91 lines
2.4 KiB
Python
91 lines
2.4 KiB
Python
from typing import Dict
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import cv2
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import socket
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import numpy as np
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from datetime import datetime
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import asyncio
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from common import DoublyInterlacedPacket, from_bytes_dint
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# bind any IP address
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UDP_IP = ""
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UDP_PORT = 5005
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HEIGHT = 480
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WIDTH = 640
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class Client:
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def __init__(self):
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self.last_updated = datetime.now()
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self.frame = np.ndarray((HEIGHT, WIDTH, 3), dtype=np.uint8)
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def update(self, pkt: DoublyInterlacedPacket):
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self.frame = pkt.apply(self.frame)
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self.last_updated = datetime.now()
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def latency(self) -> float:
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return (datetime.now() - self.last_updated).total_seconds()
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def read(self) -> np.ndarray:
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return self.frame
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frames: Dict[str, Client] = {}
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async def read_packet():
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while True:
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for i in range(0, 1200):
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# break the array down into 16-bit chunks, then transmit them as UDP packets
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try:
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data, addr = sock.recvfrom(DoublyInterlacedPacket.size) # buffer size is 768 bytes
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# print("received packet from", addr)
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if data:
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pkt = from_bytes_dint(data)
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uuid = str(pkt.uuid)
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if uuid not in frames.keys():
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print("New client acquired, naming %s", uuid)
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frames[uuid] = Client()
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frames[uuid].update(pkt)
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except BlockingIOError:
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pass
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await asyncio.sleep(0.001)
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async def show_frames():
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while True:
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# Display the resulting frame
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for id in list(frames.keys()):
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if frames[id].latency() >= 5:
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print("Client likely lost connection, dropping %s", id)
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cv2.destroyWindow(id)
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frames.pop(id)
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else:
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cv2.imshow(id, frames[id].read())
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cv2.waitKey(1)
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await asyncio.sleep(0.01)
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if __name__ == "__main__":
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sock = socket.socket(socket.AF_INET, # Internet
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socket.SOCK_DGRAM) # UDP
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sock.setblocking(False)
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sock.bind((UDP_IP, UDP_PORT))
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loop = asyncio.new_event_loop()
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asyncio.set_event_loop(loop)
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loop.create_task(read_packet())
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loop.create_task(show_frames())
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try:
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loop.run_forever()
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finally:
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loop.run_until_complete(loop.shutdown_asyncgens())
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loop.close()
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# Release the capture and close all windows
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cv2.destroyAllWindows() |