Merge commit 'f79b30a55db543bd1c7dd494a8c896df8841aa28' into addFeature

wu_xinjun

2022-02-28 9411c4e47500e271d8fb88143c86e6dcb2d89684

Merge commit 'f79b30a55db543bd1c7dd494a8c896df8841aa28' into addFeature

 .gitignore

@@ -1,145 +1,23 @@
# 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
Images*
Microwaves
Manual_Microwave*

# log
*.log


 .vscode/launch.json

@@ -5,34 +5,92 @@
    "version": "0.2.0",
    "configurations": [
        {
            "name": "udp server test",
            "name": "Client_test",
            "type": "python",
            "request": "launch",
            "program": "src/udp_test/udp.py",
            "python": "${workspaceFolder}/env/aerial_deploy/python.exe",
            "program": "${workspaceFolder}/src/Client.py",
            "args": [
                "192.168.1.224",
                "chai",
                "password123",
                "aerial_rpc",
                "pod1",
                "http://192.168.1.224/api",
                "localhost"
            ],
            "console": "integratedTerminal"
        },
        {
            "name": "Python: 当前文件",
            "name": "Client_production",
            "type": "python",
            "request": "launch",
            "program": "${file}",
            "python": "${workspaceFolder}/env/aerial_deploy/python.exe",
            "program": "${workspaceFolder}/src/Client.py",
            "args": [
                "172.17.17.206",
                "chai",
                "password123",
                "aerial_rpc",
                "pod1",
                "http://172.17.17.206/api",
                "192.168.2.65"
            ],
            "console": "integratedTerminal"
        },
        {
            "name": "Python: Flask-Server",
            "name": "Server_test",
            "type": "python",
            "python": "${workspaceFolder}/env/aerial_deploy/python.exe",
            "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": "${workspaceFolder}/src/Client"
            "python": "${workspaceFolder}/env/aerial_deploy/python.exe",
            "program": "${workspaceFolder}/src/Server.py",
            "args": [
                "172.17.17.206",
                "chai",
                "password123",
                "aerial_rpc",
                "5000",
                "./Images"
            ],
            "console": "integratedTerminal"
        },
        {
            "name": "udp2bin",
            "type": "python",
            "request": "launch",
            "python": "${workspaceFolder}/env/aerial_deploy/python.exe",
            "program": "${workspaceFolder}/src/utils/udp2bin.py",
            "args": [
                "./Manual_Microwave/pod1-2022-02-21-15-34-45/"
            ],
            "console": "integratedTerminal"
        },
        {
            "name": "bin2ply",
            "type": "python",
            "request": "launch",
            "python": "${workspaceFolder}/env/aerial_deploy/python.exe",
            "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 +1,21 @@
@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% 
)
cd %~dp0
echo change to path: %cd%

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 +1,21 @@
@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% 
)

cd %~dp0
echo change to path: %cd%

set PLYfile=./Manual_Microwave_test/pod1-2022-02-22-15-44-51/28344.ply
@REM -------------- Usage: plot_ply.py [PLYfile]"
%aerialpython% ./src/utils/plot_ply.py %PLYfile%
pause

 TEST_startClient.bat

New file
@@ -0,0 +1,33 @@
@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=192.168.1.224
set MQuser=chai
set MQpassword=password123
set QUEUEname=aerial_rpc
set DEVICEname=pod1
set SERVERhost=http://192.168.1.224/api
set MICROWAVEhost=localhost
set LOGfile=ClientTEST.log

cd %~dp0
echo change to path: %cd%
@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]
@REM %aerialpython% ./src/Client.py %MQhost% %MQuser% %MQpassword% %QUEUEname% %DEVICEname% %SERVERhost% %MICROWAVEhost% >> %LOGfile%
%aerialpython% ./src/Client.py %MQhost% %MQuser% %MQpassword% %QUEUEname% %DEVICEname% %SERVERhost% %MICROWAVEhost%
echo Client.py has been terminited.
pause

