基于Linux的智能垃圾桶
功能需求
- 语音接入控制垃圾分类识别，并触发垃圾桶的开关盖
- 用Sockect发送指令远程控制垃圾分类识别，并触发垃圾桶的开关盖
- 图像识别垃圾分类功能
- 语音播报垃圾物品类型
- OLED显示垃圾物品类型
- 根据垃圾类型开关不同类型垃圾桶
图像处理使用阿里SDK-只支持Python和Java接口，目的是引入C语言的Python调用
流程图
完整代码
garbage.c
#if 0
1、包含Python.h头文件，以便使用Python API。
2、使用void Py_Initialize()初始化Python解释器，
3、使用PyObject *PyImport_ImportModule(const char *name)和PyObject
*PyObject_GetAttrString(PyObject *o, const char *attr_name)获取sys.path对象，并利用
int PyList_Append(PyObject *list, PyObject *item)将当前路径.添加到sys.path中，以便加载
当前的Python模块(Python文件即python模块)。
4、使用PyObject *PyImport_ImportModule(const char *name)函数导入Python模块，并检查是否
有错误。
5、使用PyObject *PyObject_GetAttrString(PyObject *o, const char *attr_name)函数获取
Python函数对象，并检查是否可调用。
6、使用PyObject *Py_BuildValue(const char *format, ...)函数将C类型的数据结构转换成
Python对象，作为Python函数的参数,没有参数不需要调用
7、使用PyObject *PyObject_CallObject(PyObject *callable, PyObject *args)函数调用
Python函数，并获取返回值。
8、使用int PyArg_Parse(PyObject *args, const char *format, ...)函数将返回值转换为C类
型，并检查是否有错误,没有返回值时不需要调用。
9、使用void Py_DECREF(PyObject *o)函数释放所有引用的Python对象。
10、结束时调用void Py_Finalize()函数关闭Python解释器。
相关的函数参数说明参考网站（网站左上角输入函数名即可开始搜索）：
https://docs.python.org/zh-cn/3/c-api/import.html
#endif
#include <Python.h>
#include "garbage.h"
void garbage_init()
{
Py_Initialize();
// 将当前路径添加到sys.path中
PyObject *sys = PyImport_ImportModule("sys");
PyObject *path = PyObject_GetAttrString(sys, "path");
PyList_Append(path, PyUnicode_FromString("."));
}
void garbage_final()
{
//释放所有引用的Python对象
Py_Finalize();
}
//垃圾识别
char* garbage_category(char *category)
{
// 导入garbage模块
PyObject *pModule = PyImport_ImportModule("garbage");
if (!pModule)
{
PyErr_Print();
printf("Error: failed to load garbage.py\n");
goto FALED_MODULE;
}
//获取alibaba_garbage函数对象
PyObject *pFunc = PyObject_GetAttrString(pModule, "alibaba_garbage");
if (!pFunc)
{
PyErr_Print();
printf("Error: failed to load alibaba_garbage\n");
goto FALED_FUNC;
}
//调用alibaba_garbage函数并获取返回值
PyObject *pValue = PyObject_CallObject(pFunc, NULL);
if (!pValue)
{
PyErr_Print();
printf("Error: function call failed\n");
goto FALED_PVALUE;
}
//将返回值转换为C类型
char *result = NULL;
if (!PyArg_Parse(pValue, "s", &result))
{
PyErr_Print();
printf("Error: parse failed\n");
goto FALED_RESULT;
}
//打印返回值
printf("result=%s\n", result);
category=(char*)malloc(sizeof(char)*(strlen(result)+1));
memset(category,0,strlen(result)+1);
strncpy(category,result,strlen(result)+1);
//释放所有引用的Python对象
FALED_RESULT:
Py_DECREF(pValue);
FALED_PVALUE:
Py_DECREF(pFunc);
FALED_FUNC:
Py_DECREF(pModule);
FALED_MODULE:
return category;
}
garbage.h
#ifndef __GARBAGE__H
#define __GARBAGE__H
void garbage_init(void);
void garbage_final(void);
char *garbage_category(char *category);
//获取图片
#define WGET_CMD "wget http://127.0.0.1:8080/?action=snapshot -O /tmp/garbage.jpg"
#define GARBAGE_FILE "/tmp/garbage.jpg" //垃圾桶照片文件
