ECHOTRON: College RoboGuide

#include "mbed.h"
#include "EthernetInterface.h"
#include "Adafruit_SSD1306.h"
 
#if defined(TARGET_WIZWIKI_W7500)||defined(TARGET_WIZWIKI_W7500P)
    uint8_t mac_addr[6] = {0x00, 0x08, 0xDC, 0x53, 0xAE, 0x90};
#endif
// W7500 onboard LED & Init
DigitalOut rled(LED1,1);
DigitalOut gled(LED2,0);
DigitalOut bled(LED3,1);
 
// I2C Class
I2C i2c(PA_10,PA_9);
 
// OLED Class   
Adafruit_SSD1306_I2c gOled(i2c,NC,0x78,64,128);
 
Serial pc(USBTX, USBRX);
Serial device(D1,D0);
EthernetInterface eth;
 
// Declare TCP Connection Class
TCPSocketConnection sock;
 
DigitalOut myled(D1);
 
 
 
int main() {
   
pc.baud(115200);
    int received_data=0;
    printf("Wait a second...\r\n");
 
   eth.init(mac_addr);     //Use DHCP
eth.connect();
    
      printf("IP Address is %s\r\n\r\n", eth.getIPAddress());
        printf("MASK Address is %s\r\n\r\n", eth.getNetworkMask());
        printf("GATEWAY Address is %s\r\n\r\n", eth.getGateway());
        printf("MAC Address is %s\r\n\r\n", eth.getMACAddress());
    
         while(1){
             
        while(pc.readable()) 
        {
            device.putc(pc.getc());
        }
        while(device.readable())
        {
            if(device.readable()) 
            {
                received_data = device.getc();
                printf("received_data = %d", received_data);
            }
        }
        // TCP socket connect to openweather server 
        //TCPSocketConnection sock;
        char send_data[1024];
        received_data = device.getc();
        pc.printf("received_data = %d\n", received_data);
        char *p="api.thingspeak.com";
           int a=sock.connect(p,80);
          while(1){
                if(a!=0) {
                    printf("\r\n could not connect to socket : error = %d\r\n", p);
                    
                    a = sock.connect(p, 80);
                } else {
                    printf("socket connected\r\n");
                                break;
                }
             } 
        //sock.connect("api.thingspeak.com", 80);
        sprintf((char *)send_data,"GET /update?api_key=GR1IFBYTK5NKNIV6&field2=%d HTTP 1.0\n\n",received_data); 
           
        sock.send_all(send_data, sizeof(send_data));
        char buffer[2048];
        int ret;
        while (true) {
            ret = sock.receive_all(buffer, sizeof(buffer));
            if (ret <= 0)
                break;
            buffer[ret] = '\0';
            printf("Received %d chars from server: %s\n", ret, buffer);     
        }
        printf("\r\n\r\n");
    }
 
}

import cv2
import numpy as np
from skimage.measure import compare_ssim
import argparse
import imutils

cap = cv2.VideoCapture(1)
ret, frame1 = cap.read()
prvs = cv2.cvtColor(frame1,cv2.COLOR_BGR2GRAY)
hsv = np.zeros_like(frame1)
hsv[..., 1] = 255
height,width = frame1.shape[:2]
count=0
while(1):
    ret, frame2 = cap.read()

    next = cv2.cvtColor(frame2,cv2.COLOR_BGR2GRAY)
    flow = cv2.calcOpticalFlowFarneback(prvs,next, None, 0.5, 3, 15, 3, 5, 1.2, 0)
    mag, ang = cv2.cartToPolar(flow[...,0], flow[...,1])
    hsv[...,0] = ang*180/np.pi/2
    hsv[...,2] = cv2.normalize(mag,None,0,255,cv2.NORM_MINMAX)
    bgr = cv2.cvtColor(hsv,cv2.COLOR_HSV2BGR)
    
    start_row, start_col = int(0), int(0)
    end_row, end_col1 = int(height), int(width / 3)
    end_row, end_col2 = int(height), int(width * 2 / 3)
    end_col = width

    cropped_left = bgr[start_row:end_row, start_col:end_col1]
    cropped_middle = bgr[start_row:end_row, end_col1:end_col2]
    cropped_right = bgr[start_row:end_row, end_col2:end_col]
    #print(a[...,2])

    cv2.imshow("Cropped left", cropped_left)
    cv2.imshow("Cropped middle", cropped_middle)
    cv2.imshow("Cropped right", cropped_right)

    a = cv2.cvtColor(cropped_left, cv2.COLOR_BGR2HSV)
    b = cv2.cvtColor(cropped_middle, cv2.COLOR_BGR2HSV)
    c = cv2.cvtColor(cropped_right, cv2.COLOR_BGR2HSV)
    if np.all(a[...,2]<80):
        count+=1
        if count>3:
            print("left empty")
            count=0
    elif np.all(b[..., 2] < 80):
        count += 1
        if count > 3:
            print("middle empty")
            count = 0
    elif np.all(c[..., 2] < 80):
        count += 1
        if count > 3:
            print("right empty")
            count = 0

     else:
        print("no free space")
    if cv2.waitKey(10) & 0xFF == ord('q'):
        break
    prvs = next
cap.release()
cv2.destroyAllWindows()