def edit_action(action_name):
if gl.get_value('state') == 'WAITING':
gl.set_value('state', 'BUSY')
form = ActionForm().validate_for_api()
from DRcode.app.libs.robot import Robot
robot = Robot()
# 动作不存在
if action_name not in robot.action_user_list:
gl.set_value('state', 'WAITING')
return NotFound()
# 重命名并修改动作
else:
try:
# 仅修改名称
if form.body.data == '':
new_name = form.name.data
Robot.robot_rename_action(action_name, new_name)
# 仅修改内容
elif form.name.data == '':
Robot.robot_delete_action(action_name)
Robot.robot_add_action(action_name, form.body.data)
# 都修改
else:
Robot.robot_delete_action(action_name)
Robot.robot_add_action(form.name.data, form.body.data)
gl.set_value('state', 'WAITING')
return Success(msg='rename and edit successfully')
except Exception as result:
print('检测出异常{}'.format(result))
gl.set_value('state', 'WAITING')
return ServerError(msg='Error{}'.format(result))
else:
return InstructBusy()
def camera_connection(ssid, passphrase):
# 2摄像头TCP部分：建立TCP连接，监听端口获取摄像头IP地址
while gl.get_value('camera_connecting'):
t2 = threading.Thread(target=camera_receiver, name='TCP')
t2.start()
# 1摄像头UDP部分：UDP广播SSID和密码给摄像头配网
from DRcode.app.libs.camera import Camera_UDP
SENDERPORT = 45725
if Camera_UDP(SENDERPORT).send_message(ssid, passphrase):
return True
else:
return False
def create_action():
if gl.get_value('state') == 'WAITING':
gl.set_value('state', 'BUSY')
form = ActionForm().validate_for_api()
try:
from DRcode.app.libs.robot import Robot
Robot.robot_add_action(form.name.data, form.body.data)
gl.set_value('state', 'WAITING')
return Success()
except Exception as result:
print('检测出异常{}'.format(result))
return ServerError(msg='Error{}'.format(result))
else:
return InstructBusy()
def write_data(data=[], cn=0):
# print("当前服务器状态:" + gl.get_value('state'))
if gl.get_value('state') == 'PAUSE':
print("正在执行暂停指令-pause,等待开始-continue命令继续执行！")
while gl.get_value('state') == 'PAUSE':
pass
if gl.get_value('state') == 'STOP':
gl.set_value('state', 'WAITING')
set_mode(121, 3)
# print("正在执行急停指令-stop！！！- WRITE_DATA")
raise KeyboardInterrupt
return False
if cn == 0:
if len(data) == 10:
data[6] = 0
sum = 0
for i in range(8):
sum += data[i + 1]
data[6] = sum % 100
uart.write(data)
else:
if len(data) > 0:
uart.write(data)
def send_message(self, ssid, passphrase):
print('UDP send message------------------------------')
guide_code, datum_data, data = creat_content(ssid, passphrase, self.ip,
self.bssid)
messages = get_content(guide_code, datum_data, data)
k = 0
while gl.get_value('camera_connecting'):
for i, msg in enumerate(add_contents(messages)):
if i % 5 == 0:
k += 1
MYGROUP = '224' + '.' + str(k % 100) + '.' + str(
k % 100) + '.' + str(k % 100)
self.s.sendto(bytes(msg, 'utf-8'), (MYGROUP, MYPORT))
self.s.close()
return True
def delete_action(action_name):
if gl.get_value('state') == 'WAITING':
gl.set_value('state', 'BUSY')
from DRcode.app.libs.robot import Robot
robot = Robot()
if action_name not in robot.action_user_list:
gl.set_value('state', 'WAITING')
return NotFound()
else:
try:
Robot.robot_delete_action(action_name)
gl.set_value('state', 'WAITING')
return DeleteSuccess()
except Exception as result:
print('检测出异常{}'.format(result))
gl.set_value('state', 'WAITING')
return ServerError(msg='Error{}'.format(result))
else:
return InstructBusy()
def add_camera():
try:
from DRcode.app.libs.camera import Camera
camera = Camera()
# 如果摄像头已经处于打开状态，即摄像头处于网络配置成功阶段，直接返回摄像头IP地址
if camera.get_camera_state():
gl.set_value('camera_open', True)
print('camera already turned on')
ip_str = TCP.get_camera_ip()
print('camera connectiong ip', ip_str)
camera_ip = {"camera_ip": ip_str}
return jsonify(camera_ip), 200
# 否则打开摄像头、配网并返回IP地址
else:
print('turn on the camera')
camera.start_camera()
if not camera.get_camera_state():
print('can not turn on the camera')
return InstructFailed(msg='failed to turn on the camera')
else:
gl.set_value('camera_open', True)
gl.set_value('camera_connecting', True)
# 给摄像头配网
print('add network for camera')
from DRcode.app.libs.robot import Robot
robot = Robot()
ssid = robot.ssid
wifi_password = robot.wifi_password
# 向上位机返回摄像头IP地址
if camera_connection(ssid, wifi_password):
ip_str = str(gl.get_value('camera_ip'), 'utf-8')
print('camera connectiong ip', ip_str)
camera_ip = {"camera_ip": ip_str}
return jsonify(camera_ip), 200
else:
return InstructFailed(msg='failed to get camera id')
except Exception as result:
print('检测出异常{}'.format(result))
return ServerError(msg='Error{}'.format(result))
def get_camera_ip(self):
print('get camera ip')
return str(gl.get_value('camera_ip'), 'utf-8')