w mx / Mbed 2 deprecated wmx_arm_communication

示教机械臂

Dependencies:   MQTT SDFileSystem WIZnet_Library mbed

Fork of wmx_laser_copy by w mx

mqtt_laser.py@14:350e03215b0e, 2018-08-03 (annotated)

Committer:
xmwmx
Date:
Fri Aug 03 10:06:33 2018 +0000
Revision:
14:350e03215b0e
Parent:
7:4c80e598d08c 
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
zhangyx 7:4c80e598d08c 1 #!/usr/bin/env python
zhangyx 7:4c80e598d08c 2 # -*- coding: UTF-8 -*-
zhangyx 7:4c80e598d08c 3
zhangyx 7:4c80e598d08c 4 '''
zhangyx 7:4c80e598d08c 5 File name: laser_server_v2.py
zhangyx 7:4c80e598d08c 6 Description: 项目激光部分服务器代码
zhangyx 7:4c80e598d08c 7 Author: 秦智
zhangyx 7:4c80e598d08c 8 Date: June 4, 2018
zhangyx 7:4c80e598d08c 9 Others:
zhangyx 7:4c80e598d08c 10 Dependency: pip install Pillow paho-mqtt
zhangyx 7:4c80e598d08c 11
zhangyx 7:4c80e598d08c 12 '''
zhangyx 7:4c80e598d08c 13
zhangyx 7:4c80e598d08c 14 from time import sleep
zhangyx 7:4c80e598d08c 15 import paho.mqtt.client as mqtt
zhangyx 7:4c80e598d08c 16 import threading
zhangyx 7:4c80e598d08c 17 import time
zhangyx 7:4c80e598d08c 18 from PIL import Image
zhangyx 7:4c80e598d08c 19
zhangyx 6:48c44bebe8fb 20
zhangyx 7:4c80e598d08c 21 def waitfile(NumofOnce,minvalue):
zhangyx 7:4c80e598d08c 22 filename = "laser-6-4.JPG"
zhangyx 7:4c80e598d08c 23 im = Image.open(filename) #打开图片
zhangyx 7:4c80e598d08c 24 print("get a picture,the info about filename, im.format, im.size, im.mode:")
zhangyx 7:4c80e598d08c 25 print(filename, im.format, im.size, im.mode)
zhangyx 7:4c80e598d08c 26 imL = im.convert("L")
zhangyx 7:4c80e598d08c 27 x = imL.size[0] #图片的长
zhangyx 7:4c80e598d08c 28 y = imL.size[1] #图片的宽
zhangyx 7:4c80e598d08c 29 y=int(y*100/x)
zhangyx 7:4c80e598d08c 30 x=100
zhangyx 7:4c80e598d08c 31 imL=imL.resize((x,y)) #缩放图片
zhangyx 7:4c80e598d08c 32 datalist = [] #存放坐标点的数组
zhangyx 7:4c80e598d08c 33 for iy in range(0,y):
zhangyx 7:4c80e598d08c 34 for ix in range(0,x):
zhangyx 7:4c80e598d08c 35 value = imL.getpixel((ix,iy)) #获取像素亮度
zhangyx 7:4c80e598d08c 36 if value >=minvalue: #判断阈值
zhangyx 7:4c80e598d08c 37 datalist.append([ix,iy,value])
zhangyx 7:4c80e598d08c 38 strdatalist=[]
zhangyx 7:4c80e598d08c 39 sdata = ""
zhangyx 7:4c80e598d08c 40 nn=0
zhangyx 7:4c80e598d08c 41 dotfile = open("write.txt","w")
zhangyx 7:4c80e598d08c 42 while len(datalist)>0:
zhangyx 7:4c80e598d08c 43 data = datalist.pop(0)
zhangyx 7:4c80e598d08c 44 nn=nn+1
zhangyx 7:4c80e598d08c 45 # 将坐标转为字符串(x,y,v)
zhangyx 7:4c80e598d08c 46 sdata = sdata+"("+str(data[0])+","+str(data[1])+","+str(data[2])+")"
zhangyx 7:4c80e598d08c 47 dotfile.write(sdata)
zhangyx 7:4c80e598d08c 48 if nn == NumofOnce or len(datalist)==0:
zhangyx 7:4c80e598d08c 49 # 构造要发送的字符串数组
zhangyx 7:4c80e598d08c 50 strdatalist.append(sdata)
zhangyx 7:4c80e598d08c 51 sdata = ""
zhangyx 7:4c80e598d08c 52 nn = 0
zhangyx 7:4c80e598d08c 53 dotfile.close()
zhangyx 7:4c80e598d08c 54 strdatalist.append("(0,0,0)")
zhangyx 7:4c80e598d08c 55 return strdatalist
zhangyx 7:4c80e598d08c 56
zhangyx 7:4c80e598d08c 57 def NewWork(conn):
zhangyx 7:4c80e598d08c 58 datalist = waitfile(5,30)
zhangyx 7:4c80e598d08c 59 for datastr in datalist:
zhangyx 7:4c80e598d08c 60 print("senddata:"+datastr)
zhangyx 7:4c80e598d08c 61 conn.publish('/control/laser/dat', datastr, qos=1)
zhangyx 7:4c80e598d08c 62 time.sleep(0.01)
zhangyx 7:4c80e598d08c 63
zhangyx 7:4c80e598d08c 64 def on_message(conn, userdata, msg):
zhangyx 7:4c80e598d08c 65 print(msg.topic+" "+str(msg.payload))
zhangyx 7:4c80e598d08c 66 if msg.payload == 'ready.':
zhangyx 7:4c80e598d08c 67 print('设备已启动')
zhangyx 7:4c80e598d08c 68 # 告诉设备，有新任务
zhangyx 7:4c80e598d08c 69 conn.publish('/control/laser/cmd', "1", qos=1)
zhangyx 7:4c80e598d08c 70 elif msg.payload == 'wait data.':
zhangyx 7:4c80e598d08c 71 print('等待接收数据')
zhangyx 7:4c80e598d08c 72 # 调用发送数据函数
zhangyx 7:4c80e598d08c 73 NewWork(conn)
zhangyx 7:4c80e598d08c 74 # 告诉设备，数据发送完
zhangyx 7:4c80e598d08c 75 conn.publish('/control/laser/cmd', "2", qos=1)
zhangyx 7:4c80e598d08c 76 elif msg.payload == 'received.':
zhangyx 7:4c80e598d08c 77 print('数据接收完成')
zhangyx 7:4c80e598d08c 78 elif msg.payload == 'done.':
zhangyx 7:4c80e598d08c 79 print('任务完成')
zhangyx 7:4c80e598d08c 80
zhangyx 7:4c80e598d08c 81 def on_connect(client, userdata, flags, rc):
zhangyx 7:4c80e598d08c 82 print("Connected with result code "+str(rc))
zhangyx 7:4c80e598d08c 83
zhangyx 7:4c80e598d08c 84 waitfile(10,30); #测试保存文件功能
zhangyx 7:4c80e598d08c 85
zhangyx 7:4c80e598d08c 86 client = mqtt.Client()
zhangyx 7:4c80e598d08c 87 client.on_connect = on_connect
zhangyx 7:4c80e598d08c 88 client.on_message = on_message
zhangyx 7:4c80e598d08c 89 client.connect("tdxls-iot.xicp.net", 1883, 60)
zhangyx 7:4c80e598d08c 90 client.subscribe('/values/laser/report', 1)
zhangyx 7:4c80e598d08c 91 client.loop_start()
zhangyx 7:4c80e598d08c 92 while True:
zhangyx 7:4c80e598d08c 93 sleep(0.1)