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https://github.com/EyeTrackVR/EyeTrackVR.git
synced 2025-11-04 14:39:42 +08:00
now using np to process UDP. fill(0) is slow though
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cef892d728
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@ -1,20 +1,11 @@
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import struct
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import numpy as np
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import ctypes
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class DataPacket:
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def __init__(self, buffer, offset, size):
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self.frame_num = None
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self.id = None
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self.buf_size = None
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self.data = None
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class PacketHeader:
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def __init__(self, headerFormat, dataView, rawDataSize):
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self.frame_num: int|None = None
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self.id: int|None = None
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self.image_buf_size: int|None = None
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if len(buffer) < offset + 12: # Ensure buffer is large enough for metadata
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return
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self.frame_num, self.id, self.buf_size = struct.unpack_from("iii", buffer, offset)
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current_index = offset + 12
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message_length = size - current_index
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if message_length < 0 or current_index + message_length > len(buffer):
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return
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self.data = buffer[current_index:current_index + message_length]
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self.frame_num, self.id, self.image_buf_size = struct.unpack_from(headerFormat, dataView, 0)
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@ -1,3 +1,4 @@
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import struct
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import cv2
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import numpy as np
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import queue
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@ -13,10 +14,17 @@ import sys
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from Camera.CameraState import CameraState
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from Camera.ICameraSource import ICameraSource
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import socket
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from .DataPacket import DataPacket # Python imports stupid. missed a single "."
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from .DataPacket import PacketHeader # Python imports stupid. missed a single "."
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WAIT_TIME = 0.1
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BUFFER_SIZE = 1024
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NUM_FRAGMENTS = 48
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HEADER_FORMAT = "iii"
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RED = "\033[91m"
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GREEN = "\033[92m"
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RESET = "\033[0m"
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# I HATE PYTHON!!!! slow fucking...
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# Never know when value passed by value or ref
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@ -41,9 +49,12 @@ class UDP_Camera(ICameraSource):
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self.host = "0.0.0.0"
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self.port = 3333
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self.num_fragments = 48
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self.num_loaded = 0
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self.packets = [None] * self.num_fragments
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self.packets = [None] * NUM_FRAGMENTS
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self.rawDataBuffer = np.zeros(BUFFER_SIZE, dtype=np.uint8)
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self.rawFullDataBuffer = np.zeros(BUFFER_SIZE*NUM_FRAGMENTS, dtype=np.uint8)
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self.imageBuffView = memoryview(self.rawFullDataBuffer)
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self.currentFrameNum = 0
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self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
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self.sock.bind((self.host, self.port))
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@ -57,53 +68,83 @@ class UDP_Camera(ICameraSource):
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return
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else:
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# We don't have a capture source to try yet, wait for one to show up in the GUI.
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if self.cancellation_event.wait(WAIT_TIME):
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self.camera_status = CameraState.DISCONNECTED
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return
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bufferView = memoryview(self.rawDataBuffer)
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n, senderAddr = self.sock.recvfrom_into(bufferView)
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self.handle_packet(n, senderAddr)
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def saveDataToBuff(self, dataView: memoryview, packet: PacketHeader):
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header_size = struct.calcsize(HEADER_FORMAT)
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payload_start = header_size
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payload_end = header_size + packet.image_buf_size
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payload = dataView[payload_start:payload_end]
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#time.sleep(0.05)
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offset = self.packets[0].image_buf_size * packet.id # Adjust offset based on payload size
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self.imageBuffView[offset: offset + packet.image_buf_size] = payload
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# print(f"Packet {packet.id}: {offset}->{offset + packet.image_buf_size}")
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def resetImageBuffer(self):
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self.rawFullDataBuffer = np.zeros(BUFFER_SIZE*NUM_FRAGMENTS, dtype=np.uint8)
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data, addr = self.sock.recvfrom(1024)
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self.handle_packet(data, addr)
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def handle_packet(self, data, addr):
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packet = DataPacket(data, 0, len(data))
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if packet.data is None or packet.id < 0 or packet.id >= self.num_fragments:
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def handle_packet(self, dataSize, senderAddr):
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bufferView = memoryview(self.rawDataBuffer)
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packet = PacketHeader(HEADER_FORMAT, bufferView, dataSize)
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if packet.id < 0 or packet.id >= NUM_FRAGMENTS:
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return
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# Send acknowledgment
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self.sock.sendto(f"{packet.id}:{packet.frame_num}:ACK".encode(), senderAddr)
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# print(packet.id)
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if packet.id == 0:
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self.num_loaded = 1
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self.packets = [None] * self.num_fragments
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self.packets[packet.id] = packet
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elif self.packets[packet.id] is None:
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self.packets[packet.id] = packet
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if self.num_loaded > 0 and packet.id != 0:
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self.sock.sendto(f"ERR".encode(), senderAddr)
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if packet.id == 0 or packet.frame_num != self.currentFrameNum:
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self.packets: list[PacketHeader|None] = [None] * NUM_FRAGMENTS # Reset packets
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self.num_loaded = 0
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self.currentFrameNum = packet.frame_num
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self.rawFullDataBuffer.fill(0)
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# print("Reset frame capture")
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if (self.packets[packet.id] is None
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and self.packets[0] is not None
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or packet.id == 0 ):
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self.num_loaded += 1
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self.packets[packet.id] = packet
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self.saveDataToBuff(bufferView, packet)
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if self.num_loaded >= self.num_fragments:
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# print(f"Got packet id: {packet.id} (total: )")
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# if (self.num_loaded > NUM_FRAGMENTS * 0.75):
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# formatted_list = "[" + ", ".join(f"{RED}x{RESET}" if item is None else f"{GREEN}x{RESET}" for item in self.packets) + "]"
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# print(formatted_list)
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if self.num_loaded >= NUM_FRAGMENTS:
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if self.packets[0] is None:
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return
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current_frame = self.packets[0].frame_num
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if any(p is None or p.frame_num != current_frame for p in self.packets):
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print("Packet loss detected.")
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pass
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else:
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print("Whole data received. Processing...")
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full_buffer = b''.join(p.data for p in self.packets)
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np_buffer = np.frombuffer(full_buffer, dtype=np.uint8)
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self.process_and_push_image(np_buffer)
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#print("Whole data received. Processing...")
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self.process_and_push_image()
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self.num_loaded = 0
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self.packets: list[PacketHeader|None] = [None] * NUM_FRAGMENTS # Reset packets
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# Send acknowledgment
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self.sock.sendto(f"{packet.id}:ACK".encode(), addr)
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def process_and_push_image(self, buf: np.ndarray):
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image = cv2.imdecode(buf, cv2.IMREAD_UNCHANGED)
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def process_and_push_image(self):
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image = cv2.imdecode(self.rawFullDataBuffer, cv2.IMREAD_UNCHANGED)
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if image is None:
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print(f"{Fore.YELLOW}[WARN] Frame drop. Corrupted JPEG.{Fore.RESET}")
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return
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self.camera_status = CameraState.CONNECTED
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current_frame_time = time.time()
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delta_time = current_frame_time - self.last_frame_time
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self.last_frame_time = current_frame_time
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