diff --git a/demo.py b/demo.py
index 1781f1d49c967d1253191109d1f0fc22dab8e10e..bb1f7bfc87fb1342bb534e0ccfa5ab443c088b7e 100644
--- a/demo.py
+++ b/demo.py
@@ -11,6 +11,8 @@ import requests
import time
import math
import json
+import asyncio
+import websockets
NORMALIZATION_BETWEEN = (0.8, 1.2)
LO_NORM = NORMALIZATION_BETWEEN[0]
@@ -65,7 +67,7 @@ COLOR_B_HARD = [c[1][2] for c in COLORS_FULL_SPECTRUM_HARD]
COLORMAP = None
COLORMAP_HARD = None
-
+SOCKET_URI = "ws://localhost:8765/?client_id=lib&operation="
def try_and_ignore(ignore=Exception, default_value=0.0):
"""
@@ -89,7 +91,6 @@ api_content_esri = ""
api_content_aruco = ""
api_content_unity_png = None
-
class FakeSandbox:
"""Placeholder for testing purposes"""
def __init__(self, refresh=250):
@@ -278,15 +279,15 @@ def make_esri_and_send(depth, color, *args):
# with open("aruco_tags.json", "w") as fp:
# json.dump(tags, fp)
+ # asyncio.run(push_height())
+ asyncio.run(pull_unity_frame())
+
if api_content_unity_png is not None:
cv2.resize(api_content_unity_png, (levels.shape[0], levels.shape[1]))
im_rgb = cv2.cvtColor(api_content_unity_png, cv2.COLOR_BGR2RGB)
- # im_rgb = cv2.flip(im_rgb, 1)
- # im_rgb = cv2.flip(im_rgb, 0)
-
return im_rgb
+
# Return value will be displayed on the beamer
- print(f"levels {levels.shape}")
return levels
@@ -306,7 +307,6 @@ def get_center(corner):
def detect_aruco(frame,
aruco_dict=cv2.aruco.getPredefinedDictionary(cv2.aruco.DICT_4X4_50),
aruco_params=cv2.aruco.DetectorParameters()):
- # output = frame.copy()
#(corners, ids, rejected) = cv2.aruco.detectMarkers(frame, aruco_dict, parameters=aruco_params)
detector = cv2.aruco.ArucoDetector(aruco_dict, aruco_params)
@@ -373,26 +373,42 @@ def rgb_to_hex(rgb):
rgb = (r, g, b)
return '#%02x%02x%02x' % rgb
-
class ApiUnity:
def on_get(self, req, resp):
resp.media = api_content_esri
- def on_post(self, req, resp):
- global api_content_unity_png
- image_data = req.bounded_stream.read()
- api_content_unity_png = np.array(Image.open(BytesIO(image_data)))
- print(f"FROMPOST: {api_content_unity_png.shape}")
+ # def on_post(self, req, resp):
+ # global api_content_unity_png
+ # image_data = req.bounded_stream.read()
+ # api_content_unity_png = np.array(Image.open(BytesIO(image_data)))
- resp.status = falcon.HTTP_200
- resp.media = {'message': 'Data received successfully'}
+ # print(f'received {req.params}')
+
+ # resp.status = falcon.HTTP_200
+ # resp.media = {'message': 'Data received successfully'}
class ApiAruco:
def on_get(self, req, resp):
# resp.media = json.dumps(api_content_aruco)
resp.media = api_content_aruco
-def main():
+async def push_height():
+ global api_content_esri
+
+ # Size of map is 4993453 bytes
+
+ async with websockets.connect(SOCKET_URI + "push") as websocket:
+ await websocket.send(api_content_esri)
+ response = await websocket.recv()
+
+async def pull_unity_frame():
+ global api_content_unity_png
+ async with websockets.connect(SOCKET_URI + "pull") as websocket:
+ await websocket.send("Request frame")
+ response = await websocket.recv()
+ api_content_unity_png = np.array(Image.open(BytesIO(response)))
+
+def main():
arg_colors = ""
if arg_colors != "":
colours = []
@@ -416,7 +432,7 @@ def main():
# COLORMAP_HARD = create_colormap(create_hard_colors(colours))
LINE_COLORS = [0,0,0]
- box = Sandbox(refresh=1000)
+ box = Sandbox(refresh=50)
box.verbosity = 5
box.init()
box.on_frame = make_esri_and_send
@@ -433,13 +449,11 @@ app.add_route('/aruco', ApiAruco())
class ApiThread(Thread):
def run(self):
- print("run")
with make_server('', 8000, app) as httpd:
print('Serving on port 8000...')
# Serve until process is killed
httpd.serve_forever()
-
ApiThread().start()
main()
diff --git a/socketServer.py b/socketServer.py
new file mode 100644
index 0000000000000000000000000000000000000000..d49e3fe42c4b623d1dab4bb2b170fca63f9c02d5
--- /dev/null
+++ b/socketServer.py
@@ -0,0 +1,58 @@
+import asyncio
+import websockets
+import urllib.parse
+
+UNITY_ID = "unity"
+LIB_ID = "lib"
+
+PUSH = "push"
+PULL = "pull"
+
+unity_frame = None
+height_map = None
+
+async def echo(websocket):
+ global unity_frame, height_map
+
+ query_params = urllib.parse.parse_qs(urllib.parse.urlparse(websocket.request.path).query)
+ client_id = query_params.get('client_id', ['Unknown'])[0]
+ operation = query_params.get('operation', ['Unknown'])[0]
+
+ try:
+ async for message in websocket:
+ print(f"Received: from {client_id} with operation {operation}")
+
+ # Unity
+ if client_id == UNITY_ID:
+ if operation == PUSH:
+ unity_frame = message
+ await websocket.send("200: OK")
+ elif operation == PULL:
+ await websocket.send(height_map)
+ else:
+ await websocket.send("400: Bad Request")
+
+ # Lib
+ elif client_id == LIB_ID:
+ if operation == PUSH:
+ height_map = message
+ elif operation == PULL:
+ await websocket.send(unity_frame)
+ else:
+ await websocket.send("400: Bad Request")
+
+ # Bad url ?
+ else:
+ await websocket.send("403: Unable to identify you")
+
+ except websockets.exceptions.ConnectionClosed as e:
+ print(f"Client disconnected: {e.code}")
+ finally:
+ print("Connection closed")
+
+async def main():
+ async with websockets.serve(echo, "localhost", 8765, max_size=10**7):
+ print("WebSocket server running on ws://localhost:8765")
+ await asyncio.Future() # Run the server indefinitely
+
+asyncio.run(main())