def camera_receiver():
# 监听10000端口，若连续接收到3次来自同一ip的TCP连接，则返回"OK"
if TCP.receive_message():
gl.set_value('camera_connecting', False)
return True
else:
return False
def turn_off():
from DRcode.app.libs.camera import Camera
try:
Camera().close_camera()
gl.set_value('camera_open', False)
return Success(msg='close camera successfully')
except Exception as result:
print('检测出异常{}'.format(result))
return ServerError(msg='Error{}'.format(result))
def receive_message(self):
connetion, client_address = self.s.accept()
print("Connection from: ", client_address)
data = connetion.recv(1024)
[connetion.send(bytes('OK', 'utf-8')) for i in range(10)]
gl.set_value('camera_ip', data)
print('Connected！ IP: ', data)
gl.set_value('camera_connecting', False)
connetion.close()
self.s.close()
return True
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 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 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 create_global_var():
import DRcode.app.libs.global_var as gl
gl.set_value('state', 'WAITING')
gl.set_value('stop', 0)
gl.set_value('start', 0)
gl.set_value('camera_open', False)
gl.set_value('camera_connecting', True)
gl.set_value('camera_ip', '')