#endif
garbage.py
# -*- coding: utf-8 -*-
# 引入依赖包
# pip install alibabacloud_imagerecog20190930
import os
import io
from urllib.request import urlopen
from alibabacloud_imagerecog20190930.client import Client
from alibabacloud_imagerecog20190930.models import ClassifyingRubbishAdvanceRequest
from alibabacloud_tea_openapi.models import Config
from alibabacloud_tea_util.models import RuntimeOptions
config = Config(
# 创建AccessKey ID和AccessKey Secret，请参考https://help.aliyun.com/document_detail/175144.html。
# 如果您用的是RAM用户的AccessKey，还需要为RAM用户授予权限AliyunVIAPIFullAccess，请参考https://help.aliyun.com/document_detail/145025.html
# 从环境变量读取配置的AccessKey ID和AccessKey Secret。运行代码示例前必须先配置环境变量。
access_key_id=os.environ.get('ALIBABA_CLOUD_ACCESS_KEY_ID'),
access_key_secret=os.environ.get('ALIBABA_CLOUD_ACCESS_KEY_SECRET'),
# 访问的域名
endpoint='imagerecog.cn-shanghai.aliyuncs.com',
# 访问的域名对应的region
region_id='cn-shanghai'
)
#获取垃圾的信息
def alibaba_garbage():
#场景一：文件在本地
img = open(r'/tmp/garbage.jpg', 'rb')
#场景二：使用任意可访问的url
#url = 'https://viapi-test-bj.oss-cn-beijing.aliyuncs.com/viapi-3.0domepic/imagerecog/ClassifyingRubbish/ClassifyingRubbish1.jpg'
#img = io.BytesIO(urlopen(url).read())
classifying_rubbish_request = ClassifyingRubbishAdvanceRequest()
classifying_rubbish_request.image_urlobject = img
runtime = RuntimeOptions()
try:
# 初始化Client
client = Client(config)
response = client.classifying_rubbish_advance(classifying_rubbish_request, runtime)
# 获取整体结果
print(response.body.to_map()['Data']['Elements'][0]['Category'])
return response.body.to_map()['Data']['Elements'][0]['Category']
except Exception as error:
return '获取失败'
if __name__ == "__main__":
alibaba_garbage()
myoled.c
#include <errno.h>
#include <string.h>
#include <stdio.h>
#include <stdlib.h>
#include <time.h>
#include <stdint.h>
#include "oled.h"
#include "font.h"
//包含头文件
#include "myoled.h"
#define FILENAME "/dev/i2c-3"
static struct display_info disp;
int oled_show(void *arg)
{
unsigned char *buffer = (unsigned char *)arg;
oled_putstrto(&disp, 0, 9+1, "This garbage is:");
disp.font = font2;
switch(buffer[2])
{
case 0x41:
oled_putstrto(&disp, 0, 20, "dry waste");
break;
case 0x42:
oled_putstrto(&disp, 0, 20, "wet waste");
break;
case 0x43:
oled_putstrto(&disp, 0, 20, "recyclable waste");
break;
case 0x44:
oled_putstrto(&disp, 0, 20, "hazardous waste");
break;
case 0x45:
oled_putstrto(&disp, 0, 20, "recognition failed");
break;
}
disp.font = font2;
oled_send_buffer(&disp);
return 0;
}
int myoled_init(void)
{
int e;
disp.address = OLED_I2C_ADDR;
disp.font = font2;
e = oled_open(&disp, FILENAME);
e = oled_init(&disp);
return e;
}
myoled.h
#ifndef __MYOLED__H
#define __MYOLED__H
int myoled_init(void);
int oled_show(void *arg);
#endif
pwm.c
#include<wiringPi.h>
#include<softPwm.h>
/*根据公式：PWMfreq = 1 x 10^6 / (100 x range) ，要得到PWM频率为50Hz，则range为200，即
