optimize the udp2ply

wu_xinjun

2022-02-21 8c2322adaed3d4374a7524bdb9ae8fb27f74fe7f

optimize the udp2ply

 .gitignore

@@ -1,145 +1,22 @@
# Byte-compiled / optimized / DLL files
__pycache__/
*.py[cod]
*$py.class
# cache
**/__pycache__/

# C extensions
*.so

# Distribution / packaging
.Python
build/
develop-eggs/
dist/
downloads/
eggs/
.eggs/
lib/
lib64/
parts/
sdist/
var/
wheels/
share/python-wheels/
*.egg-info/
.installed.cfg
*.egg
MANIFEST

# PyInstaller
#  Usually these files are written by a python script from a template
#  before PyInstaller builds the exe, so as to inject date/other infos into it.
*.manifest
*.spec

# Installer logs
pip-log.txt
pip-delete-this-directory.txt

# Unit test / coverage reports
htmlcov/
.tox/
.nox/
.coverage
.coverage.*
.cache
nosetests.xml
coverage.xml
*.cover
*.py,cover
.hypothesis/
.pytest_cache/
cover/

# Translations
*.mo
*.pot

# Django stuff:
*.log
local_settings.py
db.sqlite3
db.sqlite3-journal

# Flask stuff:
instance/
.webassets-cache

# Scrapy stuff:
.scrapy

# Sphinx documentation
docs/_build/

# PyBuilder
.pybuilder/
target/

# Jupyter Notebook
.ipynb_checkpoints

# IPython
profile_default/
ipython_config.py

# pyenv
#   For a library or package, you might want to ignore these files since the code is
#   intended to run in multiple environments; otherwise, check them in:
# .python-version

# pipenv
#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
#   However, in case of collaboration, if having platform-specific dependencies or dependencies
#   having no cross-platform support, pipenv may install dependencies that don't work, or not
#   install all needed dependencies.
#Pipfile.lock

