Untitled

from flask import Flask, render_template, Response, request, jsonify
import cv2
from picamera2 import Picamera2
from ultralytics import YOLO
import atexit
import time
import RPi.GPIO as GPIO
 
app = Flask(__name__)
 
# Initialize GPIO pins for motor control
IN1, IN2, IN3, IN4 = 17, 18, 27, 22
ENA, ENB = 19, 13
 
GPIO.setmode(GPIO.BCM)
GPIO.setup([IN1, IN2, IN3, IN4, ENA, ENB], GPIO.OUT)
 
pwm_ena = GPIO.PWM(ENA, 1000)
pwm_enb = GPIO.PWM(ENB, 1000)
pwm_ena.start(0)
pwm_enb.start(0)
 
def move_forward():
    GPIO.output(IN1, GPIO.HIGH)
    GPIO.output(IN2, GPIO.LOW)
    GPIO.output(IN3, GPIO.HIGH)
    GPIO.output(IN4, GPIO.LOW)
    pwm_ena.ChangeDutyCycle(50)
    pwm_enb.ChangeDutyCycle(50)
 
def move_backward():
    GPIO.output(IN1, GPIO.LOW)
    GPIO.output(IN2, GPIO.HIGH)
    GPIO.output(IN3, GPIO.LOW)
    GPIO.output(IN4, GPIO.HIGH)
    pwm_ena.ChangeDutyCycle(50)
    pwm_enb.ChangeDutyCycle(50)
 
def turn_left():
    GPIO.output(IN1, GPIO.LOW)
    GPIO.output(IN2, GPIO.HIGH)
    GPIO.output(IN3, GPIO.HIGH)
    GPIO.output(IN4, GPIO.LOW)
    pwm_ena.ChangeDutyCycle(50)
    pwm_enb.ChangeDutyCycle(50)
 
def turn_right():
    GPIO.output(IN1, GPIO.HIGH)
    GPIO.output(IN2, GPIO.LOW)
    GPIO.output(IN3, GPIO.LOW)
    GPIO.output(IN4, GPIO.HIGH)
    pwm_ena.ChangeDutyCycle(50)
    pwm_enb.ChangeDutyCycle(50)
 
def stop_motors():
    GPIO.output(IN1, GPIO.LOW)
    GPIO.output(IN2, GPIO.LOW)
    GPIO.output(IN3, GPIO.LOW)
    GPIO.output(IN4, GPIO.LOW)
    pwm_ena.ChangeDutyCycle(0)
    pwm_enb.ChangeDutyCycle(0)
 
picam2 = None
model = YOLO("yolov8n_ncnn_model")
selected_human = None
human_class_id = 0
 
def initialize_camera():
    global picam2
    if picam2 is None:
        try:
            picam2 = Picamera2()
            picam2.preview_configuration.main.size = (320, 320)
            picam2.preview_configuration.main.format = "RGB888"
            picam2.preview_configuration.align()
            picam2.configure("preview")
            picam2.start()
            print("Camera initialized successfully")
        except Exception as e:
            print(f"Failed to initialize camera: {e}")
 
@app.before_request
def before_request():
    initialize_camera()

@app.route('/select_person', methods=['POST'])
def select_person():
    global selected_human
    data = request.get_json()
    x, y = data['x'], data['y']

    for result in model(picam2.capture_array(), imgsz=320)[0].boxes:
        if int(result.cls) == human_class_id:
            x1, y1, x2, y2 = result.xyxy[0].tolist()
            if x1 <= x <= x2 and y1 <= y <= y2:
                selected_human = (x1, y1, x2, y2)
                return jsonify({"status": "Person selected"})

    return jsonify({"status": "No person found"})
 
def generate_frames():
    global selected_human
    while True:
        frame = picam2.capture_array()
        results = model(frame, imgsz=320)
        detected_humans = []
        for result in results[0].boxes:
            if int(result.cls) == human_class_id:
                x1, y1, x2, y2 = result.xyxy[0].tolist()
                detected_humans.append((x1, y1, x2, y2))
                cv2.rectangle(frame, (int(x1), int(y1)), (int(x2), int(y2)), (255, 0, 0), 2)
        if detected_humans:
            if selected_human:
                found_selected_human = False
                for human in detected_humans:
                    x1, y1, x2, y2 = human
                    if (x1 <= selected_human[2] and x2 >= selected_human[0] and
                        y1 <= selected_human[3] and y2 >= selected_human[1]):
                        found_selected_human = True
                        selected_human = human
                        break
                if not found_selected_human:
                    stop_motors()
                    selected_human = None
                else:
                    x1, y1, x2, y2 = selected_human
                    cv2.rectangle(frame, (int(x1), int(y1)), (int(x2), int(y2)), (0, 255, 0), 2)
                    center_x = (x1 + x2) // 2
                    frame_center_x = frame.shape[1] // 2
                    threshold = 50
                    if center_x < frame_center_x - threshold:
                        turn_left()
                    elif center_x > frame_center_x + threshold:
                        turn_right()
                    else:
                        move_forward()
            else:
                stop_motors()
        else:
            stop_motors()
        _, buffer = cv2.imencode('.jpg', frame)
        frame = buffer.tobytes()
        yield (b'--frame\r\n'
               b'Content-Type: image/jpeg\r\n\r\n' + frame + b'\r\n')
 
@app.route('/')
def index():
    return render_template('index.html')
 
@app.route('/video_feed')
def video_feed():
    return Response(generate_frames(), mimetype='multipart/x-mixed-replace; boundary=frame')
 
def cleanup():
    print("Cleaning up before shutdown...")
    stop_motors()
    GPIO.cleanup()
    if picam2:
        picam2.stop()
        print("Camera stopped.")
 
atexit.register(cleanup)
 
if __name__ == "__main__":
    app.run(host="0.0.0.0", port=5000, debug=True, use_reloader=False)