https://github.com/xfangfang/picar
remote car with livestream camera (raspberry pi)
https://github.com/xfangfang/picar
car h264 livestream picamera raspberry-pi websocket
Last synced: 10 months ago
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remote car with livestream camera (raspberry pi)
- Host: GitHub
- URL: https://github.com/xfangfang/picar
- Owner: xfangfang
- License: gpl-3.0
- Created: 2020-04-23T16:50:05.000Z (about 6 years ago)
- Default Branch: master
- Last Pushed: 2021-04-04T09:57:26.000Z (about 5 years ago)
- Last Synced: 2025-05-06T01:37:31.204Z (about 1 year ago)
- Topics: car, h264, livestream, picamera, raspberry-pi, websocket
- Language: Python
- Homepage:
- Size: 292 KB
- Stars: 11
- Watchers: 2
- Forks: 1
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# Abstract
以超低延迟控制和监控的树莓派视频小车。经测试，树莓派3b+：在局域网中可以达到平均20ms操作延迟；640*480、30 FPS 下180ms视频延迟。
# Hardware
### 清单
树莓派3b（or other pi with camera and 40pin gpio）、两个舵机、两个电机、一个L298n电机驱动版
### GPIO接线
左轮电机：L1 = 12，L2 = 16
右轮电机：R1 = 20，R2 = 21
水平舵机：PIN_SERVO_H = 14
垂直舵机：PIN_SERVO_V = 15
# How to run the server
sudo apt-get install pigpio python3-pigpio
pip3 install cherrypy ws4py
pigpiod
cd /home/pi
clone https://github.com/xfangfang/PiCar.git
cd /home/pi/PiCar/server
python3 server.py
# Run on boot
sudo nano /etc/rc.local
add line `sudo pigpiod` before `exit 0`
cd /home/pi/PiCar/server
sudo ln -s `pwd`/car.service /etc/systemd/system/car.service
sudo systemctl enable car.service
sudo systemctl start car.service
# How to use
访问 http://your-raspberry-pi-ip:6082 可以查看实时视频画面。
使用client构建的客户端代码即可在ios或android设备上使用
# Server code organization
| file | introduction |
| --------------------------------- | ------------------------------------------------------------ |
| var.py | 可以调整gpio引脚、视频的样式和帧数等内容 |
| server.py | cherrypy（python的一个http服务端）的启动代码 |
| plugins.py | 将自定义的服务（舵机、电机和摄像头）发布在cherrypy上，这样就可以优雅地通过websocket与硬件交互（发布订阅模式） |
| servo.py motor.py camera.py | 分别代表：舵机、电机和摄像头（与底层硬件交互，通过修改这三个文件可以将本程序移植到其他非树莓派设备上） |
# Best practices
Using frp for internet connection.
# Bugs
- There is something wrong when a websocket client unexpectedly going down.(It truns other websocket clients to be unavailable for 10 seconds)
# Reference
这两个使用了相同的实现思路，不过均为nodejs项目：
https://github.com/pimterry/raspivid-stream
https://github.com/131/h264-live-player
关于 PiCamera 如何传输视频流：
https://picamera.readthedocs.io/en/release-1.13/api_camera.html#picamera.PiCamera.start_recording
关于cherrypy 与 ws4py：
https://docs.cherrypy.org/en/latest/advanced.html#websocket-support
https://github.com/Lawouach/WebSocket-for-Python/blob/961c07ce16ce4eedc34ca1fdacd29442870feccc/ws4py/server/cherrypyserver.py#L286
https://github.com/Lawouach/WebSocket-for-Python/blob/961c07ce16ce4eedc34ca1fdacd29442870feccc/ws4py/manager.py#L196