使用esp32+micropython+microdot搭建web(http+websocket)服务器（超详细）第三部分
使用esp32+micropython+microdot搭建web(http+websocket)服务器（超详细）第三部分
- microdot文档速查 什么是Microdot?Microdot是一个可以在micropython中搭建物联网web服务器的框架
- micropyton文档api速查 Quick reference for the ESP32
实现websocket服务器
上一章的http服务有个缺点，就是每次都要发送一个请求，
如果我们让这个请求保持长连接，这样效率就提高了，
于是websocket就是为此而生的
演示视频
准备工作
和上一章一样
- esp32开发板一个
- esp32拓展板一个
- 舵机四个
- 简单组装
- 注意接口（线头颜色千万别插反了！！！）
esp32 websocket服务搭建
在MicroPython设备 新建目录结构
-
lib 存放一些库文件
- microdot.py （microdot-main\src中）前面章节有
- microdot_websocket.py （microdot-main\src中）前面章节有
- microdot.py （microdot-main\src中）前面章节有
-
common
- connect_wifi.py （连接热点）前面章节有
- servo.py （操作舵机移动角度）前面章节有
-
public 存放网页内容
- index.html 网页
-
main.py （程序主入口）
microdot_websocket.py
import binascii
import hashlib
from lib.microdot import Response
class WebSocket:
CONT = 0
TEXT = 1
BINARY = 2
CLOSE = 8
PING = 9
PONG = 10
def __init__(self, request):
self.request = request
self.closed = False
def handshake(self):
response = self._handshake_response()
self.request.sock.send(b'HTTP/1.1 101 Switching Protocols\r\n')
self.request.sock.send(b'Upgrade: websocket\r\n')
self.request.sock.send(b'Connection: Upgrade\r\n')
self.request.sock.send(
b'Sec-WebSocket-Accept: ' + response + b'\r\n\r\n')
def receive(self):
while True:
opcode, payload = self._read_frame()
send_opcode, data = self._process_websocket_frame(opcode, payload)
if send_opcode: # pragma: no cover
self.send(data, send_opcode)
elif data: # pragma: no branch
return data
def send(self, data, opcode=None):
frame = self._encode_websocket_frame(
opcode or (self.TEXT if isinstance(data, str) else self.BINARY),
data)
self.request.sock.send(frame)
def close(self):
if not self.closed: # pragma: no cover
self.closed = True
self.send(b'', self.CLOSE)
def _handshake_response(self):
connection = False
upgrade = False
websocket_key = None
for header, value in self.request.headers.items():
h = header.lower()
if h == 'connection':
connection = True
if 'upgrade' not in value.lower():
return self.request.app.abort(400)
elif h == 'upgrade':
upgrade = True
if not value.lower() == 'websocket':
return self.request.app.abort(400)
elif h == 'sec-websocket-key':
websocket_key = value
if not connection or not upgrade or not websocket_key:
return self.request.app.abort(400)
d = hashlib.sha1(websocket_key.encode())
d.update(b'258EAFA5-E914-47DA-95CA-C5AB0DC85B11')
return binascii.b2a_base64(d.digest())[:-1]
@classmethod
def _parse_frame_header(cls, header):
fin = header[0] & 0x80
opcode = header[0] & 0x0f
if fin == 0 or opcode == cls.CONT: # pragma: no cover
raise OSError(32, 'Continuation frames not supported')
has_mask = header[1] & 0x80
length = header[1] & 0x7f
if length == 126:
length = -2
elif length == 127:
length = -8
return fin, opcode, has_mask, length
def _process_websocket_frame(self, opcode, payload):
if opcode == self.TEXT:
payload = payload.decode()
elif opcode == self.BINARY:
pass
elif opcode == self.CLOSE:
raise OSError(32, 'Websocket connection closed')
elif opcode == self.PING:
return self.PONG, payload
elif opcode == self.PONG: # pragma: no branch
return None, None
return None, payload
@classmethod
def _encode_websocket_frame(cls, opcode, payload):
frame = bytearray()
frame.append(0x80 | opcode)