# PEP 582; used by e.g. github.com/David-OConnor/pyflow
__pypackages__/

# Celery stuff
celerybeat-schedule
celerybeat.pid

# SageMath parsed files
*.sage.py

# # Environments
# .env
# .venv
# venv/
# ENV/
# env.bak/
# venv.bak/

# Spyder project settings
.spyderproject
.spyproject

# Rope project settings
.ropeproject

# mkdocs documentation
/site

# mypy
.mypy_cache/
.dmypy.json
dmypy.json

# Pyre type checker
.pyre/

# pytype static type analyzer
.pytype/

# Cython debug symbols
cython_debug/
/*.udp

.vs
# proto
src/protos/aerial_pb2.py
src/microwave/demo/*Data/

# env
env/aerial_deploy
env/*.gz

# demodata
src/microwave/demo/saveUdPData/

# data & image & microwave
Data
Images
Microwaves
Manual_Microwave*

# log
*.log


 .vscode/launch.json

@@ -5,34 +5,86 @@
    "version": "0.2.0",
    "configurations": [
        {
            "name": "udp server test",
            "name": "Client_local",
            "type": "python",
            "request": "launch",
            "program": "src/udp_test/udp.py",
            "program": "${workspaceFolder}/src/Client.py",
            "args": [
                "localhost",
                "chai",
                "password123",
                "aerial_rpc",
                "pod1",
                "http://localhost/api",
                "localhost"
            ],
            "console": "integratedTerminal"
        },
        {
            "name": "Python: 当前文件",
            "name": "Client_production",
            "type": "python",
            "request": "launch",
            "program": "${file}",
            "program": "${workspaceFolder}/src/Client.py",
            "args": [
                "172.17.17.206",
                "chai",
                "password123",
                "aerial_rpc",
                "pod1",
                "http://172.17.17.206/api",
                "192.168.2.65"
            ],
            "console": "integratedTerminal"
        },
        {
            "name": "Python: Flask-Server",
            "name": "Server_local",
            "type": "python",
            "request": "launch",
            "program": "${workspaceFolder}/src/Server/Server.py",
            "console": "integratedTerminal",
            "cwd": "${workspaceFolder}/src/Server"
            "program": "${workspaceFolder}/src/Server.py",
            "args": [
                "localhost",
                "chai",
                "password123",
                "aerial_rpc",
                "5000",
                "./Images"
            ],
            "console": "integratedTerminal"
        },
        {
            "name": "Python: parser",
            "name": "Server_production",
            "type": "python",
            "request": "launch",
            "program": "${workspaceFolder}/src/Client/ParserTest.py",
            "console": "integratedTerminal",
            "cwd": "${workspaceFolder}/src/Client"
            "program": "${workspaceFolder}/src/Server.py",
            "args": [
                "172.17.17.206",
                "chai",
                "password123",
                "aerial_rpc",
                "5000",
                "./Images"
            ],
            "console": "integratedTerminal"
        },
        {
            "name": "udp2bin",
            "type": "python",
            "request": "launch",
            "program": "${workspaceFolder}/src/utils/udp2bin.py",
            "args": [
                "./Manual_Microwave/pod1-2022-02-21-15-34-45/"
            ],
            "console": "integratedTerminal"
        },
        {
            "name": "bin2ply",
            "type": "python",
            "request": "launch",
            "program": "${workspaceFolder}/src/utils/bin2ply.py",
            "args": [
                "./Manual_Microwave/pod1-2022-02-21-15-34-45/"
            ],
            "console": "integratedTerminal"
        }
    ]
}

 .vscode/settings.json

@@ -7,5 +7,13 @@
            "--proto_path=${workspaceRoot}/proto",
            "--python_out=${workspaceRoot}/src/protos"
        ]
    },
    "python":{
    },
    "jupyter.kernels.filter": [
        {
            "type": "jupyterKernelspec",
            "path": "${workspaceFolder}/env/aerial_deploy/python.exe"
    }
    ]
}

 TEST_bin2ply.bat

New file
@@ -0,0 +1,19 @@
@echo off

@REM change to the filepath
cd %~dp0
echo change to path: %cd%

set aerialpython=%cd%/env/aerial_deploy/python.exe
set envsetting=%cd%/env/SettingEnv.bat

@REM Setting the env
if not exist %aerialpython% (
    call %envsetting% 
)

set BINfolder=./Manual_Microwave_test/pod1-2022-02-21-15-34-45/

@REM ---------------Usage: bin2ply.py [BINfolder]
%aerialpython% ./src/utils/bin2ply.py %BINfolder%
pause

 TEST_ply_show .bat

New file
@@ -0,0 +1,18 @@
@echo off

@REM change to the filepath
cd %~dp0
echo change to path: %cd%

set aerialpython=%cd%/env/aerial_deploy/python.exe
set envsetting=%cd%/env/SettingEnv.bat

@REM Setting the env
if not exist %aerialpython% (
    call %envsetting% 
)

set PLYfile=./Manual_Microwave_test/pod1-2022-02-21-15-34-45/2522.ply
@REM -------------- Usage: plot_ply.py [PLYfile]"
%aerialpython% ./src/utils/plot_ply.py %PLYfile%
pause

 TEST_startClient.bat

New file
@@ -0,0 +1,30 @@
@echo off

@REM change to the filepath
cd %~dp0
echo change to path: %cd%

set aerialpython=%cd%/env/aerial_deploy/python.exe
set envsetting=%cd%/env/SettingEnv.bat

@REM Setting the env
if not exist %aerialpython% (
    call %envsetting% 
)

set MQhost=localhost
set MQuser=chai
set MQpassword=password123
set QUEUEname=aerial_rpc
set DEVICEname=pod1
set SERVERhost=http://localhost/api
set MICROWAVEhost=localhost
set LOGfile=ClientTEST.log