 TEST_startServer.bat

New file
@@ -0,0 +1,33 @@
@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% 
)
cd %~dp0
echo change to path: %cd%

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 +1,21 @@
@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% 
)
cd %~dp0
echo change to path: %cd%

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 +1,23 @@
@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% 
)
cd %~dp0
echo change to path: %cd%

set UDPfolder=./Manual_Microwave_test/pod1-2022-02-22-15-44-51/

@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 +1,23 @@
@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% 
)
cd %~dp0
echo change to path: %cd%

set MICROWAVEhost=192.168.2.65
SET PACKETthreshold=1000
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 +1,21 @@
@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% 
)
cd %~dp0
echo change to path: %cd%
@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

 bin2ply.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% 
)
cd %~dp0
echo change to path: %cd%
@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 +1,21 @@
@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% 
)
cd %~dp0
echo change to path: %cd%
@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/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
@@ -63,7 +63,7 @@

    def run_rabbitmq(self, host: str, user: str, password: str, queue: str) -> None:
        self._message_queue_thread = MessageQueueThread(
            host, user, password, queue, self._device_manager)
            host, user, password, queue, self._device_manager, save_folder)
        self._message_queue_thread.start()

    def run_all(self):
@@ -71,7 +71,7 @@
        self.run(debug=False, host="0.0.0.0", port=self.port)

    def send_controll_message(self, device_id, msg):
        device = self._device_manager.get_device(device_id)
        device = self._device_manager.get_device(device_id,save_folder)
        if device is None:
            channel = device.controll_channel
            channel.basic_publish(
@@ -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/AcquisitionMain.py

@@ -239,7 +239,7 @@
                if not self.msg_queue.empty():
                    msg = self.msg_queue.get()
                    self._send_data(msg)
                    print("send message")
                    print(time.asctime(), "send message")
                time.sleep(0.1)
            except Exception as e:
                break

 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/engine/DustCleaner.py

@@ -55,7 +55,7 @@

    # 发数据
    def Send(self, data):
        if (not self.com_port is None) and self.com_port.is_open():
        if (not self.com_port is None) and self.com_port.is_open:
            self.com_port.write(data)
            self.Recive()

@@ -97,7 +97,7 @@
        self.SendNoChecksum(bytes([0x5A, 0x07, 0x73, start_angle, end_angle, num, 0x00]))

    def Recive(self):
        return self.main_engine.read_all()
        return self.com_port.read_all()


if __name__ == '__main__':

 src/engine/MessageQueueThread.py

@@ -19,9 +19,11 @@
                 user: str, 
                 password: str, 
                 queue: str, 
                 device_manager: DeviceManager):
                 device_manager: DeviceManager,
                 save_folder: str):
        threading.Thread.__init__(self)
        self._device_manager = device_manager
        self.save_folder = save_folder
        self._def_routes()
        self.message_received: int = 0

@@ -58,7 +60,7 @@
            print(
                f'send image sub command received, length={req.data1.length}')
            if req.data1.length > 0:
                device = self._device_manager.get_device(req.device_id)
                device = self._device_manager.get_device(req.device_id, self.save_folder)
                img_msg = pb.ImagesMessage()
                img_msg.ParseFromString(req.data1.data)
                # print(img_msg.image1)
@@ -74,7 +76,7 @@
        print('micro wave command')
        if pb.SubCommand.MICRO_WAVE_SUB_COMMAND == req.sub_command:
            print('micro wave sub command received')
            device = self._device_manager.get_device(req.device_id)
            device = self._device_manager.get_device(req.device_id,self.save_folder)
            micro_wave_msg = pb.MicroWaveMessage()
            micro_wave_msg.ParseFromString(req.data1.data)
            if (micro_wave_msg.length == len(micro_wave_msg.data)):

 src/microwave/__init__.py

New file
@@ -0,0 +1,4 @@
from .components import *
from  .constants import *
from  .parsers import *
from  .servers import *

 src/microwave/components.py

New file
@@ -0,0 +1,172 @@
from ctypes import Structure, c_ubyte, c_uint16, c_uint32, c_int16
from bitarray import bitarray, util
import math