周期分为200步，控制精度相比硬件PWM较低。*/
void pwm_write(int pwm_pin)
{
pinMode(pwm_pin,OUTPUT);
softPwmCreate(pwm_pin,0,200); //range设置周期分为200步，周期20ms
softPwmWrite(pwm_pin,10); //1ms 45度
delay(1000);
softPwmStop(pwm_pin); //在45度位置固定住
}
void pwm_stop(int pwm_pin)
{
pinMode(pwm_pin,OUTPUT);
softPwmCreate(pwm_pin,0,200); //range设置周期分为200步，周期20ms
softPwmWrite(pwm_pin,5); //1ms,45度
delay(1000);
softPwmStop(pwm_pin);
}
pwm.h
#ifndef _PWM_H
#define _PWM_H
#define PWM_GARBAGE 7 //干垃圾
#define PWM_WET_GARBAGE 8 //湿垃圾
#define PWM_RECOVERALE_GARBAGE 5 //可回收垃圾
#define PWM_HARMFUL_GARBAGE 11 //有害垃圾
void pwm_write(int pwm_pin);
void pwm_stop(int pwm_pin);
#endif
socket.c
#include "socket.h"
int socket_init(const char *ipaddr,const char *ipport)
{
int s_fd=-1;
int ret=-1;
struct sockaddr_in s_addr;
memset(&s_addr,0,sizeof(struct sockaddr_in));
//1. socket
s_fd = socket(AF_INET, SOCK_STREAM, 0);
if(-1==s_fd)
{
perror("socket");
return -1;
}
s_addr.sin_family = AF_INET;
s_addr.sin_port = htons(atoi(ipport));
inet_aton(ipaddr,&s_addr.sin_addr);
//2. bind
ret=bind(s_fd,(struct sockaddr *)&s_addr,sizeof(struct sockaddr_in));
if(-1==ret)
{
perror("bind");
return -1;
}
//3. listen
ret=listen(s_fd,1); //允许一个监听，只能允许一个时刻一个垃圾桶打开
if(-1==ret)
{
perror("listen");
return -1;
}
return s_fd;
}
socket.h
#ifndef _SOCKET_H_
#define _SOCKET_H_
#include <stdio.h>
#include <sys/types.h> /* See NOTES */
#include <sys/socket.h>
#include <netinet/in.h>
#include <netinet/tcp.h>
#include <arpa/inet.h>
#include <stdlib.h>
#include <string.h>
#define IPADDR "192.168.1.103"
#define IPPORT "8192" //不要用8080，摄像头已经用了8080#define IPADDR "192.168.1.103"
int socket_init(const char* ipaddr,const char* ipport);
#endif
uartTool.c
#include <stdio.h>
#include <stdlib.h>
#include <stdint.h>
#include <stdarg.h>
#include <string.h>
#include <termios.h>
#include <unistd.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <sys/types.h>
#include <sys/stat.h>
#include "wiringSerial.h"
//打开串口设备
int myserialOpen (const char *device, const int baud)
{
struct termios options ;
speed_t myBaud ;
int status, fd ;
switch (baud){
case 9600: myBaud = B9600 ; break ;
case 115200: myBaud = B115200 ; break ;
}
if ((fd = open (device, O_RDWR | O_NOCTTY | O_NDELAY | O_NONBLOCK)) == -1)
return -1 ;
fcntl (fd, F_SETFL, O_RDWR) ;
// Get and modify current options:
tcgetattr (fd, &options) ;
cfmakeraw (&options) ;
cfsetispeed (&options, myBaud) ;
cfsetospeed (&options, myBaud) ;
options.c_cflag |= (CLOCAL | CREAD) ;
options.c_cflag &= ~PARENB ;
options.c_cflag &= ~CSTOPB ;
options.c_cflag &= ~CSIZE ;
options.c_cflag |= CS8 ;
options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG) ;
options.c_oflag &= ~OPOST ;
options.c_cc [VMIN] = 0 ;
options.c_cc [VTIME] = 100 ; // Ten seconds (100 deciseconds)
tcsetattr (fd, TCSANOW, &options) ;
