def transmit_thread():
'''thread for image transmit to GCS'''
state = mpstate.camera_state
tx_count = 0
skip_count = 0
bsend = block_xmit.BlockSender(0,
bandwidth=state.settings.bandwidth,
debug=False)
state.bsocket = MavSocket(mpstate.mav_master[0])
state.bsend2 = block_xmit.BlockSender(mss=96,
sock=state.bsocket,
dest_ip='mavlink',
dest_port=0,
backlog=5,
debug=False)
state.bsend2.set_bandwidth(state.settings.bandwidth2)
while not state.unload.wait(0.02):
bsend.tick(packet_count=1000, max_queue=state.settings.maxqueue1)
state.bsend2.tick(packet_count=1000,
max_queue=state.settings.maxqueue2)
check_commands()
if state.transmit_queue.empty():
continue
(frame_time, regions, im_full, im_640) = state.transmit_queue.get()
if state.settings.roll_stabilised:
roll = 0
else:
roll = None
pos = get_plane_position(frame_time, roll=roll)
# this adds the latlon field to the regions
log_joe_position(pos, frame_time, regions)
# filter out any regions outside the boundary
if state.boundary_polygon:
regions = cuav_region.filter_boundary(regions,
state.boundary_polygon, pos)
regions = cuav_region.filter_regions(
im_full, regions, min_score=state.settings.minscore)
state.xmit_queue = bsend.sendq_size()
state.xmit_queue2 = state.bsend2.sendq_size()
state.efficiency = bsend.get_efficiency()
state.bandwidth_used = bsend.get_bandwidth_used()
state.rtt_estimate = bsend.get_rtt_estimate()
jpeg = None
if len(regions) > 0:
lowscore = 0
highscore = 0
for r in regions:
lowscore = min(lowscore, r.score)
highscore = max(highscore, r.score)
if state.settings.transmit:
# send a region message with thumbnails to the ground station
thumb = None
if state.settings.send1:
thumb = cuav_mosaic.CompositeThumbnail(
cv.GetImage(cv.fromarray(im_full)),
regions,
quality=state.settings.quality,
thumb_size=state.settings.thumbsize)
pkt = ThumbPacket(frame_time, regions, thumb,
state.frame_loss, state.xmit_queue, pos)
buf = cPickle.dumps(pkt, cPickle.HIGHEST_PROTOCOL)
bsend.set_bandwidth(state.settings.bandwidth)
bsend.set_packet_loss(state.settings.packet_loss)
bsend.send(buf,
dest=(state.settings.gcs_address,
state.settings.gcs_view_port),
priority=1)
# also send thumbnails via 900MHz telemetry
if state.settings.send2 and highscore >= state.settings.minscore2:
if thumb is None or lowscore < state.settings.minscore2:
# remove some of the regions
regions = cuav_region.filter_regions(
im_full,
regions,
min_score=state.settings.minscore2)
thumb = cuav_mosaic.CompositeThumbnail(
cv.GetImage(cv.fromarray(im_full)),
regions,
quality=state.settings.quality,
thumb_size=state.settings.thumbsize)
pkt = ThumbPacket(frame_time, regions, thumb,
state.frame_loss, state.xmit_queue,
pos)
buf = cPickle.dumps(pkt, cPickle.HIGHEST_PROTOCOL)
state.bsend2.set_bandwidth(state.settings.bandwidth2)
state.bsend2.send(buf, priority=highscore)
# Base how many images we send on the send queue size
send_frequency = state.xmit_queue // 3
if send_frequency == 0 or (tx_count +
skip_count) % send_frequency == 0:
jpeg = scanner.jpeg_compress(im_640, state.settings.quality)
if jpeg is None:
skip_count += 1
continue
# keep filtered image size
state.jpeg_size = 0.95 * state.jpeg_size + 0.05 * len(jpeg)
tx_count += 1
if state.settings.gcs_address is None:
continue
bsend.set_packet_loss(state.settings.packet_loss)
bsend.set_bandwidth(state.settings.bandwidth)
pkt = ImagePacket(frame_time, jpeg, state.xmit_queue, pos)
str = cPickle.dumps(pkt, cPickle.HIGHEST_PROTOCOL)
bsend.send(str,
dest=(state.settings.gcs_address,
state.settings.gcs_view_port))
def transmit_thread():
'''thread for image transmit to GCS'''
state = mpstate.camera_state
tx_count = 0
skip_count = 0
bsend = block_xmit.BlockSender(0, state.bandwidth)
while not state.unload.wait(0.02):
bsend.tick()
if state.transmit_queue.empty():
continue
(frame_time, regions, im_full, im_640) = state.transmit_queue.get()
pos = get_plane_position(frame_time)
latlon_list = log_joe_position(pos, frame_time, regions)
state.xmit_queue = bsend.sendq_size()
state.efficiency = bsend.get_efficiency()
state.bandwidth_used = bsend.get_bandwidth_used()
state.rtt_estimate = bsend.get_rtt_estimate()
jpeg = None
if len(regions) > 0 and bsend.sendq_size() < 2000:
# send a region message with thumbnails to the ground station
thumb = cuav_mosaic.CompositeThumbnail(im_full,
regions,
quality=state.quality,
thumb_size=100)
bsend.set_bandwidth(state.bandwidth)
bsend.set_packet_loss(state.packet_loss)
pkt = ThumbPacket(frame_time, regions, thumb, latlon_list,
state.frame_loss, state.xmit_queue)
# send matches with a higher priority
bsend.send(cPickle.dumps(pkt, cPickle.HIGHEST_PROTOCOL),
dest=(state.gcs_address, state.gcs_view_port),
priority=1)
# Base how many images we send on the send queue size
send_frequency = state.xmit_queue // 3
if send_frequency == 0 or (tx_count +
skip_count) % send_frequency == 0:
jpeg = scanner.jpeg_compress(im_640, state.quality)
if jpeg is None:
skip_count += 1
continue
# keep filtered image size
state.jpeg_size = 0.95 * state.jpeg_size + 0.05 * len(jpeg)
tx_count += 1
if state.gcs_address is None:
continue
bsend.set_packet_loss(state.packet_loss)
bsend.set_bandwidth(state.bandwidth)
pkt = ImagePacket(frame_time, jpeg)
bsend.send(cPickle.dumps(pkt, cPickle.HIGHEST_PROTOCOL),
dest=(state.gcs_address, state.gcs_view_port))