"""
    UDP packets 0  --> ... --> UDP packets n
Handshake --> HeaderBlock --> DetectionBlock --> TrackerBlock --> FooterBlock

"""


class Handshake(Structure):
    """
    Handshake structure, 24 bytes
    """
    _pack_ = 1
    _fields_ = [
        ('Magic', c_ubyte*8),
        ('FrameDataLength', c_uint32),
        ('Reserved', c_ubyte * 12)
        ]


class HeaderBlock(Structure):
    """
    Header structure, 48 bytes
    """
    _pack_ = 1
    _fields_ = [
        ('Magic', c_ubyte * 8),             # [2 1 4 3 6 5 8 7]
        ('FrameNumber', c_uint32),          # frame number
        ('VersionNumber', c_uint32),        # Version number, uint32_t format: MMddhhmm
        ('NumberOfDetection', c_uint16),    # Number of Detection in the frame
        ('NumberOfTrack', c_uint16),        # Number of Detection in the frame
        ('HostSpeed', c_uint16),            # divide by 100 to get ego speed in m/s (e.g. 6453 = 64.53 m/s, e.g. -2456 = -24.56 m/s)
        ('HostAngle', c_uint16),            # divide by 100 to get host angle in degree. Clockwise rotation corresponds to positive rotation.(e.g. 1400 = 14 deg)
        ('Reserved', c_ubyte * 8),
        ('RangeAccuracyIdx', c_uint16),     # divide by 10000 to get value in m
        ('DopplerAccuracyIdx', c_uint16),   # divide by 10000 to get value in m/s
        ('AzimuthAccuracyIdx', c_uint16),   # divide by 10000 to get value in degree
        ('ElevationAccuracyIdx', c_uint16), # divide by 10000 to get value in degree
        ('DspWorkload', c_ubyte),
        ('ARMWorkload', c_ubyte),
        ('Reserved2', c_ubyte * 6),
    ]
    def __new__(cls, buf):
        # new instance from buf
        return cls.from_buffer_copy(buf)

    def __init__(self, data):
        # claculate parameters
        self.RangeAccuracy = self.RangeAccuracyIdx / 10000.0
        self.DopplerAccuracy = self.DopplerAccuracyIdx / 10000.0
        self.AzimuthAccuracy = self.AzimuthAccuracyIdx / 10000.0
        self.ElevationAccuracy = self.ElevationAccuracyIdx / 10000.0



class FooterBlock(Structure):
    """
    Footer structure, 32 bytes
    """
    _pack_ = 1
    _fields_ = [
        ('Reserved1', c_ubyte * 8),
        ('RangeAccuracyIdx', c_uint16),         # divide by 10000 to get value in m
        ('DopplerAccuracyIdx', c_uint16),       # divide by 10000 to get value in m
        ('AzimuthAccuracyIdx', c_uint16),       # divide by 10000 to get value in degree
        ('ElevationAccuracyIdx', c_uint16),     # divide by 10000 to get value in degree
        ('Reserved2', c_ubyte * 16),
    ]
    def __new__(cls, buf):
        # new instance from buf
        return cls.from_buffer_copy(buf)

    def __init__(self, data):
        # claculate parameters
        self.RangeAccuracy = self.RangeAccuracyIdx / 10000.0
        self.DopplerAccuracy = self.DopplerAccuracyIdx / 10000.0
        self.AzimuthAccuracy = self.AzimuthAccuracyIdx / 10000.0
        self.ElevationAccuracy = self.ElevationAccuracyIdx / 10000.0


class DetectionBlock:
    """
    Detection structure
    using bitarray parse structure because of ctypes can't parse compact bitfields
    """

