class StreamDrive(object):
def __init__(self):
# Set up GPIO for RPi
GPIO.setmode(GPIO.BOARD)
forwardPin = 7
backwardPin = 11
leftPin = 13
rightPin = 15
controlStraightPin = 29
self.motor = Motor(forwardPin, backwardPin, controlStraightPin,
leftPin, rightPin)
self.sensor = UltrasonicSensor()
# Initialize server for receiving driving instructions
self.server_socket = socket.socket()
self.server_socket.bind(('0.0.0.0', 8000))
self.server_socket.listen(0)
self.server_connection, self.client_address = self.server_socket.accept(
)
print("Connection from: ", self.client_address)
# Initialize client for streaming camera pictures
self.client_socket = socket.socket()
self.client_socket.connect(('192.168.1.11', 8000))
# Make a file-like object out of the client connection
self.client_connection = self.client_socket.makefile('wb')
# Start the stream
self.stream()
def stream(self):
try:
# Initialize camera and allow some warmup time, create stream
self.camera = picamera.PiCamera()
self.camera.resolution = (320, 240)
self.camera.framerate = 10
time.sleep(2)
start = time.time()
stream = io.BytesIO()
for frame in self.camera.capture_continuous(stream,
'jpeg',
use_video_port=True):
# Write the length of the capture to the stream
# and flush to make sure it gets sent
self.client_connection.write(struct.pack('<L', stream.tell()))
self.client_connection.flush()
# Rewind the stream and send image data through
stream.seek(0)
self.client_connection.write(stream.read())
# Reset stream for next capture
stream.seek(0)
stream.truncate()
# Write sensor data to server
distance = self.sensor.measure_average()
self.server_connection.send(struct.pack("f", distance))
# Get the pressed key
key = self.server_connection.recv(1024).decode()
if (key == "w"):
self.motor.forward()
elif (key == "s"):
self.motor.backward()
elif (key == "a"):
self.motor.forward_left()
elif (key == "d"):
self.motor.forward_right()
elif (key == "space"):
self.motor.stop()
elif (key == "x"):
print("Program terminated")
break
else:
self.motor.stop()
key = ""
# Write a length of 0 to the stream to signal we're done
self.client_connection.write(struct.pack('<L', 0))
finally:
self.client_connection.close()
self.client_socket.close()
self.server_connection.close()
self.server_socket.close()
GPIO.cleanup()
forwardPin = 7
backwardPin = 11
leftPin = 13
rightPin = 15
controlStraightPin = 29
motor = Motor(forwardPin, backwardPin, controlStraightPin, leftPin, rightPin)
while True:
key = get_keys()
if (key == "w"):
motor.forward()
elif (key == "s"):
motor.backward()
elif (key == "a"):
motor.forward_left()
elif (key == "d"):
motor.forward_right()
elif (key == "space"):
motor.stop()
elif (key == "x"):
print("Program terminated")
break
else:
motor.stop()
key = ""
GPIO.cleanup()
