some fix

.settings/org.eclipse.core.resources.prefs

@@ -74,7 +74,6 @@ encoding//\u7A0B\u5E8F\u91CD\u542F/AutoRestart.py=utf-8
 encoding//\u7A97\u53E3\u91CD\u542F/RestartMainWindow.py=utf-8
 encoding//\u7B80\u5355\u7684\u7A97\u53E3\u8D34\u8FB9\u9690\u85CF/WeltHideWindow.py=utf-8
 encoding//\u7F51\u7EDC\u64CD\u4F5C/TcpSocket/\u63A7\u5236\u5C0F\u8F66/ControlCar.py=utf-8
-encoding//\u7F51\u7EDC\u64CD\u4F5C/TcpSocket/\u63A7\u5236\u5C0F\u8F66/imageserver.py=utf-8
 encoding//\u7F51\u7EDC\u64CD\u4F5C/TcpSocket/\u63A7\u5236\u5C0F\u8F66/server.py=utf-8
 encoding//\u817E\u8BAF\u89C6\u9891\u70ED\u64AD\u5217\u8868/TencentMovieHotPlay.py=utf-8
 encoding//\u817E\u8BAF\u89C6\u9891\u70ED\u64AD\u5217\u8868/TencentMovieHotPlay_Flow.py=utf-8

网络操作/TcpSocket/控制小车/ControlCar.py

@@ -22,14 +22,12 @@ __Version__ = 1.0
 
 class ControlCar(QWidget):
 
-    HOST = "127.0.0.1"
-    PORT_CAR = 8888  # 控制小车的端口
-    PORT_IMAGE = 8899  # 获取图片的端口
+    HOST = '127.0.0.1'
+    PORT = 8888
 
     def __init__(self, *args, **kwargs):
         super(ControlCar, self).__init__(*args, **kwargs)
-        self._connCar = None  # 控制小车的连接
-        self._connImage = None  # 获取图片的连接
+        self._connCar = None
         # 加载UI文件
         uic.loadUi('carui.ui', self)
         self.resize(800, 600)
@@ -56,11 +54,6 @@ class ControlCar(QWidget):
             self._connCar.deleteLater()
             del self._connCar
             self._connCar = None
-        if self._connImage:
-            self._connImage.close()
-            self._connImage.deleteLater()
-            del self._connImage
-            self._connImage = None
 
     def closeEvent(self, event):
         """窗口关闭事件"""
@@ -71,6 +64,7 @@ class ControlCar(QWidget):
     def doConnect(self):
         """连接服务器"""
         self.buttonConnect.setEnabled(False)
+        self._timer.stop()
         self._clearConn()
         self.browserResult.append('正在连接服务器')
         # 连接控制小车的服务器
@@ -79,18 +73,7 @@ class ControlCar(QWidget):
         self._connCar.disconnected.connect(self.onDisconnected)  # 绑定连接丢失信号
         self._connCar.readyRead.connect(self.onReadyRead)  # 准备读取信号
         self._connCar.error.connect(self.onError)  # 连接错误信号
-        self._connCar.connectToHost(self.HOST, self.PORT_CAR)
-        # 连接获取图片的服务器
-        self._connImage = QTcpSocket(self)
-        # 200毫秒,无闪烁
-        self._connImage.connected.connect(
-            lambda: self._timer.start(200) and self.browserResult.append('图片服务器连接成功'))
-        self._connImage.disconnected.connect(
-            lambda: self._timer.stop() and self.browserResult.append('图片服务器连丢失连接'))
-        self._connImage.error.connect(lambda _: self._timer.stop() and self.browserResult.append(
-            '连接图片服务器错误: ' + self._connImage.errorString()))
-        self._connImage.readyRead.connect(self.onImageReadyRead)
-        self._connImage.connectToHost(self.HOST, self.PORT_IMAGE)
+        self._connCar.connectToHost(self.HOST, self.PORT)
 
     def onConnected(self):
         """连接成功"""
@@ -101,9 +84,12 @@ class ControlCar(QWidget):
         self.sliderLeft.setEnabled(True)
         self.sliderRight.setEnabled(True)
         self.browserResult.append('连接成功')  # 记录日志
+        # 开启获取摄像头图片定时器
+        self._timer.start(200)
 
     def onDisconnected(self):
         """丢失连接"""
+        self._timer.stop()
         self.buttonConnect.setEnabled(True)  # 按钮可用
         # 设置初始拉动条不可用
         self.sliderForward.setEnabled(False)
@@ -122,23 +108,17 @@ class ControlCar(QWidget):
         while self._connCar.bytesAvailable() > 0:
             try:
                 data = self._connCar.readAll().data()
+                if data and data.find(b'JFIF') > -1:
+                    self.qlabel.setPixmap(  # 图片
+                        QPixmap.fromImage(QImage.fromData(data)))
+                else:
                     self.browserResult.append('接收到数据: ' + data.decode())
             except Exception as e:
                 self.browserResult.append('解析数据错误: ' + str(e))
 