    def __init__(self, header: HeaderBlock, footer: FooterBlock, data):
        buf = bytearray(data)
        buf.reverse()
        bits = bitarray()
        bits.frombytes(bytes(buf))
        # print(bits)
        # parse data structure
        self.Flag = bits[1]
        self.RangeIndex = util.ba2int(bits[54:64])
        self.DropplerIndex = util.ba2int(bits[45:54])
        if bits[44]:
            self.DropplerIndex -= 512
        self.AzimuthIndex = util.ba2int(bits[35:44])
        if bits[34]:
            self.AzimuthIndex -= 512
        self.BetaIndex = util.ba2int(bits[25:34])
        if bits[24]:
            self.BetaIndex -= 512
        self.PowerValue = util.ba2int(bits[8:24])

        if not self.Flag:
            # using header's parameters
            RangeAccuracy = header.RangeAccuracy
            DopplerAccuracy = header.DopplerAccuracy
            AzimuthAccuracy = header.AzimuthAccuracy
            ElevationAccuracy = header.ElevationAccuracy
        else:
            # using footer's parameters
            RangeAccuracy = footer.RangeAccuracy
            DopplerAccuracy = footer.DopplerAccuracy
            AzimuthAccuracy = footer.AzimuthAccuracy
            ElevationAccuracy = footer.ElevationAccuracy

        # claculation
        self.Power = self.PowerValue / 100.0
        self.Range = self.RangeIndex * RangeAccuracy
        self.Doppler = self.DropplerIndex * DopplerAccuracy
        self.Beta = self.BetaIndex * ElevationAccuracy
        self.Azimuth = self.AzimuthIndex * AzimuthAccuracy
        # degrees to radians
        alpha = math.radians(self.Azimuth)
        beta = math.radians(self.Beta)
        # XYZ: The XYZ coordinates can be retrieved using the following equation:
        # X = Range * Sin(Alpha) * Cos(Beta)
        # Y = Range * Sin(Beta)
        # Z = Range * Cos(Alpha) * Cos(Beta)
        # or
        # Z = sqrt(Range^2 - X^2 - Y^2)
        self.X = self.Range * math.sin(alpha) * math.cos(beta)
        self.Y = self.Range * math.sin(beta)
        self.Z = math.sqrt(self.Range * self.Range -
                           self.X * self.X - self.Y * self.Y)

class TrackerBlock(Structure):
    """
    Tracker structure
    """
    _pack_ = 1
    _fields_ = [
        ('TrackID', c_uint32),      # 0 to 4294967296 Track ID
        ('XPos', c_int16),          # -32768 to 32767, divide by 100 to get x in m (e.g. 6453 = 64.53 m, e.g.: -2456 = -24.56 m)
        ('YPos', c_int16),          # -32768 to 32767, divide by 100 to get y in m (e.g. 6453 = 64.53 m, e.g. -2456 = -24.56 m)
        ('ZPos', c_uint16),         # 0 to 65535, divide by 100 to get z in m (e.g. 12654 = 126.54 m)
        ('XDot', c_int16),          # -32768 to 32767, divide by 100 to get speed in the x direction in m/s (e.g. 6453 = 64.53 m/s, e.g. -2456 = -24.56 m/s)
        ('YDot', c_int16),          # -32768 to 32767, divide by 100 to get speed in the y direction in m/s (e.g. 6453 = 64.53 m/s, e.g. -2456 = -24.56 m/s)
        ('ZDot', c_int16),          # -32768 to 32767, divide by 100 to get speed in the z direction in m/s (e.g. 6453 = 64.53 m/s, e.g. -2456 = -24.56 m/s)
        ('Res1', c_uint16),
        ('Res2', c_uint16),
        ('Res3', c_uint16),
        ('Flag', c_uint16),         # 0 to 65535. 16 1-bit flags, the flag definitions are internal to Oculii.
                                    # Bit 3 – Bit 15 : Reserved
                                    # Bit 0, Bit 1, Bit 2 : Track Quality. Currently only values 1 and 2 are used. Filter to use only value ‘2’.
        ('Class', c_uint16),        # 0 to 5. Reserved for future.  
                                    # 0: Unknown Class
                                    # 1: Pedestrian
                                    # 2: Motorcycle/Bike
                                    # 3: Vehicle and SUV
                                    # 4: Bus and Truck
                                    # 5: Background
        ('Conf', c_uint16),
        ('Res4', c_uint16),
        ('Res5', c_uint16),
    ]

 src/microwave/constants.py

New file
@@ -0,0 +1,2 @@
HAND_SHAKE_MAGIC = b"\x01\x09\x08\x09\x01\x00\x02\x02" 
HEADER_MAGIC = b"\x02\x01\x04\x03\x06\x05\x08\x07" 

 src/microwave/demo/AutoGetUDP.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% 
)

