Xedu手的识别+pwm输出+mqtt通信点灯

Xedu手的识别,pwm输出,mqtt通信相结合。mqtt只在信息改变时发送。

gpt:

请编写程序，实现以下功能：

1. 摄像头中手的位置位于画面上半部分时，通过mqtt协议向nbzch.cn发送主题为“led”信息为“on”，pwm输出200。
2. 摄像头中手的位置位于画面下半部分时，通过mqtt协议向nbzch.cn发送主题为“led”信息为“off”，pwm输出100。
3. on和off只需要在改变后重新发送，没改变无需重复发送。

只需要在手的位置状态发生改变时才发送MQTT消息，这样可以减少不必要的通信。你可以通过添加一个变量来保存上一次发送的状态，然后在手的位置状态发生改变时才发送新的MQTT消息。下面是修改后的代码：

python程序

import cv2
import paho.mqtt.client as mqtt
from XEdu.hub import Workflow as wf
from pyfirmata import Arduino, util
import time

# MQTT Broker的地址和端口
broker_address = "nbzch.cn"
broker_port = 1883
# MQTT Topic
led_topic = "led"
# 初始化摄像头
cap = cv2.VideoCapture(0)
# 初始化手部检测模型
det = wf(task='det_hand')
hand = wf(task='pose_hand21')
# 初始化Arduino板
board = Arduino('COM4')  
# 获取PWM引脚
pin3 = board.get_pin('d:3:p')

def set_pwm(pin, value):
    board.digital[pin].write(value / 255.0)

# MQTT连接回调函数
def on_connect(client, userdata, flags, rc):
    print("Connected with result code "+str(rc))
    # 订阅LED主题
    client.subscribe(led_topic)

# MQTT接收消息回调函数
def on_message(client, userdata, msg):
    print(msg.topic+" "+str(msg.payload))

# 初始化MQTT客户端
client = mqtt.Client()
client.on_connect = on_connect
client.on_message = on_message
# 连接MQTT Broker
client.connect(broker_address, broker_port, 60)
# 开启MQTT客户端循环
client.loop_start()

# 初始化上一次发送的状态
last_status = None

while cap.isOpened():
    ret, frame = cap.read()
    if not ret:
        break

    bboxs = det.inference(data=frame, thr=0.3)
    img = frame

    for i in bboxs:
        keypoints, img = hand.inference(data=frame, img_type='cv2', bbox=i)
        # 获取手部关键点的坐标
        x, y = keypoints[0][0], keypoints[0][1]
        # 获取摄像头画面的高度
        height = img.shape[0]
        # 根据手部位置计算PWM输出值和MQTT消息
        if y <= height // 2:  # 上半部分
            pwm_value = 200
            new_status = "on"
        else:  # 下半部分
            pwm_value = 100
            new_status = "off"

        # 发送MQTT消息
        if new_status != last_status:
            client.publish(led_topic, new_status)
            last_status = new_status

        # 设置PWM输出
        set_pwm(3, pwm_value)

    cv2.imshow('video', img)
    if cv2.waitKey(1) & 0xFF == ord('q'):
        break

# 停止MQTT客户端循环
client.loop_stop()
# 断开MQTT连接
client.disconnect()
# 释放摄像头资源
cap.release()
cv2.destroyAllWindows()

esp32程序

#include <WiFi.h>
#include <PubSubClient.h>

const char* ssid = "42101";
const char* password = "15657859912";
const char* mqttServer = "nbzch.cn";
const int mqttPort = 1883;
const char* mqttUser = "Your_MQTT_Username";
const char* mqttPassword = "Your_MQTT_Password";

const int ledPin = 2;

WiFiClient espClient;
PubSubClient client(espClient);

void setup() {
  pinMode(ledPin, OUTPUT);
  digitalWrite(ledPin, LOW);

  Serial.begin(115200);
  WiFi.begin(ssid, password);
  
  while (WiFi.status() != WL_CONNECTED) {
    delay(1000);
    Serial.println("Connecting to WiFi...");
  }

  Serial.println("Connected to WiFi");
  digitalWrite(ledPin, HIGH);
  delay(2000);
  digitalWrite(ledPin, LOW);
  client.setServer(mqttServer, mqttPort);
  client.setCallback(callback);

  while (!client.connected()) {
    if (client.connect("ESP32Client", mqttUser, mqttPassword )) {
      Serial.println("Connected to MQTT broker");
      client.subscribe("led");
    } else {
      Serial.print("Failed to connect to MQTT broker, rc=");
      Serial.print(client.state());
      Serial.println(" Retrying in 5 seconds...");
      delay(5000);
    }
  }
}

void callback(char* topic, byte* payload, unsigned int length) {
  String message;
  for (unsigned int i = 0; i < length; i++) {
    message += (char)payload[i];
  }
  Serial.print("Message received on topic '");
  Serial.print(topic);
  Serial.print("': ");
  Serial.println(message);

  if (strcmp(topic, "led") == 0) {
    if (message.equals("on")) {
      digitalWrite(ledPin, HIGH);
      Serial.println("LED turned ON");
    } else if (message.equals("off")) {
      digitalWrite(ledPin, LOW);
      Serial.println("LED turned OFF");
    }
  }
}

void reconnect() {
  while (!client.connected()) {
    Serial.println("Attempting MQTT connection...");
    if (client.connect("ESP32Client", mqttUser, mqttPassword )) {
      Serial.println("Connected to MQTT broker");
      client.subscribe("led");
    } else {
      Serial.print("Failed to connect to MQTT broker, rc=");
      Serial.print(client.state());
      Serial.println(" Retrying in 5 seconds...");
      delay(5000);
    }
  }
}

void loop() {
  if (!client.connected()) {
    reconnect();
  }
  client.loop();
}