class RealsenseStream(Thread):
""" Realsense D415 Streamer Class
Realsense D415 streamer functions for EMAR Mini Emergency Assistance Robot.
"""
def __init__(self):
""" Initializes the class. """
super(RealsenseStream, self).__init__()
self.Helpers = Helpers("Realsense D415 Streamer")
self.Helpers.logger.info(
"Realsense D415 Streamer Helper Class initialization complete.")
def run(self):
""" Runs the module. """
global capture
# Allows time for socket server to start
self.Helpers.logger.info(
"Realsense D415 Streamer waiting 2 seconds for CamRead socket server."
)
time.sleep(2)
self.Helpers.logger.info("Realsense D415 Streamer continuing.")
# Starts the socket module
self.Socket = Socket("Realsense D415 Streamer")
# Subscribes to the socket server
capture = self.Socket.subscribe(
self.Helpers.confs["EMAR"]["ip"],
self.Helpers.confs["Realsense"]["socket"]["port"])
try:
# Starts web server
server = ThreadedHTTPServer(
(self.Helpers.confs["EMAR"]["ip"],
self.Helpers.confs["Realsense"]["server"]["port"]),
CamHandler)
self.Helpers.logger.info(
"Realsense D415 Streamer server started on http://" +
self.Helpers.confs["EMAR"]["ip"] + ":" +
str(self.Helpers.confs["Realsense"]["server"]["port"]))
server.serve_forever()
except KeyboardInterrupt:
# Closes socket server
capture.close()
exit()
class CamStream(Thread):
""" CamStream Class
The CamStream Class streams the processed frame to a local server.
"""
def __init__(self):
""" Initializes the class. """
super(CamStream, self).__init__()
self.Helpers = Helpers("CamStream")
self.Helpers.logger.info(
"CamStream Helper Class initialization complete.")
def run(self):
""" Runs the module. """
global capture
# Allows time for socket server to start
self.Helpers.logger.info(
"CamStream waiting 2 seconds for CamRead socket server.")
time.sleep(2)
self.Helpers.logger.info("CamStream continuing.")
# Starts the socket module
self.Socket = Socket("CamStream")
# Subscribes to the socket server
capture = self.Socket.subscribe(
self.Helpers.confs["tass"]["socket"]["ip"],
self.Helpers.confs["tass"]["socket"]["port"])
try:
# Starts web server
server = ThreadedHTTPServer((self.Helpers.confs["tass"]["ip"],
self.Helpers.confs["tass"]["port"]),
CamHandler)
self.Helpers.logger.info("Stream server started on http://" +
self.Helpers.confs["tass"]["ip"] + ":" +
str(self.Helpers.confs["tass"]["port"]))
server.serve_forever()
except KeyboardInterrupt:
# Closes socket server
capture.close()
exit()