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

Laptop/lidar/Lidar.py

+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()
+

Laptop/lidar/aniPlot.py

+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

Laptop/lidar/lidarPlot_simple.py

+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

Laptop/lidar/plotLidar.py

+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

Laptop/lidar/plotterFRRelayer.py

+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

Laptop/lidar/relayer.py

+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()

Laptop/permoController.sh

+#!/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
+

Laptop/permoController_new.sh

+#!/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
+

Laptop/permoController_rust.sh

+#!/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
+

Laptop/scream/rtsp/CMakeFiles/3.7.2/CMakeCCompiler.cmake

+set(CMAKE_C_COMPILER "/usr/bin/cc")
+set(CMAKE_C_COMPILER_ARG1 "")
+set(CMAKE_C_COMPILER_ID "GNU")
+set(CMAKE_C_COMPILER_VERSION "6.3.0")
+set(CMAKE_C_COMPILER_WRAPPER "")
+set(CMAKE_C_STANDARD_COMPUTED_DEFAULT "11")
+set(CMAKE_C_COMPILE_FEATURES "c_function_prototypes;c_restrict;c_variadic_macros;c_static_assert")
+set(CMAKE_C90_COMPILE_FEATURES "c_function_prototypes")
+set(CMAKE_C99_COMPILE_FEATURES "c_restrict;c_variadic_macros")
+set(CMAKE_C11_COMPILE_FEATURES "c_static_assert")
+
+set(CMAKE_C_PLATFORM_ID "Linux")
+set(CMAKE_C_SIMULATE_ID "")
+set(CMAKE_C_SIMULATE_VERSION "")
+
+set(CMAKE_AR "/usr/bin/ar")
+set(CMAKE_RANLIB "/usr/bin/ranlib")
+set(CMAKE_LINKER "/usr/bin/ld")
+set(CMAKE_COMPILER_IS_GNUCC 1)
+set(CMAKE_C_COMPILER_LOADED 1)
+set(CMAKE_C_COMPILER_WORKS TRUE)
+set(CMAKE_C_ABI_COMPILED TRUE)
+set(CMAKE_COMPILER_IS_MINGW )
+set(CMAKE_COMPILER_IS_CYGWIN )
+if(CMAKE_COMPILER_IS_CYGWIN)
+  set(CYGWIN 1)
+  set(UNIX 1)
+endif()
+
+set(CMAKE_C_COMPILER_ENV_VAR "CC")
+
+if(CMAKE_COMPILER_IS_MINGW)
+  set(MINGW 1)
+endif()
+set(CMAKE_C_COMPILER_ID_RUN 1)
+set(CMAKE_C_SOURCE_FILE_EXTENSIONS c;m)
+set(CMAKE_C_IGNORE_EXTENSIONS h;H;o;O;obj;OBJ;def;DEF;rc;RC)
+set(CMAKE_C_LINKER_PREFERENCE 10)
+
+# Save compiler ABI information.
+set(CMAKE_C_SIZEOF_DATA_PTR "8")
+set(CMAKE_C_COMPILER_ABI "ELF")
+set(CMAKE_C_LIBRARY_ARCHITECTURE "x86_64-linux-gnu")
+
+if(CMAKE_C_SIZEOF_DATA_PTR)
+  set(CMAKE_SIZEOF_VOID_P "${CMAKE_C_SIZEOF_DATA_PTR}")
+endif()
+
+if(CMAKE_C_COMPILER_ABI)
+  set(CMAKE_INTERNAL_PLATFORM_ABI "${CMAKE_C_COMPILER_ABI}")
+endif()
+
+if(CMAKE_C_LIBRARY_ARCHITECTURE)
+  set(CMAKE_LIBRARY_ARCHITECTURE "x86_64-linux-gnu")
+endif()
+
+set(CMAKE_C_CL_SHOWINCLUDES_PREFIX "")
+if(CMAKE_C_CL_SHOWINCLUDES_PREFIX)
+  set(CMAKE_CL_SHOWINCLUDES_PREFIX "${CMAKE_C_CL_SHOWINCLUDES_PREFIX}")
+endif()
+
+
+
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