Merge pull request '云台控制归位，小车控制校验' (#3) from zyp into main

4 weeks ago · 19b584ad97
parent 3f13857294 42d00847ae
commit 19b584ad97
7 changed files with 68 additions and 20 deletions
--- a/carsrun/appCam.py
+++ b/carsrun/appCam.py
@ -7,7 +7,8 @@
 # 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
@ -22,6 +23,10 @@ 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)}))
@ -36,6 +41,20 @@ def gen_frames():  # generate frame by frame from camera
                   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')
--- a/carsrun/car.py
+++ b/carsrun/car.py
@ -95,3 +95,10 @@ class CAR:
    def yunright(self):
        self.input_x+=10
        base.gimbal_ctrl(self.input_x, self.input_y, self.input_speed, self.input_acc)
+
+    def guiwei(self):
+        self.input_x = 2
+        self.input_y = 2
+        self.input_speed = 0
+        base.gimbal_base_ctrl(self.input_x, self.input_y, self.input_speed)
+        
--- a/carsrun/templates/index-t.html
+++ b/carsrun/templates/index-t.html
@ -20,10 +20,14 @@
             background: #e8080b;
            }
    </style>
+    <title>Capture Frame</title>
+    <script src="https://ajax.googleapis.com/ajax/libs/jquery/3.5.1/jquery.min.js"></script>
 </head>
 <body>
    <h5>实时视频流</h5>
    <img src="{{ url_for('video_feed') }}">
+    <button id="captureButton">Capture Frame</button>
+    <img id="frameImage" src="" alt="Captured Frame" style="display:none; width: 640px; height: 480px;">
    <p> 小车控制界面</p>
    <bodylink = "red">
    <a href="control" target="_blank">小车控制</a>
@ -94,6 +98,23 @@


    <script>
+        $(document).ready(function() {
+            $('#captureButton').click(function() {
+                $.ajax({
+                    url: '/capture_frame', // 后端路由地址
+                    type: 'GET',
+                    success: function(response) {
+                        // 将响应中的图像数据设置到img标签的src属性
+                        $('#frameImage').attr('src', 'data:image/jpeg;base64,' + response);
+                        // 显示图像
+                        $('#frameImage').show();
+                    },
+                    error: function(error) {
+                        console.log('Error:', error);
+                    }
+                });
+            });
+        });
        function printClicked() {
        // console.log("132465789891651354684");
        }
--- a/public/images/1.jpg
+++ b/public/images/1.jpg
--- a/public/images/12.jpg
+++ b/public/images/12.jpg
--- a/routes/index.js
+++ b/routes/index.js
@ -169,24 +169,24 @@ router.post('/login', urlencodedParser, function (req, res, next) {
                  res.redirect('login');
              } else {
                username = name
-                var exec = require('child_process').exec; 
-                exec(`python C:/Users/17217/Desktop/english/users/admin/log.py `+username)
-                db.run("delete from "+name,function(){  //每次先将表信息清空再重新读取文件夹里面的文件信息
-                });
-                fs.readdir('./users/'+name, 'utf8', function(err, data) {   
-                  console.log(data);
-                  for (var key in data) {
-                      console.log(key);
-                      var a=key
-                      console.log(data[key]);
-                      var b=data[key]
-                      var c = fs.statSync(path.join(__dirname,'../users/'+name+'/'+data[key]))
-                      console.log(c.size)
-                      var add = db.prepare("INSERT INTO "+name+"(fid,fname,fsize,fowner) VALUES(?,?,?,?)");//读取用户名文件夹下文件ID、文件名、大小并写入数据库中
-                      add.run(a,b,c.size,name);
-                      add.finalize();
-                  }
-                })
+                // var exec = require('child_process').exec; 
+                // exec(`python C:/Users/17217/Desktop/english/users/admin/log.py `+username)
+                // db.run("delete from "+name,function(){  //每次先将表信息清空再重新读取文件夹里面的文件信息
+                // });
+                // fs.readdir('./users/'+name, 'utf8', function(err, data) {   
+                //   console.log(data);
+                //   for (var key in data) {
+                //       console.log(key);
+                //       var a=key
+                //       console.log(data[key]);
+                //       var b=data[key]
+                //       var c = fs.statSync(path.join(__dirname,'../users/'+name+'/'+data[key]))
+                //       console.log(c.size)
+                //       var add = db.prepare("INSERT INTO "+name+"(fid,fname,fsize,fowner) VALUES(?,?,?,?)");//读取用户名文件夹下文件ID、文件名、大小并写入数据库中
+                //       add.run(a,b,c.size,name);
+                //       add.finalize();
+                //   }
+                // })
                if (name == 'admin')
                {
                  req.session.error = ''
--- a/views/index.ejs
+++ b/views/index.ejs
@ -60,6 +60,7 @@
    <% } %>
    <h1> <a href="/zuozhan">作战员1入口</a></h1>
    <h1> <a href="/zuozhan2">作战员2入口</a></h1>
+    <h1> <a href="http://192.168.98.242:80">侦查员入口</a></h1>
    <h1> <a href="/guanli">用户信息管理</a></h1>
    <h1> <%= message %> <a href="/logout">退出登录</a></h1>
  </div>