树莓派小车python_python3实现网页版raspberry pi（树莓派）小车控制

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, HTTPServer

import time

import socket

import urllib

from car_controler import FourWheelDriveCar

from 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