ioctl (fd, TIOCMGET, &status);
status |= TIOCM_DTR ;
status |= TIOCM_RTS ;
ioctl (fd, TIOCMSET, &status);
usleep (10000) ; // 10mS
return fd ;
}
//发送数据
void serialSendstring (const int fd, const unsigned char *s,int len)
{
int ret;
ret = write (fd, s, len);
if (ret < 0)
printf("Serial Puts Error\n");
}
//接收数据
int serialGetstring (const int fd, unsigned char *buffer)
{
int n_read;
n_read = read(fd, buffer,32);
return n_read;
}
uartTool.h
#ifndef _UARTTOOL_H
#define _UARTTOOL_H
int myserialOpen (const char *device, const int baud);
void serialSendstring (const int fd, const unsigned char *s,int len);
int serialGetstring (const int fd, unsigned char *buffer);
#define SERIAL_DEV "/dev/ttyS5" //定义串口设备节点
#define BAUD 115200 //定义波特率
#endif
main.c
#include<stdio.h>
#include<stdlib.h>
#include<string.h>
#include<unistd.h>
#include<errno.h>
#include<wiringPi.h>
#include<pthread.h>
#include "pwm.h"
#include "uartTool.h"
#include "garbage.h"
#include "myoled.h"
#include "socket.h"
static int detect_process(const char * process_name) //判断进程是否在运行
{
int n = -1;
FILE *strm;
char buf[128]={0};
sprintf(buf,"ps -ax | grep %s|grep -v grep", process_name); //指令
if((strm = popen(buf, "r")) != NULL) //读取数据
{
if(fgets(buf, sizeof(buf), strm) != NULL) //获取pid
{
n = atoi(buf); //转换为数字
}
}
else
{
return -1;
}
pclose(strm);
return n;
}
#if 0
int main(int argc,char* argv[])
{
int serial_fd=-1;
int len=0;
int ret=-1;
char* category=NULL;
unsigned char buffer[6]={0xAA,0x55,0x00,0x00,0x55,0xAA};
wiringPiSetup(); //初始化wiringPi库
garbage_init(); //初始化阿里云接口
ret=detect_process("mjpg_streamer"); //简称mjpg_streamer是否打开
if(-1==ret)
{
printf("detect process failed\n");
goto END;
}
serial_fd=myserialOpen(SERIAL_DEV,BAUD); //初始化串口
if(-1==serial_fd) //串口打开失败
{
printf("open serial failed\n");
goto END;
}
//进行垃圾分类识别
while(1)
{
len=serialGetstring(serial_fd,buffer); //获取串口的数据
if(len>0&&buffer[2]==0x46) //识别垃圾类型
{
buffer[2]=0x00; //对buffer[2]进行清空
system(WGET_CMD); //进行拍照
if(0==access(GARBAGE_FILE,F_OK)) //文件存在
{
category=garbage_category(category); //调用阿里云识别接口
if(strstr(category,"干垃圾")) //识别出干垃圾
{
buffer[2]=0x41;
}
else if(strstr(category,"湿垃圾")) //识别出湿垃圾
{
buffer[2]=0x42;
}
else if(strstr(category,"可回收垃圾")) //识别出可回收垃圾
{
buffer[2]=0x43;
}
else if(strstr(category,"有害垃圾")) //识别出有害垃圾
{
buffer[2]=0x44;
}
else //无法识别
{
buffer[2]=0x45;
}
}
else //无法识别
{
buffer[2]=0x45;
}
serialSendstring(serial_fd,buffer,6); //将识别的垃圾类型回传给语音模块
if(buffer[2]==0x43)
{
pwm_write(PWM_RECOVERALE_GARBAGE); //开盖
delay(5000);//开盖5s
pwm_stop(PWM_RECOVERALE_GARBAGE);//关盖
}
else if(buffer[2]==0x41)
{
pwm_write(PWM_GARBAGE); //开盖
delay(5000);//开盖5s
pwm_stop(PWM_GARBAGE);//关盖
}
else if(buffer[2]==0x42)
{
pwm_write(PWM_WET_GARBAGE); //开盖
delay(5000);//开盖5s
pwm_stop(PWM_WET_GARBAGE);//关盖
}
else if(buffer[2]==0x44)
{
