StreamingVideo 작성중
작성 중
StreamingVideo
import io
import picamera
import logging
import socketserver
from threading import Condition
from http import server
import os
from gpioControl import GpioControl
from listenSpeech import ListenSpeech
from urllib.parse import parse_qs
ONAIR = True
gpio = GpioControl()
listenspeech = ListenSpeech()
# Load HTML file
file = open("view.html", "r")
PAGE=file.read()
file.close()
class StreamingOutput(object):
def __init__(self):
self.frame = None
self.buffer = io.BytesIO()
self.condition = Condition()
def write(self, buf):
if buf.startswith(b'\xff\xd8'):
# New frame, copy the existing buffer's content and notify all
# clients it's available
self.buffer.truncate()
with self.condition:
self.frame = self.buffer.getvalue()
self.condition.notify_all()
self.buffer.seek(0)
return self.buffer.write(buf)
class StreamingHandler(server.BaseHTTPRequestHandler):
def do_POST(self):
if self.path == '/msg':
self.data_string = self.rfile.read(int(self.headers['Content-Length']))
getMessage=self.data_string.decode()
reString = listenspeech.speech(getMessage);
self.send_response(200)
self.send_header('Content-Type', 'text/html')
self.send_header('Content-Length', len(reString.encode()))
self.end_headers()
print("Return message = " + reString)
self.wfile.write(reString.encode())
elif self.path == '/forward':
self.data_int = self.rfile.read(int(self.headers['Content-Length']))
moveOrder=self.data_int
self.send_response(200)
if not moveOrder :
reString = "Do not move"
else :
reString = gpio.goForward(moveOrder)
self.send_header('Content-Type', 'text/html')
self.send_header('Content-Length', len(reString.encode()))
self.end_headers()
self.wfile.write(reString.encode())
print("Go Forward ...")
elif self.path == '/backward':
self.data_int = self.rfile.read(int(self.headers['Content-Length']))
moveOrder=self.data_int
self.send_response(200)
if not moveOrder :
reString = "Do not move"
else :
reString = gpio.goBackward(moveOrder)
self.send_header('Content-Type', 'text/html')
self.send_header('Content-Length', len(reString.encode()))
self.end_headers()
self.wfile.write(reString.encode())
print("Go Backward ...")
elif self.path == '/turnleftback':
self.data_int = self.rfile.read(int(self.headers['Content-Length']))
moveOrder=self.data_int
self.send_response(200)
if not moveOrder :
reString = "Do not move"
else :
reString = gpio.goTurnleftback(moveOrder)
self.send_header('Content-Type', 'text/html')
self.send_header('Content-Length', len(reString.encode()))
self.end_headers()
self.wfile.write(reString.encode())
print("Go Turn Left back...")
elif self.path == '/turnrightback':
self.data_int = self.rfile.read(int(self.headers['Content-Length']))
moveOrder=self.data_int
self.send_response(200)
if not moveOrder :
reString = "Do not move"
else :
reString = gpio.goTurnrightback(moveOrder)
self.send_header('Content-Type', 'text/html')
self.send_header('Content-Length', len(reString.encode()))
self.end_headers()
self.wfile.write(reString.encode())
print("Go Turn Right back...")
elif self.path == '/turnleftforward':
self.data_int = self.rfile.read(int(self.headers['Content-Length']))
moveOrder=self.data_int
self.send_response(200)
if not moveOrder :
reString = "Do not move"
else :
reString = gpio.goTurnleftforward(moveOrder)
self.send_header('Content-Type', 'text/html')
self.send_header('Content-Length', len(reString.encode()))
self.end_headers()
self.wfile.write(reString.encode())
print("Go Turn Left forward...")
elif self.path == '/turnrightforward':
self.data_int = self.rfile.read(int(self.headers['Content-Length']))
moveOrder=self.data_int
self.send_response(200)
if not moveOrder :
reString = "Do not move"
else :
reString = gpio.goTurnrightforward(moveOrder)
self.send_header('Content-Type', 'text/html')
self.send_header('Content-Length', len(reString.encode()))
self.end_headers()
self.wfile.write(reString.encode())
print("Go Turn Right forward...")