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

%aerialpython% udp_test_get.py microwave

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

echo Press any key to exit this windiow.
pause

 src/microwave/demo/AutoGetUDPtest.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% 
)

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

%aerialpython% udp_test_get.py test

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

echo Press any key to exit this windiow.
pause

 src/microwave/demo/AutoSendAndGetTest.bat

New file
@@ -0,0 +1,16 @@
@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% 
)

start AutoGetUDPtest.bat 
start AutoSendUDPtest.bat

 src/microwave/demo/AutoSendUDPtest.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% 
)

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

%aerialpython% udp_test_send.py

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

echo Press any key to exit this windiow.
pause

 src/microwave/demo/MicroWave2Ply.py

New file
@@ -0,0 +1,35 @@
import os
import sys

# add python path of microwave to sys.path
microwave_path = os.path.join(__file__, *(['..'] * 3))
microwave_path = os.path.abspath(microwave_path)
sys.path.insert(0, microwave_path)

from microwave.parsers import MicroWaveParser

if __name__ == '__main__':
    if len(sys.argv) != 2:
        print('Usage: python MicroWave2Ply.py [filename.bin]')
        exit(1)

    filename = sys.argv[1]
    (fn, ext) = os.path.splitext(filename)
    with open(filename, "rb") as udp_file:
        buf = udp_file.read()
        point_cloud = MicroWaveParser.ParserFrame(buf)
        with open(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")
            for p in point_cloud:
                x, y, z = p
                f.write("{:.5f} {:.5f} {:.5f}\n".format(x, y, z))
            print("Done!")

 src/microwave/demo/MicroWaveReceiverTest.py

New file
@@ -0,0 +1,31 @@
import os
from sys import argv
import sys

# add python path of microwave to sys.path
microwave_path = os.path.join(__file__, *(['..'] * 3))
microwave_path = os.path.abspath(microwave_path)
sys.path.insert(0, microwave_path)

from microwave.servers import MicroWaveReceiver


if __name__ == '__main__':
    if len(sys.argv) != 2:
        print('Usage: python MicroWaveReceiverTest.py [folder]')
        exit(1)
    folder = sys.argv[1]
    files = ["packet{}.udp".format(i) for i in range(100)]
    receiver = MicroWaveReceiver()
    for file in files:
        filename = os.path.join(folder, 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(folder, "{}.bin".format(frame_number))
                print("Frame {} ready".format(frame_number))
                with open(bin_name, "wb") as bin_file:
                    bin_file.write(receiver.DataFrame)
                    bin_file.close()

 src/microwave/demo/MicroWaveUDPServerTest.py

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@@ -0,0 +1,57 @@
import sys
import time
import os
from socketserver import BaseRequestHandler, UDPServer

# add python path of microwave to sys.path
microwave_path = os.path.join(__file__, *(['..'] * 3))
microwave_path = os.path.abspath(microwave_path)
sys.path.insert(0, microwave_path)

from microwave.servers import MicroWaveReceiver


class MicroWaveRequestHandlertest(BaseRequestHandler):
    def handle(self):
        # Get message and client socket
        buf, _ = self.request
        receiver = self.server.Receiver
        receiver.AddBuf(buf)
        if receiver.DataFrameReady:
            # data frame ready
            frame_number = receiver.Header.FrameNumber
            bin_name = os.path.join(self.server.OutputFolder, "{}.bin".format(frame_number))
            print("Frame {} ready".format(frame_number))
            with open(bin_name, "wb") as bin_file:
                bin_file.write(receiver.DataFrame)


class MicroWaveUDPServertest(UDPServer):
    def __init__(self, server_address, output_folder):
        super().__init__(server_address, MicroWaveRequestHandlertest)
        # create receiver instance
        self.Receiver = MicroWaveReceiver()
        self.OutputFolder = output_folder

if __name__ == '__main__':
    if len(sys.argv) == 2:
        output_folder = sys.argv[1]
    else:
        output_folder = '.'