-    def onImageReadyRead(self):
-        """返回的图片数据"""
-        while self._connImage.bytesAvailable() > 0:
-            try:
-                data = self._connImage.readAll().data()
-                if data and data.find(b'JFIF') > -1:
-                    self.qlabel.setPixmap(
-                        QPixmap.fromImage(QImage.fromData(data)))
-            except Exception as e:
-                self.browserResult.append('解析图片数据错误: ' + str(e))
-
     def onError(self, _):
         """连接报错"""
+        self._timer.stop()
         self.buttonConnect.setEnabled(True)  # 按钮可用
         self.browserResult.append('连接服务器错误: ' + self._connCar.errorString())
 
@@ -164,18 +144,12 @@ class ControlCar(QWidget):
 
     def doGetImage(self):
         # 请求图片
-        if not self._connImage or not self._connImage.isWritable():
-            return self.browserResult.append('图片服务器未连接或不可写入数据')
-        self._connImage.write(b'getimage\n')
+        self.sendData('getimage', '')
 
     def sendData(self, ver, data):
         """发送数据"""
         if not self._connCar or not self._connCar.isWritable():
             return self.browserResult.append('服务器未连接或不可写入数据')
-#         self._connCar.write(ver.encode() + str(data).encode())
-        # time.sleep(0.05)
-
-        # 我的服务器需要接收以\n结尾的数据
         self._connCar.write(ver.encode() + str(data).encode() + b'\n')
 
 

网络操作/TcpSocket/控制小车/README.md

@@ -13,6 +13,7 @@
  - 这里只用了UI文件做界面，并没有转换为python代码
  - server.py只是做个本地echo服务器用来测试命令是否正常，依赖tornado库，可以通过pip install tornado来安装
  - 另外需要做粘包处理，以（\n）作为粘包符
+ - 由于wifi能力不行,发送图片要尽量小
 
 说明：
 
@@ -22,4 +23,4 @@
  - QTcpSocket.error        连接报错触发该信号（连接超时、服务器断开等等）
 
 ## 截图
-![截图](ScreenShot/car.gif)
+![截图](ScreenShot/1.png)

网络操作/TcpSocket/控制小车/imageserver.py

@@ -1,74 +0,0 @@
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
-import logging
-
-import cv2
-from tornado import gen
-from tornado.ioloop import IOLoop
-from tornado.iostream import StreamClosedError
-from tornado.options import options, define
-from tornado.tcpserver import TCPServer
-
-
-# Created on 2018年4月18日
-# author: Irony
-# site: https://github.com/892768447
-# email: 892768447@qq.com
-# file: 控制小车.server
-# description:
-__Author__ = """By: Irony
-QQ: 892768447
-Email: 892768447@qq.com"""
-__Copyright__ = 'Copyright (c) 2018 Irony'
-__Version__ = 1.0
-
-
-define("port", default=8899, help="TCP port to listen on")
-logger = logging.getLogger(__name__)
-
-SIZE = (640, 480)  # 分辨率
-FPS = 24
-PARAM = [int(cv2.IMWRITE_JPEG_QUALITY), FPS]
-
-
-class EchoServer(TCPServer):
-
-    IMAGE = None
-
-    def __init__(self, *args, **kwargs):
-        super(EchoServer, self).__init__(*args, **kwargs)
-        try:
-            self.cap = cv2.VideoCapture(0)
-        except Exception as e:
-            print(e)
-
-    @gen.coroutine
-    def handle_stream(self, stream, address):
-        while True:
-            try:
-                data = yield stream.read_until(b"\n")
-#                 logger.info("Received bytes: %s", data)
-                if not data.endswith(b"\n"):
-                    data = data + b"\n"
-                if data == b'getimage\n' and self.cap and self.cap.isOpened():
-                    _, frame = self.cap.read()  # 读取一帧图片
-                    if str(type(frame)).find('ndarray') > -1:
-                        frame = cv2.resize(frame, SIZE)
-                        ret, data = cv2.imencode('.jpg', frame, PARAM)
-                        if ret:
-                            yield stream.write(data.tostring())  # 发送图片
-                else:
-                    yield stream.write(b'\n')
-            except StreamClosedError:
-                logger.warning("Lost client at host %s", address[0])
-                break
-            except Exception as e:
-                print(e)
-
-
-if __name__ == "__main__":
-    options.parse_command_line()
-    server = EchoServer()
-    server.listen(options.port)
-    logger.info("Listening on TCP port %d", options.port)
-    IOLoop.current().start()

网络操作/TcpSocket/控制小车/server.py

@@ -1,21 +1,9 @@
 #!/usr/bin/env python
 # -*- coding: utf-8 -*-
-
-# Created on 2018年4月18日
-# author: Irony
-# site: https://github.com/892768447
-# email: 892768447@qq.com
-# file: 控制小车.server
-# description:
-
-__Author__ = """By: Irony
-QQ: 892768447
-Email: 892768447@qq.com"""
-__Copyright__ = 'Copyright (c) 2018 Irony'
-__Version__ = 1.0
-
+import atexit
 import logging
 