def do_GET(self):
global ONAIR
if self.path == '/':
self.send_response(301)
self.send_header('Location', '/index.html')
self.end_headers()
elif self.path == '/index.html':
content = PAGE.encode('utf-8')
self.send_response(200)
self.send_header('Content-Type', 'text/html')
self.send_header('Content-Length', len(content))
self.end_headers()
self.wfile.write(content)
elif self.path == '/stream.mjpg':
self.send_response(200)
self.send_header('Age', 0)
self.send_header('Cache-Control', 'no-cache, private')
self.send_header('Pragma', 'no-cache')
self.send_header('Content-Type', 'multipart/x-mixed-replace; boundary=FRAME')
self.end_headers()
try:
while ONAIR:
with output.condition:
output.condition.wait()
frame = output.frame
self.wfile.write(b'--FRAME\r\n')
self.send_header('Content-Type', 'image/jpeg')
self.send_header('Content-Length', len(frame))
self.end_headers()
self.wfile.write(frame)
self.wfile.write(b'\r\n')
except Exception as e:
logging.warning(
'Removed streaming client %s: %s',
self.client_address, str(e))
elif self.path == '/init':
self.send_response(200)
reString = "Camera position init : " + gpio.initMotorPosition()
self.send_header('Content-Type', 'text/html')
self.send_header('Content-Length', len(reString.encode()))
self.end_headers()
self.wfile.write(reString.encode())
print("Init Cam ...")
elif self.path == '/up':
self.send_response(200)
reString = gpio.moveUp()
self.send_header('Content-Type', 'text/html')
self.send_header('Content-Length', len(reString.encode()))
self.end_headers()
self.wfile.write(reString.encode())
print("Move Up ...")
elif self.path == '/down':
self.send_response(200)
reString = gpio.moveDown()
self.send_header('Content-Type', 'text/html')
self.send_header('Content-Length', len(reString.encode()))
self.end_headers()
self.wfile.write(reString.encode())
print("Move Down ...")
elif self.path == '/left':
self.send_response(200)
reString = gpio.moveLeft()
self.send_header('Content-Type', 'text/html')
self.send_header('Content-Length', len(reString.encode()))
self.end_headers()
self.wfile.write(reString.encode())
print("Move Left ...")
elif self.path == '/right':
self.send_response(200)
reString = gpio.moveRight()
self.send_header('Content-Type', 'text/html')
self.send_header('Content-Length', len(reString.encode()))
self.end_headers()
self.wfile.write(reString.encode())
print("Move Right ...")
elif self.path == '/temperature':
content = os.popen("vcgencmd measure_temp").readline()
content = content.replace("temp=", "")
self.send_response(200)
self.send_header('Content-Type', 'text/html')
self.send_header('Content-Length', len(content.encode()))
self.end_headers()
self.wfile.write(content.encode())
else:
self.send_error(404)
self.end_headers()
class StreamingServer(socketserver.ThreadingMixIn, server.HTTPServer):
allow_reuse_address = True
daemon_threads = True
with picamera.PiCamera(resolution='640x480', framerate=24) as camera:
output = StreamingOutput()
#Uncomment the next line to change your Pi's Camera rotation (in degrees)
camera.rotation = 180
camera.start_recording(output, format='mjpeg')
try:
address = ('', 8081)
server = StreamingServer(address, StreamingHandler)
server.serve_forever()
finally:
camera.stop_recording()gpioControl.py
import RPi.GPIO as GPIO
from time import sleep
GPIO.setmode(GPIO.BOARD)
ina1 = 33
ina2 = 35
ena = 37
inb1 = 31
inb2 = 29
enb = 23
GPIO.setup(12, GPIO.OUT, initial=1)
GPIO.setup(18, GPIO.OUT, initial=1)
GPIO.setup(11, GPIO.OUT, initial=1) # light
GPIO.setup(ina1,GPIO.OUT)
GPIO.setup(ina2,GPIO.OUT)
GPIO.setup(ena,GPIO.OUT)
