python3实现网页版raspberry pi（树莓派）小车控制

时间：2021-05-22

关于树莓派四驱小车的运动方向控制、摄像头方向控制已经在前面的两篇博文中介绍过。有需要的可以参考。本文也是基于上述两个python文件就绪的情况进行的。

本文主要讲述我是如何实现通过网页实现小车控制的。当前的实现方式比较简陋，只能支持控制网页和树莓派在同一个局域网中的场景。如果以后还有精力，可能会进行一些改进。

1. 基本思路

2. 服务端控制程序server.py

# --coding:utf-8--from http.server import BaseHTTPRequestHandler, HTTPServerimport timeimport socketimport urllibfrom car_controler import FourWheelDriveCarfrom camera_controler import Camera class CarServer(BaseHTTPRequestHandler): carControler = FourWheelDriveCar() cameraControler = Camera() def get_host_ip(self): ''' This method is used for getting local ip address The car server will deploy on this ip ''' try: serverSocket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) serverSocket.connect(("8.8.8.8", 80)) localIP = serverSocket.getsockname()[0] finally: return localIP def do_GET(self): ''' Define the car control GUI for client For the first edition, it will only return direction contol GUI ''' localIP = CarServer.get_host_ip(self) # When this GET method is called, then should init the car self.carControler.reset() # Read control page html file from control.html controlPageFile = open("control.html") controlPageGUI = controlPageFile.read() controlPageFile.close() controlPageGUI = controlPageGUI.replace( "requestAddress", "http://" + localIP + ":9090/") controlPageGUI = controlPageGUI.replace( "cameraAddress", "http://" + localIP + ":8080/") self.send_response(200) self.send_header("Content-type", "text/html") self.end_headers() self.wfile.write(controlPageGUI.encode()) def do_POST(self): length = int(self.headers['Content-Length']) qs = self.rfile.read(length) direction = qs.decode() print(direction) cameraDirection = ['HR', 'HL', 'VU', 'VD', 'RESET'] if direction in cameraDirection: # This is used to control the camera self.cameraControler.cameraRotate(direction) else: # This is used to control the car self.carControler.carMove(direction) self.send_response(200) if __name__ == "__main__": raspCarServer = CarServer hostIP = raspCarServer.get_host_ip(raspCarServer) hostPort = 9090 myServer = HTTPServer((hostIP, hostPort), raspCarServer) print(time.asctime(), "Server Starts - %s:%s" % (hostIP, hostPort)) try: myServer.serve_forever() except KeyboardInterrupt: pass

3. 服务端返回的页面control.html

几点说明：

  • html文件中有两个地址，我是在server.py中做了替换的，所以client请求之后会有实际的地址给到浏览器，最终都是使用的树莓派的ip
  • 有个显示监控视频的区域，可以直接用我给出的示例使用即可，前提是你也用的MJPG-Streamer来获取摄像头监控
  • 小车控制我只给来前后左右运动，没有给后退的转向控制，有需要可以自己添加
  • 比较重要的是点击按钮之后发送请求到服务端，参考文件<script>中的代码
<html><script> function directionBtnDown(direction) { var url = "requestAddress" var request = new XMLHttpRequest(); request.open("POST", url); request.send(direction) } function directionBtnUp() { var url = "requestAddress" var request = new XMLHttpRequest(); request.open("POST", url); request.send("S") }</script><style type="text/css"> span.car { position: absolute; margin-top: 30%; height: 480px; } span.camera { position: absolute; margin-top: 5%; margin-left: 290px; height: 480px; width: 640px; background-color: blue } span.camera_control { position: absolute; margin-top: 30%; margin-left: 950px; height: 480px; background-color: blue } button.top { position: absolute; height: 50px; width: 90px; margin-left: 90px } button.left { position: absolute; height: 50px; width: 90px; margin-top: 50px; } button.right { position: absolute; height: 50px; width: 90px; margin-top: 50px; margin-left: 180px } button.bottom { position: absolute; height: 50px; width: 90px; margin-top: 100px; margin-left: 90px }</style> <head> <title>control page</title></head> <body> <span id="car_control" class="car"> <button class="top drectionBtn" id="F" οnmοusedοwn="directionBtnDown('F')" οnmοuseup="directionBtnUp()">F</button> <button class="left drectionBtn" id="L" οnmοusedοwn="directionBtnDown('L')" οnmοuseup="directionBtnUp()">L</button> <button class="right drectionBtn" id="R" οnmοusedοwn="directionBtnDown('R')" οnmοuseup="directionBtnUp()">R</button> <button class="bottom drectionBtn" id="B" οnmοusedοwn="directionBtnDown('B')" οnmοuseup="directionBtnUp()">B</button> </span> <span id="camera_view" class="camera"> <img id="view" src="cameraAddress?action=stream" /> </span> <span id="camera_control" class="camera_control"> <button class="top drectionBtn" id="VU" οnmοusedοwn="directionBtnDown('VU')">Up</button> <button class="left drectionBtn" id="HL" οnmοusedοwn="directionBtnDown('HL')">Left</button> <button class="right drectionBtn" id="HR" οnmοusedοwn="directionBtnDown('HR')">Right</button> <button class="bottom drectionBtn" id="VD" οnmοusedοwn="directionBtnDown('VD')">Down</button> </span> </body> </html>

4. 使用方式简介

  • 在树莓派上运行MJPG-Streamer
  • 在树莓派上运行服务端控制程序server.py
  • 在相同局域网的pc上打开浏览器，访问server地址，如 http://192.168.1.101:9090。其中，ip地址是树莓派的ip，端口9090是server中设定的端口，可以自己修改

以上就是本文的全部内容，希望对大家的学习有所帮助，也希望大家多多支持。

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