Bonjour
Je fais quelques tests pour commander à distance un bras robotisé via un Raspberry pi.
Pour ce projet j’utilise déjà un programme en Python qui me permet de streamer ce que vois la camera sur une page web.
Ce programme utilise les websockets.
Et je me dis que je pourrais passer aussi par ce système pour envoyer d’autre donner. Comme un appuis sur une touche ou une une position de souris par exemple.
Je n’est aucune notion en Python 
alors je fais appel a vous.
Dans le code ci-dessous, comment ajouter la réception et le traitement d’une nouvel requête ?
#!/usr/bin/env python
import sys
import io
import os
import shutil
from subprocess import Popen, PIPE
from string import Template
from struct import Struct
from threading import Thread
from time import sleep, time
from http.server import HTTPServer, BaseHTTPRequestHandler
from wsgiref.simple_server import make_server
import picamera
from ws4py.websocket import WebSocket
from ws4py.server.wsgirefserver import (
WSGIServer,
WebSocketWSGIHandler,
WebSocketWSGIRequestHandler,
)
from ws4py.server.wsgiutils import WebSocketWSGIApplication
###########################################
# CONFIGURATION
WIDTH = 900
HEIGHT = 500
FRAMERATE = 60
HTTP_PORT = 8082
WS_PORT = 8084
COLOR = u'#444'
BGCOLOR = u'#333'
JSMPEG_MAGIC = b'jsmp'
JSMPEG_HEADER = Struct('>4sHH')
VFLIP = False
HFLIP = False
###########################################
class StreamingHttpHandler(BaseHTTPRequestHandler):
def do_HEAD(self):
self.do_GET()
def do_GET(self):
if self.path == '/':
self.send_response(301)
self.send_header('Location', '/index.html')
self.end_headers()
return
elif self.path == '/jsmpg.js':
content_type = 'application/javascript'
content = self.server.jsmpg_content
elif self.path == '/index.html':
content_type = 'text/html; charset=utf-8'
tpl = Template(self.server.index_template)
content = tpl.safe_substitute(dict(
WS_PORT=WS_PORT, WIDTH=WIDTH, HEIGHT=HEIGHT, COLOR=COLOR,
BGCOLOR=BGCOLOR))
else:
self.send_error(404, 'File not found')
return
content = content.encode('utf-8')
self.send_response(200)
self.send_header('Content-Type', content_type)
self.send_header('Content-Length', len(content))
self.send_header('Last-Modified', self.date_time_string(time()))
self.end_headers()
if self.command == 'GET':
self.wfile.write(content)
class StreamingHttpServer(HTTPServer):
def __init__(self):
super(StreamingHttpServer, self).__init__(
('', HTTP_PORT), StreamingHttpHandler)
with io.open('index.html', 'r') as f:
self.index_template = f.read()
with io.open('jsmpg.js', 'r') as f:
self.jsmpg_content = f.read()
class StreamingWebSocket(WebSocket):
def opened(self):
self.send(JSMPEG_HEADER.pack(JSMPEG_MAGIC, WIDTH, HEIGHT), binary=True)
class BroadcastOutput(object):
def __init__(self, camera):
print('Spawning background conversion process')
self.converter = Popen([
'ffmpeg',
'-f', 'rawvideo',
'-pix_fmt', 'yuv420p',
'-s', '%dx%d' % camera.resolution,
'-r', str(float(camera.framerate)),
'-i', '-',
'-f', 'mpeg1video',
'-b', '800k',
'-r', str(float(camera.framerate)),
'-'],
stdin=PIPE, stdout=PIPE, stderr=io.open(os.devnull, 'wb'),
shell=False, close_fds=True)
def write(self, b):
self.converter.stdin.write(b)
def flush(self):
print('Waiting for background conversion process to exit')
self.converter.stdin.close()
self.converter.wait()
class BroadcastThread(Thread):
def __init__(self, converter, websocket_server):
super(BroadcastThread, self).__init__()
self.converter = converter
self.websocket_server = websocket_server
def run(self):
try:
while True:
buf = self.converter.stdout.read1(32768)
if buf:
self.websocket_server.manager.broadcast(buf, binary=True)
elif self.converter.poll() is not None:
break
finally:
self.converter.stdout.close()
def main():
print('Initializing camera')
with picamera.PiCamera() as camera:
camera.resolution = (WIDTH, HEIGHT)
camera.framerate = FRAMERATE
camera.vflip = VFLIP # flips image rightside up, as needed
camera.hflip = HFLIP # flips image left-right, as needed
sleep(1) # camera warm-up time
print('Initializing websockets server on port %d' % WS_PORT)
WebSocketWSGIHandler.http_version = '1.1'
websocket_server = make_server(
'', WS_PORT,
server_class=WSGIServer,
handler_class=WebSocketWSGIRequestHandler,
app=WebSocketWSGIApplication(handler_cls=StreamingWebSocket))
websocket_server.initialize_websockets_manager()
websocket_thread = Thread(target=websocket_server.serve_forever)
print('Initializing HTTP server on port %d' % HTTP_PORT)
http_server = StreamingHttpServer()
http_thread = Thread(target=http_server.serve_forever)
print('Initializing broadcast thread')
output = BroadcastOutput(camera)
broadcast_thread = BroadcastThread(output.converter, websocket_server)
print('Starting recording')
camera.start_recording(output, 'yuv')
try:
print('Starting websockets thread')
websocket_thread.start()
print('Starting HTTP server thread')
http_thread.start()
print('Starting broadcast thread')
broadcast_thread.start()
while True:
camera.wait_recording(1)
except KeyboardInterrupt:
pass
finally:
print('Stopping recording')
camera.stop_recording()
print('Waiting for broadcast thread to finish')
broadcast_thread.join()
print('Shutting down HTTP server')
http_server.shutdown()
print('Shutting down websockets server')
websocket_server.shutdown()
print('Waiting for HTTP server thread to finish')
http_thread.join()
print('Waiting for websockets thread to finish')
websocket_thread.join()
if __name__ == '__main__':
main()
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