Can you explain each line in this code .. this code to control the movement of car by LCD and send the location from tow way 1. By button in the LCD 2. From voise microphone when he says help .

import Image

import ImageDraw

import ImageFont

import os

import serial

import re

from lib_tft24T import TFT24T

import RPi.GPIO as GPIO

import spidev

import time

from datetime import datetime

import speech_recognition as sr

spi = spidev.SpiDev()

spi.open(0,1)

spi.max_speed_hz = 1000000

spi.mode = 0b00

port = serial.Serial("/dev/ttyAMA0", baudrate=9600, timeout=0.5)

ok = "OK"

admin_num = ""

RTO_num = ""

number = ""

rcv = None

admin_config = False

STMPE_ADDR = 0x41

STMPE_SYS_CTRL1 = 0x03

STMPE_SYS_CTRL1_RESET = 0x02

STMPE_SYS_CTRL2 = 0x04

STMPE_TSC_CTRL = 0x40

STMPE_TSC_CTRL_EN = 0x01

STMPE_TSC_CTRL_XYZ = 0x00

STMPE_TSC_CTRL_XY = 0x02

STMPE_INT_CTRL = 0x09

STMPE_INT_CTRL_POL_HIGH = 0x04

STMPE_INT_CTRL_POL_LOW = 0x00

STMPE_INT_CTRL_EDGE = 0x02

STMPE_INT_CTRL_LEVEL = 0x00

STMPE_INT_CTRL_ENABLE = 0x01

STMPE_INT_CTRL_DISABLE = 0x00

STMPE_INT_EN = 0x0A

STMPE_INT_EN_TOUCHDET = 0x01

STMPE_INT_EN_FIFOTH = 0x02

STMPE_INT_EN_FIFOOF = 0x04

STMPE_INT_EN_FIFOFULL = 0x08

STMPE_INT_EN_FIFOEMPTY = 0x10

STMPE_INT_EN_ADC = 0x40

STMPE_INT_EN_GPIO = 0x80

STMPE_INT_STA = 0x0B

STMPE_INT_STA_TOUCHDET = 0x01

STMPE_ADC_CTRL1 = 0x20

STMPE_ADC_CTRL1_12BIT = 0x08

STMPE_ADC_CTRL1_10BIT = 0x00

STMPE_ADC_CTRL2 = 0x21

STMPE_ADC_CTRL2_1_625MHZ = 0x00

STMPE_ADC_CTRL2_3_25MHZ = 0x01

STMPE_ADC_CTRL2_6_5MHZ = 0x02

STMPE_TSC_CFG = 0x41

STMPE_TSC_CFG_1SAMPLE = 0x00

STMPE_TSC_CFG_2SAMPLE = 0x40

STMPE_TSC_CFG_4SAMPLE = 0x80

STMPE_TSC_CFG_8SAMPLE = 0xC0

STMPE_TSC_CFG_DELAY_10US = 0x00

STMPE_TSC_CFG_DELAY_50US = 0x08

STMPE_TSC_CFG_DELAY_100US = 0x10

STMPE_TSC_CFG_DELAY_500US = 0x18

STMPE_TSC_CFG_DELAY_1MS = 0x20

STMPE_TSC_CFG_DELAY_5MS = 0x28

STMPE_TSC_CFG_DELAY_10MS = 0x30

STMPE_TSC_CFG_DELAY_50MS = 0x38

STMPE_TSC_CFG_SETTLE_10US = 0x00

STMPE_TSC_CFG_SETTLE_100US = 0x01

STMPE_TSC_CFG_SETTLE_500US = 0x02

STMPE_TSC_CFG_SETTLE_1MS = 0x03

STMPE_TSC_CFG_SETTLE_5MS = 0x04

STMPE_TSC_CFG_SETTLE_10MS = 0x05

STMPE_TSC_CFG_SETTLE_50MS = 0x06

STMPE_TSC_CFG_SETTLE_100MS = 0x07

STMPE_FIFO_TH = 0x4A

STMPE_FIFO_SIZE = 0x4C

STMPE_FIFO_STA = 0x4B

STMPE_FIFO_STA_RESET = 0x01

STMPE_FIFO_STA_OFLOW = 0x80

STMPE_FIFO_STA_FULL = 0x40

STMPE_FIFO_STA_EMPTY = 0x20

STMPE_FIFO_STA_THTRIG = 0x10

STMPE_TSC_I_DRIVE = 0x58

STMPE_TSC_I_DRIVE_20MA = 0x00

STMPE_TSC_I_DRIVE_50MA = 0x01

STMPE_TSC_DATA_X = 0x4D

STMPE_TSC_DATA_Y = 0x4F

STMPE_TSC_FRACTION_Z = 0x56

STMPE_GPIO_SET_PIN = 0x10

STMPE_GPIO_CLR_PIN = 0x11

STMPE_GPIO_DIR = 0x13

STMPE_GPIO_ALT_FUNCT = 0x17

def display_clr(img = False):

if img:

