MJPEG Streaming AP.

这个例子展示了如何在AccessPoint模式下进行MJPEG流式传输。

Android上的Chrome，Firefox和MJpegViewer App已经过测试。

连接到OPENMV_AP并使用此URL：http://192.168.1.1:8080查看流。

import sensor, image, time, network, usocket, sys, math, ustruct
from pyb import UART
from pid import PID

uart = UART(3,115200,bits=8, parity=None, stop=1, timeout_char = 1000)
GRAYSCALE_THRESHOLD = [(0, 64)]
ROIS = [ # [ROI, weight]
(0, 100, 160, 20, 0.7),
(0, 050, 160, 20, 0.3),
(0, 000, 160, 20, 0.4)
]
weight_sum = 0
for r in ROIS: weight_sum += r[4]

SSID ='OPENMV_AP' # Network SSID
KEY ='1234567890' # wifi密码(必须为10字符)
HOST = '' # 使用第一个可用的端口
PORT = 8080 # 任意非特权端口

sensor.reset()
sensor.set_contrast(1)
sensor.set_brightness(1)
sensor.set_saturation(1)
sensor.set_gainceiling(16)
sensor.set_auto_gain(False)
sensor.set_auto_whitebal(False)
sensor.set_framesize(sensor.QQVGA)
sensor.set_pixformat(sensor.GRAYSCALE)
sensor.skip_frames(time = 2000)
#sensor.set_vflip(True)
#sensor.set_hmirror(True)

wlan = network.WINC(mode=network.WINC.MODE_AP)
wlan.start_ap(SSID, key=KEY, security=wlan.WEP, channel=2)

def start_streaming(s):

def sending_data(data):
    global uart;
    data = ustruct.pack("<bbb",
                   x,
                   0x0d,
                   0x0a
                   )
    uart.write(data);

print ('Waiting for connections..')
client, addr = s.accept()
# 将客户端套接字超时设置为2秒
client.settimeout(2.0)
print ('Connected to ' + addr[0] + ':' + str(addr[1]))

# 从客户端读取请求
data = client.recv(1024)
# 应该在这里解析客户端请求

# 发送多部分head
client.send("HTTP/1.1 200 OK\r\n" \
            "Server: OpenMV\r\n" \
            "Content-Type: multipart/x-mixed-replace;boundary=openmv\r\n" \
            "Cache-Control: no-cache\r\n" \
            "Pragma: no-cache\r\n\r\n")

# FPS clock
clock = time.clock()
a=0
n=0
# 开始流媒体图像
#注：禁用IDE预览以增加流式FPS。
while (True):
    if uart.any():
        a = uart.read(1)
        print(a[0])

        if a[0]==0x00:
            img = sensor.snapshot().binary(GRAYSCALE_THRESHOLD).invert()
            cframe = img.compressed(quality=35)
            header = "\r\n--openmv\r\n" \
                 "Content-Type: image/jpeg\r\n"\
                 "Content-Length:"+str(cframe.size())+"\r\n\r\n"
            client.send(header)
            client.send(cframe)
            centroid_sum = 0
            most_pixels = 5000
            for r in ROIS:
                blobs = img.find_blobs(GRAYSCALE_THRESHOLD, roi=r[0:4], merge=True)
                if blobs:
                    largest_blob = 0
                    for i in range(len(blobs)):
                        if blobs[i].pixels() > most_pixels:
                            most_pixels = blobs[i].pixels()
                            largest_blob = i
                    img.draw_rectangle(blobs[largest_blob].rect())
                    img.draw_cross(blobs[largest_blob].cx(),
                                   blobs[largest_blob].cy())
                    centroid_sum += blobs[largest_blob].cx() * r[4]
            center_pos = (centroid_sum / weight_sum)
            deflection_angle = 0
            deflection_angle = -math.atan((center_pos-80)/60)
            deflection_angle = math.degrees(deflection_angle)
            x = int(deflection_angle)
            sending_data(x)
            print("Turn Angle: %d" % deflection_angle)

        if a[0]==0x01:
            img = sensor.snapshot()
            sensor.set_pixformat(sensor.RGB565)

            cframe = img.compressed(quality=35)
            header = "\r\n--openmv\r\n" \
                 "Content-Type: image/jpeg\r\n"\
                 "Content-Length:"+str(cframe.size())+"\r\n\r\n"
            client.send(header)
            client.send(cframe)
            sensor.snapshot().save("singtown%s.jpg" % (n) )
            n +=1
            #print(n)

while (True):
# 创建服务器套接字
s = usocket.socket(usocket.AF_INET, usocket.SOCK_STREAM)
try:
# Bind and listen
s.bind([HOST, PORT])
s.listen(5)

    # 设置服务器套接字超时
    # 注意：由于WINC FW bug，如果客户端断开连接，服务器套接字必须
    # 关闭并重新打开。在这里使用超时关闭并重新创建套接字。
    s.settimeout(3)
    start_streaming(s)
except OSError as e:
    s.close()
    print("socket error: ", e)
    #sys.print_exception(e)

是因为sd卡有问题

sensor.snapshot().save("singtown%s.jpg" % (n) )
应该是这个和wifi视频流传输部分有冲突

应该是这块的问题

while (True):
clock.tick() # 跟踪snapshots()之间经过的毫秒数。
frame = sensor.snapshot()

    cframe = frame.compressed(quality=35)
    header = "\r\n--openmv\r\n" \
             "Content-Type: image/jpeg\r\n"\
             "Content-Length:"+str(cframe.size())+"\r\n\r\n"
    client.send(header)
    client.send(cframe)
    if uart.any():
        a = uart.read(1)
        print(a[0])
        if a[0]==0x01:
            sensor.snapshot().save("singtown%s.jpg" % (n) )
            print(n)