@REM Launch the Client
echo the log file will be saved in the [%LOGfile%] file
echo Client.py is running ...
@REM -------- Usage: Client.py [MQhost] [MQuser] [MQpassword] [QUEUEname] [DEVICEname] [SERVERhost] [MICROWAVEhost]
%aerialpython% ./src/Client.py %MQhost% %MQuser% %MQpassword% %QUEUEname% %DEVICEname% %SERVERhost% %MICROWAVEhost% >> %LOGfile%
echo Client.py has been terminited.
pause

 TEST_startServer.bat

New file
@@ -0,0 +1,31 @@
@echo off

@REM change to the filepath
cd %~dp0
echo change to path: %cd%

set aerialpython=%cd%/env/aerial_deploy/python.exe
set envsetting=%cd%/env/SettingEnv.bat

@REM Setting the env
if not exist %aerialpython% (
    call %envsetting% 
)

set MQhost=localhost
set MQuser=chai
set MQpassword=password123
set QUEUEname=aerial_rpc
set WEBport=5000
set SAVEfolder=./ImagesTEST
set LOGfile=ServerTEST.log

@REM Launch the Server
@REM -------- Usage: Server.py [MQhost] [MQuser] [MQpassword] [QUEUEname] [WEBport] [SAVEfolder]")
echo the log file will be saved in the [%LOGfile%] file
echo Server.py is running ...
@REM -------- Usage: Server.py [MQhost] [MQuser] [MQpassword] [QUEUEname] [WEBport] [SAVEfolder]")
%aerialpython% ./src/Server.py %MQhost% %MQuser% %MQpassword% %QUEUEname% %WEBport% %SAVEfolder% >> %LOGfile%
echo Server.py has been terminited.
pause


 TEST_udp2bin.bat

New file
@@ -0,0 +1,19 @@
@echo off

@REM change to the filepath
cd %~dp0
echo change to path: %cd%

set aerialpython=%cd%/env/aerial_deploy/python.exe
set envsetting=%cd%/env/SettingEnv.bat

@REM Setting the env
if not exist %aerialpython% (
    call %envsetting% 
)

set UDPfolder=./Manual_Microwave_test/pod1-2022-02-21-15-34-45/

@REM ---------------Usage: udp2bin.py [UDPfolder]
%aerialpython% ./src/utils/udp2bin.py %UDPfolder%
pause

 TEST_udp2ply.bat

New file
@@ -0,0 +1,21 @@
@echo off

@REM change to the filepath
cd %~dp0
echo change to path: %cd%

set aerialpython=%cd%/env/aerial_deploy/python.exe
set envsetting=%cd%/env/SettingEnv.bat

@REM Setting the env
if not exist %aerialpython% (
    call %envsetting% 
)

set UDPfolder=./Manual_Microwave_test/pod1-2022-02-21-15-34-45/

@REM ---------------Usage: udp2bin.py [UDPfolder]
%aerialpython% ./src/utils/udp2bin.py %UDPfolder%
@REM ---------------Usage: bin2ply.py [BINfolder]
%aerialpython% ./src/utils/bin2ply.py %UDPfolder%
pause

 TEST_udp_get.bat

New file
@@ -0,0 +1,21 @@
@echo off

@REM change to the filepath
cd %~dp0
echo change to path: %cd%

set aerialpython=%cd%/env/aerial_deploy/python.exe
set envsetting=%cd%/env/SettingEnv.bat

@REM Setting the env
if not exist %aerialpython% (
    call %envsetting% 
)

set MICROWAVEhost=172.17.17.206
SET PACKETthreshold=100
SET DEVICEname=pod1
SET SAVEfolder=./Manual_Microwave_test
@REM ---------------Usage: udp_get.py [MICROWAVEhost] [PACKETthreshold] [DEVICEname] [SAVEfolder]
%aerialpython% ./src/utils/udp_get.py %MICROWAVEhost% %PACKETthreshold% %DEVICEname% %SAVEfolder%
pause

 bin2ply.BAT

New file
@@ -0,0 +1,19 @@
@echo off

@REM change to the filepath
cd %~dp0
echo change to path: %cd%

set aerialpython=%cd%/env/aerial_deploy/python.exe
set envsetting=%cd%/env/SettingEnv.bat

