def send(self, messageID, rawStringFromMessageToSend, senderStamp=0):
now = time.time()
sentTimeStamp = cluonDataStructures_pb2.cluon_data_TimeStamp()
sentTimeStamp.seconds = int(now)
sentTimeStamp.microseconds = int((now - int(now)) * 1000 * 1000)
envelope = cluonDataStructures_pb2.cluon_data_Envelope()
envelope.dataType = messageID
envelope.sent.seconds = sentTimeStamp.seconds
envelope.sent.microseconds = sentTimeStamp.microseconds
envelope.sampleTimeStamp.seconds = sentTimeStamp.seconds
envelope.sampleTimeStamp.microseconds = sentTimeStamp.microseconds
envelope.senderStamp = senderStamp
envelope.serializedData = rawStringFromMessageToSend
serializedEnvelope = envelope.SerializeToString()
size = len(serializedEnvelope)
# Add Envelope header.
a = struct.pack("<B", *bytearray([
0x0D,
]))
b = struct.pack("<L", ((size & 0xFFFFFF) << 8) | 0xA4)
data = a + b + serializedEnvelope
self.sock.sendto(data, (self.MULTICAST_GROUP, self.MULTICAST_PORT))
def __runner(self):
LENGTH_ENVELOPE_HEADER = 5
buf = ""
expectedBytes = 0
consumedEnvelopeHeader = False
while True:
if consumedEnvelopeHeader:
if len(buf) >= expectedBytes:
envelope = cluonDataStructures_pb2.cluon_data_Envelope()
envelope.ParseFromString(buf)
self.__process(envelope)
# Start over and read next container.
consumedEnvelopeHeader = False
buf = buf[expectedBytes:]
expectedBytes = 0
if not consumedEnvelopeHeader:
if len(buf) >= LENGTH_ENVELOPE_HEADER:
consumedEnvelopeHeader = True
byte0 = buf[0]
byte1 = buf[1]
# Check for Envelope header.
if ord(byte0) == int('0x0D', 16) and ord(byte1) == int(
'0xA4', 16):
v = struct.unpack(
'<L', buf[1:5]
) # Read uint32_t and convert to little endian.
expectedBytes = v[
0] >> 8 # The second byte belongs to the header of an Envelope.
buf = buf[5:] # Remove header.
else:
print "Failed to consume header from Envelope."
# Receive data from UDP socket.
data = self.sock.recv(2048)
if len(data) != 2048:
# Avoid corrupt packets.
buf = buf + data
# Read Envelopes from .rec file.
with open(sys.argv[1], "rb") as f:
buf = b""
bytesRead = 0
expectedBytes = 0
LENGTH_ENVELOPE_HEADER = 5
consumedEnvelopeHeader = False
byte = f.read(1)
while byte != "":
buf = b"".join([buf, byte])
bytesRead = bytesRead + 1
if consumedEnvelopeHeader:
if len(buf) >= expectedBytes:
envelope = cluonDataStructures_pb2.cluon_data_Envelope()
envelope.ParseFromString(buf)
printEnvelope(envelope)
# Start over and read next container.
consumedEnvelopeHeader = False
buf = buf[expectedBytes:]
expectedBytes = 0
if not consumedEnvelopeHeader:
if len(buf) >= LENGTH_ENVELOPE_HEADER:
consumedEnvelopeHeader = True
byte0 = buf[0]
byte1 = buf[1]
# Check for Envelope header.
if byte0 == 0x0D and byte1 == 0xA4:
def filterFile(filename_in, filename_out, start_time_relative, time_window):
assert filename_in != filename_out, 'Input and output rec files are the same!'
first_envelope = True
with open(filename_in, "rb") as f_in:
with open(filename_out, 'wb') as f_out:
buf = b""
bytesRead = 0
expectedBytes = 0
LENGTH_ENVELOPE_HEADER = 5
consumedEnvelopeHeader = False
byte = f_in.read(1)
while byte != "":
buf = b"".join([buf, byte])
bytesRead = bytesRead + 1
if consumedEnvelopeHeader:
if len(buf) >= expectedBytes:
envelope = cluonDataStructures_pb2.cluon_data_Envelope(
)
envelope.ParseFromString(buf)
# Convert timestamp from 2 ints to a float
timestamp = envelope.sampleTimeStamp.seconds + 1e-6 * envelope.sampleTimeStamp.microseconds
# Extract timestamp from first envelope
if first_envelope:
first_envelope = False
start_time = timestamp
stop_time = start_time + float(time_window)
# Check whether current timestamp is within limits
if timestamp >= start_time + start_time_relative and timestamp <= stop_time:
writeMessageToFile(f_out, header, buf)
elif timestamp > stop_time:
break
# Start over and read next container.
consumedEnvelopeHeader = False
buf = buf[expectedBytes:]
expectedBytes = 0
if not consumedEnvelopeHeader:
if len(buf) >= LENGTH_ENVELOPE_HEADER:
consumedEnvelopeHeader = True
byte0 = buf[0]
byte1 = buf[1]
# Check for Envelope header.
if byte0 == 0x0D and byte1 == 0xA4:
v = struct.unpack(
'<L', buf[1:5]
) # Read uint32_t and convert to little endian.
expectedBytes = v[
0] >> 8 # The second byte belongs to the header of an Envelope.
header = buf
buf = buf[expectedBytes:] # Remove header.
else:
print("Failed to consume header from Envelope.")
# Read next byte.
byte = f_in.read(1)
# End processing at file's end.
if not byte:
break