GPIO.setup(inb1,GPIO.OUT)
GPIO.setup(inb2,GPIO.OUT)
GPIO.setup(enb,GPIO.OUT)
p1 = GPIO.PWM(18, 50) # 50 Hz
p2 = GPIO.PWM(12, 50) # 50
p1.start(0)
p2.start(0)
p1.ChangeDutyCycle(0)
p2.ChangeDutyCycle(0)
pa=GPIO.PWM(ena,1000)
pa.start(25)
pb=GPIO.PWM(enb,1000)
pb.start(25)
verticalVal = 6.5
horizontalVal = 6
cameraPositionX = 6.5
cameraPositionY = 6
# Set up camera constants
IM_WIDTH = 640
IM_HEIGHT = 480
class GpioControl(object):
def __init__(self):
global verticalVal
global horizontalVal
global p1
global p2
p1.ChangeDutyCycle(6.5)
p2.ChangeDutyCycle(6)
sleep(0.1)
p1.ChangeDutyCycle(0)
p2.ChangeDutyCycle(0)
verticalVal = 6.5
horizontalVal = 6
print("> Init Vert=" + str(verticalVal) + ",Hort=" + str(horizontalVal))
def click(self):
GPIO.output(11, GPIO.LOW)
sleep(0.5)
GPIO.output(11, GPIO.HIGH)
sleep(1)
def __del__(self):
global p1
global p2
p1.stop()
p2.stop()
print(" GPIO.__del__() ")
GPIO.cleanup()
def cleanUp(self):
global p1
global p2
p1.stop()
p2.stop()
print(" GPIO.cleanUp() ")
GPIO.cleanup()
sleep(2)
def initMotorPosition(self):
# Init
global verticalVal
global horizontalVal
global p1
global p2
p1.ChangeDutyCycle(6.5)
p2.ChangeDutyCycle(6)
sleep(0.1)
p1.ChangeDutyCycle(0)
p2.ChangeDutyCycle(0)
verticalVal = 6.5
horizontalVal = 6
print("> Init Vert=" + str(verticalVal) + ",Hort=" + str(horizontalVal))
return "Vert=" + str(verticalVal) + ",Hort=" + str(horizontalVal)
def moveUp(self):
global verticalVal
global horizontalVal
global p2
verticalVal = round(verticalVal-0.2, 1)
p2.ChangeDutyCycle(verticalVal)
print("> UP Vert=" + str(verticalVal) + ",Hort=" + str(horizontalVal))
sleep(0.1)
p2.ChangeDutyCycle(0)
return "Vert=" + str(verticalVal) + ",Hort=" + str(horizontalVal)
def moveDown(self):
global verticalVal
global horizontalVal
global p2
verticalVal = round(verticalVal+0.2, 1)
p2.ChangeDutyCycle(verticalVal)
print("> Down Vert=" + str(verticalVal) + ",Hort=" + str(horizontalVal))
sleep(0.1)
p2.ChangeDutyCycle(0)
return "Vert=" + str(verticalVal) + ",Hort=" + str(horizontalVal)
def moveRight(self):
global verticalVal
global horizontalVal
global p1
horizontalVal = round(horizontalVal-0.2, 1)
p1.ChangeDutyCycle(horizontalVal)
print("> Right Vert=" + str(verticalVal) + ",Hort=" + str(horizontalVal))
sleep(0.1)
p1.ChangeDutyCycle(0)
return "Vert=" + str(verticalVal) + ",Hort=" + str(horizontalVal)
def moveLeft(self):
global verticalVal
global horizontalVal
global p1
horizontalVal = round(horizontalVal+0.2, 1)
p1.ChangeDutyCycle(horizontalVal)
print("> Left Vert=" + str(verticalVal) + ",Hort=" + str(horizontalVal))
sleep(0.1)
p1.ChangeDutyCycle(0)
return "Vert=" + str(verticalVal) + ",Hort=" + str(horizontalVal)
def goForward(self,time):
print("Go forward")
pa.ChangeDutyCycle(75)
GPIO.output(ina1,GPIO.HIGH)
GPIO.output(ina2,GPIO.LOW)
pb.ChangeDutyCycle(75)
GPIO.output(inb1,GPIO.HIGH)
GPIO.output(inb2,GPIO.LOW)
sleep(0.1*int(time))
GPIO.output(ina1,GPIO.LOW)
GPIO.output(ina2,GPIO.LOW)
GPIO.output(inb1,GPIO.LOW)
GPIO.output(inb2,GPIO.LOW)
return " >> Go Forward"
def goBackward(self,time):
print("Go backward")
pa.ChangeDutyCycle(75)
GPIO.output(ina1,GPIO.LOW)
GPIO.output(ina2,GPIO.HIGH)
pb.ChangeDutyCycle(75)
GPIO.output(inb1,GPIO.LOW)
GPIO.output(inb2,GPIO.HIGH)
sleep(0.1*int(time))
GPIO.output(ina1,GPIO.LOW)
GPIO.output(ina2,GPIO.LOW)
GPIO.output(inb1,GPIO.LOW)
GPIO.output(inb2,GPIO.LOW)
return " >> Go Backward"
def goTurnleftback(self,time):
print("Go Turn Left back")
pa.ChangeDutyCycle(75)
GPIO.output(inb1,GPIO.LOW)
GPIO.output(inb2,GPIO.HIGH)
sleep(0.1*int(time))
GPIO.output(ina1,GPIO.LOW)
