SmartTank/ControlCenter.py

import cv2 as cv
import io
import logging
import socketserver
from threading import Condition
from threading import Thread
from http import server
import time
import traceback
import socket
import os
from urllib.parse import urlparse
from Tank import Tank

class StreamingHandler(server.BaseHTTPRequestHandler):
    def do_GET(self):
        # 摄像头
        if self.path.startswith('/camera'):           
            self.send_response(200)
            self.send_header('Age', 0)
            self.send_header('Cache-Control', 'no-cache, private')
            self.send_header('Pragma', 'no-cache')
            self.send_header('Content-Type', 'multipart/x-mixed-replace; boundary=FRAME')
            self.end_headers()
            ltime=0
            try:
                while True:                    
                    self.wfile.write(b'--FRAME\r\n')
                    self.send_header('Content-Type', 'image/jpeg')
                    ret, deal_frame = cap.read()
                    deal_frame = cv.flip(deal_frame, -1)
                    r, show_frame = cv.imencode('.jpg', deal_frame)
                    self.send_header('Content-Length', len(show_frame))
                    self.end_headers()
                    self.wfile.write(bytearray(show_frame))
                    self.wfile.write(b'\r\n')
            except Exception as e:
                logging.warning(
                    'Removed streaming client %s: %s',
                    self.client_address, str(e))
                traceback.print_exc()
        # 坦克控制
        elif self.path.startswith('/control'):
            parsed_result=urlparse(self.path)
            command = parsed_result.query
            print(command)
            # 解析命令
            orders = command.split('=')
            ord = orders[0]
            value = orders[1]
            print(value)
            print('{0} = {1}'.format(ord,value))
            if ord=='direct':
                if value=='forward':
                    tank.forward()
                elif value=='backward':
                    tank.backward()
                elif value=='left':
                    tank.left()
                elif value=='right':
                    tank.right()
                elif value=='stop':
                    tank.stop()
            elif ord=='speed':
                speed=int(value)
                tank.setSpeed(speed)
            self.send_response(200)
            self.send_header('Content-type', 'text/html')
            self.send_header("test", "This is test!")
            self.end_headers()
            self.wfile.write(b'success')
        else:
            self.send_error(404)
            self.end_headers()

class StreamingServer(socketserver.ThreadingMixIn, server.HTTPServer):
    #添加ipv6的支持
    address_family = socket.AF_INET6
    allow_reuse_address = True
    daemon_threads = True

def run(port = 8080):
    global cap, server, tank
    tank = Tank()
    # tank.setSpeed(30)
    cap = cv.VideoCapture(0)
    cap.set(cv.CAP_PROP_FRAME_WIDTH, 1280)
    cap.set(cv.CAP_PROP_FRAME_HEIGHT, 720)
    try:
        address = ('', port)
        server = StreamingServer(address, StreamingHandler)
        server.serve_forever()
    except Exception as e:
        traceback.print_exc()
    finally:
         cap.release()

def stop():
    global server
    server.shutdown()
    server.server_close()

run()