if opcode == cls.TEXT:
payload = payload.encode()
if len(payload) < 126:
frame.append(len(payload))
elif len(payload) < (1 << 16):
frame.append(126)
frame.extend(len(payload).to_bytes(2, 'big'))
else:
frame.append(127)
frame.extend(len(payload).to_bytes(8, 'big'))
frame.extend(payload)
return frame
def _read_frame(self):
header = self.request.sock.recv(2)
if len(header) != 2: # pragma: no cover
raise OSError(32, 'Websocket connection closed')
fin, opcode, has_mask, length = self._parse_frame_header(header)
if length < 0:
length = self.request.sock.recv(-length)
length = int.from_bytes(length, 'big')
if has_mask: # pragma: no cover
mask = self.request.sock.recv(4)
payload = self.request.sock.recv(length)
if has_mask: # pragma: no cover
payload = bytes(x ^ mask[i % 4] for i, x in enumerate(payload))
return opcode, payload
def websocket_upgrade(request):
"""Upgrade a request handler to a websocket connection.
This function can be called directly inside a route function to process a
WebSocket upgrade handshake, for example after the user's credentials are
verified. The function returns the websocket object::
@app.route('/echo')
def echo(request):
if not authenticate_user(request):
abort(401)
ws = websocket_upgrade(request)
while True:
message = ws.receive()
ws.send(message)
"""
ws = WebSocket(request)
ws.handshake()
@request.after_request
def after_request(request, response):
return Response.already_handled
return ws
def with_websocket(f):
"""Decorator to make a route a WebSocket endpoint.
This decorator is used to define a route that accepts websocket
connections. The route then receives a websocket object as a second
argument that it can use to send and receive messages::
@app.route('/echo')
@with_websocket
def echo(request, ws):
while True:
message = ws.receive()
ws.send(message)
"""
def wrapper(request, *args, **kwargs):
ws = websocket_upgrade(request)
try:
f(request, ws, *args, **kwargs)
ws.close() # pragma: no cover
except OSError as exc:
if exc.errno not in [32, 54, 104]: # pragma: no cover
raise
return ''
return wrapper
main.py
# 导入Microdot
from lib.microdot import Microdot,send_file,Request
from lib.microdot_websocket import with_websocket
# 连接wifi
from common.connect_wifi import do_connect
from common.servo import Servo
import time
# 导入引脚
from machine import Pin
# 不加报错
Request.socket_read_timeout = None
# 对应四个电机 从左上角顺时针排序
s1 = Servo(Pin(15))
s2 = Servo(Pin(17))
s3 = Servo(Pin(25))
s4 = Servo(Pin(27))
# 复位
s1.write_angle(0)
s2.write_angle(180-0)
s3.write_angle(180-0)
s4.write_angle(0)
# esp32 引脚2是一颗自带的 led的灯
light = Pin(2,Pin.OUT)
# 开始连接wifi
do_connect()
# 实例化这个类
app = Microdot()
# get请求返回一个网页
@app.route('/')
def index(request):
return send_file('public/index.html')
# 使用@with_websocket生成websocket服务
@app.route('/move')
@with_websocket
def echo(request, ws):
while True:
# 拿到客户端发送的数据
data = ws.receive()
print(data,type(data))
s1.write_angle(int(data))
s2.write_angle(180-int(data))
s3.write_angle(180-int(data))
s4.write_angle(int(data))
ws.send("移动："+(data))
# 启动后指示灯闪烁
def blink():
for i in range(5):
light.value(int(not light.value()))
time.sleep(1)
blink()
# 端口号为5000
app.run(host='0.0.0.0', port=5000, debug=False, ssl=None)
index.html
滑动
滑动四个电机
开发完成
演示视频