pwm_write(PWM_HARMFUL_GARBAGE); //开盖
delay(5000);//开盖5s
pwm_stop(PWM_HARMFUL_GARBAGE);//关盖
}
buffer[2]=0x00;//清空是为了下一次识别
remove(GARBAGE_FILE); //清理缓存
}
}
close(serial_fd);
END:
garbage_final(); //释放python解析器
return 0;
}
#endif
int serial_fd=-1;
pthread_cond_t cond;//条件变量
pthread_mutex_t mutex; //互斥锁
//获取语音数据线程
void* get_voice(void *arg)
{
unsigned char buffer[6]={0xAA,0x55,0x00,0x00,0x55,0xAA};
int len=0;
printf("%s|%s|%d\n",__FILE__,__func__,__LINE__);
if(-1==serial_fd)
{
printf("%s|%s|%d:open serial failed\n",__FILE__,__func__,__LINE__);
pthread_exit(0);
}
printf("%s|%s|%d\n",__FILE__,__func__,__LINE__);
while(1)
{
len=serialGetstring(serial_fd,buffer);
printf("%s|%s|%d,len=%d\n",__FILE__,__func__,__LINE__,len);
if(len>0&&buffer[2]==0x46)
{
pthread_mutex_lock(&mutex);
buffer[2]=0x00;
pthread_cond_signal(&cond);
pthread_mutex_unlock(&mutex);
}
}
pthread_exit(0);
}
//发送语音线程
void* psend_voice(void *arg)
{
pthread_detach(pthread_self()); //父子线程分离，防止等待太久
unsigned char *buffer=(unsigned char*)arg;
if(-1==serial_fd)
{
printf("%s|%s|%d:open serial failed\n",__FILE__,__func__,__LINE__);
pthread_exit(0);
}
if(NULL!=buffer)
{
serialSendstring(serial_fd,buffer,6); //将识别的垃圾类型回传给语音模块
}
pthread_exit(0);
}
//垃圾桶开盖线程
void* popen_trash_can(void *arg)
{
pthread_detach(pthread_self()); //父子线程分离，防止等待太久
unsigned char *buffer=(unsigned char*)arg;
if(buffer[2]==0x43)
{
printf("%s|%s|%d,buffer[2]=0x%x\n",__FILE__,__func__,__LINE__,buffer[2]);
pwm_write(PWM_RECOVERALE_GARBAGE); //开盖
delay(2000);//开盖5s
pwm_stop(PWM_RECOVERALE_GARBAGE);//关盖
}
else if(buffer[2]!=0x45)
{
printf("%s|%s|%d,buffer[2]=0x%x\n",__FILE__,__func__,__LINE__,buffer[2]);
pwm_write(PWM_GARBAGE); //开盖
delay(2000);//开盖5s
pwm_stop(PWM_GARBAGE);//关盖
}
pthread_exit(0);
}
//oled显示线程
void* poled_show(void* arg)
{
pthread_detach(pthread_self());
myoled_init();
oled_show(arg);
pthread_exit(0);
}
//垃圾分类识别线程
void* pcategory(void *arg)
{
unsigned char buffer[6]={0xAA,0x55,0x00,0x00,0x55,0xAA};
char* category=NULL;
pthread_t send_voice_tid;
pthread_t trash_tid;
pthread_t oled_tid;
printf("%s|%s|%d\n",__FILE__,__func__,__LINE__);
while(1)
{
printf("%s|%s|%d\n",__FILE__,__func__,__LINE__);
pthread_mutex_lock(&mutex);
pthread_cond_wait(&cond,&mutex);
pthread_mutex_unlock(&mutex);
printf("%s|%s|%d\n",__FILE__,__func__,__LINE__);
buffer[2]=0x00;//清空是为了下一次识别
system(WGET_CMD); //进行拍照
if(0==access(GARBAGE_FILE,F_OK)) //文件存在
{
category=garbage_category(category); //调用阿里云识别接口
if(strstr(category,"干垃圾")) //识别出干垃圾
{
buffer[2]=0x41;
}
else if(strstr(category,"湿垃圾")) //识别出湿垃圾
{
buffer[2]=0x42;
}
else if(strstr(category,"可回收垃圾")) //识别出可回收垃圾
{
buffer[2]=0x43;
}
else if(strstr(category,"有害垃圾")) //识别出有害垃圾
{
buffer[2]=0x44;
}
else //无法识别
{
buffer[2]=0x45;
}
}
else //文件不存在无法识别
{
buffer[2]=0x45;
}
//垃圾桶开盖线程
pthread_create(&trash_tid,NULL,popen_trash_can,(void*)buffer);
