class robot_cli:
def __init__(self,host,port=7777):
rospy.init_node('robot', anonymous=False)
self.bridge = CvBridge()
self.tcpCliSock = socket(AF_INET, SOCK_STREAM)
addr = (host, port)
self.tcpCliSock.connect(addr)
print "The connection is successful"
self.comImage = CompressedImage()
self.image=Image()
self.time = Clock()
self.box_pos = ModelStates()
self.isEnd=False
def get_comImage(self):
"""
:return:
"""
if not self.isEnd:
message=b"cim"
try:
self.tcpCliSock.send(message)
flag= self.tcpCliSock.recv(4)
length=struct.unpack('i',flag)[0]
data=""
while len(data)<length:
data+=self.tcpCliSock.recv(length)
try:
self.comImage.deserialize(data)
cv_image = None
try:
cv_image = self.bridge.compressed_imgmsg_to_cv2(self.comImage, "bgr8")
except CvBridgeError as e:
print(e)
return cv_image
except genpy.DeserializationError:
print rospy.loginfo("deserialize comImage failed!")
except Exception,msg:
print msg
self.isEnd=True
def receive_image(UDP_PORT, timeout_limit, name, msg):
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) # UDP
sock.bind((UDP_IP, UDP_PORT))
sock.settimeout(timeout_limit)
sockets_list.append(sock)
bridge = CvBridge()
while True:
try:
data = sock.recv(65536)
if name == 'left' or name == 'right':
image_data = CompressedImage()
image_data.deserialize(data)
image = bridge.compressed_imgmsg_to_cv2(image_data)
# np_arr = np.fromstring(data, np.uint8)
# image = cv2.imdecode(np_arr,cv2.IMREAD_COLOR)
cv2.imwrite('{}.png'.format(name), image)
print('{} saved'.format(msg))
except timeout:
print('Error: {} Timeout'.format(msg))
sys.exit(1)
