switch to close enough matching

client.py

@@ -5,37 +5,49 @@ import socket
 import numpy as np
 import uuid
 
-from common import StdPacket, InterlacedPacket, DoublyInterlacedPacket
+from common import StdPacket, InterlacedPacket, DoublyInterlacedPacket, TiledImagePacket
+
 
 def send_packet(sock, packet):
     sock.sendto(packet, (UDP_IP, UDP_PORT))
 
-def breakdown_image_norm(frame):
+def breakdown_image_norm(frame, last_frame):
     (cols, rows, colors) = frame.shape
     # break the array down into 16x16 chunks, then transmit them as UDP packets
     for i in range(0, cols, 16):
         for j in range(0, rows, 16):
             # print("Sending frame segment (%d, %d)", i, j)
-            pkt = StdPacket(uuid, j, i, frame[i:i + 16, j:j + 16])
+            arr = frame[i:i + 16, j:j + 16]
+            last_arr = last_frame[i:i + 16, j:j + 16]
+            # only update if image segments are different
+            if not np.allclose(arr, last_arr):
+                pkt = StdPacket(uuid, j, i, arr)
                 send_packet(sock, pkt.to_bytestr())
 
-def breakdown_image_interlaced(frame):
+def breakdown_image_interlaced(frame, last_frame):
     (cols, rows, colors) = frame.shape
     # break the array into 16x32 chunks. we'll split those further into odd and even rows
     # and send each as UDP packets. this should make packet loss less obvious
     for i in range(0, cols, 32):
         for j in range(0, rows, 16):
             # print("Sending frame segment (%d, %d)", i, j)
-            pkt = InterlacedPacket(uuid, j, i, False, frame[i:i + 32:2, j:j + 16])
+            arr = frame[i:i + 32:2, j:j + 16]
+            last_arr = last_frame[i:i + 32:2, j:j + 16]
+            if not np.allclose(arr, last_arr):
+                pkt = InterlacedPacket(uuid, j, i, False, arr)
                 send_packet(sock, pkt.to_bytestr())
 
     for i in range(0, cols, 32):
         for j in range(0, rows, 16):
             # print("Sending frame segment (%d, %d)", i, j)
-            pkt = InterlacedPacket(uuid, j, i, True, frame[i + 1:i + 32:2, j:j + 16])
+            arr = frame[i + 1:i + 32:2, j:j + 16]
+            last_arr = last_frame[i + 1:i + 32:2, j:j + 16]
+            # only update if image segments are different
+            if not np.allclose(arr, last_arr):
+                pkt = InterlacedPacket(uuid, j, i, True, arr)
                 send_packet(sock, pkt.to_bytestr())
 
-def breakdown_image_dint(frame):
+def breakdown_image_dint(frame, last_frame):
     (cols, rows, colors) = frame.shape
     # break the array into 16x32 chunks. we'll split those further into odd and even rows
     # and send each as UDP packets. this should make packet loss less obvious
@@ -45,7 +57,25 @@ def breakdown_image_dint(frame):
                 # print("Sending frame segment (%d, %d)", i, j)
                 i_even = l % 2 == 0
                 j_even = l >= 2
-                pkt = DoublyInterlacedPacket(uuid, j, i, j_even, i_even, frame[i + i_even:i + 32:2, j + j_even:j + 32:2])
+
+                # breakdown image
+                arr = frame[i + i_even:i + 32:2, j + j_even:j + 32:2]
+                last_arr = last_frame[i + i_even:i + 32:2, j + j_even:j + 32:2]
+                # only update if image segments are different
+                if not np.allclose(arr, last_arr):
+                    pkt = DoublyInterlacedPacket(uuid, j, i, j_even, i_even, arr)
+                    send_packet(sock, pkt.to_bytestr())
+
+def breakdown_image_tiled(frame):
+    (cols, rows, colors) = frame.shape
+    # break the array into 16x32 chunks. we'll split those further into odd and even rows
+    # and send each as UDP packets. this should make packet loss less obvious
+    xslice = cols // 16
+    yslice = rows // 16
+    for i in range(0, xslice):
+        for j in range(0, yslice):
+            # print("Sending frame segment (%d, %d)", i, j)
+            pkt = TiledImagePacket(uuid, j, i, rows, cols, frame[i:cols:xslice, j:rows:yslice])
             send_packet(sock, pkt.to_bytestr())
 
 if __name__ == '__main__':
@@ -80,7 +110,11 @@ if __name__ == '__main__':
     # create the socket
     sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
 
+    frame = np.zeros((HEIGHT, WIDTH, 3), dtype=np.uint8)
+    last_frame = np.zeros((HEIGHT, WIDTH, 3), dtype=np.uint8)
+
     while True:
+        last_frame = frame.copy()
         # Capture frame-by-frame
         ret, frame = cap.read()
 
@@ -89,7 +123,7 @@ if __name__ == '__main__':
             print("Can't receive frame (stream end?). Exiting ...")
             break
 
-        breakdown_image_dint(frame)
+        breakdown_image_dint(frame, last_frame)
 
