Commit 95333ca6 authored by Robert Hedman's avatar Robert Hedman

added all sender code in folder Laptop along with scream it uses.

parent faca8f7b
import socket
import time
#import matplotlib.pyplot as plt
TCP_IP = '169.254.13.125'
TCP_PORT = 2111
BUFFER_SIZE = 10240
#start
#MESSAGE = "\x02sMN\x20LMCstartmeas\x03"
MESSAGE = "\x02sRN\x20LMDscandata\x03"
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.connect((TCP_IP, TCP_PORT))
for x in range(1,500):
s.send(MESSAGE)
#print "4"
data = s.recv(BUFFER_SIZE)
#print data.split(' 21D ')[1].split(' ')
try:
decdata = map(lambda x: int(x,16), data.split(' 21D ')[1].split(' ')[0:-1])
except :
print ('some error\n')
if len(decdata) == 546 :
print x, "recvd:", decdata[0:545:30]
else:
print x, 'len: ', len(decdata)
#plt.plot(data)
#plt.show()
time.sleep(0.05)
s.close()
import matplotlib.pyplot as plt
import numpy as np
import matplotlib.animation as animation
def main():
numframes = 100
numpoints = 3
color_data = np.random.random((numframes, numpoints))
x, y, c = np.random.random((3, numpoints))
fig = plt.figure()
scat = plt.scatter(x, y, c=c, s=100)
ani = animation.FuncAnimation(fig, update_plot, frames=xrange(numframes),
fargs=(color_data, scat))
plt.show()
def update_plot(i, data, scat):
print 'i:', i, ', data:', data[i]
scat.set_offsets((data[i]))
print data[i].shape
return scat,
main()
\ No newline at end of file
import matplotlib.pyplot as plt
import numpy as np
import matplotlib.animation as animation
import math
def update_plot(k, scat, degsPerP):
#scat.set_array(data[i])
#print 'K: ', k
myDistances = [20,21,2,3,4,5,6,7,8,9,2, 2,3]
xData = [0 for i in range(len(myDistances))]
yData = [0 for i in range(len(myDistances))]
# generate x and y coordinates from distances
for i in range(0,len(myDistances)):
xData[i] = myDistances[i] * math.cos(math.radians(180+45-i*degsPerP))
yData[i] = myDistances[i] * math.sin(math.radians(180+45-i*degsPerP))
print np.swapaxes(np.asarray((xData,yData)),0,1).shape
scat.set_offsets(np.swapaxes(np.asarray((xData,yData)),0,1))
return scat
def main():
myDistances = [10,11,12,13,14,15,16,17,18,19,20, 22, 23]
degsPerP = 270.0/(len(myDistances)-1)
print 'degs per P: ', degsPerP
scannerPosx = 0
scannerPosy = 0
xData = [0 for i in range(len(myDistances))]
yData = [0 for i in range(len(myDistances))]
# generate x and y coordinates from distances
for i in range(0,len(myDistances)):
xData[i] = myDistances[i] * math.cos(math.radians(-45+i*degsPerP))
yData[i] = myDistances[i] * math.sin(math.radians(-45+i*degsPerP))
#print 'i:',i, 'd:',myDistances[i], ', x:', xData[i], ', y:', yData[i]
xData = [0]+xData # add cross in origin
yData = [0]+yData
fig = plt.figure()
scat = plt.scatter(xData,yData, s=20, marker='x')
plt.xlim(-25, 25)
plt.ylim(-25, 25)
#print len(yData)
ani = animation.FuncAnimation(fig, update_plot, frames=xrange(5), fargs=(scat, degsPerP))
plt.show()
main()
'''
xDatap1 = [1,2,3,4,5]
yDatap1 = [0.1,0.1,0.1,0.1,0.1]
xDatap2 = [9,9,9,9,9]
yDatap2 = [9,8,7,6,5]
xDatap3 = [0.1,0.2,0.3,0.4,0.5]
yDatap3 = [0.9,0.7,0.6,0.4,0.5]
pos_data = np.random.random((5, 3, 2))
for i in range(0, 5):
#pos_data[i] = [[xDatap1[i], xDatap2[i], xDatap3[i]], [yDatap1[i],yDatap2[i],yDatap3[i]]]
pos_data[i] = [[xDatap1[i],yDatap1[i]],[xDatap2[i],yDatap2[i]],[xDatap3[i],yDatap3[i]]]
numframes = 5
numpoints = 3
#pos_data = np.random.random((numframes, numpoints, 2))
#pos_data = (numframes,2,2)
x, y, c = np.random.random((3, numpoints))
