import os, sys
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from ctypes import sizeof, string_at
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from socketserver import BaseRequestHandler, UDPServer
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from .components import *
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from .constants import *
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from ..protos import aerial_pb2 as pb
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UDP_STATE_IDLE = 0
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UDP_STATE_HAND_SHAKE = 1
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UDP_STATE_DATA = 2
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UDP_STATE_FOOTER = 3
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class MicroWaveReceiver:
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"""
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micro wave data receiver
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use AddBuf method add udp packet to receiver
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when DataFrameReady == True, you can get data frame
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"""
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def __init__(self):
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self.state = UDP_STATE_IDLE
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self.PointCount = 0
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self.TrackCount = 0
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self.DataFrameReady = False
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self.DataFrame = None
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self.Header = None
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self.Footer = None
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def _receive_data(self, data) -> None:
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"""
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receive data packet from udp
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"""
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self.data_buf.extend(bytes(data))
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self.ReceivedDataLength += len(data)
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if self.ReceivedDataLength == self.DataLength:
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# if received data length equal expected data length
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# then we can get footer block
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self.state = UDP_STATE_FOOTER
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return
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def _receive_footer(self, data) -> None:
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# receive footer block
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self.footer_buf.extend(bytes(data))
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self.ReceivedFooterLength += len(data)
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if self.ReceivedFooterLength == sizeof(FooterBlock):
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self.Footer = FooterBlock.from_buffer_copy(self.footer_buf)
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# after received footer block, the data frame is ready
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self.DataFrameReady = True
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# reset state to idle, ready for next data frame
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self.state = UDP_STATE_IDLE
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return
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def AddBuf(self, buf: bytes) -> None:
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# add a udp packet to receiver
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buf_size = len(buf)
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if self.state == UDP_STATE_IDLE:
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if buf_size == sizeof(Handshake):
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handshake = Handshake.from_buffer_copy(buf)
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if HAND_SHAKE_MAGIC == string_at(handshake.Magic, 8):
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self.DataFrameReady = False
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self.state = UDP_STATE_HAND_SHAKE
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self.DataFrame = None
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self.Header = None
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self.Footer = None
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elif self.state == UDP_STATE_HAND_SHAKE:
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# after received handshake packet, we can get header block
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self.Header = HeaderBlock.from_buffer_copy(buf[:sizeof(HeaderBlock)])
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if HEADER_MAGIC == string_at(self.Header.Magic, 8):
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self.DataFrame = bytearray(buf)
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N = self.Header.NumberOfDetection
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Nt = self.Header.NumberOfTrack
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self.PointCount = 0
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self.TrackCount = 0
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self.DataLength = N * 8 + Nt * sizeof(TrackerBlock)
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self.RemainLength = self.DataLength + sizeof(FooterBlock)
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self.data_buf = bytearray()
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self.footer_buf = bytearray()
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self.Points = []
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self.ReceivedDataLength = 0
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self.ReceivedFooterLength = 0
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# the next packet should be data block
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self.state = UDP_STATE_DATA
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header_size = sizeof(HeaderBlock)
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# 处理第一个数据包中的数据
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data_size = min(buf_size - header_size, self.DataLength)
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self._receive_data(buf[header_size: header_size + data_size])
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# 判断第一个数据包中是否包含Footer Block
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if (header_size + data_size) < buf_size:
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self._receive_footer(buf[header_size + data_size:])
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elif self.state == UDP_STATE_DATA:
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# receive data block
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self.DataFrame.extend(bytes(buf))
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remain_data_size = self.DataLength - self.ReceivedDataLength
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data_size = min(buf_size, remain_data_size)
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self._receive_data(buf[: data_size])
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if data_size < buf_size:
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self._receive_footer(buf[data_size: ])
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elif self.state == UDP_STATE_FOOTER:
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# receive footer block
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self.DataFrame.extend(bytes(buf))
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self._receive_footer(buf)
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class MicroWaveRequestHandler(BaseRequestHandler):
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"""
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micro wave udp request handler
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"""
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def handle(self):
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# Get message and client socket
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buf, _ = self.request
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receiver = self.server.Receiver
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# add buffer to receiver
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receiver.AddBuf(buf)
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if receiver.DataFrameReady:
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# dataframe ready, add to udp_queue
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msg = pb.RequestCommand()
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msg.sys_command = pb.SysCommand.MICRO_WAVE_COMMAND
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msg.sub_command = pb.SubCommand.MICRO_WAVE_SUB_COMMAND
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data1 = pb.MicroWaveMessage()
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data1.length = len(receiver.DataFrame)
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data1.data = bytes(receiver.DataFrame)
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data1_str = data1.SerializeToString()
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msg.data1.length = len(data1_str)
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msg.data1.data = data1_str
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self.server.msg_queue.put(msg)
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class MicroWaveUDPServer(UDPServer):
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"""
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micro wave udp server
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"""
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def __init__(self, server_address, msg_queue):
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super().__init__(server_address, MicroWaveRequestHandler)
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# create receiver instance
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self.Receiver = MicroWaveReceiver()
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self.msg_queue = msg_queue
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