def run(self):
while True:
if CarCtlWorker._exit_flag:
break
try:
state = self.state_q.get(timeout=CarCtlWorker._queue_timeout)
except Queue.Empty:
logging.info("[RUN] state_q is empty.")
continue
self.pc_client.send(state.image_str)
t = Timer()
response = self.dl_client.send(state.image_str)
if response is None: # connect DLServer failed
logging.info("[RUN] dl_client rpc failed...")
continue
t1 = t.elapse()
if state.sonar <= 20:
speed = 0
angle = response.angle
self.driver_h.drive(angle=angle, speed=5)
t2 = t.elapse()
logging.info("[state_q=%d][dl_client_time=%.0fms]"
"[drive_time=%.0fms]" %
(self.state_q.qsize(), t1, t2))
def capture():
server_addr = config.PC_SERVER_HOST + ":" + config.PC_SERVER_PORT
client = Client(server_addr)
stream = io.BytesIO()
with PiCamera() as camera:
camera.resolution = g_img_size
camera.framerate = 30
camera.hflip = True
camera.vflip = True
# warm up the camera
time.sleep(2)
cnt = 0
cycle_timer = Timer()
capture_timer = Timer()
for foo in camera.capture_continuous(stream,
format='jpeg',
use_video_port=True):
t1 = capture_timer.elapse()
tmp_timer = Timer()
client.send(stream.getvalue(), g_img_size[0], g_img_size[1])
t2 = tmp_timer.elapse()
cnt += 1
if cnt >= 1000:
break
stream.seek(0)
stream.truncate()
t3 = tmp_timer.elapse()
t4 = cycle_timer.elapse()
print "cycle:", t4, "capture:", t1, "send:", t2, "clear_stream:", t3
capture_timer.elapse()
