RoboRally/remote_control/measurement_server.py

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