fig = plt.figure()
scat = plt.scatter([xDatap1[0],xDatap2[0], xDatap3[0]],
[yDatap1[0],yDatap2[0], yDatap3[0]], c=c, s=100, marker='x')
plt.xlim(0, 15)
plt.ylim(0, 10)
ani = animation.FuncAnimation(fig, update_plot, frames=xrange(5),
fargs=(pos_data, scat))
plt.show()
'''
\ No newline at end of file
import matplotlib.pyplot as plt
import numpy as np
import matplotlib.animation as animation
import math
import socket
import time
TCP_IP = '10.180.65.30' #'169.254.13.125'
TCP_PORT = 2111
BUFFER_SIZE = 10240
MESSAGE = "\x02sRN LMDscandata\x03"
xData = [0 for i in range(0,541)]
yData = [0 for i in range(0,541)]
degsPerP = 270.0/(541-1)
def update_plot(k, scat, s):
s.send(MESSAGE)
data = s.recv(BUFFER_SIZE)
try:
decdata = map(lambda x: int(x,16), data.split(' 21D ')[1].split(' ')[0:-1])[0:-5]
if len(decdata) != 541 :
print 'len: ', len(decdata)
degsPerP = 270.0/(len(myDistances)-1)
# generate x and y coordinates from distances
for i in range(0,len(myDistances)):
xData[i] = myDistances[i] * math.cos(math.radians(-45+i*degsPerP))
yData[i] = myDistances[i] * math.sin(math.radians(-45+i*degsPerP))
#print np.swapaxes(np.asarray((xData,yData)),0,1).shape
scat.set_offsets(np.swapaxes(np.asarray((xData,yData)),1,0))
return scat
else:
#print 'OK!'
myDistances = decdata
degsPerP = 0.5 #
# generate x and y coordinates from distances
for i in range(0,len(myDistances)):
xData[i] = myDistances[i] * math.cos(math.radians(-45+i*degsPerP))
yData[i] = myDistances[i] * math.sin(math.radians(-45+i*degsPerP))
#print np.swapaxes(np.asarray((xData,yData)),0,1).shape
scat.set_offsets(np.swapaxes(np.asarray((xData,yData)),1,0))
return scat
except :
print ('some error\n')
return scat
def main():
plot_type = "blit"
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.connect((TCP_IP, TCP_PORT))
myDistances = [10,11,12,13,14,15,16,17,18,19,20, 22, 23]
#degsPerP = 270.0/(len(myDistances)-1)
print 'degs per P: ', degsPerP
scannerPosx = 0
scannerPosy = 0
xData = [0 for i in range(len(myDistances))]
yData = [0 for i in range(len(myDistances))]
# generate x and y coordinates from distances
for i in range(0,len(myDistances)):
xData[i] = myDistances[i] * math.cos(math.radians(180+45-i*degsPerP))
yData[i] = myDistances[i] * math.sin(math.radians(180+45-i*degsPerP))
#print 'i:',i, 'd:',myDistances[i], ', x:', xData[i], ', y:', yData[i]
xData = [0]+xData # add cross in origin
yData = [0]+yData
fig = plt.figure()
scat = plt.scatter(xData,yData, s=0.5, marker='x')
plt.xlim(-20000, 20000)
plt.ylim(-10000, 20000)
fig.gca().set_aspect('equal', adjustable='box')
#print len(yData)
ani = animation.FuncAnimation(fig, update_plot, interval=20, frames=xrange(2), fargs=(scat, s))
plt.show()
s.close()
main()
#import matplotlib.pyplot as plt
#start
#MES
import matplotlib.pyplot as plt
import numpy as np
import matplotlib.animation as animation
import math
import socket
import time
TCP_IP = '10.9.0.3' #'169.254.13.125'
TCP_PORT = 2110
BUFFER_SIZE = 10240
xData = [0 for i in range(0,541+5)]
yData = [0 for i in range(0,541+5)]
degsPerP = 270.0/(541-1)
def update_plot(k, scat, s):
s.send("go");
#time.sleep(0.1)
data = s.recv(BUFFER_SIZE)
try:
decdata = map(lambda x: int(x,16), data.split(' 21D ')[1].split(' ')[0:-1])[0:-5]
if len(decdata) != 541 :
print 'len: ', len(decdata)
degsPerP = 270.0/(len(myDistances)-1)
# generate x and y coordinates from distances
for i in range(0,len(myDistances)):
xData[i] = myDistances[i] * math.cos(math.radians(-45+i*degsPerP))
