No wait UDP. not worth it

This commit is contained in:
BOTAlex 2025-03-07 21:11:02 +01:00
parent a29da9f922
commit b6044d2276
5 changed files with 37 additions and 41 deletions

View File

@ -64,6 +64,7 @@ class ICameraSource:
print( print(
f"{Fore.YELLOW}[WARN] CAPTURE QUEUE BACKPRESSURE OF {qsize}. CHECK FOR CRASH OR TIMING ISSUES IN ALGORITHM.{Fore.RESET}" f"{Fore.YELLOW}[WARN] CAPTURE QUEUE BACKPRESSURE OF {qsize}. CHECK FOR CRASH OR TIMING ISSUES IN ALGORITHM.{Fore.RESET}"
) )
pass
self.camera_output_outgoing.put((image, frame_number, fps)) self.camera_output_outgoing.put((image, frame_number, fps))
self.capture_event.clear() self.capture_event.clear()
@ -72,4 +73,7 @@ class ICameraSource:
pass pass
def extraInit(self): def extraInit(self):
pass pass
def set_output_queue(self, camera_output_outgoing: "queue.Queue"):
self.camera_output_outgoing = camera_output_outgoing

View File

@ -7,5 +7,6 @@ class PacketHeader:
self.frame_num: int|None = None self.frame_num: int|None = None
self.id: int|None = None self.id: int|None = None
self.image_buf_size: int|None = None self.image_buf_size: int|None = None
self.totalPackets: int|None = None
self.frame_num, self.id, self.image_buf_size = struct.unpack_from(headerFormat, dataView, 0) self.frame_num, self.id, self.image_buf_size, self.totalPackets = struct.unpack_from(headerFormat, dataView, 0)

