183 lines
6.9 KiB
Python
183 lines
6.9 KiB
Python
from flask import Flask, send_file, request, jsonify, send_from_directory
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import motor
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import time
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import os
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import json
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import sys
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sys.path.insert(0, os.path.dirname(__file__))
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import agent
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app = Flask(__name__)
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HTTPS_HOST = os.getenv('HOST', '0.0.0.0')
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HTTPS_PORT = int(os.getenv('HTTPS_PORT', '5443'))
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DEBUG_MODE = os.getenv('FLASK_DEBUG', '1') == '1'
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# 静态文件路由
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@app.route('/CSS/<path:filename>')
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def serve_css(filename):
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return send_from_directory('CSS', filename)
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@app.route('/Javascript/<path:filename>')
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def serve_js(filename):
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return send_from_directory('Javascript', filename)
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# 主页路由
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@app.route('/')
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def index():
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return send_file('index.html')
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# 控制电机路由
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@app.route('/control', methods=['POST'])
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def control():
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data = request.get_json()
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direction = data.get('direction')
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# forward 与 backward 反向调整
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try:
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if direction == 'forward':
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print("控制垃圾桶前进")
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motor.backward(speed=0.6)
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# 不使用time.sleep，让电机持续运行
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return jsonify({'status': 'success', 'message': '前进中'})
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elif direction == 'backward':
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print("控制垃圾桶后退")
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motor.forward(speed=0.6)
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# 不使用time.sleep，让电机持续运行
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return jsonify({'status': 'success', 'message': '后退中'})
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elif direction == 'left':
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print("控制垃圾桶左移")
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motor.move_left(speed=0.6)
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# 不使用time.sleep，让电机持续运行
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return jsonify({'status': 'success', 'message': '左移中'})
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elif direction == 'right':
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print("控制垃圾桶右移")
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motor.move_right(speed=0.6)
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# 不使用time.sleep，让电机持续运行
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return jsonify({'status': 'success', 'message': '右移中'})
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elif direction == 'rotate_left':
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print("控制垃圾桶左旋转")
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motor.rotate_left(speed=0.6)
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# 不使用time.sleep，让电机持续运行
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return jsonify({'status': 'success', 'message': '左旋转中'})
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elif direction == 'rotate_right':
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print("控制垃圾桶右旋转")
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motor.rotate_right(speed=0.6)
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# 不使用time.sleep，让电机持续运行
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return jsonify({'status': 'success', 'message': '右旋转中'})
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elif direction == 'forward_left':
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print("控制垃圾桶左前移动")
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motor.move_left_forward(speed=0.6)
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# 不使用time.sleep，让电机持续运行
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return jsonify({'status': 'success', 'message': '左前移动中'})
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elif direction == 'forward_right':
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print("控制垃圾桶右前移动")
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motor.move_right_forward(speed=0.6)
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# 不使用time.sleep，让电机持续运行
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return jsonify({'status': 'success', 'message': '右前移动中'})
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elif direction == 'backward_left':
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print("控制垃圾桶左后移动")
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motor.move_left_backward(speed=0.6)
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# 不使用time.sleep，让电机持续运行
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return jsonify({'status': 'success', 'message': '左后移动中'})
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elif direction == 'backward_right':
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print("控制垃圾桶右后移动")
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motor.move_right_backward(speed=0.6)
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# 不使用time.sleep，让电机持续运行
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return jsonify({'status': 'success', 'message': '右后移动中'})
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elif direction == 'stop':
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print("停止垃圾桶")
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motor.stop()
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return jsonify({'status': 'success', 'message': '已停止'})
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else:
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return jsonify({'status': 'error', 'message': '无效的方向'})
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except Exception as e:
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print(f"控制出错: {e}")
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return jsonify({'status': 'error', 'message': f'控制出错: {e}'})
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# 保存轨迹路由
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@app.route('/save_path', methods=['POST'])
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def save_path():
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data = request.get_json()
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path_name = data.get('name')
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recorded_actions = data.get('actions')
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if not path_name or not recorded_actions:
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return jsonify({'status': 'error', 'message': '路径名称和轨迹数据不能为空'})
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try:
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# 确保Path目录存在
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os.makedirs('Path', exist_ok=True)
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# 保存为JSON文件
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file_path = os.path.join('Path', f'{path_name}.json')
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with open(file_path, 'w', encoding='utf-8') as f:
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json.dump({'name': path_name, 'actions': recorded_actions}, f, ensure_ascii=False, indent=2)
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return jsonify({'status': 'success', 'message': '轨迹保存成功'})
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except Exception as e:
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print(f"保存轨迹出错: {e}")
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return jsonify({'status': 'error', 'message': f'保存轨迹出错: {e}'})
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# 列出轨迹路由
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@app.route('/list_paths', methods=['GET'])
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def list_paths():
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try:
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# 确保Path目录存在
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os.makedirs('Path', exist_ok=True)
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# 列出所有轨迹文件
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path_files = [f.replace('.json', '') for f in os.listdir('Path') if f.endswith('.json')]
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return jsonify({'status': 'success', 'paths': path_files})
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except Exception as e:
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print(f"列出轨迹出错: {e}")
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return jsonify({'status': 'error', 'message': f'列出轨迹出错: {e}'})
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# 加载轨迹路由
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@app.route('/load_path', methods=['GET'])
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def load_path():
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path_name = request.args.get('name')
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if not path_name:
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return jsonify({'status': 'error', 'message': '路径名称不能为空'})
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try:
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file_path = os.path.join('Path', f'{path_name}.json')
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if not os.path.exists(file_path):
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return jsonify({'status': 'error', 'message': '轨迹文件不存在'})
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with open(file_path, 'r', encoding='utf-8') as f:
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data = json.load(f)
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return jsonify({'status': 'success', 'data': data})
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except Exception as e:
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print(f"加载轨迹出错: {e}")
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return jsonify({'status': 'error', 'message': f'加载轨迹出错: {e}'})
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# 删除轨迹路由
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@app.route('/delete_path', methods=['DELETE'])
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def delete_path():
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data = request.get_json()
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path_name = data.get('name')
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if not path_name:
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return jsonify({'status': 'error', 'message': '路径名称不能为空'})
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try:
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file_path = os.path.join('Path', f'{path_name}.json')
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if not os.path.exists(file_path):
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return jsonify({'status': 'error', 'message': '轨迹文件不存在'})
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os.remove(file_path)
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return jsonify({'status': 'success', 'message': '轨迹删除成功'})
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except Exception as e:
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print(f"删除轨迹出错: {e}")
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return jsonify({'status': 'error', 'message': f'删除轨迹出错: {e}'})
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agent.create_agent_routes(app, motor)
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if __name__ == '__main__':
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print(f"HTTPS server available at https://localhost:{HTTPS_PORT}")
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app.run(host=HTTPS_HOST, port=HTTPS_PORT, debug=DEBUG_MODE, ssl_context='adhoc')
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