STM32 GPS悬停飞控 （四十）树莓派 服务器 自动启动

 我申请了一个华为云免费服务器。然后这两天做了一下各种自动启动的操作，毕竟在外面试飞的时候运行命令启动比较麻烦。

发现几个事情要注意。树莓派不能先建立wifi再拨号，否则拨不上去，一定要先拨号再启动wifi，另外route不要在rc.local里做，否则wifi信号就没了。但是我发现运行python代码的时候会自动配置上路由表，效果跟route一样。

服务器首先要在华为的网站上开启我要用的端口，开启后要把tcp server绑定在0.0.0.0上面。

现在的效果，树莓派自动开机后有时候会连不上服务器或者没wifi信号，但是断电重开还是会好，应该有点小问题。

接下来要试一下图传，数传也要再进一步完善一下。

树莓派的rc.local

#/usr/bin/wvdial &
sudo pppd call gprs &
sudo create_ap -n wlan0 pi raspberry &


sleep 30
sudo python /home/pi/quad/quad.py

#sudo route add -net 0.0.0.0 ppp0

 树莓派的程序

#!/usr/bin/python
# coding=UTF-8
 
import serial
import socket, time
 
serial = serial.Serial('/dev/ttyS0', 9600)
print serial
if serial.isOpen():
   print("open success")
else:
   print("open failed")
 
HOST, PORT = "server_ip", 8000
sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
sock.connect((HOST, PORT))
 
while True:
    nextByte = serial.read(50)
    try:
        sock.sendall(nextByte)
    except Exception as ex:
        print "trying reconnect to server"
        sock.close()
        sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
        sock.connect((HOST, PORT))
    except KeyboardInterrupt:
        print "Interrupted"
        if serial != None:
            serial.close()
        sock.close()
        break

 

服务器的rc.local

python /root/quad/server.py &

服务器的程序

#!/usr/bin/python
# coding=UTF-8
 
import socket, time, threading, sys
 
sock_quadcopter = socket.socket(socket.AF_INET,socket.SOCK_STREAM)
sock_quadcopter.bind(("0.0.0.0", 8000))
sock_quadcopter.listen(2)
 
sock_client = socket.socket(socket.AF_INET,socket.SOCK_STREAM)
sock_client.bind(("0.0.0.0", 8001))
sock_client.listen(2)
 
sock_quadcopter.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
sock_client.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)

src = socket.socket(socket.AF_INET,socket.SOCK_STREAM)
dst = socket.socket(socket.AF_INET,socket.SOCK_STREAM)

quadcopter = 0
client = 0


class quadcopter_thread(threading.Thread):
    def __init__(self):
        threading.Thread.__init__(self)
        self.running = True

    def run(self):
        global src, quadcopter
        while self.running:
            try:
                src, src_addr = sock_quadcopter.accept()
                print "Source Connected by", src_addr
                quadcopter = quadcopter + 1
            except Exception as ex:
                    print "1: ", sys.exc_info()
                    print ex

    def stop(self):
        self.running = False
  

class client_thread(threading.Thread):
    def __init__(self):
        threading.Thread.__init__(self)
        self.running = True

    def run(self):
        global dst, client
        while self.running:
            try:
                dst, dst_addr = sock_client.accept()
                print "Destination Connected by", dst_addr
                client = client + 1
            except Exception as ex:
                    print "2: ", sys.exc_info()
                    print ex

    def stop(self):
        self.running = False

class transfer_thread(threading.Thread):
    def __init__(self):
        threading.Thread.__init__(self)
        self.running = True

    def run(self):
        global src, quadcopter
        global dst, client
        while self.running:
            if quadcopter >= 1 and client >= 1:
                try:
                    msg = src.recv(50)
                    if not msg:
                        print "lost quad signal"
                        quadcopter = quadcopter - 1
                    dst.sendall(msg)
                except Exception as ex:
                    print "lost client "
                    #print "3: lost client ", sys.exc_info()
                    client = client - 1
                    print ex

    def stop(self):
        self.running = False

if __name__ == "__main__":
    quad_t = quadcopter_thread()
    quad_t.start()
    client_t = client_thread()
    client_t.start()
    transfer_t = transfer_thread()
    transfer_t.start()
    i = 0
    while True:
        try:
            i = i + 1
            print quadcopter, client, "now: ", i
            time.sleep(1)
            if i == 100:
                i = 0
        except KeyboardInterrupt:
            print "Interrupted"
            quad_t.stop()
            client_t.stop()
            transfer_t.stop()  
            src.close()
            dst.close()
            sock_quadcopter.close()
            sock_client.close()
            quad_t.join()
            client_t.join()
            transfer_t.join()
            break