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init pro
Signed-off-by: Caner

Caner 3 years ago
parent
e2f6249c1a
commit
8b6103c40a
6 changed files with 249 additions and 1 deletions
Unified View Show Diff Stats
  1. 7 1
      README.md
  2. 43 0
      contrl.js
  3. 71 0
      index.js
  4. 19 0
      package.json
  5. 104 0
      web/index.html
  6. 5 0
      web/socket.io.min.js

+ 7 - 1
README.md
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@@ -1,3 +1,9 @@
 
 # Contrl_For_Server
 
 # Contrl_For_Server
 
 
 
-控制端
 
+### 不在使用 python
 
+
 
+### 同样摇杆控制
 
+
 
+### 视频采用 webrtc 传输
 
+
 
+### 通信服务 express，视频服务 socket，建立在控制端以减少车端视频解析压力

+ 43 - 0
contrl.js
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@@ -0,0 +1,43 @@
 
+// PCF8591 数模转换芯片
 
+const i2cBus = require("i2c-bus")
 
+const sleep = (ms) => new Promise((resolve) => setTimeout(resolve, ms));
 
+class ContrlService {
 
+    constructor() {
 
+        this.BUS = i2cBus.openSync(1)
 
+        // 寄存器地址
 
+        this.ADR = 0x48
 
+        // 电位器地址->对应模块in1,in2
 
+        this.P1 = 0x41
 
+        this.P2 = 0x42
 
+        this.P3 = 0x43
 
+        this.P4 = 0x44
 
+    }
 
+
 
+    async run() {
 
+        // 数模初始值
 
+        const data = this.Orientation()
 
+        process.send(data);
 
+        await sleep(0.03)
 
+        this.run()
 
+    }
 
+
 
+    // 获取值
 
+    async Orientation() {
 
+        this.BUS.write_byte(this.ADR, this.P1)
 
+        const v0 = this.BUS.read_byte(this.ADR)
 
+        await sleep(0.02)
 
+        this.BUS.write_byte(this.ADR, this.P2)
 
+        const v1 = this.BUS.read_byte(this.ADR)
 
+        await sleep(0.02)
 
+        this.BUS.write_byte(this.ADR, this.P3)
 
+        const v2 = this.BUS.read_byte(this.ADR)
 
+        await sleep(0.02)
 
+        this.BUS.write_byte(this.ADR, this.P4)
 
+        const v3 = this.BUS.read_byte(this.ADR)
 
+        // 接入socket 发送数据
 
+        db = `{"type":"conctrl","conctrl":{"v0":${v0},"v1":${v1},"v2":${v2},"v3":${v3}}}`
 
+        return db
 
+    }
 
+
 
+}
 
+new ContrlService()

+ 71 - 0
index.js
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@@ -0,0 +1,71 @@
 
+// socket + http
 
+const { createServer } = require("http");
 
+const express = require("express");
 
+const { Server } = require("socket.io");
 
+const { fork } = require('child_process');
 
+class VideoServer {
 
+  constructor() {
 
+    this.Contrl = null
 
+    this.socket = null
 
+    this.initSoket();
 
+  }
 
+  // socket 服务
 
+  initSoket() {
 
+    const app = express();
 
+    app.use(express.static("./web"));
 
+    const httpServer = createServer(app);
 
+    const io = new Server(httpServer, {
 
+      cors: {
 
+        origin: ["*"],
 
+      },
 
+    });
 
+    // 中间件
 
+    io.use((socket, next) => {
 
+      const { roomID, name } = socket.handshake.auth;
 
+      if (roomID !== "feiCar" && (name !== "car" || name !== "ctrl"))
 
+        return next(new Error("invalid token"));
 
+      socket.join(roomID);
 
+      socket.broadcast.to(roomID).emit('joined', { name: name, roomID: roomID })
 
+      next();
 
+    });
 
+    io.on("connection", (socket) => {
 
+      const { roomID, name } = socket.handshake.auth;
 
+      console.log(name, "连接");
 
+
 
+      // 监听其它信息
 
+      socket.on("msg", (data) => {
 
+        // 转发消息
 
+        socket.broadcast.to(roomID).emit("msg", data);
 
+      });
 
+
 
+      // 监听离开
 
+      socket.on("disconnect", () => {
 
+        // 转发离开
 
+        socket.broadcast.to(roomID).emit("leaved", {
 
+          name: name,
 
+          roomID: roomID
 
+        });
 
+        socket.leave(roomID)
 
+        this.socket = null
 
+        console.log(name, '断开连接');
 
+      })
 
+
 
+      // 控制服务
 
+      this.socket = socket
 
+    });
 
+    httpServer.listen(7896);
 
+    console.log("服务开启成功7896");
 
