def parse():
while True:
if abort:
return
try:
msg = pull.recv_json()
logger.d('pull received message = {}'.format(msg))
func = msg.get('func')
if func == 'play':
q.put({'cmd': s.play, 'args': msg.get('data')})
elif func == 'stop':
q.put({'cmd': s.stop, 'args': msg.get('data')})
elif func == 'volume':
q.put({'cmd': s.volume, 'args': msg.get('data')})
elif func == 'pause':
q.put({'cmd': s.pause, 'args': msg.get('data')})
elif func == 'resume':
q.put({'cmd': s.resume, 'args': msg.get('data')})
else:
logger.w('not found function.')
except KeyboardInterrupt:
raise
except Exception:
logger.e('Unexpected error: {}'.format(str(sys.exc_info()[0])))
logger.e(traceback.format_exc())
def on_do_function(self):
if not q.empty():
try:
req = q.get()
cmd = req.get('cmd')
args = req.get('args')
cmd(args)
except Exception:
logger.e('Unexpected do function on message loop.')
logger.e(traceback.format_exc())
time.sleep(0.1)
def run(self):
self.run_async()
try:
while True:
if self.aborted:
break
time.sleep(0.5)
except KeyboardInterrupt:
logger.d('keyboard Ctrl+C in simple_run_loop.run()')
self.on_keyboard_interrupt()
raise
except Exception:
logger.e('Unexpected error: {}'.format(str(sys.exc_info()[0])))
logger.e(traceback.format_exc())
raise
finally:
self.aborted = True
logger.i('finish run')
def __message_loop(self):
try:
logger.d('start runloop')
self.on_start_runloop()
while True:
try:
if self.aborted:
return
self.on_do_function()
except Exception as exception:
ret = self.on_exception_at_runloop(exception)
if (ret == SimpleRunLoop.CONTINUE):
logger.d('continue runloop')
continue
else:
logger.e('Unexpected error: {}'.format(
str(sys.exc_info()[0])))
logger.e(traceback.format_exc())
logger.e('exit runloop by exception')
return
finally:
self.run_loop_finished = True
self.on_finish_runloop()
logger.d('finished runloop')
finally:
if s is not None:
s.close()
return None
port = None
s = None
try:
flask.check_error()
logger.i("searching controller....")
port = find_controller_port()
if port is None:
logger.e('game pad not found.')
exit
logger.i("find port: " + str(port))
s = serial.Serial(port, 9600)
logger.i("gamepad server has started on port" + str(tcp_port))
while True:
line = s.readline().strip()
gamepad_state = line
socket.send_string(line)
except:
logger.e('HwControllerManager.init() failed.' + str(sys.exc_info()[0]))
logger.e(traceback.format_exc())
finally:
[[0] * 4])
# 深度のサイズ変換
d = cv2.applyColorMap(d.astype(np.uint8), cv2.COLORMAP_BONE)
scaledd = get_scled_rgb_image(d, scale, scale)
framed = resize2(scaledd, (FRAME_WIDTH, FRAME_HEIGHT), (-4, 0),
[[0] * 4])
# 深度を最後に添付する
frame = np.hstack(
(framec.reshape(FRAME_WIDTH * FRAME_HEIGHT,
3), framed[:, :,
0].reshape(FRAME_WIDTH * FRAME_HEIGHT,
1)))
frame = frame.reshape(FRAME_WIDTH, FRAME_HEIGHT, 4)
send_array(socket, frame)
except:
logger.e("initialize realsense failed.:" + str(sys.exc_info()[0]))
logger.e(traceback.format_exc())
finally:
if dev is not None:
dev.stop()
# pyrs.stop()
if socket is not None:
socket.close()
if context is not None:
context.term()