@REM Setting the env
if not exist %aerialpython% (
    call %envsetting% 
)
@REM please the folder path of the bin files.
@REM set BINfolder=./Manual_Microwave/pod1-2012-12-12-12-12-12/

@REM ---------------Usage: bin2ply.py [BINfolder]
%aerialpython% ./src/utils/bin2ply.py %BINfolder%
pause

 ply_show.bat

New file
@@ -0,0 +1,19 @@
@echo off

@REM change to the filepath
cd %~dp0
echo change to path: %cd%

set aerialpython=%cd%/env/aerial_deploy/python.exe
set envsetting=%cd%/env/SettingEnv.bat

@REM Setting the env
if not exist %aerialpython% (
    call %envsetting% 
)
@REM please the folder path of the bin files.
@REM set PLYfile=./Manual_Microwave/pod1-2022-02-21-15-34-45/2522.ply

@REM -------------- Usage: plot_ply.py [PLYfile]"
%aerialpython% ./src/utils/plot_ply.py %PLYfile%
pause

 src/Client.py

@@ -13,6 +13,26 @@
    sys.exit()

if __name__ == '__main__':
    def help():
        print("Usage: Client.py [MQhost] [MQuser] [MQpassword] [QUEUEname] [DEVICEname] [SERVERhost] [MICROWAVEhost]")
        print("EXAMPLE: Client.py 172.17.17.206 chai password123 aerial_rpc pod1 http://172.17.17.206/api 192.168.2.65")
        exit(1)

    if len(sys.argv) != 8:
        help()
    try:
        MQhost = str(sys.argv[1])
        MQuser = str(sys.argv[2])
        MQpassword = str(sys.argv[3])
        QUEUEname = str(sys.argv[4])
        DEVICEname = str(sys.argv[5])
        SERVERhost = str(sys.argv[6])
        MICROWAVEhost = str(sys.argv[7])

    except Exception as e:
        print(e)
        help()

    print("Start AcquisitionMain")
    signal.signal(signal.SIGINT, quit)
    signal.signal(signal.SIGTERM, quit)
@@ -21,12 +41,12 @@
    config_dir = os.path.join(__file__, "..", "config.json" )
    config_path = os.path.abspath(config_dir)
    config = Config(config_path)
    client = AcquisitionMain('localhost',
                             'chai',
                             'password123', 
                             'aerial_rpc', 
                             'pod1', 
                             'http://localhost:5000/api', 
                             'localhost', # udp server host, 192.168.2.65 for production
    client = AcquisitionMain(MQhost,
                             MQuser,
                             MQpassword, 
                             QUEUEname, 
                             DEVICEname, 
                             SERVERhost, 
                             MICROWAVEhost, # udp server host, 192.168.2.65 for production
                             config)
    client.start()

 src/Microwave/demo/AutoGetUDP.bat

@@ -9,12 +9,12 @@

@REM Setting the env
if not exist %aerialpython% (
    %envsetting% 
    call %envsetting% 
)

echo All data will be save in '%cd%/saveUDPData/' folder

%aerialpython% udp_test_get.py test
%aerialpython% udp_test_get.py microwave

echo =========== ALL DONE ================


 src/Microwave/demo/AutoGetUDPtest.bat

@@ -9,7 +9,7 @@

@REM Setting the env
if not exist %aerialpython% (
    %envsetting% 
    call %envsetting% 
)

echo All data will be saved in '%cd%/saveUDPData/' folder

 src/Microwave/demo/AutoSendAndGetTest.bat

@@ -9,7 +9,7 @@

@REM Setting the env
if not exist %aerialpython% (
    %envsetting% 
    call %envsetting% 
)

start AutoGetUDPtest.bat 

 src/Microwave/demo/AutoSendUDPtest.bat

@@ -9,7 +9,7 @@

@REM Setting the env
if not exist %aerialpython% (
    %envsetting% 
    call %envsetting% 
)

echo All data saved in '%cd%/demoUDPData/' folder will be sent to 127.0.0.1:9911

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 src/Microwave/demo/demoData/packet88.udp