     # Release the capture and close all windows
     cap.release()

common.py

@@ -134,3 +134,38 @@ def from_bytes_dint(b: bytes) -> DoublyInterlacedPacket:
     array = np.frombuffer(b[28:], np.uint8).reshape(16, 16, 3)
 
     return DoublyInterlacedPacket(uuid, x, y, even_x, even_y, array)
+
+class TiledImagePacket(Packet):
+    """Distributed selection from image."""
+    size = 16 + 4 + 4 + 768
+
+    def __init__(self, uuid: UUID, x: int, y: int, width: int, height: int, array: np.ndarray):
+        super().__init__(uuid, x, y, array)
+        self.width = width
+        self.height = height
+        self.xslice = width // 16
+        self.yslice = height // 16
+
+    def to_bytestr(self) -> bytes:
+        bytestr = b""
+        bytestr += self.uuid.bytes
+        bytestr += self.x.to_bytes(length=4, signed=False)
+        bytestr += self.y.to_bytes(length=4, signed=False)
+        bytestr += self.array.tobytes()
+        return bytestr
+
+    def apply(self, image: np.ndarray) -> np.ndarray:
+        x = self.x
+        y = self.y
+        arr = self.array
+        image[y:self.height:self.yslice, x:self.width:self.xslice] = arr
+        return image
+
+def from_bytes_tiled(b: bytes) -> TiledImagePacket:
+    """Convert a byte string obtained via UDP into a packet object."""
+    uuid = UUID(bytes = b[0:16])
+    x = int.from_bytes(b[16:20], signed = False)
+    y = int.from_bytes(b[20:24], signed = False)
+    array = np.frombuffer(b[24:], np.uint8).reshape(16, 16, 3)
+
+    return TiledImagePacket(uuid, x, y, 640, 480, array)

requirements.txt

@@ -1,3 +1,4 @@
 opencv-python
 numpy
 rich
+asyncudp

server.py

@@ -5,6 +5,7 @@ import socket
 import numpy as np
 from datetime import datetime
 import asyncio
+import asyncudp
 import argparse
 from rich.console import Console
 
@@ -34,33 +35,6 @@ class Client:
 # Dictionary of client states stored by UUID
 frames: Dict[str, Client] = {}
 
-async def read_packet():
-    """Asynchronous coroutine to read UDP packets from the client(s)."""
-    while True:
-        # we repeat this a ton of times all at once to hopefully capture all of the image data
-        for i in range(0, 1600):
-            try:
-                data, addr = sock.recvfrom(DoublyInterlacedPacket.size)  # packet buffer size based on the packet size
-                # print("received packet from", addr)
-                if data:
-                    pkt = from_bytes_dint(data)
-
-                    uuid = str(pkt.uuid)
-
-                    # if this is a new client, give it a new image
-                    if uuid not in frames.keys():
-                        console.log(f"New client acquired, naming [bold cyan]{uuid}[bold cyan]")
-                        frames[uuid] = Client()
-                        stat.update(f"[bold yellow]{len(frames.keys())}[/bold yellow] clients connected.")
-
-                    frames[uuid].update(pkt)
-
-            except BlockingIOError:
-                pass
-
-        # this is necessary to allow asyncio to swap between reading packets and rendering frames
-        await asyncio.sleep(0.001)
-
 async def show_frames():
     """Asynchronous coroutine to display frames in OpenCV debug windows."""
     while True:
@@ -70,20 +44,43 @@ async def show_frames():
                 console.log(f"Client likely lost connection, dropping [bold red]{id}[/bold red]")
                 cv2.destroyWindow(id)
                 frames.pop(id)
-                stat.update(f"[bold yellow]{len(frames.keys())}[/bold yellow] clients connected.")
             else:
                 # show the latest available frame
                 cv2.imshow(id, frames[id].read())
 
         cv2.waitKey(1)
         # this is necessary to allow asyncio to swap between reading packets and rendering frames
-        await asyncio.sleep(0.01)
+        await asyncio.sleep(0.05)
+
+async def listen(ip: str, port: int):
+    """Asynchronous coroutine to listen for / read client connections."""
+    sock = await asyncudp.create_socket(local_addr=(ip, port))
+
+    console.log("Ready to accept connections.", style="bold green")
+
+    while True:
+        # receive packets
+        data, addr = await sock.recvfrom()
+
+        if data:
+            # convert the byte string into a packet object
+            pkt = from_bytes_dint(data)
+
+            uuid = str(pkt.uuid)
+
+            # if this is a new client, give it a new image
+            if uuid not in frames.keys():
+                console.log(f"New client acquired, naming [bold cyan]{uuid}[bold cyan]")
+                frames[uuid] = Client()
+
+            frames[uuid].update(pkt)
+
 
 if __name__ == "__main__":
     # argument parser
     parser = argparse.ArgumentParser(description="Proof-of-concept server for sauron-cv")
     parser.add_argument("-p", "--port", type=int, default=5005)
-    parser.add_argument("-l", "--listen", type=str, default="")
+    parser.add_argument("-l", "--listen", type=str, default="0.0.0.0")
     parser.add_argument("-W", "--width", type=int, default=640)
     parser.add_argument("-H", "--height", type=int, default=480)
     args = parser.parse_args()
@@ -98,22 +95,12 @@ if __name__ == "__main__":
     HEIGHT = args.height
     WIDTH = args.width
 
-    # create the UDP socket
-    sock = socket.socket(socket.AF_INET,  # Internet
-                         socket.SOCK_DGRAM)  # UDP
-    sock.setblocking(False)
-    sock.bind((UDP_IP, UDP_PORT))
-
-    console.log("Ready to accept connections.", style="bold green")
-
-    with console.status("[bold yellow]0[/bold yellow] clients connected.", spinner="pong") as stat:
-
     # create the async event loop
     loop = asyncio.new_event_loop()
     asyncio.set_event_loop(loop)
 
     # create async tasks for reading network packets, displaying windows
-        loop.create_task(read_packet())
+    loop.create_task(listen(UDP_IP, UDP_PORT))
     loop.create_task(show_frames())
     try:
         loop.run_forever()