+    this.initContrl()
 
+  }
 
+  // 控制服务
 
+  initContrl() {
 
+    this.Contrl = fork('./contrl.js')
 
+    this.Contrl.on('message', (msg) => {
 
+      if (this.socket && this.socket.connected) {
 
+        console.log('用户连接可发送', msg);
 
+      }
 
+      console.log('parent get message: ' + msg);
 
+    })
 
+  }
 
+}
 
+new VideoServer();

+ 19 - 0
package.json
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@@ -0,0 +1,19 @@
 
+{
 
+  "name": "car",
 
+  "version": "1.0.0",
 
+  "description": "",
 
+  "main": "index.js",
 
+  "directories": {
 
+    "lib": "lib"
 
+  },
 
+  "scripts": {
 
+    "test": "echo \"Error: no test specified\" && exit 1"
 
+  },
 
+  "author": "",
 
+  "license": "ISC",
 
+  "dependencies": {
 
+    "express": "^4.17.3",
 
+    "socket.io": "^4.4.1",
 
+    "i2c-bus": "^5.2.2"
 
+  }
 
+}

+ 104 - 0
web/index.html
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@@ -0,0 +1,104 @@
 
+<!DOCTYPE html>
 
+<html lang="en">
 
+
 
+<head>
 
+    <meta charset="UTF-8" />
 
+    <meta http-equiv="X-UA-Compatible" content="IE=edge" />
 
+    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
 
+    <title>测试</title>
 
+    <script src="./socket.io.min.js"></script>
 
+    <style>
 
+        video {
 
+            width: 500px;
 
+            height: 400px;
 
+            background: none;
 
+            object-fit: fill;
 
+            border: solid 1px red;
 
+        }
 
+    </style>
 
+</head>
 
+
 
+<body>
 
+    <div>
 
+        <video id="v2" autoplay playsinline></video>
 
+    </div>
 
+    <!-- webrtc -->
 
+    <script>
 
+        let RTC = null
 
+        const socket = io({
 
+            auth: {
 
+                roomID: "feiCar",
 
+                name: "ctrl",
 
+            },
 
+            transports: ["websocket"],
 
+        });
 
+        socket.on("connect", async () => {
 
+            const PeerConnection =
 
+                window.RTCPeerConnection ||
 
+                window.mozRTCPeerConnection ||
 
+                window.webkitRTCPeerConnection;
 
+            RTC = new PeerConnection();
 
+
 
+            RTC.ontrack = (event) => {
 
+                const remoteVideo = document.getElementById("v2");
 
+                remoteVideo.srcObject = event.streams[0];
 
+                console.log("远程流|dom", event, remoteVideo);
 
+
 
+            };
 
+            // 监听ICE|发送
 
+            RTC.onicecandidate = (event) => {
 
+                if (event.candidate) {
 
+                    socket.emit("msg", {
 
+                        type: "candidate",
 
+                        candidate: event.candidate,
 
+                    });
 
+                    console.log("己方ICE", event.candidate);
 
+                }
 
+            };
 
+            // 监听ICE状态
 
+            RTC.oniceconnectionstatechange = () => {
 
+                console.log("ICE状态", RTC.iceConnectionState);
 
+            };
 
+            console.log("连接成功监听webrtc");
 
+        });
 
+        //   发送offer及anwser
 
+        socket.on("msg", async (data) => {
 
+            console.log("用户信息", data);
 
+            if (data.type === 'offer') {
 
+                // 设置本地应答
 
+                RTC.setRemoteDescription(data.offer);
 
+                // 返回应答
 
+                const answer = await RTC.createAnswer();
 
+                RTC.setLocalDescription(answer);
 
+                // 发送anwser
 
+                socket.emit("msg", {
 
+                    type: "answer",
 
+                    answer: answer,
 
+                });
 
+            } else if (data.type === 'candidate') {
 
+                // 添加ICE
 
+                RTC.addIceCandidate(data.candidate);
 
+            }
 
+        });
 
+        //   监听加入
 
+        socket.on('joined', user => {
 
+            console.log(`${user.name}加入${user.roomID}房间`)
 
+            // 向其它用户发送开始webrtc
 
+            socket.emit('msg', {
 
+                type: 'startRTC'
 
+            })
 
+        })
 
+        // 监听离开
 
+        socket.on('leaved', user => {
 
+            console.log(`${user.name}离开${user.roomID}房间`)
 
+            RTC.close()
 
+        })
 
+        //   断开连接
 
+        socket.on("connect_error", (err) => {
 
+            console.log("连接错误", err);
 
+            if (RTC) RTC.close()
 
+        });
 
+    </script>
 
+</body>
 
+
 
+</html>

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+ 5 - 0
web/socket.io.min.js


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