def read(stream):
user_id, username_size = \
Serialization.read(stream, UserInformation.SERIALIZATION_HEADER)
CURRENT_USER_PAYLOAD_FORMAT = UserInformation.SERIALIZATION_PAYLOAD.format(
username_size)
username, birth_date, gender = \
Serialization.read(stream, CURRENT_USER_PAYLOAD_FORMAT)
return UserInfo(user_id, username, datetime.fromtimestamp(birth_date),
gender)
def read_stream(stream):
user_id, username_size = \
Serialization.read(stream, HelloMessageNative.SERIALIZATION_HEADER)
CURRENT_USER_PAYLOAD_FORMAT = HelloMessageNative.SERIALIZATION_PAYLOAD.format(
username_size)
username, birth_date, gender = \
Serialization.read(stream, CURRENT_USER_PAYLOAD_FORMAT)
user_info = UserInfo(user_id, username, birth_date, gender)
return HelloMessage(user_info)
def read_stream(stream):
fields_number = \
Serialization.read(stream, ConfigMessageNative.SERIALIZATION_HEADER)[0]
fields_config = []
for field_index in range(fields_number):
field_size = \
Serialization.read(stream, ConfigMessageNative.SERIALIZATION_FIELD_HEADER)[0]
FIELD_PAYLOAD_FORMAT = ConfigMessageNative.SERIALIZATION_FIELD_PAYLOAD.format(
field_size)
field = \
Serialization.read(stream, FIELD_PAYLOAD_FORMAT)[0]
fields_config.append(field.decode(ConfigMessageNative.ENCODING))
return ConfigMessage(fields_config)
def read_stream(stream):
timestamp, t_x, t_y, t_z, r_x, r_y, r_z, r_w = \
Serialization.read(stream, SnapshotMessageNative.SERIALIZATION_HEADER, expect_eof=True)
translation, rotation = \
(t_x, t_y, t_z), (r_x, r_y, r_z, r_w)
color_image = ColorImage.read(stream)
depth_image = DepthImage.read(stream)
(hunger, thirst, exhaustion, happiness) = \
Serialization.read(stream, SnapshotMessageNative.SERIALIZATION_TRAILER)
user_feeling = \
(hunger, thirst, exhaustion, happiness)
return Snapshot(timestamp, translation, rotation, color_image,
depth_image, user_feeling)
def get_current_serialization_format(self):
if not hasattr(self, '_current_serialization_format'):
raw_color_image_format = Serialization.remove_endianity(
self.color_image.get_current_serialization_format())
raw_depth_image_format = Serialization.remove_endianity(
self.depth_image.get_current_serialization_format())
# datetime : uint64
# translation : uint32 * 3
# rotation : uint32 * 4
# color image : uint32 * 2 + [array]
# depth image : uint32 * 2 + [array]
# feeling : uint32 * 4
self._current_serialization_format = SnapshotMessageNative.SERIALIZATION_FORMAT.format(
raw_color_image_format, raw_depth_image_format)
return self._current_serialization_format
def read(stream, pixel_serialization_format, pixel_elements_count):
width, height = \
Serialization.read(stream, SnapshotImage.SERIALIZATION_HEADER)
image_size = width * height
pixel_array_size = image_size * pixel_elements_count
data = []
if 0 != pixel_array_size:
SERIALIZATION_PAYLOAD_FORMAT = (
'{0}' + pixel_serialization_format).format(pixel_array_size)
data = \
Serialization.read(stream, SERIALIZATION_PAYLOAD_FORMAT)
return SnapshotImage(width, height, data, pixel_serialization_format,
pixel_elements_count)
def serialize(self):
config_message = protocol_proto.ConfigMessage()
for field in self.fields:
proto_field = config_message.fields_config.fields.add()
proto_field.name = field
return Serialization.serialize_tunnled_message(
config_message.SerializeToString())
def read_stream(stream):
config_message_bytes = Serialization.read_tunnled_message(stream)
config_message_protobuf = protocol_proto.ConfigMessage()
config_message_protobuf.ParseFromString(config_message_bytes)
fields_config = [
f.name for f in config_message_protobuf.fields_config.fields
]
config_message = ConfigMessage(fields_config)
return config_message
def serialize(self):
hello_message = protocol_proto.HelloMessage()
hello_message.user_data.user_id = self.user_info.user_id
hello_message.user_data.username = self.user_info.username
hello_message.user_data.birthday = self.user_info.birth_date
hello_message.user_data.gender = HelloMessageProto.GENDER_TABLE[
self.user_info.gender].number
return Serialization.serialize_tunnled_message(
hello_message.SerializeToString())
def write_user_information(self, user_info):
proto_user = mind_proto.User()
proto_user.user_id = user_info.user_id
proto_user.username = user_info.username
proto_user.birthday = user_info.birth_date
proto_user.gender = ProtobufMindWriter.GENDER_TABLE[user_info.gender]
proto_user_bytes = Serialization.serialize_tunnled_message(
proto_user.SerializeToString())
self.stream.write(proto_user_bytes)
return len(proto_user_bytes)
def read_stream(stream):
