Telos4/RoboRally
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run GUI in main thread and measurement server in secondary thread

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This commit is contained in:
Simon Pirkelmann 2021-08-25 21:59:24 +02:00
parent 2607e94958
commit b65b6568d0
1 changed files with 24 additions and 7 deletions
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31
remote_control/measurement_server.py
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@ -22,7 +22,13 @@ class MeasurementHandler(socketserver.BaseRequestHandler):
self.request.sendall((json.dumps(event) + '\n').encode()) self.request.sendall((json.dumps(event) + '\n').encode())
self.server.estimator.last_event = None self.server.estimator.last_event = None
time.sleep(1.0 / self.server.max_measurements_per_second) time.sleep(1.0 / self.server.max_measurements_per_second)
elif 'corners' in data.decode():
# send positions of the board markers
corner_estimates = self.server.estimator.corner_estimates
response = {}
for corner, data in corner_estimates.items():
response[corner] = {'x': data['x'], 'y': data['y']}
self.request.sendall((json.dumps(response) + '\n').encode())
else: else:
# send robot position # send robot position
try: try:
@ -57,12 +63,23 @@ class MeasurementServer(socketserver.ThreadingMixIn, socketserver.TCPServer):
if __name__ == "__main__": if __name__ == "__main__":
aruco_estimator = ArucoEstimator(use_realsense=True, robot_marker_ids=[11, 12, 13, 14]) aruco_estimator = ArucoEstimator(use_realsense=True, robot_marker_ids=[12, 13])
estimator_thread = threading.Thread(target=aruco_estimator.run_tracking, kwargs={'invert_grayscale': True})
estimator_thread.start()
with MeasurementServer(('0.0.0.0', 42424), MeasurementHandler, aruco_estimator, # first we start thread for the measurement server
max_measurements_per_second=30) as measurement_server: measurement_server = MeasurementServer(('0.0.0.0', 42424), MeasurementHandler, aruco_estimator, max_measurements_per_second=30)
measurement_server.serve_forever() server_thread = threading.Thread(target=measurement_server.serve_forever)
server_thread.start()
# now we start the Aruco estimator GUI
aruco_estimator.process_frame()
import sys
from pyqtgraph.Qt import QtCore, QtGui
if (sys.flags.interactive != 1) or not hasattr(QtCore, 'PYQT_VERSION'):
QtGui.QApplication.instance().exec_()
#with MeasurementServer(('0.0.0.0', 42424), MeasurementHandler, aruco_estimator,
# max_measurements_per_second=30) as measurement_server:
# measurement_server.serve_forever()
# receive with: nc 127.0.0.1 42424 -> 12 + Enter # receive with: nc 127.0.0.1 42424 -> 12 + Enter