main.py

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import cv2
import numpy as np
import threading
import time
import json

from ML import ObjectDetection as od
from Socket.Server import Server
from IOT.REST import REST
from Sensors import *

distance_data = " "
obstacle_detect = " "
location_data = " "

#loading configuration
with open('config.json') as configuration:
    config = json.load(configuration)

rest = REST(config["web-service"]["URL"], config["web-service"]["timeout"])

class Threads:

    def thread_ultrasonic(config):
        if config["sensors"]["ultrasonic"]["status"]:
            global distance_data
            try:
                distance = Ultrasonic(config["sensors"]["ultrasonic"]["PIN_GPIO_TRIGGER"], config["sensors"]["ultrasonic"]["PIN_GPIO_ECHO"])
                while True:
                    distance_data = distance.measure()
                    print ("Distance : %2.1f cm" % (distance_data))
                    time.sleep(0.5)
            except Exception as e:
                raise('Distance thread error!')
        else:
            print("\nUltrasonic Sensor is blocked from the setting.")

    def thread_IR(config, rest):
        if config["sensors"]["IR"]["status"]:
            global obstacle_detect
            try:
                obstacle = IR()
                obstacle_detect = obstacle.detect()
            except Exception as e:
                raise('Obstacle thread error!')
        else:
            print("\nIR Sensor is blocked from the setting.")

    def thread_GPS(config, rest):
        if config["socket"]["status"]:
            global location_data
            server = Server(config["socket"]["PORT"], config["socket"]["BACKLOG"])
            print("\nHost Address : {}".format(server.getAddress()))
            server.accept()
            try:
                print("\nClient {} connected.\n".format(server.client_addr))
                while True:
                    #locaiton data from socket connection
                    location_data = server.recv()
                    if not location_data: break
                    print("Location received from GPS : {}".format(location_data))

                    #posting location_data to the server
                    if config["web-service"]["status"]:
                        response = rest.post(config["web-service"]["API"]["location"], location_data)
                        print("Response from the server : {}\n".format(response["message"]))
                    else:
                        print("Web Service is blocked from the setting.")

            except KeyboardInterrupt:
                print "Quit!"
            finally:
                server.close()
        else:
            print("Socket is blocked from the setting.")

    def thread_ObjectDetection(config):
        obj_detection = od.ObjectDetection()
        face_cascade = cv2.CascadeClassifier('ML/cascade_xml/haarcascade_frontalface_default.xml')
        palm_cascade = cv2.CascadeClassifier('ML/cascade_xml/palm.xml')

        if config["camera"]["status"] == "IP":
            from Camera import IPCamera as camera
            cam = camera.IPCamera(config["camera"]["IP"]["host"] + ":" + str(config["camera"]["IP"]["port"]) + config["camera"]["IP"]["url"])
        else:
            from Camera import BoardCamera as camera
            cam = camera.BoardCamera()
        try:
            while True:
                original = cam.get_frame()
                if original is None:
                    print "error: frame not read from webcam\n"
                    os.system("pause")
                    break
                gray = cv2.cvtColor(original, cv2.COLOR_BGR2GRAY)
                v_param1 = obj_detection.detectMultiScale(face_cascade, gray, original)
                v_param2 = obj_detection.detectMultiScale(palm_cascade, gray, original)
                print "Found {0} faces!".format(len(v_param1))
                print "Found {0} palm!".format(len(v_param2))

                cv2.namedWindow("output", cv2.WINDOW_NORMAL)
                cv2.imshow('output',original)

                if cv2.waitKey(1) & 0xFF == ord('q'):
                    break

            if config["camera"]["status"] != "IP":
                cam.get_camera().release()

            cv2.destroyAllWindows()
        finally:
            print "Connection closed on Object detection thread."

    '''ultrasonic_thread = threading.Thread(target=thread_ultrasonic(config))
    ultrasonic_thread.start()

    IR_thread = threading.Thread(target=thread_IR(config, rest))
    IR_thread.start()

    GPS_thread = threading.Thread(target = thread_GPS(config, rest))
	GPS_thread.start()'''

    object_detection_thread = threading.Thread(target = thread_ObjectDetection(config))
    object_detection_thread.start()

if __name__ == '__main__':
    Threads()