import socketserver import threading import time import json from aruco_estimator import ArucoEstimator class MeasurementHandler(socketserver.BaseRequestHandler): def handle(self) -> None: data = self.request.recv(1024).strip() cur_thread = threading.current_thread() print(f"current thread {cur_thread}") if 'events' in data.decode(): self.request.sendall('subscribed to events\n'.encode()) # send input events while True: while not self.server.estimator.event_queue.empty(): event = self.server.estimator.event_queue.get() self.request.sendall((json.dumps(event) + '\n').encode()) self.server.estimator.last_event = None 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: # send robot position try: marker_id = int(data) except ValueError: marker_id = None if marker_id is not None: if marker_id in self.server.estimator.robot_marker_estimates: while True: self.request.sendall((json.dumps(self.server.estimator.robot_marker_estimates[marker_id]) + '\n').encode()) time.sleep(1.0 / self.server.max_measurements_per_second) else: self.request.sendall("error: unknown robot marker id\n".encode()) else: self.request.sendall("error: data not understood. " "expected or 'events'\n".encode()) return class MeasurementServer(socketserver.ThreadingMixIn, socketserver.TCPServer): allow_reuse_address = True 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 def handle_error(self, request, client_address): print("an error occurred -> terminating connection") if __name__ == "__main__": aruco_estimator = ArucoEstimator(use_realsense=True, robot_marker_ids=[12, 13]) # first we start thread for the measurement server measurement_server = MeasurementServer(('0.0.0.0', 42424), MeasurementHandler, aruco_estimator, max_measurements_per_second=30) 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