161 lines
4.4 KiB
Python
161 lines
4.4 KiB
Python
#!/usr/bin/env python
|
||
# -*- coding: utf-8 -*-
|
||
import atexit
|
||
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
|
||
|
||
|
||
try:
|
||
import RPi.GPIO as GPIO # @UnusedImport @UnresolvedImport
|
||
except:
|
||
pass
|
||
|
||
|
||
# Created on 2018年4月18日
|
||
# author: Irony
|
||
# site: https://pyqt5.com, 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)
|
||
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
|
||
except Exception as e:
|
||
print(e)
|
||
|
||
|
||
def start(cap):
|
||
"""启动服务器"""
|
||
options.parse_command_line()
|
||
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
|