145 lines
4.2 KiB
Python
145 lines
4.2 KiB
Python
#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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import atexit
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import logging
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import cv2
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from tornado import gen
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from tornado.ioloop import IOLoop
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from tornado.iostream import StreamClosedError
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from tornado.options import options, define
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from tornado.tcpserver import TCPServer
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try:
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import RPi.GPIO as GPIO # @UnusedImport @UnresolvedImport
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except:
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pass
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define("port", default=8888, help="TCP port to listen on")
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logger = logging.getLogger(__name__)
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# SIZE = (640, 480) # 分辨率
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# FPS = 24
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SIZE = (100, 80) # 分辨率
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FPS = 5
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PARAM = [int(cv2.IMWRITE_JPEG_QUALITY), FPS]
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class EchoServer(TCPServer):
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IMAGE = None
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def __init__(self, cap, *args, **kwargs):
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super(EchoServer, self).__init__(*args, **kwargs)
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self.cap = cap
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self.init()
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def init(self):
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"""初始化管脚"""
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try:
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GPIO.setmode(GPIO.BCM)
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GPIO.setup(17, GPIO.OUT)
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GPIO.setup(27, GPIO.OUT)
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GPIO.setup(22, GPIO.OUT)
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GPIO.setup(18, GPIO.OUT, initial=False)
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self.duo = GPIO.PWM(18, 300)
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self.p1 = GPIO.PWM(17, 10000)
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self.p2 = GPIO.PWM(27, 10000)
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en = GPIO.output(22, False) # @UnusedVariable
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self.p1.start(0)
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self.p2.start(0)
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self.duo.start(0)
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except Exception as e:
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print(e)
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def forward(self, a):
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try:
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k = a / 100
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print("k=%lf" % k)
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self.p1.ChangeDutyCycle(k)
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self.p2.ChangeDutyCycle(0)
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except:
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pass
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def back(self, a):
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try:
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k = a / 100
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print("k1=%lf" % k)
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self.p1.ChangeDutyCycle(0)
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self.p2.ChangeDutyCycle(k)
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except:
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pass
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def lr(self, a):
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try:
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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
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except:
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pass
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def stop(self):
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try:
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self.p1.ChangeDutyCycle(0)
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self.p2.ChangeDutyCycle(0)
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self.duo.ChangeDutyCycle(42)
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except:
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pass
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@gen.coroutine
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def handle_stream(self, stream, address):
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while True:
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try:
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data = yield stream.read_until(b"\n")
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# logger.info("Received bytes: %s", data)
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if not data.endswith(b"\n"):
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data = data + b"\n"
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if data == b'getimage\n' and self.cap and self.cap.isOpened():
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_, frame = self.cap.read() # 读取一帧图片
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if str(type(frame)).find('ndarray') > -1:
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frame = cv2.resize(frame, SIZE)
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ret, data = cv2.imencode('.jpg', frame, PARAM)
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if ret:
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yield stream.write(data.tostring()) # 发送图片
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else:
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try:
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ver, value = data.decode().split(':')
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if ver == 'L':
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self.lr(int(value))
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elif ver == 'R':
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self.lr(int(value))
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elif ver == 'F':
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self.forward(int(value))
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elif ver == 'B':
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self.back(int(value))
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yield stream.write(data)
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except:
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yield stream.write(b'\n')
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except StreamClosedError:
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logger.warning("Lost client at host %s", address[0])
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break
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except Exception as e:
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print(e)
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def start(cap):
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"""启动服务器"""
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options.parse_command_line()
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server = EchoServer(cap)
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server.listen(options.port)
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logger.info("Listening on TCP port %d", options.port)
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IOLoop.current().start()
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if __name__ == "__main__":
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cap = None
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try:
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cap = cv2.VideoCapture(0) # 开启摄像头
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atexit.register(lambda: cap.release())
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atexit.register(lambda: GPIO.cleanup())
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start(cap)
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except Exception as e:
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print(e)
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if cap:
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cap.release()
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try:
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GPIO.cleanup()
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except:
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pass
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