def run(self):
logger.info('thread started')
pltData = {}
cps = FPS()
cps.getFPS = lambda: (0 if cps._numFrames == 0 else cps.fps()) # pylint: disable=protected-access
startTime = epochTime()
cps.start()
while True:
try:
serialInput = self.handler.read_until(
'#'.encode('utf-8')).decode('utf-8')
logger.info('INPUT: %s', serialInput)
if not serialInput.endswith('@#'):
tiltOutput, panOutput, _ = serialInput.split(' ')
pltData['tiltOutput'] = int(tiltOutput)
pltData['panOutput'] = int(panOutput)
self.outQ.put(pltData)
except Exception as err:
logger.error('serial input failed. %s', err)
continue
self.readyEvent.set()
data = self.inQ.get()
if data is None:
break
tiltErr, panErr = [data[key] for key in ('tiltErr', 'panErr')]
serialOutput = f'{tiltErr * -1} {panErr * -1}$'
self.handler.write(serialOutput.encode('utf-8'))
logger.info('OUTPUT: %s', serialOutput)
cps.update()
cps.stop()
pltData['time'] = epochTime() - startTime
pltData['panErr'] = panErr
pltData['tiltErr'] = tiltErr
self.outQ.put(None)
self.handler.close()
logger.info('CPS: %s', cps.getFPS())
logger.info('thread finished')
