feat: 增加云台功能控制

app.py

@@ -11,7 +11,8 @@ logger = logging.getLogger(__name__)
 # Flask 应用初始化
 app = Flask(__name__)
 app.config['SECRET_KEY'] = 'h2Ms4pw9GzvwiFHyNPhH'  # 请更换为安全的密钥
-socketio = SocketIO(app, cors_allowed_origins="*")
+# socketio = SocketIO(app, cors_allowed_origins="*")
+socketio = SocketIO(app)
 
 # 全局变量存储摇杆数据
 joystick_data = {}
@@ -38,7 +39,7 @@ def handle_joystick_data(data):
 
     # print(f"force: {force} x: {x}, y: {y}")
     ptz.set_pitch_speed(int(y * 100))
-    ptz.set_yaw_speed(int(x * 100))
+    ptz.set_yaw_speed(int(x * -100))
 
     # direction = data.get('direction', '')
     # logger.info(f"收到摇杆数据：{direction}")
@@ -85,27 +86,49 @@ def handle_ping():
     """处理心跳检测"""
     emit('pong')
 
-@app.route('/get_joystick_data')
-def get_joystick_data():
-    """API 端点：获取当前摇杆数据"""
-    from flask import jsonify
-    return jsonify(joystick_data)
+@socketio.on('gimbal_center')
+def handle_gimbal_center():
+    """处理云台中心"""
+    ptz.center()
+    logger.info(f"云台回中")
 
-@app.route('/control/<action>')
-def robot_control(action):
-    """
-    示例控制端点
-    可用于直接控制机器人动作
-    """
-    from flask import jsonify
-    valid_actions = ['forward', 'backward', 'left', 'right', 'stop']
+@socketio.on('gimbal_pip')
+def handle_gimbal_pip(data):
+    """处理云台PIP"""
+    mode = int(data)
+    if mode >= 0 and mode <= 3:
+        ptz.set_pip_mode(mode)
+        logger.info(f"云台PIP {mode}")
+
+@socketio.on('gimbal_ir_mode')
+def handle_gimbal_ir_mode(data):
+    """处理云台IR"""
+    mode = int(data)
+    if mode >= 0 and mode <= 9:
+        ptz.set_ir_mode(mode)
+        logger.info(f"云台IR {mode}")
+
+# @app.route('/get_joystick_data')
+# def get_joystick_data():
+#     """API 端点：获取当前摇杆数据"""
+#     from flask import jsonify
+#     return jsonify(joystick_data)
+
+# @app.route('/control/<action>')
+# def robot_control(action):
+#     """
+#     示例控制端点
+#     可用于直接控制机器人动作
+#     """
+#     from flask import jsonify
+#     valid_actions = ['forward', 'backward', 'left', 'right', 'stop']
     
-    if action in valid_actions:
-        logger.info(f"执行机器人控制：{action}")
-        # 在这里添加实际的机器人控制逻辑
-        return jsonify({'status': 'success', 'action': action})
-    else:
-        return jsonify({'status': 'error', 'message': '无效的动作'}), 400
+#     if action in valid_actions:
+#         logger.info(f"执行机器人控制：{action}")
+#         # 在这里添加实际的机器人控制逻辑
+#         return jsonify({'status': 'success', 'action': action})
+#     else:
+#         return jsonify({'status': 'error', 'message': '无效的动作'}), 400
 
 if __name__ == '__main__':
-    socketio.run(app, host='0.0.0.0', port=5000, debug=True)
+    socketio.run(app, host='10.21.31.250', port=5000, debug=True)