get pointclouds from client

wu_xinjun

2022-06-20 6b37ae2b15eca92b3cacac0e113290eb28ccfa8b

 src/engine/devices.py

@@ -4,7 +4,7 @@
import threading
import numpy as np
import os, sys
from typing import List
from typing import List, Union
import queue
from datetime import datetime

@@ -15,7 +15,8 @@

from ..protos import aerial_pb2 as pb
from .DustCleaner import DustCleaner
from .MessageThreads import send_logs_tool, send_images_tool
from .Microwave import micorwaveMannager
from .MessageThreads import send_logs_tool, send_images_tool, send_pointcloud_tool


######################################### CAMERAS ############################################
@@ -144,9 +145,36 @@


######################################## MICROWAVE ###########################################
class microwaveController(object):
    pass
class microwaveController(micorwaveMannager):
    def __init__(self, 
            MicrowaveHost: str, 
            MicrowavePort: int, 
            init_packet_threshold: Union[int, None], 
            init_timeusage_threshold: Union[int, None],
            device_id:str,
            logs_queue:queue.Queue,
            plys_queue:queue.Queue,
            routing_key:str,
            ):
        super().__init__(MicrowaveHost, MicrowavePort)
        self.device_id = device_id
        self.plys_queue = plys_queue
        self.routing_key = routing_key
        # testing the device when instance the class
        self._get_pointcloud(init_packet_threshold,init_timeusage_threshold)

    def _get_pointcloud(self, 
                    packet_threshold:Union[int, None],
                    timeusage_threshold:Union[int, None]):
        self._udp_get_thread_launcher(packet_threshold,timeusage_threshold)
        self._udp2pointcloud_thread_launcher()
        self._generate_msg()

    def _generate_msg(self):
        send_pointcloud_tool(pointclouds=self.pointcloud_queue,
                            plys_queue=self.plys_queue,
                            source=self.device_id,
                            routing_key=self.routing_key+".plys.test0")

####################################### DUST CLEANER #########################################
class dustCleanerController(DustCleaner):