    # host = '192.168.2.65'
    host = ''
    port = 9911
    server = MicroWaveUDPServertest((host, port), output_folder)
    server.packed_count = 0
    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")

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{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "[Open3D WARNING] [ViewControl] SetViewPoint() failed because window height and width are not set.\n"
     ]
    }
   ],
   "source": [
    "import open3d as o3d\n",
    "# visualization of point clouds.\n",
    "# pcd = o3d.io.read_point_cloud('dense2_without_color.ply')\n",
    "# show = [pcd]\n",
    "pcd2522 = o3d.io.read_point_cloud('demoData/2522.ply')\n",
    "pcd2523 = o3d.io.read_point_cloud('demoData2523.ply')\n",
    "pcd2524 = o3d.io.read_point_cloud('demoData2524.ply')\n",
    "pcd2525 = o3d.io.read_point_cloud('demoData2525.ply')\n",
    "pcd2526 = o3d.io.read_point_cloud('demoData2526.ply')\n",
    "pcd2527 = o3d.io.read_point_cloud('demoData2527.ply')\n",
    "show = [pcd2522,pcd2523,pcd2524,pcd2525,pcd2526,pcd2527]\n",
    "o3d.visualization.draw_geometries(show)\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
 "metadata": {
  "interpreter": {
   "hash": "35e65690039548a4ed71bb11d5d15cea8607c9411f67738c48033f1deba4df50"
  },
  "kernelspec": {
   "display_name": "Python 3.9.10 ('huaneng_server')",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.9.10"
  },
  "orig_nbformat": 4
 },
 "nbformat": 4,
 "nbformat_minor": 2
}

 src/microwave/demo/udp_test_get.py

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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

        print(time.asctime(),' Got connection from {}, {}'.format(self.client_address, packed_count))
        # Get message and client socket
        msg, sock = self.request
        f = open('{}/packet{}.udp'.format(file_folder,packed_count), 'wb')
        f.write(msg)
        f.close()
        packed_count += 1
        if packed_count >= 1000000:
            UDPServer.server_close(server)


if __name__ == '__main__':

    def help():
        print("Usage: udp_test_get.py [host]. host can be 'test' or 'microwave' ")
        exit(1)

    if len(sys.argv) == 2:
        if sys.argv[1] == 'test':
            host = ''
        elif sys.argv[1] == 'microwave':
            host = '192.168.2.65'
        else:
            help()
    else:
        help()

    global server
    # host = ''
    # host = '192.168.2.65' # use this host to get the udp data from microwave device
    port = 9911
    server =UDPServer((host, 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")

 src/microwave/demo/udp_test_send.py

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@@ -0,0 +1,21 @@
import time
import socket
import os, sys

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

packed_count = 0
if __name__ == '__main__':

    files = ["packet{}.udp".format(i) for i in range(0, 100)]
    for file in files:
        with open(os.path.join(file_folder,file), "rb") as f:
            message = f.read()
            client_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
            client_socket.settimeout(1.0)
            addr = ("127.0.0.1", 9911)
            client_socket.sendto(message, addr)
            print (time.asctime(), f' Sending {file} to {addr} ...')
            time.sleep(0.1)
    print('Done!')