font = ImageFont.truetype('FreeMonoBold.ttf', 25)

TFT.load_wallpaper("pad.jpg") # Image of pad!!!

TFT.display()

else:

TFT.clear()

def send_cmd(cmd,response=None,t=0.5):

port = serial.Serial("/dev/ttyAMA0", baudrate=9600, timeout=t)

cmd = cmd + " "

port.write(cmd)

rcv = port.readall().strip()

if response:

return rcv.endswith(response)

else:

return rcv

def send_sms(text,num,img = False):

display_clr(img)

if img:

fill = "black"

else:

fill = "lightgreen"

draw.textrotated((0, 0), 'Sending sms to ', 0, font, fill)

draw.textrotated((0, 30), num , 0, font, fill)

TFT.display() # Let's take a look

send_cmd("AT+CMGF=1",ok)

if send_cmd("AT+CMGS=\""+num+'\"','>'):

if send_cmd(text+"\x1a",ok,5):

display_clr(img)

draw.textrotated((0, 0), 'SMS sent ', 0, font, fill)

TFT.display() # Let's take a look

time.sleep(1)

def get_data():

rcv = ""

rcv = port.readall()

check_data(rcv)

port.flushInput()

def check_data(data):

global admin_num

global admin_config

if data.find("+CLIP") > 0:

index1 = data.find('\"') + 1

index2 = data.find(',') - 1

number = data[index1:index2]

TFT.clear()

draw.textrotated((0, 30), 'receiving call ', 0, font, fill="lightgreen")

draw.textrotated((0, 60), number, 0, font, fill="lightgreen")

TFT.display() # Let's take a look

if not admin_config:

admin_num = number

admin_config = True

time.sleep(1)

send_cmd("ATH",ok)

elif admin_config:

time.sleep(1)

send_cmd("ATH",ok)

def gps_track():

display_clr(True)

draw.textrotated((0, 0), 'Tracking ', 0, font, fill="black")

TFT.display() # Let's take a look

time.sleep(2)

gps_data = send_cmd("AT+CGPSINF=0")

print "gps_data =", gps_data

if gps_data.find("+CGPSINF:") >= 0:

index1 = gps_data.find(',') + 1

raw_data = gps_data[index1:]

index1 = raw_data.find(',')

_lat = str(raw_data[ : index1])

index1 = raw_data.find(',') + 1

raw_data = raw_data[index1:]

index1 = raw_data.find(',')

_lon = str(raw_data[ : index1])

return _lat,_lon

else:

return -1,-1

def check_MIC():

try:

with sr.Microphone(device_index = 2,sample_rate = 44100, chunk_size = 512) as source: # use the default microphone as the audio source

None

return True

except:

return False

def get_cmd():

display_clr(True)

draw.textrotated((0, 0), 'listning... ', 0, font, fill="black")

TFT.display() # Let's take a look

with sr.Microphone(device_index = 2,sample_rate = 44100, chunk_size = 512) as source: # use the default microphone as the audio source

audio = r.record(source,duration=1) # listen for the first phrase and extract it into audio data

try:

speech = r.recognize_google(audio)

if speech == "help":

return True

except: # speech is unintelligible

print("Could not understand audio")

display_clr(True)

draw.textrotated((0, 0), 'Could not understand audio', 0, font, fill="black")

