def processVideoMessage():
global firstVideo, screen, frameCount
while True:
ret, data, image, timestamp = ManifoldPython.getMulticastData(
videoPort)
if not ret:
return
try:
jsonObj = json.loads(data)
if firstVideo:
firstVideo = False
size = (int(jsonObj[vdefs.WIDTH]), int(jsonObj[vdefs.HEIGHT]))
screen = pygame.display.set_mode(size)
imageFile = cStringIO.StringIO(image)
imageSurface = pygame.image.load(imageFile)
screen.blit(imageSurface, (0, 0))
pygame.draw.rect(screen, (0, 0, 0), (10, 5, 600, 30))
label = myfont.render(
'Frame rate: %d fps, %s:%03d' %
(frameRate, time.ctime(timestamp), (timestamp * 1000) % 1000),
1, (255, 255, 255))
screen.blit(label, (20, 10))
pygame.display.flip()
frameCount += 1
except:
print("video data error", sys.exc_info()[0], sys.exc_info()[1])
def processReceivedMessage():
# have to throw away frames to ensure queue empty - processing load is too high
# in some cases for the forwarding to work correctly
while True:
global processingFaceRec, faceRecMessage, faceRecImage,
processingForward, forwardMessage, forwardImage, forwardTS, inPort
ret, data, image, timestamp = ManifoldPython.getMulticastData(inPort)
if not ret:
return
try:
if processingForward:
continue
jsonObj = json.loads(data)
if not processingFaceRec:
faceRecMessage = copy.deepcopy(jsonObj)
faceRecImage = image
processingFaceRec=True
if not processingForward:
forwardMessage = copy.deepcopy(jsonObj)
forwardImage = image
forwardTS = timestamp
processingForward=True
except:
print ("Receive JSON error", sys.exc_info()[0],sys.exc_info()[1])
return
def receiveThread():
global processing, jsonToProcess, imageToProcess, imageTS, receiveThreadExit
while not receiveThreadExit:
ret, data, image, timestamp = ManifoldPython.getMulticastData(inPort)
if not ret:
time.sleep(0.001)
continue
if processing:
time.sleep(0.001)
continue
try:
jsonObj = json.loads(data)
if not processing:
jsonToProcess = jsonObj
imageToProcess = image
imageTS = timestamp
processing=True
except:
print ("JSON error", sys.exc_info()[0],sys.exc_info()[1])
def processReceivedText():
ret, data, binaryData, timestamp = ManifoldPython.getMulticastData(
ttyInPort)
if not ret:
return
try:
print(binaryData)
except:
print("JSON error", sys.exc_info()[0], sys.exc_info()[1])
def processCompletion():
global completionToProcess, gotCompletion
ret, data, binaryData, timestamp = ManifoldPython.getMulticastData(sinkPort)
if not ret:
return
if gotCompletion:
return
completionToProcess = data
gotCompletion = True
def processReceivedMessage():
global topicMap
while True:
try:
ret, data, nothing, timestamp = ManifoldPython.getMulticastData(
inPort)
if not ret:
return
topicMap[inTopic].newJSONData(data)
except:
print("Sensor data error", sys.exc_info()[0], sys.exc_info()[1])
def processReceivedMessage():
global processing, jsonToProcess, imageToProcess, imageTS
ret, data, image, timestamp = ManifoldPython.getMulticastData(inPort)
if not ret:
return
try:
jsonObj = json.loads(data)
if not processing:
jsonToProcess = jsonObj
imageToProcess = image
imageTS = timestamp
processing = True
except:
print("JSON error", sys.exc_info()[0], sys.exc_info()[1])
def audioThread():
firstAudio = True
audioStream = None
audioDevice = pyaudio.PyAudio()
# Activate the audio stream
audioPort = ManifoldPython.addMulticastSink(audioTopic)
if (audioPort == -1):
print("Failed to activate audio stream")
ManifoldPython.stop()
sys.exit()
while not audioThreadExit:
ret, data, samples, timestamp = ManifoldPython.getMulticastData(
audioPort)
if not ret:
time.sleep(0.001)
continue
try:
jsonObj = json.loads(data)
if firstAudio:
firstAudio = False
audioStream = audioDevice.open(format=pyaudio.paInt16,
channels=int(
jsonObj[adefs.CHANNELS]),
rate=int(jsonObj[adefs.RATE]),
output=True)
audioStream.write(samples)
except:
print("audio data error", sys.exc_info()[0], sys.exc_info()[1])
try:
audioStream.stop_stream()
audioStream.close()
except:
pass
audioDevice.terminate()
ManifoldPython.removeService(audioPort)