def sendFrames(host, port, cap, protocol):
global exitThread
# setup udp socket to send video from webcam, to controller
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
# setup video streaming class
transfer = DataTransfer.DataTransfer(sock, host, port, protocol)
# send video to the controller
while exitThread != True:
ret, frame = cap.read()
if ret == True:
try:
# send the frame to the controller
transfer.sendFrames(frame)
except KeyboardInterrupt:
print('keyboard interrupt')
except BrokenPipeError:
print('broken pipe')
except ConnectionAbortedError:
print('connection aborted')
# stop all threads and clean everything up
exitThread = True
sock.close()
cap.release()
cv2.destroyAllWindows()
def getFrames(host, port, protocol):
global exitThread
# setup udp socket to receive video from rover
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sock.settimeout(0.001)
sock.bind((host, port))
# create transfer class to receive video
transfer = DataTransfer.DataTransfer(sock, None, None, 'udp')
while exitThread != True:
# receive video frame from rover
frame = transfer.receiveFrames()
try:
# show the rover video stream
cv2.imshow('client [receiver]', frame)
cv2.waitKey(1)
except cv2.error:
pass
except KeyboardInterrupt:
# force close
exitThread = True