yData[i] = myDistances[i] * math.sin(math.radians(-45+i*degsPerP))
#print np.swapaxes(np.asarray((xData,yData)),0,1).shape
#xData = [0]+xData # add cross in origin
#yData = [0]+yData
scat.set_offsets(np.swapaxes(np.asarray((xData,yData)),1,0))
return scat
else:
print 'OK! 1'
myDistances = decdata
print 'OK! 2'
print len(myDistances)
degsPerP = 0.5 #
# generate x and y coordinates from distances
for i in range(0,len(myDistances)):
#print i
xData[i] = myDistances[i] * math.cos(math.radians(-45+i*degsPerP))
yData[i] = myDistances[i] * math.sin(math.radians(-45+i*degsPerP))
xData[len(myDistances)] = 0
yData[len(myDistances)] = 0
yData[len(myDistances)+1] = 200
xData[len(myDistances)+1] = 300
yData[len(myDistances)+2] = 200
xData[len(myDistances)+2] = -300
yData[len(myDistances)+3] = -650
xData[len(myDistances)+3] = 300
yData[len(myDistances)+4] = -650
xData[len(myDistances)+4] = -300
#print np.swapaxes(np.asarray((xData,yData)),0,1).shape
print 'OK! 3'
#print xData[0]
#print 'OK! 4'
#print xData
#print 'OK! 5'
#xData = [0]+xData # add cross in origin
#yData = [0]+yData
#print xData
scat.set_offsets(np.swapaxes(np.asarray((xData,yData)),1,0))
return scat
except :
print ('some error\n')
return scat
def main():
plot_type = "blit"
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.connect((TCP_IP, TCP_PORT))
myDistances = [10,11,12,13,14,15,16,17,18,19,20, 22, 23]
#degsPerP = 270.0/(len(myDistances)-1)
print 'degs per P: ', degsPerP
scannerPosx = 0
scannerPosy = 0
xData = [0 for i in range(len(myDistances))]
yData = [0 for i in range(len(myDistances))]
# generate x and y coordinates from distances
for i in range(0,len(myDistances)):
xData[i] = myDistances[i] * math.cos(math.radians(180+45-i*degsPerP))
yData[i] = myDistances[i] * math.sin(math.radians(180+45-i*degsPerP))
#print 'i:',i, 'd:',myDistances[i], ', x:', xData[i], ', y:', yData[i]
xData = [0]+xData # add cross in origin
yData = [0]+yData
fig = plt.figure()
scat = plt.scatter(xData,yData, s=0.5, marker='x')
plt.xlim(-5000, 5000)
plt.ylim(-3000, 7000)
fig.gca().set_aspect('equal', adjustable='box')
#print len(yData)
print "Starting animation"
ani = animation.FuncAnimation(fig, update_plot, interval=500, frames=xrange(2), fargs=(scat, s))
plt.show()
s.close()
main()
#import matplotlib.pyplot as plt
#start
#MES
import matplotlib.pyplot as plt
import numpy as np
import matplotlib.animation as animation
import math
import socket
import time
LIDAR_IP = '10.180.65.30' #'169.254.13.125'
PLOTTER_IP = '10.9.0.2' #'169.254.13.125'
LIDAR_PORT = 2111
PLOTTER_PORT = 2110
BUFFER_SIZE = 10240
MESSAGE = "\x02sRN LMDscandata\x03"
def main():
plot_type = "blit"
sp = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
sp.bind(('', PLOTTER_PORT))
print 'listening for sender...'
sp.listen(1)
conn, addr = sp.accept()
print 'Connected by', addr
#conn.send("Hello")
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.connect((LIDAR_IP, LIDAR_PORT))
while True:
# check if update needed
state = conn.recv(2)
print(state)
if state == "go":
print("state was go")
# request lidar data
s.sendall(MESSAGE)
data = s.recv(BUFFER_SIZE)
print data
#print data
#time.sleep(0.1)
# send lidar data
conn.sendall(data)
s.close()
conn.close()
main()
#!/bin/bash
echo "starting controller"
( python Robot/python/permobil/sender_udp_v2.py &> /dev/null ) &
P0=$!
echo "starting camera receivers"
( ./Downloads/panasonic-ip-cam/scream_receiver/bin/scream_receiver 10.9.0.3 31110 ) &
P1=$!
