merging master and main

reversing.py

+"""
+/***************************************************************************
+* Sketch Name: Lab1_code1
+* Description: Arduino - Grove_Pi_Sensors
+* Parameters: PIR, Light, Button, LED
+* Return: Dark, Light, Movement, Watching
+* Copyright: Following code is written for educational purposes by Cardiff University.
+* Latest Version: 04/08/2021 (by Hakan KAYAN)
+* Modified from: https://github.com/DexterInd/GrovePi.git
+***************************************************************************/
+"""
+import time
+import sys
+import grovepi
+import cv2
+
+# Connect the Grove Buzzer to digital port D8
+# SIG,NC,VCC,GND
+buzzer = 8
+grovepi.pinMode(buzzer, "OUTPUT")
+
+# Connect the Grove Ultrasonic Ranger to digital port D3
+ultrasonic_ranger = 3
+
+# Initialize the camera
+camera = cv2.VideoCapture(0)
+
+def draw_lines(img, color):
+    height, width = img.shape[:2]
+    midpoint = width // 2
+    cv2.line(img, (midpoint - 100, 0), (midpoint - 100, height), color, 5)
+    cv2.line(img, (midpoint + 100, 0), (midpoint + 100, height), color, 5)
+    return img
+
+last_distance = None
+no_reading_start_time = None
+
+while True:
+    try:
+        # Read distance
+        distance = grovepi.ultrasonicRead(ultrasonic_ranger)
+        sys.stdout.write("The distance is \\r%d" %distance)
+        ret, frame = camera.read()
+        if not ret:
+            print("Failed to grab frame")
+            break
+        
+        if distance is None or distance > 30:
+            grovepi.digitalWrite(buzzer, 0)
+            time.sleep(1)
+            if no_reading_start_time is None:
+                no_reading_start_time = time.time()
+            elif time.time() - no_reading_start_time > 6:
+                cv2.destroyAllWindows()
+                no_reading_start_time = None
+        else:
+            no_reading_start_time = None
+            if last_distance is None or not (21 <= last_distance <= 30):
+                if 0 <= distance <= 9:
+                    frame = draw_lines(frame, (0, 0, 255))  # Red lines
+                elif 10 <= distance <= 20:
+                    frame = draw_lines(frame, (0, 255, 255))  # Yellow lines
+                elif 21 <= distance <= 30:
+                    frame = draw_lines(frame, (0, 255, 0))  # Green lines
+            
+            if 0 <= distance <= 9:
+                # Beep at 5 Hz (5 beeps per second)
+                grovepi.digitalWrite(buzzer, 1)
+                time.sleep(0.1)  # on for 0.1 seconds
+                grovepi.digitalWrite(buzzer, 0)
+                time.sleep(0.1)  # off for 0.1 seconds
+            elif 10 <= distance <= 20:
+                # Beep at 3 Hz (3 beeps per second)
+                grovepi.digitalWrite(buzzer, 1)
+                time.sleep(0.167)  # on for 0.167 seconds
+                grovepi.digitalWrite(buzzer, 0)
+                time.sleep(0.167)  # off for 0.167 seconds
+            elif 21 <= distance <= 30:
+                # Beep at 1 Hz (1 beep per second)
+                grovepi.digitalWrite(buzzer, 1)
+                time.sleep(0.5)  # on for 0.5 seconds
+                grovepi.digitalWrite(buzzer, 0)
+                time.sleep(0.5)  # off for 0.5 seconds
+            last_distance = distance
+
+        cv2.imshow('Camera View', frame)
+        if cv2.waitKey(1) & 0xFF == ord('q'):
+            break
+    except KeyboardInterrupt:
+        grovepi.digitalWrite(buzzer, 0)
+        break
+    except IOError:
+        print ("Error")
+camera.release()
+cv2.destroyAllWindows()
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