GPIO.output(ina2,GPIO.LOW)
GPIO.output(inb1,GPIO.LOW)
GPIO.output(inb2,GPIO.LOW)
return " >> Go Turn Left back"
def goTurnrightback(self,time):
print("Go Turn Right back")
pb.ChangeDutyCycle(75)
GPIO.output(ina1,GPIO.LOW)
GPIO.output(ina2,GPIO.HIGH)
sleep(0.1*int(time))
GPIO.output(ina1,GPIO.LOW)
GPIO.output(ina2,GPIO.LOW)
GPIO.output(inb1,GPIO.LOW)
GPIO.output(inb2,GPIO.LOW)
return " >> Go Turn Right back"
def goTurnleftforward(self,time):
print("Go Turn Left forward")
pa.ChangeDutyCycle(75)
GPIO.output(inb1,GPIO.HIGH)
GPIO.output(inb2,GPIO.LOW)
sleep(0.1*int(time))
GPIO.output(ina1,GPIO.LOW)
GPIO.output(ina2,GPIO.LOW)
GPIO.output(inb1,GPIO.LOW)
GPIO.output(inb2,GPIO.LOW)
return " >> Go Turn Left forward"
def goTurnrightforward(self,time):
print("Go Turn Right forward")
pb.ChangeDutyCycle(75)
GPIO.output(ina1,GPIO.HIGH)
GPIO.output(ina2,GPIO.LOW)
sleep(0.1*int(time))
GPIO.output(ina1,GPIO.LOW)
GPIO.output(ina2,GPIO.LOW)
GPIO.output(inb1,GPIO.LOW)
GPIO.output(inb2,GPIO.LOW)
return " >> Go Turn Right forward"
def move_to_position(self,ObjX, ObjY):
global cameraPositionX
global cameraPositionY
global p1
global p2
print(" >> Move to location x="+str(ObjX)+", y="+str(ObjY))
moveLoop = True
movX = int(IM_WIDTH/2)-ObjX
movY = int(IM_HEIGHT/2)-ObjY
print(" >> Center location movX="+str(movX)+", movY="+str(movY))
xx = 1
xy = 0
yx = 1
yy = 0
while(moveLoop):
if( xy < abs(movX) ):
p1.ChangeDutyCycle(cameraPositionX)
sleep(0.1)
p1.ChangeDutyCycle(0)
print("xx=" + str(xx) + ", xy="+ str(xy) +" cameraPositionX=" +str(round(cameraPositionX,1)))
xy = xx*xx * 12
xx = xx + 1
if(movX > 0): cameraPositionX = cameraPositionX - 0.2
else: cameraPositionX = cameraPositionX + 0.2
if( yy < abs(movY) ):
p2.ChangeDutyCycle(cameraPositionY)
sleep(0.1)
p2.ChangeDutyCycle(0)
print("yx=" + str(yx) + ", yy="+ str(yy) +" cameraPositionY=" +str(round(cameraPositionY,1)))
yy = yx*yx * 12
yx = yx + 1
if(movY > 0): cameraPositionY = cameraPositionY + 0.2
else: cameraPositionY = cameraPositionY - 0.2
elif( xy >= movX and yy >= movY):
print(" >> Center location movX="+str(movX)+", movY=" + str(movY))
print(" >> Position location xy="+str(xy)
+", yy="+str(yy)
+" cameraPositionX="+str(round(cameraPositionX,1))+
" cameraPositionY="+str(round(cameraPositionY,1))+" .. ")
moveLoop = FalseListenSpeech
from googletrans import Translator
from google_speech import Speech
from time import sleep
translator = Translator()
class ListenSpeech(object):
def speech(self,message):
ko_result = translator.translate(message, dest='ko')
print(' -> ', ko_result.text)
speech = Speech(ko_result.text, 'ko')
speech.play()
en_result = translator.translate(message, dest='en')
speech = Speech(en_result.text, 'en')
speech.play()
it_result = translator.translate(message, dest='it')
speech = Speech(it_result.text, 'it')
speech.play()
ja_result = translator.translate(message, dest='ja')
speech = Speech(ja_result.text, 'ja')
speech.play()
returnString = ko_result.text + " , EN=" + en_result.text + " , IT=" + it_result.text + ", JA=" + ja_result.text
print("Return message = " + returnString)
return returnString
view.html
<html>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
<meta charset="UTF-8" />
<head>
<title>Raspberry Pi - HYUNSU Camera</title>
<script type="text/javascript">
window.onload = function() {
document.getElementById("btnInit").onclick = getInitFunc;
document.getElementById("btnMsg").onclick = getMsgFunc;
document.getElementById("btnLeft").onclick = getLeftFunc;
document.getElementById("btnRight").onclick = getRightFunc;
