机器人控制运动界面（后端代码)）

from flask import Flask, render_template, Response, request
from picamera2 import Picamera2
import cv2
from base_ctrl import BaseController

app = Flask(__name__)

# 设置机器人控制器（使用树莓派特定的代码）
def is_raspberry_pi5():
    with open('/proc/cpuinfo', 'r') as file:
        for line in file:
            if 'Model' in line:
                if 'Raspberry Pi 5' in line:
                    return True
                else:
                    return False

# 根据树莓派型号设置正确的控制器
if is_raspberry_pi5():
    base = BaseController('/dev/ttyAMA0', 115200)
else:
    base = BaseController('/dev/serial0', 115200)

# 摄像头设置，生成视频流
def gen_frames():
    picam2 = Picamera2()
    picam2.configure(picam2.create_video_configuration(main={"format": 'XRGB8888', "size": (640, 480)}))
    picam2.start()

    while True:
        frame = picam2.capture_array()

        # 转换 BGR 到 RGB，避免颜色问题
        frame_rgb = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)

        # 将图像编码为JPEG格式
        ret, buffer = cv2.imencode('.jpg', frame_rgb)
        frame = buffer.tobytes()

        # 生成视频流
        yield (b'--frame\r\n'
               b'Content-Type: image/jpeg\r\n\r\n' + frame + b'\r\n')

# 首页路由，处理动作
@app.route("/", methods=['GET', 'POST'])
def index():
    if request.method == 'POST':
        if request.form.get('action1') == 'VALUE1':
            pass  # 执行某个动作
        elif request.form.get('action2') == 'VALUE2':
            pass  # 执行另一个动作
        else:
            pass  # 未知的动作
    elif request.method == 'GET':
        return render_template('1.html')  # 渲染模板

# 视频流路由，返回实时视频流
@app.route('/video_feed')
def video_feed():
    return Response(gen_frames(), mimetype='multipart/x-mixed-replace; boundary=frame')

# 运动控制路由
@app.route('/move/<direction>')
def move(direction):
    if direction == 'forward':
        base.send_command({"T": 1, "L": 0.2, "R": 0.2})
    elif direction == 'backward':
        base.send_command({"T": 1, "L": -0.2, "R": -0.2})
    elif direction == 'left':
        base.send_command({"T": 1, "L": -0.2, "R": 0.2})
    elif direction == 'right':
        base.send_command({"T": 1, "L": 0.2, "R": -0.2})
    elif direction == 'stop':
        base.send_command({"T": 1, "L": 0, "R": 0})

    return '', 204  # 返回204响应，表示无内容

# 云台控制路由
@app.route('/gimbal/<direction>')
def gimbal(direction):
    if direction == 'up':
        base.gimbal_ctrl(0, 45, 0, 0)
    elif direction == 'down':
        base.gimbal_ctrl(0, -45, 0, 0)
    elif direction == 'left':
        base.gimbal_ctrl(-45, 0, 0, 0)
    elif direction == 'right':
        base.gimbal_ctrl(45, 0, 0, 0)
    elif direction == 'stop':
        base.gimbal_ctrl(0, 0, 0, 0)
    elif direction == 'reset':  # 回到原点
        base.gimbal_ctrl(0, 0, 0, 0)  # 回到原点，假设原点是(0, 0)
        print("云台已回到原点")
    return '', 204

# LED控制路由
@app.route('/led/<action>')
def led_control(action):
    if action == 'on':
        # 设置LED为打开状态
        base.lights_ctrl(255, 0)  # IO4_PWM = 255, IO5_PWM = 0 表示打开LED
    elif action == 'off':
        # 设置LED为关闭状态
        base.lights_ctrl(0, 0)  # 关闭LED
    return '', 204  # 返回204响应，表示无内容

# LED闪烁控制路由
@app.route('/led/blink')
def led_blink():
    # 让LED闪烁的简单实现：间隔一段时间打开和关闭
    import time
    for _ in range(5):  # 闪烁5次
        base.lights_ctrl(255, 0)  # 开灯
        time.sleep(0.5)  # 等待0.5秒
        base.lights_ctrl(0, 0)  # 关灯
        time.sleep(0.5)  # 等待0.5秒
    return '', 204  # 返回204响应，表示无内容

# 启动应用
if __name__ == '__main__':
    app.run(host='0.0.0.0', port=5000, debug=True)