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riosocket.py
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riosocket.py
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# RioSocket.py
# Formats data to be sent of to cMessenger
import socket
import threading
import cv2
HOST = "10.19.83.2"
TURRETPORT = 5802 # TODO port cannot be hardcoded.
GEARPORT = 5800
DRIVERPORT = 5804
data = ''
manualshutdown = False
class cListen (threading.Thread):
def __init__(self):
threading.Thread.__init__(self)
self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
self.MSG_LEN = 1024
def run(self):
global data
global manualshutdown
while data is not 'shutdown' and not manualshutdown:
try:
data, addrs = self.sock.recvfrom(self.MSG_LEN)
except:
pass
class RioSocket():
def __init__(self, target):
if target == 'gear': port = GEARPORT
elif target == 'goal': port = TURRETPORT
else: logging.critical('Unknown target type! Cannot send target pos data!')
self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
thread = cListen()
thread.start()
def send(self, type, isFound, x, y=0):
type = 1 if type == "goal" else 0
isFound = 1 if isFound else 0
message = str(type) + " " + str(isFound) + " " + str(x) + " " + str(y)
try:
self.sock.sendto(message, (HOST, port))
except: pass
def sendVid(self, frame):
frame = cv2.resize(frame, (0,0), fx=0.2, fy=0.2)
frame = frame[:,:,0]
frameStr = cv2.imencode('.jpg', frame)[1].tostring()
print(len(frameStr))
self.sock.sendto(frameStr, (HOST, DRIVERPORT))
def recv(self):
global data
global manualshutdown
if not manualshutdown:
return data
else:
return 'shutdownq'
def manualshutdown(self):
global manualshutdown
manualshutdown = True