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#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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#
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# appCam.py
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# based on tutorial ==> https://blog.miguelgrinberg.com/post/video-streaming-with-flask
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# PiCam Local Web Server with Flask
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# MJRoBot.org 19Jan18
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from flask import Flask, render_template, Response, redirect, url_for, send_file, jsonify, request
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# Raspberry Pi camera module (requires picamera package)
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#from camera_pi import Camera
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from picamera2 import Picamera2
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import os
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import time
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from gevent import pywsgi
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from car import CAR
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#from PiCamera_H264_Server import stream
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import threading
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import cv2
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app = Flask(__name__, static_url_path='')
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def gen_frames(): # generate frame by frame from camera
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picam2 = Picamera2()
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picam2.configure(picam2.create_video_configuration(main={"format": 'XRGB8888', "size": (640, 480)}))
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picam2.start()
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while True:
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# Capture frame-by-frame
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frame = picam2.capture_array() # read the camera frame
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frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
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ret, buffer = cv2.imencode('.jpg', frame)
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frame = buffer.tobytes()
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yield (b'--frame\r\n'
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b'Content-Type: image/jpeg\r\n\r\n' + frame + b'\r\n') # concat frame one by one and show result
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@app.route('/')
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def index():
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return render_template('index-t.html')
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@app.route('/video_feed')
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def video_feed():
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#Video streaming route. Put this in the src attribute of an img tag
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return Response(gen_frames(), mimetype='multipart/x-mixed-replace; boundary=frame')
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# def gen(camera):
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# """Video streaming generator function."""
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# while True:
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# frame = camera.get_frame()
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# yield (b'--frame\r\n'
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# b'Content-Type: image/jpeg\r\n\r\n' + frame + b'\r\n')
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# @app.route('/capture')
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# def capture():
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# pic = open("qrcode.png", "wb")
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# frame = Camera().get_frame()
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# pic.write(frame)
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# return Response(b'Content-Type: image/jpeg\r\n\r\n' + frame + b'\r\n',
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# mimetype='multipart/x-mixed-replace; boundary=frame')
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# #return send_file("qrcode.png", mimetype='image/png')
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# #return redirect(url_for('index'))
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# @app.route('/video_feed')
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# def video_feed():
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# """Video streaming route. Put this in the src attribute of an img tag."""
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# return Response(gen(Camera()),
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# mimetype='multipart/x-mixed-replace; boundary=frame')
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car = CAR()
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@app.route('/control/')
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def control_index():
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word = """指令：\n
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/led: 灯光闪烁\n
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/led_light: 打开全部灯光\n
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/led_dark: 关闭全部灯光\n
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/stop(/Q): 小车停止运动\n
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/forward(/W): 小车开始运动\n
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/back(/S): 小车向后运动\n
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/left(/A): 小车向左运动\n
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/right(/D): 小车向右运动\n"""
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print(word)
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return word
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# def execute_forward_function():
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# 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
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# data = {"command": 'base -c {"T":1,"L":0.5,"R":0.5}'} # 请求体数据
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# # 发送请求并打印返回结果
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# try:
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# response = request.post(url, data=data)
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# print(response.text) # 打印服务器返回的内容
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# except request.exceptions.RequestException as e:
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# print(f"请求发生错误: {e}")
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# print("执行前进功能")
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# # 返回一些结果
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# return "前进功能已执行"
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# @app.route('/control/forward', methods=['GET'])
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# def control_forward():
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# try:
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# # 获取前端发送的数据
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# data = request.args
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# # 调试输出接收到的数据
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# print("接收到的数据:", data)
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# # 执行你的函数
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# 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
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# # 返回JSON响应, result 需要确保是可json化的对象
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# return jsonify({
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# "resultCode": 200,
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# "message": "请求成功",
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# "data": result
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# })
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# except Exception as e:
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# print(f"发生错误: {e}") # 打印异常
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# return jsonify({"resultCode": 500, "message": "内部服务器错误"}), 500 # 返回500错误
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@app.route('/control/<path:info>')
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def fun(info):
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if hasattr(car, info):
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getattr(car, info)()
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return 'Run: '+info+'\n'
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else:
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return 'Error: '+info+' not be defined\n'
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if __name__ == '__main__':
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app.run(host='0.0.0.0', port =80, debug=True, threaded=True)
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# t = threading.Thread(target=stream)
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# t.start()
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# server = pywsgi.WSGIServer(('0.0.0.0', 80), app)
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# server.serve_forever()
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