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 src/Microwave/demo/demoData/packet89.udp

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 src/Microwave/demo/demoData/packet9.udp

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 src/Microwave/demo/demoData/packet90.udp

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 src/Microwave/demo/demoData/packet91.udp

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 src/Microwave/demo/demoData/packet92.udp

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 src/Microwave/demo/demoData/packet93.udp

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 src/Microwave/demo/demoData/packet94.udp

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 src/Microwave/demo/demoData/packet95.udp

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 src/Microwave/demo/demoData/packet96.udp

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 src/Microwave/demo/demoData/packet97.udp

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 src/Microwave/demo/demoData/packet98.udp

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 src/Microwave/demo/demoData/packet99.udp

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 src/Microwave/servers.py

@@ -132,7 +132,7 @@
            data1_str = data1.SerializeToString()
            msg.data1.length = len(data1_str)
            msg.data1.data = data1_str
            self.msg_queue.put(msg)
            self.server.msg_queue.put(msg)


class MicroWaveUDPServer(UDPServer):

 src/Server.py

@@ -35,9 +35,9 @@
    def _on_sys_command(self, req: pb.RequestCommand, resp: pb.ResponseCommand):
        if pb.SubCommand.POWER_ON_SUB_COMMAND == req.sub_command:
            print('power on message received')
            self._device_manager.get_device(req.device_id)
            self._device_manager.get_device(req.device_id,save_folder)
        elif pb.SubCommand.POWER_OFF_SUB_COMMAND == req.sub_command:
            device = self._device_manager.get_device(req.device_id)
            device = self._device_manager.get_device(req.device_id,save_folder)
            device['power_on'] = False
            print('power off message received')
        return
@@ -91,5 +91,25 @@


if __name__ == "__main__":
    def help():
        print("Usage: Server.py [MQhost] [MQuser] [MQpassword] [QUEUEname] [WEBport] [SAVEfolder]")
        print("EXAMPLE: Server.py localhost chai password123 aerial_rpc 5000 ./Images")
        exit(1)

    if len(sys.argv) != 7:
        help()
    try:
        MQhost = str(sys.argv[1])
        MQuser = str(sys.argv[2])
        MQpassword = str(sys.argv[3])
        QUEUEname = str(sys.argv[4])
        WEBport = int(sys.argv[5])
        SAVEfolder = str(sys.argv[6])
        global save_folder
        save_folder = SAVEfolder

    except Exception as e:
        print(e)
        help()
    server = MyServer(host="localhost", user='chai', password='password123', queue='aerial_rpc', port=5000)
    server.run_all()

 src/engine/DeviceManager.py

@@ -19,13 +19,13 @@
        channel.queue_declare(queue=device_id + "_callback")
        return channel

    def get_device(self, device_id: str):
    def get_device(self, device_id: str, save_folder: str):
        device = self._devices.get(device_id, None)
        if device is None:
            start = datetime.datetime.now()
            if not os.path.exists('./Images'):
                os.mkdir('./Images')
            path = f"./Images/{device_id}-{start.strftime('%Y-%m-%d-%H-%M-%S')}"
            if not os.path.exists(save_folder):
                os.mkdir(save_folder)
            path = os,path.join(save_folder,f"{device_id}-{start.strftime('%Y-%m-%d-%H-%M-%S')}")
            if not os.path.exists(path):
                os.mkdir(path)
            device = dict(

