forked from Telos4/RoboRally
47 lines
1.9 KiB
Python
47 lines
1.9 KiB
Python
import socketserver
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import threading
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import time
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from aruco_estimator import ArucoEstimator
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class MeasurementHandler(socketserver.BaseRequestHandler):
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def handle(self) -> None:
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data = self.request[0]
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socket = self.request[1]
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cur_thread = threading.current_thread()
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print(f"current thread {cur_thread}")
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try:
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marker_id = int(data)
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if marker_id in self.server.estimator.robot_marker_estimates:
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while True:
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socket.sendto(f"{self.server.estimator.robot_marker_estimates[marker_id]}\n".encode(),
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self.client_address)
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time.sleep(1.0 / self.server.max_measurements_per_second)
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else:
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socket.sendto("error: unknown robot marker id\n".encode(),
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self.client_address)
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except ValueError:
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socket.sendto("error: data not understood. expected robot marker id (int)\n".encode(), self.client_address)
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return
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class MeasurementServer(socketserver.ThreadingMixIn, socketserver.UDPServer):
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def __init__(self, server_address, RequestHandlerClass, estimator, max_measurements_per_second=30):
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super().__init__(server_address, RequestHandlerClass)
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self.estimator = estimator
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self.max_measurements_per_second = max_measurements_per_second
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if __name__ == "__main__":
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aruco_estimator = ArucoEstimator(use_realsense=True, robot_marker_ids=[11, 12, 13, 14])
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estimator_thread = threading.Thread(target=aruco_estimator.run_tracking, kwargs={'invert_grayscale': True})
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estimator_thread.start()
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with MeasurementServer(('0.0.0.0', 42424), MeasurementHandler, aruco_estimator,
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max_measurements_per_second=30) as measurement_server:
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measurement_server.serve_forever()
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# receive with: nc 127.0.0.1 42424 -u -> 15 + Enter
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