TFT.display() # Let's take a look

return False

def writeRegister8(reg , val):

spi.open(0,1)

spi.max_speed_hz = 1000000

spi.xfer([reg , val])

spi.close()

def readRegister8(reg):

spi.open(0,1)

spi.max_speed_hz = 1000000

reg = 0x80 | reg

spidata = 0b0000

spidata = spi.xfer([reg ,0])

spi.close()

return spidata[1]

def bufferEmpty():

return (readRegister8(STMPE_FIFO_STA) & STMPE_FIFO_STA_EMPTY)

def bufferSize():

return readRegister8(STMPE_FIFO_SIZE)

def touched():

return (readRegister8(STMPE_TSC_CTRL) & 0x80)

def readData():

data = [0b0000,0b0000,0b0000,0b0000]

for i in range(0,4):

data[i] = readRegister8(0xD7) #SPI.transfer(0x00);

x = data[0]

y = data[1]

z = data[3]

if bufferEmpty():

writeRegister8(STMPE_INT_STA, 0xFF) # reset all ints

return x,y,z

def send_distress():

lat,lon = gps_track()

if lat > 0 and lon > 0:

display_clr(True)

draw.textrotated((0, 0), 'lat=' + str(lat), 0, font, fill="black")

draw.textrotated((0, 30), 'lon=' + str(lon), 0, font, fill="black")

TFT.display() # Let's take a look

time.sleep(2)

map_site = "Need help! " + "http://maps.google.com/maps?f=q&q=" + str(lat) + "," + str(lon) + "&z=16"

send_sms(map_site,admin_num,True)

else:

map_site = "Need help! " + "gps not working"

display_clr(True)

draw.textrotated((0, 0), 'gps not working', 0, font, fill="black")

TFT.display() # Let's take a look

time.sleep(2)

send_sms(map_site,admin_num,True)

DC = 25

RST = 19

LED = 26

restart = 2

d0 = 12

d1 = 16

d2 = 20

d3 = 21

GPIO.setmode(GPIO.BCM)

GPIO.setwarnings(False)

GPIO.setup(restart,GPIO.IN)

GPIO.setup(d0,GPIO.OUT)

GPIO.setup(d1,GPIO.OUT)

GPIO.setup(d2,GPIO.OUT)

GPIO.setup(d3,GPIO.OUT)

GPIO.output(d0, False)

GPIO.output(d1, False)

GPIO.output(d2, False)

GPIO.output(d3, False)

TFT = TFT24T(spidev.SpiDev(), GPIO, landscape=True)

# Initialize display.

TFT.initLCD(DC, RST, LED)

##TFT.initTOUCH(PEN)

draw = TFT.draw()

spi.open(0,1)

spi.max_speed_hz = 1000000

hotspots = [

(80,40,150,120, "help"),

(150,145,220,255, "up"),

(280,150,350,250, "down"),

(210,255,280,350, "left"),

(200,60,290,150, "right"),]

reset = True

distress = False

while reset:

try:

main = True

font = ImageFont.truetype('FreeMonoBold.ttf', 25)

TFT.clear()

draw.textrotated((0, 50), ' Raspberry pi Based ', 0,font, fill="lightgreen")

draw.textrotated((0, 80), ' Wheelchair operation', 0,font, fill="lightgreen")

draw.textrotated((0, 110), ' & ', 0,font, fill="lightgreen")

draw.textrotated((0, 140), ' Safety System ', 0,font, fill="lightgreen")

TFT.display()

time.sleep(3)

TFT.clear()

draw.textrotated((0, 30), 'checking MIC', 0,font, fill="lightgreen")

TFT.display() # Let's take a look

time.sleep(3)

r = sr.Recognizer()

t1 = datetime.now()

while not check_MIC():

t2 = datetime.now()

delta = t2 - t1

time_elapse = delta.total_seconds()

if time_elapse > 5:

main = False

TFT.clear()

draw.textrotated((0, 30), 'MIC not found', 0,font, fill="lightgreen")

TFT.display() # Let's take a look

time.sleep(3)

TFT.clear()

draw.textrotated((0, 30), 'Connect MIC and',0, font, fill="lightgreen")

draw.textrotated((0, 60), 'Restart the system',0, font, fill="lightgreen")

TFT.display() # Let's take a look

while GPIO.input(restart) == True:

None

if main:

TFT.clear()

draw.textrotated((0, 30), 'MIC found', 0,font, fill="lightgreen")

TFT.display() # Let's take a look

time.sleep(3)

font = ImageFont.truetype('FreeMonoBold.ttf', 30)

TFT.clear()

draw.textrotated((0, 30), 'Connecting GSM ', 0,font, fill="lightgreen")