View File

@ -18,9 +18,9 @@ from .DataPacket import PacketHeader # Python imports stupid. missed a single ".
WAIT_TIME = 0.1 WAIT_TIME = 0.1
BUFFER_SIZE = 1024 IMAGE_BUFFER_SIZE = 1024
NUM_FRAGMENTS = 8 NUM_FRAGMENTS = 12
HEADER_FORMAT = "iii" HEADER_FORMAT = "iiii"
RED = "\033[91m" RED = "\033[91m"
GREEN = "\033[92m" GREEN = "\033[92m"
@ -51,10 +51,12 @@ class UDP_Camera(ICameraSource):
self.port = 3333 self.port = 3333
self.num_loaded = 0 self.num_loaded = 0
self.packets = [None] * NUM_FRAGMENTS self.packets = [None] * NUM_FRAGMENTS
self.rawDataBuffer = np.zeros(BUFFER_SIZE, dtype=np.uint8) self.headerSize = struct.calcsize(HEADER_FORMAT)
self.rawFullDataBuffer = np.zeros(BUFFER_SIZE*NUM_FRAGMENTS, dtype=np.uint8) self.rawDataBuffer = np.zeros(IMAGE_BUFFER_SIZE + self.headerSize, dtype=np.uint8)
self.rawFullDataBuffer = np.zeros(IMAGE_BUFFER_SIZE*NUM_FRAGMENTS, dtype=np.uint8)
self.imageBuffView = memoryview(self.rawFullDataBuffer) self.imageBuffView = memoryview(self.rawFullDataBuffer)
self.currentFrameNum = 0 self.currentFrameNum = 0
self.totalDataSize = 0
self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
self.sock.bind((self.host, self.port)) self.sock.bind((self.host, self.port))
@ -68,25 +70,23 @@ class UDP_Camera(ICameraSource):
return return
bufferView = memoryview(self.rawDataBuffer) bufferView = memoryview(self.rawDataBuffer)
n, senderAddr = self.sock.recvfrom_into(bufferView) n, senderAddr = self.sock.recvfrom_into(bufferView)
self.handle_packet(n, senderAddr) self.handle_packet(n, senderAddr)
def saveDataToBuff(self, dataView: memoryview, packet: PacketHeader): def saveDataToBuff(self, dataView: memoryview, packet: PacketHeader):
header_size = struct.calcsize(HEADER_FORMAT) payload_start = self.headerSize
payload_start = header_size payload_end = self.headerSize + packet.image_buf_size
payload_end = header_size + packet.image_buf_size
payload = dataView[payload_start:payload_end] payload = dataView[payload_start:payload_end]
#time.sleep(0.05) #time.sleep(0.05)
offset = self.packets[0].image_buf_size * packet.id # Adjust offset based on payload size offset = IMAGE_BUFFER_SIZE * packet.id # Adjust offset based on payload size
self.imageBuffView[offset: offset + packet.image_buf_size] = payload self.imageBuffView[offset: offset + packet.image_buf_size] = payload
# print(f"Packet {packet.id}: {offset}->{offset + packet.image_buf_size}") # print(f"Packet {packet.id}: {offset}->{offset + packet.image_buf_size}")
def resetImageBuffer(self): def resetImageBuffer(self):
self.rawFullDataBuffer = np.zeros(BUFFER_SIZE*NUM_FRAGMENTS, dtype=np.uint8) self.rawFullDataBuffer = np.zeros(IMAGE_BUFFER_SIZE*NUM_FRAGMENTS, dtype=np.uint8)
def handle_packet(self, dataSize, senderAddr): def handle_packet(self, dataSize, senderAddr):
bufferView = memoryview(self.rawDataBuffer) bufferView = memoryview(self.rawDataBuffer)
@ -95,43 +95,39 @@ class UDP_Camera(ICameraSource):
return return
# Send acknowledgment # Send acknowledgment
self.sock.sendto(f"{packet.id}:{packet.frame_num}:ACK".encode(), senderAddr) # self.sock.sendto(f"{packet.id}:{packet.frame_num}:ACK".encode(), senderAddr)
# print(packet.id) # print(packet.id)
if self.num_loaded > 0 and packet.id != 0: # if self.num_loaded > 0 and packet.id != 0:
self.sock.sendto(f"ERR".encode(), senderAddr) # self.sock.sendto(f"ERR".encode(), senderAddr)
if packet.id == 0 or packet.frame_num != self.currentFrameNum: if (packet.id == 0 or packet.frame_num != self.currentFrameNum):
self.packets: list[PacketHeader|None] = [None] * NUM_FRAGMENTS # Reset packets self.packets: list[PacketHeader|None] = [None] * packet.totalPackets # Reset packets
self.num_loaded = 0 self.num_loaded = 0
self.currentFrameNum = packet.frame_num self.currentFrameNum = packet.frame_num
self.rawFullDataBuffer[:] = 0 self.rawFullDataBuffer[:] = 0
# print("Reset frame capture") # print(f"Reset frame capture. total packets: {packet.totalPackets}")
if (self.packets[packet.id] is None if (packet.id < len(self.packets)
and self.packets[packet.id] is None
and self.packets[0] is not None and self.packets[0] is not None
and self.currentFrameNum == packet.frame_num
or packet.id == 0 ): or packet.id == 0 ):
self.num_loaded += 1 self.num_loaded += 1
self.packets[packet.id] = packet self.packets[packet.id] = packet
self.saveDataToBuff(bufferView, packet) self.saveDataToBuff(bufferView, packet)
# print(f"Got packet id: {packet.id} (total: )") # if self.packets[0] is not None:
# print(f"Got packet id: {packet.id} (total: {self.packets[0].totalPackets} loaded: {self.num_loaded})")
# if (self.num_loaded > NUM_FRAGMENTS * 0.75): # if self.packets[0] is not None:
# formatted_list = "[" + ", ".join(f"{RED}x{RESET}" if item is None else f"{GREEN}x{RESET}" for item in self.packets) + "]" # formatted_list = "[" + ", ".join(f"{RED}x{RESET}" if item is None else f"{GREEN}x{RESET}" for item in self.packets[:self.packets[0].totalPackets]) + "]"
# print(formatted_list) # print(formatted_list)
if self.num_loaded >= NUM_FRAGMENTS:
if self.packets[0] is None:
return
current_frame = self.packets[0].frame_num
if any(p is None or p.frame_num != current_frame for p in self.packets): if (self.packets[0] is not None and self.num_loaded >= self.packets[0].totalPackets
print("Packet loss detected.") or self.num_loaded >= NUM_FRAGMENTS):
pass
else: self.process_and_push_image()
#print("Whole data received. Processing...")
self.process_and_push_image()
self.num_loaded = 0 self.num_loaded = 0
self.packets: list[PacketHeader|None] = [None] * NUM_FRAGMENTS # Reset packets self.packets: list[PacketHeader|None] = [None] * NUM_FRAGMENTS # Reset packets
@ -144,6 +140,8 @@ class UDP_Camera(ICameraSource):
print(f"{Fore.YELLOW}[WARN] Frame drop. Corrupted JPEG.{Fore.RESET}") print(f"{Fore.YELLOW}[WARN] Frame drop. Corrupted JPEG.{Fore.RESET}")
return return
# print("Frame")
self.camera_status = CameraState.CONNECTED self.camera_status = CameraState.CONNECTED
current_frame_time = time.time() current_frame_time = time.time()

View File

@ -78,8 +78,6 @@ def is_udp(addr: str) -> bool:
class Camera(ICameraSource): class Camera(ICameraSource):
def set_output_queue(self, camera_output_outgoing: "queue.Queue"):
self.camera_output_outgoing = camera_output_outgoing
def run(self): def run(self):
OPENCV_PARAMS = [ OPENCV_PARAMS = [
@ -118,9 +116,6 @@ class Camera(ICameraSource):
port = self.config.capture_source port = self.config.capture_source
self.current_capture_source = port self.current_capture_source = port
self.start_serial_connection(port) self.start_serial_connection(port)
elif (is_udp(addr)):
# print("UDP selected!")
setup_udp(self)
else: else:
if ( if (
self.cv2_camera is None self.cv2_camera is None
@ -155,8 +150,6 @@ class Camera(ICameraSource):
addr = str(self.current_capture_source) addr = str(self.current_capture_source)
if is_serial_capture_source(addr): if is_serial_capture_source(addr):
self.get_serial_camera_picture(should_push) self.get_serial_camera_picture(should_push)
elif is_udp(addr):
udp_get_image(self)
else: else:
self.get_cv2_camera_picture(should_push) self.get_cv2_camera_picture(should_push)
if not should_push: if not should_push:

BIN
EyeTrackApp/EBPD_LEFT.png Normal file

Binary file not shown.

After

Width:  |  Height:  |  Size: 7.5 KiB