teamwk123/carsrun/appCam.py

#!/usr/bin/env python
# -*- coding: utf-8 -*-
#
#  	appCam.py
#  	based on tutorial ==> https://blog.miguelgrinberg.com/post/video-streaming-with-flask
# 	PiCam Local Web Server with Flask
# MJRoBot.org 19Jan18

from flask import Flask, render_template, Response, redirect, url_for, send_file, jsonify, request
from PIL import Image
import base64
# Raspberry Pi camera module (requires picamera package)
#from camera_pi import Camera
from picamera2 import Picamera2
import os
import time
from gevent import pywsgi
from car import CAR
#from PiCamera_H264_Server import stream
import threading
import cv2
app = Flask(__name__, static_url_path='')
# 照片保存路径
PHOTO_PATH = "photo.jpg"

# picam2 = Picamera2()
# picam2.configure(picam2.create_video_configuration(main={"format": 'XRGB8888', "size": (640, 480)}))
# picam2.start()

def gen_frames():  # generate frame by frame from camera
    picam2 = Picamera2()
    picam2.configure(picam2.create_video_configuration(main={"format": 'XRGB8888', "size": (640, 480)}))
    picam2.start()
    while True:
        # Capture frame-by-frame
        frame = picam2.capture_array()  # read the camera frame
        frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
        ret, 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')  # concat frame one by one and show result



def capture_frame():
    picam2.close()
    frame = picam2.capture_array()  # 假设picam2是你的相机对象
    ret, buffer = cv2.imencode('.jpg', frame, [int(cv2.IMWRITE_JPEG_QUALITY), 50])
    img_str = base64.b64encode(buffer).decode()
    picam2.start()
    return img_str

@app.route('/capture_frame')
def capture_frame_route():
    img_str = capture_frame()
    return jsonify(img_str)

@app.route('/')
def index():
    return render_template('index-t.html')

@app.route('/video_feed')
def video_feed():
    #Video streaming route. Put this in the src attribute of an img tag
    return Response(gen_frames(), mimetype='multipart/x-mixed-replace; boundary=frame')
#---------------------------------------------------------------------------------
@app.route('/take_photo')
def take_photo():
    picam2 = Picamera2()
    picam2.configure(picam2.create_video_configuration(main={"format": 'XRGB8888', "size": (640, 480)}))
    picam2.start()
    frame = picam2.capture_array()  # Capture a single frame
    frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
    cv2.imwrite(PHOTO_PATH, frame)  # Save the frame as a JPEG file

    return send_file(PHOTO_PATH, as_attachment=True)  # Send the file to download
#---------------------------------------------------------------------------------------

# def gen(camera):
#     """Video streaming generator function."""
#     while True:
#         frame = camera.get_frame()
#         yield (b'--frame\r\n'
#                b'Content-Type: image/jpeg\r\n\r\n' + frame + b'\r\n')

# @app.route('/capture')
# def capture():
#     pic = open("qrcode.png", "wb")
#     frame = Camera().get_frame()
#     pic.write(frame)
#     return Response(b'Content-Type: image/jpeg\r\n\r\n' + frame + b'\r\n',
#                     mimetype='multipart/x-mixed-replace; boundary=frame')
#     #return send_file("qrcode.png", mimetype='image/png')
#     #return redirect(url_for('index'))

# @app.route('/video_feed')
# def video_feed():
#     """Video streaming route. Put this in the src attribute of an img tag."""
#     return Response(gen(Camera()),
#                     mimetype='multipart/x-mixed-replace; boundary=frame')
car = CAR()
@app.route('/control/')
def control_index():
    word = """指令：\n
        /stop(/Q): 小车停止运动\n
        /forward(/W): 小车开始运动\n
        /back(/S): 小车向后运动\n
        /left(/A): 小车向左运动\n
        /right(/D): 小车向右运动\n"""
    print(word)
    return word

# def execute_forward_function():
#     url = "http://192.168.185.242:80/send_command"  # 示例URL，实际使用时需要替换为正确的服务器地址
#     data = {"command": 'base -c {"T":1,"L":0.5,"R":0.5}'}  # 请求体数据

#     # 发送请求并打印返回结果
#     try:
#         response = request.post(url, data=data)
#         print(response.text)  # 打印服务器返回的内容
#     except request.exceptions.RequestException as e:
#         print(f"请求发生错误: {e}")
#         print("执行前进功能")
#     # 返回一些结果
#     return "前进功能已执行"

# @app.route('/control/forward', methods=['GET'])
# def control_forward():
#     try:
#         # 获取前端发送的数据
#         data = request.args
        
#         # 调试输出接收到的数据
#         print("接收到的数据:", data)
        
#         # 执行你的函数
#         result = execute_forward_function()  # 确保这个函数是可以被调用的，如果有必要打印它的返回值
        
#         # 返回JSON响应, result 需要确保是可json化的对象
#         return jsonify({
#             "resultCode": 200,
#             "message": "请求成功",
#             "data": result
#         })
#     except Exception as e:
#         print(f"发生错误: {e}")  # 打印异常
#         return jsonify({"resultCode": 500, "message": "内部服务器错误"}), 500  # 返回500错误



@app.route('/control/<path:info>')
def fun(info):
    if hasattr(car, info):
        getattr(car, info)()
        return 'Run: '+info+'\n'
    else:
        return 'Error: '+info+' not be defined\n'
    


if __name__ == '__main__':
    app.run(host='0.0.0.0', port =80, debug=True, threaded=True)
    # t = threading.Thread(target=stream)
    # t.start()
    # server = pywsgi.WSGIServer(('0.0.0.0', 80), app)
    # server.serve_forever()