 src/utils/__init__.py

New file
@@ -0,0 +1 @@
from .tools import *

 src/utils/bin2ply.py

New file
@@ -0,0 +1,54 @@
import os
import sys
import time

# add python path of src to sys.path
src_path = os.path.join(__file__, *(['..'] * 2))
src_path = os.path.abspath(src_path)
sys.path.insert(0, src_path)

from microwave.parsers import MicroWaveParser
from tools import file_fliter

if __name__ == "__main__":
    def help():
        print("Usage: bin2ply.py [BINfolder]")
        print("EXAMPLE: BIN2ply.py ./manual_ply/pod1-2012-12-12-12-12-12/")
        exit(1)

    if len(sys.argv) != 2:
        help()
    try:
        BINfolder = str(sys.argv[1])
        # example pod1-2022-02-21-13-25-03_packet125.udp --> 125
        sort_lambda = lambda x:int(x.split('.')[0])
        bin_files = file_fliter(BINfolder,'bin', sort_lambda)

    except Exception as e:
        print(e)
        help()
    
    for file in bin_files:

        filename = file
        (fn, ext) = os.path.splitext(filename)
        with open(os.path.join(BINfolder,file), "rb") as bin_file:
            buf = bin_file.read()
            point_cloud = MicroWaveParser.ParserFrame(buf)
            with open(os.path.join(BINfolder,fn +".ply"), "w") as f:
                f.write("ply\n")
                f.write("format ascii 1.0\n")
                f.write("comment MicroWave2Ply generated\n")
                f.write("element vertex %d\n" % len(point_cloud))
                f.write("property float x\n")
                f.write("property float y\n")
                f.write("property float z\n")
                f.write("element face 0\n")
                f.write("property list uchar int vertex_indices\n")
                f.write("end_header\n")
                n_p = 0
                for p in point_cloud:
                    x, y, z = p
                    f.write("{:.5f} {:.5f} {:.5f}\n".format(x, y, z))
                    n_p += 1
                print(time.asctime(),f"Frame {fn}.ply have been saved with {n_p} points!")

 src/utils/plot_ply.py

New file
@@ -0,0 +1,23 @@
import open3d as o3d
import sys

if __name__ == "__main__":
    def help():
        print("Usage: plot_ply.py [PLYfile]")
        print("EXAMPLE: plot_ply ./Manual_Microwave/pod1-2022-02-21-15-34-45/2522.ply")
        exit(1)

    if len(sys.argv) != 2:
        help()
    try:
        PLYfile = str(sys.argv[1])

        pcd = o3d.io.read_point_cloud(PLYfile)

    except Exception as e:
        print(e)
        help()
    
    show = [pcd]

    o3d.visualization.draw_geometries(show)

 src/utils/tools.py

New file
@@ -0,0 +1,17 @@
import os, sys

def file_fliter(folder:str, file_ext:str, sort_format):

    files_List = os.listdir(folder)
    target_files = []

    # flitered by file extention name
    for file in files_List:
        if file.split('.')[-1] == file_ext:
            target_files.append(file)
    # sort the list by the sort_format
    target_files.sort(key=sort_format)

    return target_files
    


 src/utils/udp2bin.py

New file
@@ -0,0 +1,46 @@
import os
from sys import argv
import sys
import time

# add python path of src to sys.path
src_path = os.path.join(__file__, *(['..'] * 2))
src_path = os.path.abspath(src_path)
sys.path.insert(0, src_path)

from microwave.servers import MicroWaveReceiver
from tools import file_fliter


if __name__ == '__main__':

    def help():
        print("Usage: udp2bin.py [UDPfolder]")
        print("EXAMPLE: udp2bin.py ./manual_ply/pod1-2012-12-12-12-12-12/")
        exit(1)

