STM32 GPS悬停飞控 （四十二） 图传自动启动

我用了这些代码，现在树莓派和服务器都能自动启动图传相关的程序了，客户端这里打开程序就能看到图像。我下楼也测试过，信号不好时最好还是用320x240。

quadcopter rc.local

sudo pppd call gprs &
sudo create_ap -n wlan0 pi raspberry &


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

quad_video.py

import socket
import threading
import struct
import time
import cv2
import numpy

cap=cv2.VideoCapture(0)
ret=cap.set(3,640)
ret=cap.set(4,480)
img_param=[int(cv2.IMWRITE_JPEG_QUALITY),15]

#sock = socket.socket(socket.AF_INET,socket.SOCK_STREAM)
#sock.setsockopt(socket.SOL_SOCKET,socket.SO_REUSEADDR,1)
#sock.bind(("0.0.0.0", 8880))
#sock.listen(2)

#dst, dst_addr = sock.accept()
HOST, PORT = "server_ip", 8002
sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
sock.connect((HOST, PORT))


while True:
    ret,img=cap.read()

    img=cv2.resize(img,(640,480))  
    ret,img_encode=cv2.imencode('.jpg',img,img_param) 
    img_code=numpy.array(img_encode)
    img_data=img_code.tostring()
    try:
        print len(img_data)
        sock.sendall(struct.pack("f",len(img_data)))
        sock.sendall(img_data)
    except:
        cap.release()
        break

server rc.local

python /root/quad/server.py &
python /root/quad/server_video.py &

server_video.py

#!/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", 8002))
sock_quadcopter.listen(2)
 
sock_client = socket.socket(socket.AF_INET,socket.SOCK_STREAM)
sock_client.bind(("0.0.0.0", 8003))
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(10000)
                    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()

    while True:
        try:
            print quadcopter, client
            time.sleep(1)
        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
 

client_video.py

import socket
import cv2
import threading
import struct
import numpy

addr_port=("server_ip",8003)
sock = socket.socket(socket.AF_INET,socket.SOCK_STREAM)
sock.connect(addr_port)

name = addr_port[0]+" Camera"

while True:
    info = struct.unpack("f", sock.recv(4))
    print int(info[0])
    buf_size=int(info[0])
    if buf_size:
        try:
            buf=b""
            temp_buf=buf
            while(buf_size):
                temp_buf=sock.recv(buf_size)
                buf_size-=len(temp_buf)
                buf+=temp_buf
            data = numpy.fromstring(buf, dtype='uint8')
            image = cv2.imdecode(data, 1) 
            cv2.imshow(name, image)  
        except:
            pass
        finally:
            if(cv2.waitKey(10)==27):
                sock.close()
                cv2.destroyAllWindows()
                break