我将计算机设置为服务器，将树莓派设置为客户端。在我的树莓派中，我有2个文件：第一个是将视频流发送到我的计算机。第二个是从我的计算机接收命令，以运行直流电动机并操纵伺服电动机。问题是我无法使用服务器同时与两个文件通信。
我已经尝试使用Python套接字模块，但是我不能，但是它不起作用
import numpy as np
import cv2
import serial
import pygame
from pygame.locals import *
import socket
import time
import os
class CollectTrainingData(object):
def __init__(self, host, port, input_size):
self.server_socket = socket.socket()
self.server_socket.bind((host, port))
self.server_socket.listen(0)
self.conn = self.server_socket.accept()[0].makefile('rb')
self.input_size = input_size
# create labels
self.k = np.zeros((4, 4), 'float')
for i in range(4):
self.k[i, i] = 1
pygame.init()
pygame.display.set_mode((250, 250))
self.send_inst = True
def right(self):
data = self.conn.recv(1024).decode()
print("from connected Raspi : " + str(data))
data = "3"
self.conn.send(data.encode())
def stop(self):
data = self.conn.recv(1024).decode()
print("from connected Raspi : " + str(data))
data = "0"
self.conn.send(data.encode())
def left(self):
data = self.conn.recv(1024).decode()
print("from connected Raspi : " + str(data))
data = "4"
self.conn.send(data.encode())
def reverse(self):
data = self.conn.recv(1024).decode()
print("from connected Raspi : " + str(data))
data = "2"
self.conn.send(data.encode())
def forward(self):
data = self.conn.recv(1024).decode()
print("from connected Raspi : " + str(data))
data = "1"
self.conn.send(data.encode())
def forward_right(self):
data = self.conn.recv(1024).decode()
print("from connected Raspi : " + str(data))
data = "5"
self.conn.send(data.encode())
def forward_left(self):
data = self.conn.recv(1024).decode()
print("from connected Raspi : " + str(data))
data = "6"
self.conn.send(data.encode())
def reverse_right(self):
data = self.conn.recv(1024).decode()
print("from connected Raspi : " + str(data))
data = "8"
self.conn.send(data.encode())
def reverse_left(self):
data = self.conn.recv(1024).decode()
print("from connected Raspi : " + str(data))
data = "7"
self.conn.send(data.encode())
def collect(self):
saved_frame = 0
total_frame = 0
# collect images for training
print("Start collecting images...")
print("Press 'q' or 'x' to finish...")
start = cv2.getTickCount()
X = np.empty((0, self.input_size))
y = np.empty((0, 4))
# stream video frames one by one
try:
stream_bytes = b' '
frame = 1
while self.send_inst:
stream_bytes += self.conn.read(1024)
first = stream_bytes.find(b'\xff\xd8')
last = stream_bytes.find(b'\xff\xd9')
if first != -1 and last != -1:
jpg = stream_bytes[first:last + 2]
stream_bytes = stream_bytes[last + 2:]
image = cv2.imdecode(np.frombuffer(jpg, dtype=np.uint8), cv2.IMREAD_GRAYSCALE)
# select lower half of the image
height, width = image.shape
roi = image[int(height/2):height, :] # change it after configuration
cv2.imshow('image', image)
# reshape the roi image into a vector
temp_array = roi
frame += 1
total_frame += 1
# get input from human driver
for event in pygame.event.get():
if event.type == KEYDOWN:
key_input = pygame.key.get_pressed()
# complex orders
if key_input[pygame.K_UP] and key_input[pygame.K_RIGHT]:
self.forward_right()
X = np.vstack((X, temp_array))
y = np.vstack((y, self.k[1]))
saved_frame += 1
elif key_input[pygame.K_UP] and key_input[pygame.K_LEFT]:
self.forward_left()
X = np.vstack((X, temp_array))
y = np.vstack((y, self.k[0]))
saved_frame += 1
elif key_input[pygame.K_DOWN] and key_input[pygame.K_RIGHT]:
self.forward_right()
elif key_input[pygame.K_DOWN] and key_input[pygame.K_LEFT]:
self.forward_right()
# simple orders
elif key_input[pygame.K_UP]:
self.forward()
X = np.vstack((X, temp_array))
y = np.vstack((y, self.k[2]))
saved_frame += 1
elif key_input[pygame.K_DOWN]:
self.reverse()
elif key_input[pygame.K_RIGHT]:
self.right()
X = np.vstack((X, temp_array))
y = np.vstack((y, self.k[1]))
saved_frame += 1
elif key_input[pygame.K_LEFT]:
self.left()
X = np.vstack((X, temp_array))
y = np.vstack((y, self.k[0]))
saved_frame += 1
elif key_input[pygame.K_x] or key_input[pygame.K_q]:
print("exit")
self.send_inst = False
break
elif event.type == pygame.KEYUP:
self.stop()
if cv2.waitKey(1) & 0xFF == ord('q'):
break
conn.close()
# save data as a numpy file
file_name = str(int(time.time()))
directory = "training_data"
if not os.path.exists(directory):
os.makedirs(directory)
try:
np.savez(directory + '/' + file_name + '.npz', train=X, train_labels=y)
except IOError as e:
print(e)
end = cv2.getTickCount()
# calculate streaming duration
print("Streaming duration: , %.2fs" % ((end - start) / cv2.getTickFrequency()))
print(X.shape)
print(y.shape)
print("Total frame: ", total_frame)
print("Saved frame: ", saved_frame)
print("Dropped frame: ", total_frame - saved_frame)
finally:
self.conn.close()
self.server_socket.close()
if __name__ == '__main__':
# host, port
h, p = "192.168.0.102", 8000
# vector size, half of the image
s = 320 * 240
ctd = CollectTrainingData(h, p, s)
ctd.collect()
我希望能够在计算机上流式传输视频，同时能够将控制命令同时发送到我的树莓派，但是看来我无法使用相同的主机和端口与这两个文件进行通信