    if len(sys.argv) != 2:
        help()
    try:
        UDPfolder = str(sys.argv[1])
        # example pod1-2022-02-21-13-25-03_packet125.udp --> 125
        sort_lambda = lambda x:int(x.split('packet')[1][:-4])
        udp_files = file_fliter(UDPfolder,'udp', sort_lambda)

    except Exception as e:
        print(e)
        help()

    receiver = MicroWaveReceiver()
    for file in udp_files:
        filename = os.path.join(UDPfolder, file)
        with open(filename, "rb") as f:
            data = f.read()
            receiver.AddBuf(data)
            if receiver.DataFrameReady:
                frame_number = receiver.Header.FrameNumber
                bin_name = os.path.join(UDPfolder, "{}.bin".format(frame_number))
                print(time.asctime(),"Frame {} ready".format(frame_number))
                with open(bin_name, "wb") as bin_file:
                    bin_file.write(receiver.DataFrame)
                    bin_file.close()

 src/utils/udp_get.py

New file
@@ -0,0 +1,88 @@
import datetime
from pickle import GLOBAL
from socketserver import BaseRequestHandler, UDPServer
import time
import os, sys


# cudir,_ = os.path.split(__file__)
# file_folder = os.path.join(cudir,"saveUDPData")

# if not os.path.exists(file_folder):
#     os.makedirs(file_folder)
#     print(f"make a new folder: {file_folder}")

packed_count = 0

class PointCloudUDPRequestHandler(BaseRequestHandler):

    def handle(self):

        global packed_count
        global path

        if packed_count == 0:
            start = datetime.datetime.now()
            if not os.path.exists(save_folder):
                os.mkdir(save_folder)
            path = os.path.join(save_folder,f"{device_id}-{start.strftime('%Y-%m-%d-%H-%M-%S')}")
            if not os.path.exists(path):
                os.mkdir(path)
            path = os.path.abspath(path)

        print(time.asctime(),' Got connection from {}, {}'.format(self.client_address, packed_count))
        # Get message and client socket
        msg, sock = self.request
        time_tag = datetime.datetime.now().strftime('%Y-%m-%d-%H-%M-%S')
        f = open('{}/{}_packet{}.udp'.format(path,time_tag,packed_count), 'wb')
        f.write(msg)
        f.close()
        packed_count += 1
        
        if packed_count >= packet_threshold:
            UDPServer.server_close(server)


if __name__ == '__main__':

    def help():
        print("Usage: udp_get.py [MICROWAVEhost] [PACKETthreshold] [DEVICEname] [SAVEfolder]")
        print("EXAMPLE: udp_get.py 192.168.2.65 1000 pod1 ./manual_ply")
        exit(1)

    if len(sys.argv) != 5:
        help()
    try:
        MICROWAVEhost = str(sys.argv[1])
        PACKETthreshold = int(sys.argv[2])
        DEVICEname = str(sys.argv[3])
        SAVEfolder = str(sys.argv[4])

        global packet_threshold
        packet_threshold = PACKETthreshold
        global device_id
        device_id = DEVICEname
        global save_folder
        save_folder = SAVEfolder

    except Exception as e:
        print(e)
        help()

    global server
    
    # host = ''
    # host = '192.168.2.65' # use this host to get the udp data from microwave device
    port = 9911
    server =UDPServer((MICROWAVEhost, port), PointCloudUDPRequestHandler)
    print(time.asctime(),'Server started on port', port)
    print('....')
    print('ctrl-c to quit server.')
    try:
        server.serve_forever()
    except KeyboardInterrupt:
        server.server_close()
        print(time.asctime(),"Server Stopped")
    except:
        server.server_close()
        print(time.asctime(),"Server Stopped")

 startClient.bat

@@ -9,8 +9,22 @@

@REM Setting the env
if not exist %aerialpython% (
    %envsetting% 
    call %envsetting% 
)

set MQhost=172.17.17.206
set MQuser=chai
set MQpassword=password123
set QUEUEname=aerial_rpc
set DEVICEname=pod1
set SERVERhost=http://172.17.17.206/api
set MICROWAVEhost=192.168.2.65
set LOGfile=Client.log