# MJPEG Streaming AP.
#
# 这个例子展示了如何在AccessPoint模式下进行MJPEG流式传输。
# Android上的Chrome，Firefox和MJpegViewer App已经过测试。
# 连接到OPENMV_AP并使用此URL：http://192.168.1.1:8080查看流。

import sensor, image, time, network, usocket, sys, math, ustruct
from pyb import UART
#from pid import PID


uart = UART(3,115200,bits=8, parity=None, stop=1, timeout_char = 1000)
GRAYSCALE_THRESHOLD = [(0, 64)]
ROIS = [ # [ROI, weight]
        (0, 100, 160, 20, 0.7),
        (0, 050, 160, 20, 0.3),
        (0, 000, 160, 20, 0.4)
       ]
weight_sum = 0
for r in ROIS: weight_sum += r[4]

SSID ='OPENMV_AP'    # Network SSID
KEY  ='1234567890'   # wifi密码(必须为10字符)
HOST = ''           # 使用第一个可用的端口
PORT = 8080         # 任意非特权端口

sensor.reset()
sensor.set_contrast(1)
sensor.set_brightness(1)
sensor.set_saturation(1)
sensor.set_gainceiling(16)
sensor.set_auto_gain(False)
sensor.set_auto_whitebal(False)
sensor.set_framesize(sensor.QQVGA)
sensor.set_pixformat(sensor.GRAYSCALE)
sensor.skip_frames(time = 2000)
#sensor.set_vflip(True)
#sensor.set_hmirror(True)


wlan = network.WINC(mode=network.WINC.MODE_AP)
wlan.start_ap(SSID, key=KEY, security=wlan.WEP, channel=2)

def start_streaming(s):

    def sending_data(data):
        global uart;
        data = ustruct.pack("<bbb",
                       x,
                       0x0d,
                       0x0a
                       )
        uart.write(data);

    print ('Waiting for connections..')
    client, addr = s.accept()
    # 将客户端套接字超时设置为2秒
    client.settimeout(2.0)
    print ('Connected to ' + addr[0] + ':' + str(addr[1]))

    # 从客户端读取请求
    data = client.recv(1024)
    # 应该在这里解析客户端请求

    # 发送多部分head
    client.send("HTTP/1.1 200 OK\r\n" \
                "Server: OpenMV\r\n" \
                "Content-Type: multipart/x-mixed-replace;boundary=openmv\r\n" \
                "Cache-Control: no-cache\r\n" \
                "Pragma: no-cache\r\n\r\n")

    # FPS clock
    clock = time.clock()
    a=0
    n=0
    # 开始流媒体图像
    #注：禁用IDE预览以增加流式FPS。
    while (True):
        if uart.any():
            a = uart.read(1)
            print(a[0])

            if a[0]==0x00:
                img = sensor.snapshot().binary(GRAYSCALE_THRESHOLD).invert()
                cframe = img.compressed(quality=35)
                header = "\r\n--openmv\r\n" \
                     "Content-Type: image/jpeg\r\n"\
                     "Content-Length:"+str(cframe.size())+"\r\n\r\n"
                client.send(header)
                client.send(cframe)
                centroid_sum = 0
                most_pixels = 5000
                for r in ROIS:
                    blobs = img.find_blobs(GRAYSCALE_THRESHOLD, roi=r[0:4], merge=True)
                    if blobs:
                        largest_blob = 0
                        for i in range(len(blobs)):
                            if blobs[i].pixels() > most_pixels:
                                most_pixels = blobs[i].pixels()
                                largest_blob = i
                        img.draw_rectangle(blobs[largest_blob].rect())
                        img.draw_cross(blobs[largest_blob].cx(),
                                       blobs[largest_blob].cy())
                        centroid_sum += blobs[largest_blob].cx() * r[4]
                center_pos = (centroid_sum / weight_sum)
                deflection_angle = 0
                deflection_angle = -math.atan((center_pos-80)/60)
                deflection_angle = math.degrees(deflection_angle)
                x = int(deflection_angle)
                sending_data(x)
                print("Turn Angle: %d" % deflection_angle)

            if a[0]==0x01:
                img = sensor.snapshot()
                #sensor.set_pixformat(sensor.RGB565)
                
                cframe = img.compressed(quality=35)
                header = "\r\n--openmv\r\n" \
                     "Content-Type: image/jpeg\r\n"\
                     "Content-Length:"+str(cframe.size())+"\r\n\r\n"
                client.send(header)
                client.send(cframe)
                sensor.snapshot().save("singtown%s.jpg" % (n) )
                n +=1
                print(n)

while (True):
    # 创建服务器套接字
    s = usocket.socket(usocket.AF_INET, usocket.SOCK_STREAM)
    try:
        # Bind and listen
        s.bind([HOST, PORT])
        s.listen(5)

        # 设置服务器套接字超时
        # 注意：由于WINC FW bug，如果客户端断开连接，服务器套接字必须
        # 关闭并重新打开。在这里使用超时关闭并重新创建套接字。
        s.settimeout(3)
        start_streaming(s)
    except OSError as e:
        s.close()
        print("socket error: ", e)
        #sys.print_exception(e)