hello_message_bytes = Serialization.read_tunnled_message(stream)
hello_message_protobuf = protocol_proto.HelloMessage()
hello_message_protobuf.ParseFromString(hello_message_bytes)
user_info = \
UserInfo( \
hello_message_protobuf.user_data.user_id, \
hello_message_protobuf.user_data.username, \
hello_message_protobuf.user_data.birthday, \
protocol_proto._USER_GENDER.values_by_number[hello_message_protobuf.user_data.gender].name.lower()[0] \
)
return HelloMessage(user_info)
def read_user_information(self): user_information_bytes = Serialization.read_tunnled_message(self.stream) user_information_protobuf = mind_proto.User() user_information_protobuf.ParseFromString(user_information_bytes) user_information = \ UserInfo( \ user_information_protobuf.user_id, \ user_information_protobuf.username, user_information_protobuf.birthday, mind_proto._USER_GENDER.values_by_number[user_information_protobuf.gender].name.lower()[0]) return user_information
def write_user_information(self, user_info):
username_size = len(user_info.username)
birth_date_as_number = user_info.birth_date
user_info_bytes_untunneled = \
pack(self.get_user_info_serialization_format(user_info), \
user_info.user_id, \
username_size, \
user_info.username.encode(BinaryMindWriter.ENCODING), \
birth_date_as_number, \
self.gender.encode(BinaryMindWriter.ENCODING))
user_info_bytes = Serialization.serialize_tunnled_message(
user_info_bytes_untunneled)
self.stream.write(user_info_bytes)
return len(user_info_bytes)
def write_snapshot(self, snapshot):
header = \
pack(BinaryMindWriter.SERIALIZATION_ENDIANITY + BinaryMindWriter.SERIALIZATION_HEADER_SNAPSHOT, \
snapshot.timestamp, \
*snapshot.pose.translation.get(), \
*snapshot.pose.rotation.get())
body = \
snapshot.color_image.serialize() + snapshot.depth_image.serialize()
trailer = \
pack(BinaryMindWriter.SERIALIZATION_ENDIANITY + BinaryMindWriter.SERIALIZATION_TRAILER_SNAPSHOT, \
*snapshot.user_feeling.get())
snapshot_bytes_untunneled = header + body + trailer
snapshot_bytes = Serialization.serialize_tunnled_message(
snapshot_bytes_untunneled)
self.stream.write(snapshot_bytes)
return len(snapshot_bytes)
def read_snapshot(self): snapshot_bytes = Serialization.read_tunnled_message(self.stream, expect_eof=True) snapshot_protobuf = mind_proto.Snapshot() snapshot_protobuf.ParseFromString(snapshot_bytes) translation = \ (snapshot_protobuf.pose.translation.x, \ snapshot_protobuf.pose.translation.y, \ snapshot_protobuf.pose.translation.z) rotation = \ (snapshot_protobuf.pose.rotation.x, \ snapshot_protobuf.pose.rotation.y, \ snapshot_protobuf.pose.rotation.z, \ snapshot_protobuf.pose.rotation.w) color_image = \ ColorImage( \ snapshot_protobuf.color_image.width, \ snapshot_protobuf.color_image.height, \ snapshot_protobuf.color_image.data) depth_image = \ DepthImage( \ snapshot_protobuf.depth_image.width, \ snapshot_protobuf.depth_image.height, \ snapshot_protobuf.depth_image.data) depth_image._fix_hardware_size() user_feeling = \ (snapshot_protobuf.feelings.hunger, \ snapshot_protobuf.feelings.thirst, \ snapshot_protobuf.feelings.exhaustion, \ snapshot_protobuf.feelings.happiness) snapshot = \ Snapshot( \ snapshot_protobuf.datetime, \ translation, \ rotation, \ color_image, \ depth_image, \ user_feeling) return snapshot
def write_snapshot(self, snapshot):
proto_snapshot = mind_proto.Snapshot()
proto_snapshot.datetime = snapshot.timestamp
translation = mind_proto.Pose.Translation()
translation.x, translation.y, translation.z = snapshot.pose.translation.get(
)
rotation = mind_proto.Pose.Rotation()
rotation.x, rotation.y, rotation.z, rotation.w = snapshot.pose.rotation.get(
)
pose = mind_proto.Pose()
pose.rotation.CopyFrom(rotation)
pose.translation.CopyFrom(translation)
proto_snapshot.pose.CopyFrom(pose)
color_image = mind_proto.ColorImage()
color_image.width, color_image.height, color_image.data = \
snapshot.color_image.width, snapshot.color_image.height, snapshot.color_image.data
proto_snapshot.color_image.CopyFrom(color_image)
depth_image = mind_proto.DepthImage()
depth_image.width, depth_image.height = \
snapshot.depth_image.width, snapshot.depth_image.height
depth_image.data.extend(snapshot.depth_image.data)
proto_snapshot.depth_image.CopyFrom(depth_image)
feelings = mind_proto.Feelings()
feelings.hunger, feelings.thirst, feelings.exhaustion, feelings.happiness = \
snapshot.user_feelings.get()
proto_snapshot.feelings.CopyFrom(feelings)
proto_snapshot_bytes = Serialization.serialize_tunnled_message(
proto_snapshot.SerializeToString())
self.stream.write(proto_snapshot_bytes)
return len(proto_snapshot_bytes)