document.getElementById("btnUp").onclick = getUpFunc;
document.getElementById("btnDown").onclick = getDownFunc;
document.getElementById("btnForward").onclick = getForwardFunc;
document.getElementById("btnBackward").onclick = getBackwardFunc;
document.getElementById("btnTurnrightback").onclick = getTurnrightbackFunc;
document.getElementById("btnTurnleftback").onclick = getTurnleftbackFunc;
document.getElementById("btnTurnrightforward").onclick = getTurnrightforwardFunc;
document.getElementById("btnTurnleftforward").onclick = getTurnleftforwardFunc;
}
var xhr;
function getInitFunc() {
var fName = "/init";
xhr = new XMLHttpRequest();
xhr.open("get", fName, true);
xhr.onreadystatechange = function() {
if (xhr.readyState == 4) {
if (xhr.status == 200) {
document.getElementById("systemMessage").innerHTML = xhr.responseText;
} else {
alert("ERROR : " + xhr.status);
}
}
}
xhr.send(null);
}
function getMsgFunc() {
var fName = "/msg";
// var data = new FormData();
data=document.getElementById("textInput").value;
xhr = new XMLHttpRequest();
xhr.open("post", fName, true);
xhr.onreadystatechange = function() {
if (xhr.readyState == 4) {
if (xhr.status == 200) {
document.getElementById("systemMessage").innerHTML = xhr.responseText;
} else {
alert("ERROR : " + xhr.status);
}
}
}
xhr.send(data);
}
function getLeftFunc() {
var fName = "/left";
xhr = new XMLHttpRequest();
xhr.open("get", fName, true);
xhr.onreadystatechange = function() {
if (xhr.readyState == 4) {
if (xhr.status == 200) {
document.getElementById("systemMessage").innerHTML = xhr.responseText;
} else {
alert("ERROR : " + xhr.status);
}
}
}
xhr.send(null);
}
function getRightFunc() {
var fName = "/right";
xhr = new XMLHttpRequest();
xhr.open("get", fName, true);
xhr.onreadystatechange = function() {
if (xhr.readyState == 4) {
if (xhr.status == 200) {
document.getElementById("systemMessage").innerHTML = xhr.responseText;
} else {
alert("ERROR : " + xhr.status);
}
}
}
xhr.send(null);
}
function getUpFunc() {
var fName = "/up";
xhr = new XMLHttpRequest();
xhr.open("get", fName, true);
xhr.onreadystatechange = function() {
if (xhr.readyState == 4) {
if (xhr.status == 200) {
document.getElementById("systemMessage").innerHTML = xhr.responseText;
} else {
alert("ERROR : " + xhr.status);
}
}
}
xhr.send(null);
}
function getDownFunc() {
var fName = "/down";
xhr = new XMLHttpRequest();
xhr.open("get", fName, true);
xhr.onreadystatechange = function() {
if (xhr.readyState == 4) {
if (xhr.status == 200) {
document.getElementById("systemMessage").innerHTML = xhr.responseText;
} else {
alert("ERROR : " + xhr.status);
}
}
}
xhr.send(null);
}
function getForwardFunc() {
var fName = "/forward";
data=document.getElementById("moveCnt").value;
xhr = new XMLHttpRequest();
xhr.open("post", fName, true);
xhr.onreadystatechange = function() {
if (xhr.readyState == 4) {
if (xhr.status == 200) {
document.getElementById("systemMessage").innerHTML = xhr.responseText;
} else {
alert("ERROR : " + xhr.status);
}
}
}
xhr.send(data);
}
function getBackwardFunc() {
var fName = "/backward";
data=document.getElementById("moveCnt").value;
xhr = new XMLHttpRequest();
xhr.open("post", fName, true);
xhr.onreadystatechange = function() {
if (xhr.readyState == 4) {
if (xhr.status == 200) {
document.getElementById("systemMessage").innerHTML = xhr.responseText;
} else {
alert("ERROR : " + xhr.status);
}
}
}
xhr.send(data);
}
function getTurnleftbackFunc() {
var fName = "/turnleftback";
data=document.getElementById("moveCnt").value;
xhr = new XMLHttpRequest();
xhr.open("post", fName, true);