TFT.display() # Let's take a look

while True:

if send_cmd("AT",ok):

send_cmd("ATE0",ok)

send_cmd("AT+CNMI=2,2,0,0",ok)

send_cmd("AT+CGPSPWR=1",ok)

send_cmd("AT+CLIP=1",ok)

TFT.clear()

draw.textrotated((0, 30), 'Connected', 0,font, fill="lightgreen")

TFT.display() # Let's take a look

time.sleep(1)

break

else:

TFT.clear()

draw.textrotated((0, 30), 'GSM not Connected', 0,font, fill="lightgreen")

TFT.display() # Let's take a look

main = False

time.sleep(3)

TFT.clear()

draw.textrotated((0, 30), 'Connect GSM and',0, font, fill="lightgreen")

draw.textrotated((0, 60), 'Press reset',0, font, fill="lightgreen")

TFT.display() # Let's take a look

while GPIO.input(restart) == True:

None

break

if main:

TFT.clear()

draw.textrotated((0, 30), 'Waiting for Admin', 0,font, fill="lightgreen")

draw.textrotated((0, 60), 'to call ', 0,font, fill="lightgreen")

TFT.display() # Let's take a look

while not admin_config:

time.sleep(0.5)

if port.inWaiting() > 0:

get_data()

send_sms("This number is configure as ADMIN..",admin_num)

TFT.clear()

draw.textrotated((0, 30), 'ADMIN number is ',0,font, fill="lightgreen")

draw.textrotated((0, 60), 'Cofigured ',0, font, fill="lightgreen")

TFT.display() # Let's take a look

time.sleep(2)

TFT.load_wallpaper("pad.jpg") # Image of calculator !!!

TFT.display()

font = ImageFont.truetype('FreeMonoBold.ttf', 20)

t1 = datetime.now()

while main:

t_help = 0

if touched():

while not bufferEmpty():

xt,yt,zt = readData()

print xt , yt

pos = [xt , yt]

writeRegister8(STMPE_INT_STA, 0xFF) # reset all ints

spot = TFT.penOnHotspot(hotspots, pos)

if spot == "help":

t_help = t_help+1

print "help"

if t_help > 20:

GPIO.output(d0, False)

GPIO.output(d1, False)

GPIO.output(d2, False)

GPIO.output(d3, False)

send_distress()

while not bufferEmpty():

xt,yt,zt = readData()

print xt , yt

pos = [xt , yt]

writeRegister8(STMPE_INT_STA, 0xFF) # reset all ints

TFT.load_wallpaper("pad.jpg") # Image of calculator !!!

TFT.display()

if spot == "up":

GPIO.output(d0, True)

GPIO.output(d1, False)

GPIO.output(d2, False)

GPIO.output(d3, True)

if spot == "down":

GPIO.output(d0, False)

GPIO.output(d1, True)

GPIO.output(d2, True)

GPIO.output(d3, False)

if spot == "left":

GPIO.output(d0, True)

GPIO.output(d1, False)

GPIO.output(d2, True)

GPIO.output(d3, False)

if spot == "right":

GPIO.output(d0, False)

GPIO.output(d1, True)

GPIO.output(d2, False)

GPIO.output(d3, True)

t1 = datetime.now()

GPIO.output(d0, False)

GPIO.output(d1, False)

GPIO.output(d2, False)

GPIO.output(d3, False)

t2 = datetime.now()

delta = t2 - t1

time_elapse = delta.total_seconds()

if time_elapse > 5:

if get_cmd() == True:

print "got help"

global distress

GPIO.output(d0, False)

GPIO.output(d1, False)

GPIO.output(d2, False)

GPIO.output(d3, False)

distress = False

send_distress()

TFT.load_wallpaper("pad.jpg") # Image of calculator !!!

TFT.display()

TFT.load_wallpaper("pad.jpg") # Image of calculator !!!

TFT.display()

t1 = datetime.now()

if GPIO.input(restart) == False:

break

except Exception as e :

font = ImageFont.truetype('FreeMonoBold.ttf', 30)

TFT.clear()

draw.textrotated((50, 100), '!!!!ERROR!!!!',0,font, fill="lightgreen")

draw.textrotated((50, 130), ' Press reset',0, font, fill="lightgreen")

TFT.display() # Let's take a look

while GPIO.input(restart):

None

python TM