树莓派+二自由度云台制作智能小车（五）——服务器+网页控制

一、服务器

（1）简单讲解

C/S结构实现控制，树莓派运行服务器，中断通过访问网页实现控制小车，使用UDP通信。其中使用多线程控制小车的自动避障功能，写的不好的地方请批评指正。

（2）代码实现

创建server.py

from http.server import BaseHTTPRequestHandler,HTTPServer
import time
import socket
import urllib
from carCtrl import CAR
from camera_control import Camera
from threading import Thread

global loop
global direction
loop =True

class CarServer(BaseHTTPRequestHandler):
    
    carControl = CAR()
    cameraControler = Camera()
    i=0
    
    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(("192.168.0.12",80))
            localIP = serverSocket.getsockname()[0]
        finally:
            return localIP
    
    
    def do_GET(self):
        '''
        Define the car control GUI for client
        For the first deition, it will only return direction control GUI
        '''
        localIP = CarServer.get_host_ip(self)
        
        #when this GET method is called,then should init the car
        self.carControl.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)
        global direction
        direction = 'S'
        direction = qs.decode()
        print(direction)
          
        cameraDirection = ['HR','HL','VU','VD','GL','GF','GR','GU','GD','RESET']
        if direction in cameraDirection:
            #control camera
            self.cameraControler.cameraRotation(direction)
        elif direction =="Auto":
            if self.i == 0: