class Socketrunthread():
def __init__(self, cam, stop_event):
self.thread = None
self.conn = RTCConnection()
self.cam = cam
self.stop_event = stop_event
self.conn.video.putSubscription(cam)
asyncio.ensure_future(self.connect())
self.loop = asyncio.get_event_loop()
def start(self):
if not self.stop_event:
self.thread = Thread(target=self.start_loop, args=())
self.thread.start()
print("Ok")
@self.conn.subscribe
def OnMessage(m):
print(m)
if m == "open":
ard_snd("*")
def start_loop(self):
try:
asyncio.set_event_loop(self.loop)
self.loop.run_forever()
except KeyboardInterrupt:
pass
def finish(self):
try:
self.conn.close()
self.loop.stop()
self.stop_event = False
self.thread.join()
print("Thread stopped")
except RuntimeError:
print("Exception Handled successfully")
async def connect(self):
global cams
ws = Websocket("http://localhost:8080/xyz")
remoteDescription = await ws.get()
print("The remote description is of type: " +
str(type(remoteDescription)) + "\n")
robotDescription = await self.conn.getLocalDescription(
remoteDescription)
print("The robot description is of type: " +
str(type(robotDescription)) + "\n")
ws.put_nowait(robotDescription)
print("Started WebRTC")
cams = True
print("Cams set to :" + str(cams))
await ws.close()
class Socketrunthread():
def __init__(self, cam, stop_event):
self.thread = None
self.conn = RTCConnection()
self.cam = cam
self.stop_event = stop_event
self.conn.video.putSubscription(cam)
asyncio.ensure_future(self.connect())
self.loop = asyncio.get_event_loop()
def start(self):
if not self.stop_event:
self.thread = Thread(target=self.start_loop, args=())
self.thread.start()
def start_loop(self):
try:
asyncio.set_event_loop(self.loop)
# print("Next stmt loop forever")
self.loop.run_forever()
# print("After run forever")
except KeyboardInterrupt:
pass
def finish(self):
# self.cam.close()
self.conn.close()
self.loop.stop()
self.stop_event = False
self.thread.join()
print("Thread stopped")
async def connect(self):
ws = Websocket("http://localhost:8080/xyz")
remoteDescription = await ws.get()
print("The remote description is of type: " +
str(type(remoteDescription)) + "\n")
robotDescription = await self.conn.getLocalDescription(
remoteDescription)
print("The robot description is of type: " +
str(type(robotDescription)) + "\n")
ws.put_nowait(robotDescription)
print("Started WebRTC")
await ws.close()
disp = CVDisplay()
#g = Gamepad()
conn = RTCConnection()
@conn.video.subscribe
def onFrame(frame):
# Show a 4x larger image so that it is easy to see
resized = cv2.resize(frame, (frame.shape[1] * 4, frame.shape[0] * 4))
disp.put_nowait(resized)
async def connect():
localDescription = await conn.getLocalDescription()
async with aiohttp.ClientSession() as session:
async with session.post("http://192.168.0.3:8080/connect",
data=json.dumps(localDescription)) as resp:
response = await resp.json()
await conn.setRemoteDescription(response)
# Start sending gamepad controls
#g.subscribe(conn)
asyncio.ensure_future(connect())
try:
asyncio.get_event_loop().run_forever()
finally:
conn.close()
disp.close()
#g.close()
conn = RTCConnection()
@conn.video.subscribe
def onFrame(frame):
# Show a 4x larger image so that it is easy to see
resized = cv2.resize(frame, (frame.shape[1] * 4, frame.shape[0] * 4))
disp.put_nowait(resized)
async def connect():
localDescription = await conn.getLocalDescription()
async with aiohttp.ClientSession() as session:
async with session.post(
"http://localhost:8080/connect", data=json.dumps(localDescription)
) as resp:
response = await resp.json()
await conn.setRemoteDescription(response)
# Start sending gamepad controls
g.subscribe(conn)
asyncio.ensure_future(connect())
try:
asyncio.get_event_loop().run_forever()
finally:
conn.close()
disp.close()
g.close()