@REM Launch the Client
%aerialpython% ./src/Client.py
echo the log file will be saved in the [%LOGfile%] file
echo Client.py is running ...
@REM -------- Usage: Client.py [MQhost] [MQuser] [MQpassword] [QUEUEname] [DEVICEname] [SERVERhost] [MICROWAVEhost]
%aerialpython% ./src/Client.py %MQhost% %MQuser% %MQpassword% %QUEUEname% %DEVICEname% %SERVERhost% %MICROWAVEhost% >> %LOGfile%
echo Client.py has been terminited.
pause 

 startServer.bat

@@ -9,8 +9,22 @@

@REM Setting the env
if not exist %aerialpython% (
    %envsetting% 
    call %envsetting% 
)

set MQhost=172.17.17.206
set MQuser=chai
set MQpassword=password123
set QUEUEname=aerial_rpc
set WEBport=5000
set SAVEfolder=./Images
set LOGfile=Server.log

@REM Launch the Server
%aerialpython% ./src/Server.py
echo the log file will be saved in the [%LOGfile%] file
echo Server.py is running ...
@REM -------- Usage: Server.py [MQhost] [MQuser] [MQpassword] [QUEUEname] [WEBport] [SAVEfolder]")
%aerialpython% ./src/Server.py %MQhost% %MQuser% %MQpassword% %QUEUEname% %WEBport% %SAVEfolder% >> >> %LOGfile%
echo Server.py has been terminited.
pause


 udp2bin.bat

New file
@@ -0,0 +1,20 @@
@echo off

@REM change to the filepath
cd %~dp0
echo change to path: %cd%

set aerialpython=%cd%/env/aerial_deploy/python.exe
set envsetting=%cd%/env/SettingEnv.bat

@REM Setting the env
if not exist %aerialpython% (
    call %envsetting% 
)

@REM please the folder path of the udp files.
@REM set UDPfolder=./Manual_Microwave/pod1-2012-12-12-12-12-12/

@REM ---------------Usage: udp2bin.py [UDPfolder]
%aerialpython% ./src/utils/udp2bin.py %UDPfolder%
pause

 udp2ply.bat

New file
@@ -0,0 +1,22 @@
@echo off

@REM change to the filepath
cd %~dp0
echo change to path: %cd%

set aerialpython=%cd%/env/aerial_deploy/python.exe
set envsetting=%cd%/env/SettingEnv.bat

@REM Setting the env
if not exist %aerialpython% (
    call %envsetting% 
)

@REM please the folder path of the udp files.
@REM set UDPfolder=./Manual_Microwave/pod1-2012-12-12-12-12-12/

@REM ---------------Usage: udp2bin.py [UDPfolder]
%aerialpython% ./src/utils/udp2bin.py %UDPfolder%
@REM ---------------Usage: bin2ply.py [BINfolder]
%aerialpython% ./src/utils/bin2ply.py %UDPfolder%
pause

 udp_get.bat

New file
@@ -0,0 +1,21 @@
@echo off

@REM change to the filepath
cd %~dp0
echo change to path: %cd%

set aerialpython=%cd%/env/aerial_deploy/python.exe
set envsetting=%cd%/env/SettingEnv.bat

@REM Setting the env
if not exist %aerialpython% (
    call %envsetting% 
)

set MICROWAVEhost=192.168.2.65
SET PACKETthreshold=1000
SET DEVICEname=pod1
SET SAVEfolder=./Manual_Microwave
@REM ---------------Usage: udp_get.py [MICROWAVEhost] [PACKETthreshold] [DEVICEname] [SAVEfolder]
%aerialpython% ./src/utils/udp_get.py %MICROWAVEhost% %PACKETthreshold% %DEVICEname% %SAVEfolder%
pause