import socketserver import threading import time from aruco_estimator import ArucoEstimator class MeasurementHandler(socketserver.BaseRequestHandler): def handle(self) -> None: data = self.request[0] socket = self.request[1] cur_thread = threading.current_thread() print(f"current thread {cur_thread}") try: marker_id = int(data) if marker_id in self.server.estimator.robot_marker_estimates: while True: socket.sendto(f"{self.server.estimator.robot_marker_estimates[marker_id]}\n".encode(), self.client_address) time.sleep(1.0 / self.server.max_measurements_per_second) else: socket.sendto("error: unknown robot marker id\n".encode(), self.client_address) except ValueError: socket.sendto("error: data not understood. expected robot marker id (int)\n".encode(), self.client_address) return class MeasurementServer(socketserver.ThreadingMixIn, socketserver.UDPServer): def __init__(self, server_address, RequestHandlerClass, estimator, max_measurements_per_second=30): super().__init__(server_address, RequestHandlerClass) self.estimator = estimator self.max_measurements_per_second = max_measurements_per_second if __name__ == "__main__": aruco_estimator = ArucoEstimator(use_realsense=False, robot_marker_ids=[15]) estimator_thread = threading.Thread(target=aruco_estimator.run_tracking) estimator_thread.start() with MeasurementServer(('127.0.0.1', 42424), MeasurementHandler, aruco_estimator, max_measurements_per_second=30) as measurement_server: measurement_server.serve_forever() # receive with: nc 127.0.0.1 42424 -u -> 15 + Enter