//发送语音播报线程
pthread_create(&send_voice_tid,NULL,psend_voice,(void*)buffer);
//oled显示线程
pthread_create(&oled_tid,NULL,poled_show,(void*)buffer);
remove(GARBAGE_FILE); //清理缓存
}
pthread_exit(0);
}
//网络线程
void* pget_socket(void *arg)
{
int s_fd=-1;
int c_fd=-1;
int n_read=-1;
char buffer[6];
struct sockaddr_in c_addr;
memset(&c_addr,0,sizeof(struct sockaddr_in));
s_fd=socket_init(IPADDR,IPPORT);
if(-1==s_fd)
{
printf("%s|%s|%d:s_fd=%d\n",__FILE__,__func__,__LINE__,s_fd);
pthread_exit(0);
}
int clen = sizeof(struct sockaddr_in);
while(1)
{
c_fd = accept(s_fd,(struct sockaddr *)&c_addr,&clen);
int keepalive = 1; // 开启TCP KeepAlive功能
int keepidle = 5; // tcp_keepalive_time 3s内没收到数据开始发送心跳包
int keepcnt = 3; // tcp_keepalive_probes 每次发送心跳包的时间间隔,单位秒
int keepintvl = 3; // tcp_keepalive_intvl 每3s发送一次心跳包
setsockopt(c_fd, SOL_SOCKET, SO_KEEPALIVE, (void *)&keepalive,
sizeof(keepalive));
setsockopt(c_fd, SOL_TCP, TCP_KEEPIDLE, (void *) &keepidle, sizeof
(keepidle));
setsockopt(c_fd, SOL_TCP, TCP_KEEPCNT, (void *)&keepcnt, sizeof
(keepcnt));
setsockopt(c_fd, SOL_TCP, TCP_KEEPINTVL, (void *)&keepintvl, sizeof
(keepintvl));
printf("%s|%s|%d:Accept a connection from %s:%d\n",__FILE__,__func__,__LINE__, inet_ntoa(c_addr.sin_addr), ntohs(c_addr.sin_port));
if(-1==c_fd)
{
perror("accept");
continue;
}
while(1)
{
memset(buffer,0,sizeof(buffer));
n_read=recv(c_fd,buffer,sizeof(buffer),0);
printf("%s|%s|%d:n_read=%d,buffer=%s\n",__FILE__,__func__,__LINE__,n_read,buffer);
if(n_read>0)
{
if(strstr(buffer,"open")) //给阿里云交互线程发信号
{
pthread_mutex_lock(&mutex);
pthread_cond_signal(&cond);
pthread_mutex_unlock(&mutex);
}
}
else if(0==n_read||-1==n_read)
{
break;
}
}
close(c_fd);
}
pthread_exit(0);
}
int main(int argc,char* argv[])
{
int len=0;
int ret=-1;
char* category=NULL;
pthread_t get_voice_tid;
pthread_t category_tid;
pthread_t get_socket_tid;
wiringPiSetup(); //初始化wiringPi库
garbage_init(); //初始化阿里云接口
ret=detect_process("mjpg_streamer"); //简称mjpg_streamer是否打开
if(-1==ret)
{
printf("detect process failed\n");
goto END;
}
serial_fd=myserialOpen(SERIAL_DEV,BAUD); //初始化串口
if(-1==serial_fd) //串口打开失败
{
printf("open serial failed\n");
goto END;
}
//开语音线程
printf("%s|%s|%d\n",__FILE__,__func__,__LINE__);
pthread_create(&get_voice_tid,NULL,get_voice,NULL);
//开阿里云交互线程
printf("%s|%s|%d\n",__FILE__,__func__,__LINE__);
pthread_create(&category_tid,NULL,pcategory,NULL);
//开网络线程
printf("%s|%s|%d\n",__FILE__,__func__,__LINE__);
pthread_create(&get_socket_tid,NULL,pget_socket,NULL);
pthread_join(get_voice_tid,NULL); //阻塞语音线程
pthread_join(category_tid,NULL); //阻塞阿里云交互线程
pthread_join(get_socket_tid,NULL); //阻塞网络线程
pthread_mutex_destroy(&mutex);
pthread_cond_destroy(&cond);
close(serial_fd);
END:
garbage_final(); //释放python解析器
return 0;
}
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