+import cv2
 from tornado import gen
 from tornado.ioloop import IOLoop
 from tornado.iostream import StreamClosedError
@@ -23,20 +11,123 @@ from tornado.options import options, define
 from tornado.tcpserver import TCPServer
 
 
+try:
+    import RPi.GPIO as GPIO  # @UnusedImport @UnresolvedImport
+except:
+    pass
+
+
+# Created on 2018年4月18日
+# author: Irony
+# site: https://github.com/892768447
+# email: 892768447@qq.com
+# file: server
+# description:
+__Author__ = """By: Irony
+QQ: 892768447
+Email: 892768447@qq.com"""
+__Copyright__ = 'Copyright (c) 2018 Irony'
+__Version__ = 1.0
+
+
 define("port", default=8888, help="TCP port to listen on")
 logger = logging.getLogger(__name__)
 
+# SIZE = (640, 480)  # 分辨率
+# FPS = 24
+SIZE = (100, 80)  # 分辨率
+FPS = 5
+PARAM = [int(cv2.IMWRITE_JPEG_QUALITY), FPS]
+
 
 class EchoServer(TCPServer):
+
+    IMAGE = None
+
+    def __init__(self, cap, *args, **kwargs):
+        super(EchoServer, self).__init__(*args, **kwargs)
+        self.cap = cap
+        self.init()
+
+    def init(self):
+        """初始化管脚"""
+        try:
+            GPIO.setmode(GPIO.BCM)
+            GPIO.setup(17, GPIO.OUT)
+            GPIO.setup(27, GPIO.OUT)
+            GPIO.setup(22, GPIO.OUT)
+            GPIO.setup(18, GPIO.OUT, initial=False)
+            self.duo = GPIO.PWM(18, 300)
+            self.p1 = GPIO.PWM(17, 10000)
+            self.p2 = GPIO.PWM(27, 10000)
+            en = GPIO.output(22, False)  # @UnusedVariable
+            self.p1.start(0)
+            self.p2.start(0)
+            self.duo.start(0)
+        except Exception as e:
+            print(e)
+
+    def forward(self, a):
+        try:
+            k = a / 100
+            print("k=%lf" % k)
+            self.p1.ChangeDutyCycle(k)
+            self.p2.ChangeDutyCycle(0)
+        except:
+            pass
+
+    def back(self, a):
+        try:
+            k = a / 100
+            print("k1=%lf" % k)
+            self.p1.ChangeDutyCycle(0)
+            self.p2.ChangeDutyCycle(k)
+        except:
+            pass
+
+    def lr(self, a):
+        try:
+            self.duo.ChangeDutyCycle(a)  # 左满舵a=32，右满舵a=52，中值a=42，则a值取32至52
+        except:
+            pass
+
+    def stop(self):
+        try:
+            self.p1.ChangeDutyCycle(0)
+            self.p2.ChangeDutyCycle(0)
+            self.duo.ChangeDutyCycle(42)
+        except:
+            pass
+
     @gen.coroutine
     def handle_stream(self, stream, address):
         while True:
             try:
                 data = yield stream.read_until(b"\n")
-                logger.info("Received bytes: %s", data)
+#                 logger.info("Received bytes: %s", data)
                 if not data.endswith(b"\n"):
                     data = data + b"\n"
+                if data == b'getimage\n' and self.cap and self.cap.isOpened():
+                    _, frame = self.cap.read()  # 读取一帧图片
+                    if str(type(frame)).find('ndarray') > -1:
+                        frame = cv2.resize(frame, SIZE)
+                        ret, data = cv2.imencode('.jpg', frame, PARAM)
+                        if ret:
+                            yield stream.write(data.tostring())  # 发送图片
+                else:
+                    try:
+                        ver, value = data.decode().split(':')
+                        if ver == 'L':
+                            self.lr(int(value))
+                        elif ver == 'R':
+                            self.lr(int(value))
+                        elif ver == 'F':
+                            self.forward(int(value))
+                        elif ver == 'B':
+                            self.back(int(value))
                         yield stream.write(data)
+                    except:
+                        yield stream.write(b'\n')
             except StreamClosedError:
                 logger.warning("Lost client at host %s", address[0])
                 break
@@ -44,9 +135,27 @@ class EchoServer(TCPServer):
                 print(e)
 
 
-if __name__ == "__main__":
+def start(cap):
+    """启动服务器"""
     options.parse_command_line()
-    server = EchoServer()
+    server = EchoServer(cap)
     server.listen(options.port)
     logger.info("Listening on TCP port %d", options.port)
     IOLoop.current().start()
+
+
+if __name__ == "__main__":
+    cap = None
+    try:
+        cap = cv2.VideoCapture(0)  # 开启摄像头
+        atexit.register(lambda: cap.release())
+        atexit.register(lambda: GPIO.cleanup())
+        start(cap)
+    except Exception as e:
+        print(e)
+    if cap:
+        cap.release()
+    try:
+        GPIO.cleanup()
+    except:
+        pass