( gst-launch-1.0 udpsrc port=30130 ! "application/x-rtp,payload=98,encoding-name=H264" ! rtpjitterbuffer latency=10 ! rtph264depay ! avdec_h264 ! videoconvert ! xvimagesink sync=false ) &
P2=$!
( gst-launch-1.0 udpsrc port=30132 ! "application/x-rtp,payload=98,encoding-name=H264" ! rtpjitterbuffer latency=10 ! rtph264depay ! avdec_h264 ! videoconvert ! xvimagesink sync=false ) &
P3=$!
( gst-launch-1.0 udpsrc port=30134 ! "application/x-rtp,payload=98,encoding-name=H264" ! rtpjitterbuffer latency=10 ! rtph264depay ! avdec_h264 ! videoconvert ! xvimagesink sync=false ) &
P4=$!
( gst-launch-1.0 udpsrc port=30136 ! "application/x-rtp,payload=98,encoding-name=H264" ! rtpjitterbuffer latency=10 ! rtph264depay ! avdec_h264 ! videoconvert ! xvimagesink sync=false ) &
P5=$!
echo "Receiver and camera pipes up!"
wait $P0 $P1 $P2 $P3 $P4 $P5
#!/bin/bash
echo "starting controller"
( python Robot/python/permobil/sender_udp_v2.py &> /dev/null ) &
P0=$!
echo "starting camera receivers"
( ./scream/scream_receiver/bin/scream_receiver 10.9.0.3 31110 |& tee reciever.log ) &
P1=$!
( gst-launch-1.0 udpsrc port=30130 ! "application/x-rtp,payload=98,encoding-name=H264" ! rtpjitterbuffer latency=10 ! rtph264depay ! avdec_h264 ! videoconvert ! xvimagesink sync=false ) &
P2=$!
( gst-launch-1.0 udpsrc port=30132 ! "application/x-rtp,payload=98,encoding-name=H264" ! rtpjitterbuffer latency=10 ! rtph264depay ! avdec_h264 ! videoconvert ! xvimagesink sync=false ) &
P3=$!
( gst-launch-1.0 udpsrc port=30134 ! "application/x-rtp,payload=98,encoding-name=H264" ! rtpjitterbuffer latency=10 ! rtph264depay ! avdec_h264 ! videoconvert ! xvimagesink sync=false ) &
P4=$!
( gst-launch-1.0 udpsrc port=30136 ! "application/x-rtp,payload=98,encoding-name=H264" ! rtpjitterbuffer latency=10 ! rtph264depay ! avdec_h264 ! videoconvert ! xvimagesink sync=false ) &
P5=$!
echo "Receiver and camera pipes up!"
wait $P0 $P1 $P2 $P3 $P4 $P5
#!/bin/bash
#echo "starting controller"
#( python Robot/python/permobil/sender_udp_v2.py &> /dev/null ) &
#P0=$!
echo "starting camera receivers"
( ./scream/scream_receiver/bin/scream_receiver 10.9.0.3 31110 |& tee reciever.log ) &
P1=$!
( gst-launch-1.0 udpsrc port=30130 ! "application/x-rtp,payload=98,encoding-name=H264" ! rtpjitterbuffer latency=10 ! rtph264depay ! avdec_h264 ! videoconvert ! xvimagesink sync=false ) &
P2=$!
( gst-launch-1.0 udpsrc port=30132 ! "application/x-rtp,payload=98,encoding-name=H264" ! rtpjitterbuffer latency=10 ! rtph264depay ! avdec_h264 ! videoconvert ! xvimagesink sync=false ) &
P3=$!
( gst-launch-1.0 udpsrc port=30134 ! "application/x-rtp,payload=98,encoding-name=H264" ! rtpjitterbuffer latency=10 ! rtph264depay ! avdec_h264 ! videoconvert ! xvimagesink sync=false ) &
P4=$!
( gst-launch-1.0 udpsrc port=30136 ! "application/x-rtp,payload=98,encoding-name=H264" ! rtpjitterbuffer latency=10 ! rtph264depay ! avdec_h264 ! videoconvert ! xvimagesink sync=false ) &
P5=$!
echo "Receiver and camera pipes up!"
wait $P1 $P2 $P3 $P4 $P5
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