xhr.onreadystatechange = function() {
if (xhr.readyState == 4) {
if (xhr.status == 200) {
document.getElementById("systemMessage").innerHTML = xhr.responseText;
} else {
alert("ERROR : " + xhr.status);
}
}
}
xhr.send(data);
}
function getTurnrightbackFunc() {
var fName = "/turnrightback";
data=document.getElementById("moveCnt").value;
xhr = new XMLHttpRequest();
xhr.open("post", fName, true);
xhr.onreadystatechange = function() {
if (xhr.readyState == 4) {
if (xhr.status == 200) {
document.getElementById("systemMessage").innerHTML = xhr.responseText;
} else {
alert("ERROR : " + xhr.status);
}
}
}
xhr.send(data);
}
function getTurnleftforwardFunc() {
var fName = "/turnleftforward";
data=document.getElementById("moveCnt").value;
xhr = new XMLHttpRequest();
xhr.open("post", fName, true);
xhr.onreadystatechange = function() {
if (xhr.readyState == 4) {
if (xhr.status == 200) {
document.getElementById("systemMessage").innerHTML = xhr.responseText;
} else {
alert("ERROR : " + xhr.status);
}
}
}
xhr.send(data);
}
function getTurnrightforwardFunc() {
var fName = "/turnrightforward";
data=document.getElementById("moveCnt").value;
xhr = new XMLHttpRequest();
xhr.open("post", fName, true);
xhr.onreadystatechange = function() {
if (xhr.readyState == 4) {
if (xhr.status == 200) {
document.getElementById("systemMessage").innerHTML = xhr.responseText;
} else {
alert("ERROR : " + xhr.status);
}
}
}
xhr.send(data);
}
function getTemperatureFunc() {
var fName = "/temperature";
xhr = new XMLHttpRequest();
xhr.open("get", fName, true);
xhr.onreadystatechange = function() {
if (xhr.readyState == 4) {
if (xhr.status == 200) {
document.getElementById("temperature").innerHTML = xhr.responseText;
} else {
alert(" temperature ERROR : " + xhr.status);
}
}
}
xhr.send(null);
}
var timerId = null;
timerId = setInterval(getTemperatureFunc, 30000);
//clearInterval(timerId);
</script>
</head>
<body>
<form name="frm">
<center>
<h3>꼬꼬락 KKoLack</h3>
<h4>system temperature = <span id="temperature">...</span></h4>
<table border=0>
<tr>
<!-- Image section -->
<td>
<img src="stream.mjpg" width="300">
</td>
<!-- Control section -->
<td>
<table border=0>
<tr>
<td>
Message = <span id="systemMessage"> ... </span>
<br>
<input type=text id="textInput" lenght=20 ><input type="button" value="Send Message" id="btnMsg" />
</td>
</tr>
<tr>
<td>
<center>
Control Camera Section
<table>
<tr>
<td></td>
<td><input type="button" value=" ^ " id="btnUp" /></td>
<td></td>
</tr>
<tr>
<td><input type="button" value=" < " id="btnLeft" /></td>
<td></td>
<td><input type="button" value=" > " id="btnRight" /></td>
</tr>
<tr>
<td></td>
<td><input type="button" value=" v " id="btnDown" /></td>
<td></td>
</tr>
</table>
</center>
</td>
</tr>
<tr>
<td>
<center>
Control Engine Section
<br>Move cont (0.1 ~ 10) = <input type=text id="moveCnt" maxlength="5" size="5" />
<br>
<table>
<tr>
<td></td>
<td><input type="button" value=" ^ " id="btnForward" /></td>
<td></td>
</tr>
<tr>
<td><input type="button" value=" ^ " id="btnTurnleftforward" /></td>
<td></td>
<td><input type="button" value=" ^ " id="btnTurnrightforward" /></td>
</tr>
<tr>
<td><input type="button" value=" v " id="btnTurnleftback" /></td>
<td></td>
<td><input type="button" value=" v " id="btnTurnrightback" /></td>
</tr>
<tr>
<td></td>
<td><input type="button" value=" v " id="btnBackward" /></td>
<td></td>
</tr>
</table>
</center>
</td>
</tr>
</table>
</td>
</tr>
</table>
<input type="button" value="Initialization Camera" id="btnInit" /><br>
</center>
</form>
</body>
</html>http://web.joang.com:9000/jcook/StreamingVideo