: #If Frame == None (Works better without bugs from expriance)
				time.sleep(0.01) #It waits for 0.01(10 miliSeconds) 
				continue #It Resets the Loop without any error
			gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)  #It Turnes the Frame to Black and White (GrayScale) to Calculate it easyer
			if PreviousFrameGray is None: #If there is no previous frame
				PreviousFrameGray = gray #The previous frame is the current frame
				continue #It Resets the Loop without an error	
			ROI_gray = gray[ROI[1]:ROI[1]+ROI[3], ROI[0]:ROI[0]+ROI[2]] #It analises 2 'Reagons Of Intrest' in (Grayscale)
			prev_ROI = PreviousFrameGray[ROI[1]:ROI[1]+ROI[3], ROI[0]:ROI[0]+ROI[2]] #It analises the 2 'Reagons Of Intrest' in Gray scale but in the aprevious Frame
			Flow = cv2.calcOpticalFlowFarneback(prev_ROI, ROI_gray, None, **fb_params) #It calculates the Optical(camera) Flow, Through the 2 frames analasis, calibration Paramaters from the start 
			SpeedMagnitude, _ = cv2.cartToPolar(Flow[...,0], Flow[...,1]) #It calculates the flow and it Turens them in to a vector (Speed) + (Degree)
			dt = time.time() - PreviousTime #dt Mathamatical notation to difarence in Time (calculates the delta between the curent time and the Previous frames time)
			PreviousTime = time.time() #It asighes new time to the Previous time frame
			speed = np.mean(SpeedMagnitude) * CALIB / dt #Speed is calculated by (ממוצא חציוני מהירות * Calibration factor from earlier) / Time Difarence
			LWSC.append(speed) #The List of Wind Speed from the Camera gets a new value
			PreviousFrameGray = gray #The previouse image Gray is now this Gray
	except Exception as e: #Finds the Exepetion and stors the Exeption as e
		print(f"Error Camera thread failed: {e}") #It prints the posible error to the the user(Saved as e)
		StopExper = True #The Var is True, and it stops the experiment
		KillSwitch = True #Asginigning True Value to the kill switch Variable(To kill the experimaent)
	finally: #After the Try and Except 
		SharedStream.Stop() #Sends asignal to The Function in the class to start(and it stops the experiment) 
def CalcculateAvareges(): #הונקציה מחשבת ומציגה את הממוצע לאחר התיבצות של הנתונים שהתקבלו במהלך הניסוי
    averages = { #all of the Variables are global
        'AvgTemp': sum(LAT) / len(LAT), #Avarege Tempeter Dicionery entry
        'AvgPress': sum(LPR) / len(LPR), #Avarge Pressuier Dicionery 
        'AvgDelta': sum(LWSPd) / len(LWSPd), #Avarege Speed Delta Dictionery 
        'AvgCam': sum(LWSC) / len(LWSC), #Avarege Camera Speed Dict Entry
        'AvgHum': sum(LAH) / len(LAH), #Avarege Himiditi Dict Entry
    }#It Gets the Avarege values in adictionery 
    print("Experiment Averages: \n", averages) #It prints out the Stabalised Avareges for Each paramater tested
    return (averages) #It returns the avareges to the function that has sent them
# ==-- Main code Activation --==
def Main():  #הפונקציה פה מפעילה את שער הפונקציות ומגדירה אותם בסדר הפעולה(ועבודה במקביל)
    try: #The Try block here is for activating the main code (without it faling if there is aproblem here like with a thred, socket, function or even a class)
        threading.Thread(target=run_flask, daemon=True).start() #It starts the site In the Backround Thread
        threading.Thread(target=SharedStream.StartCaptureLoop, daemon=True).start()  #Starts the Camera Class in abackround(Deamon) Thread  
        threading.Thread(target=camera_loop, daemon=True).start() #The threaing procees starts the Camera speed calculations
        GetESPIp() #A function to get the ESP32 Current IP addres
        if TryConnectToEspWithTimeout(): #If the esp32 dose have a sucesfull conection
            CreateConnectionWithEsp32() #It activates a function that verafy and finaloise the connecction
            if StartTheExpirament() in ['Y', 'y']: #If in the start the expirament function you get back the result Y or y it continues
                Duration = GetDuration() #The duration is the return value from the Get Duration function
                threading.Thread(target=ReciveDataFromEsp, daemon=True).start() #It starts the Data recive function, thread in the backround(deamon)
                time.sleep(Duration) #It stops the main logic for the amounto of seconsds that the expirament takes, and it gives everything for thr threads
                StopExpereriment() #It activates the function that stops the expirament
    except KeyboardInterrupt: #The except is that in case the disruption was the keybord(like an else statment onlyfor the keybord)
        print("Shutting down...") #It prints a Mesage of shuting down to the user
        SharedStream.Stop() #It stops the Main Class 
        GetConnectionFromEsp.close() #It Stops the connection to the Esp32 scoket
        OutputToEsp.close() #It closes the output socket to the ESP32 
        if InputFromEsp: #In case there is an socket opend for getting an input from the esp32
            InputFromEsp.close() #It closes the socket to the Esp32
if __name__ == "__main__": #It checks if the code is The main code or is it an import
    Main() #Starts the Body of the expirament 
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