preface
参考博客：https://blog.csdn.net/weixin_42534940/article/details/81416578
1.基础
python模块
httpserver: https://docs.python.org/zh-cn/3.8/library/http.server.html
树莓派
系统配置–>网络配置–>环境搭建–>开发
ifconfig ——查看IP地址 eth0 lo wlan0
连接方式：
ssh user@192.168.1.102,可远程连接树莓派，进行命令行操作- VNC server 进行连接，IP,username,password同ssh
ls /dev/tty* 查看端口
内网外网
内网是从路由器以下开始的，ip都以192开头。
外网不经过路由器和交换机就可以上网的网络。
2.代码
server.py
# --coding:utf-8--
from http.server import BaseHTTPRequestHandler, HTTPServer
import time
import socket
import urllib
import serial
#from car_controler import FourWheelDriveCar
#from camera_controler import Camera
port='/dev/ttyUSB0'
rate=9600
ser=serial.Serial(port,rate,timeout=1)
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("index.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)
ser.write(''.encode())
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
index.html
<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" onmousedown="directionBtnDown('w')" onmouseup="directionBtnUp()">F</button>
<button class="left drectionBtn" id="L" onmousedown="directionBtnDown('a')" onmouseup="directionBtnUp()">L</button>
<button class="right drectionBtn" id="R" onmousedown="directionBtnDown('d')" onmouseup="directionBtnUp()">R</button>
<button class="bottom drectionBtn" id="B" onmousedown="directionBtnDown('x')" onmouseup="directionBtnUp()">B</button>
</span>
</body>
</html>
然后在树莓派上：sudo python3 server.py
去网页http://192.168.1.102:9090/，实现内网控制小车。