 src/microwave/parsers.py

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@@ -0,0 +1,23 @@
from .components import *
from .constants import *
from ctypes import sizeof, string_at



class MicroWaveParser:
    @classmethod
    def ParserFrame(cls, buffer: bytes) -> list:
        """
        解析完整的一帧数据，数据包括数据头，数据体，数据尾，返回点云数组
        """
        header = HeaderBlock(buffer[:sizeof(HeaderBlock)])
        if HEADER_MAGIC == string_at(header.Magic, 8):
            footer = FooterBlock(buffer[-sizeof(FooterBlock):])
            point_cloud = []
            for i in range(header.NumberOfDetection):
                detection = DetectionBlock(header, footer, buffer[i * 8 + sizeof(HeaderBlock): (i + 1) * 8 + sizeof(HeaderBlock)])
                point = (detection.X, detection.Y, detection.Z)
                point_cloud.append(point)
            return point_cloud
        else:
            return []

 src/microwave/servers.py

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@@ -0,0 +1,146 @@
import os, sys
from ctypes import sizeof, string_at
from socketserver import BaseRequestHandler, UDPServer
from .components import *
from .constants import *

# 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 protos import aerial_pb2 as pb



UDP_STATE_IDLE = 0
UDP_STATE_HAND_SHAKE = 1
UDP_STATE_DATA = 2
UDP_STATE_FOOTER  = 3

class MicroWaveReceiver:
    """
    micro wave data receiver
    use AddBuf method add udp packet to receiver
    when DataFrameReady == True, you can get data frame
    """
    def __init__(self):
        self.state = UDP_STATE_IDLE
        self.PointCount = 0
        self.TrackCount = 0
        self.DataFrameReady = False
        self.DataFrame = None 
        self.Header = None
        self.Footer = None
    
    def _receive_data(self, data) -> None:
        """
        receive data packet from udp
        """
        self.data_buf.extend(data)
        self.ReceivedDataLength += len(data)
        if self.ReceivedDataLength == self.DataLength:
            # if received data length equal expected data length
            # then we can get footer block
            self.state = UDP_STATE_FOOTER
        return

    def _receive_footer(self, data) -> None:
        # receive footer block
        self.footer_buf.extend(data)
        self.ReceivedFooterLength += len(data)
        if self.ReceivedFooterLength == sizeof(FooterBlock):
            self.Footer = FooterBlock.from_buffer_copy(self.footer_buf)
            # after received footer block, the data frame is ready
            self.DataFrameReady = True
            # reset state to idle, ready for next data frame
            self.state = UDP_STATE_IDLE
        return
    
    def AddBuf(self, buf: bytes) -> None:
        # add a udp packet to receiver
        buf_size = len(buf)
        if self.state == UDP_STATE_IDLE:
            if buf_size == sizeof(Handshake):
                handshake = Handshake.from_buffer_copy(buf)
                if HAND_SHAKE_MAGIC == string_at(handshake.Magic, 8):
                    self.DataFrameReady = False
                    self.state = UDP_STATE_HAND_SHAKE
                    self.DataFrame = None
                    self.Header = None
                    self.Footer = None
        elif self.state == UDP_STATE_HAND_SHAKE:
            # after received handshake packet, we can get header block 
            self.Header = HeaderBlock.from_buffer_copy(buf[:sizeof(HeaderBlock)])
            if HEADER_MAGIC == string_at(self.Header.Magic, 8):
                self.DataFrame = bytearray(buf)
                N = self.Header.NumberOfDetection
                Nt = self.Header.NumberOfTrack
                self.PointCount = 0
                self.TrackCount = 0
                self.DataLength = N * 8 + Nt * sizeof(TrackerBlock)
                self.RemainLength = self.DataLength + sizeof(FooterBlock)
                self.data_buf = bytearray()
                self.footer_buf = bytearray()
                self.Points = []
                self.ReceivedDataLength = 0
                self.ReceivedFooterLength = 0
                # the next packet should be data block
                self.state = UDP_STATE_DATA

                header_size = sizeof(HeaderBlock)
                # 处理第一个数据包中的数据
                data_size = min(buf_size - header_size, self.DataLength)
                self._receive_data(buf[header_size: header_size + data_size])
                
                # 判断第一个数据包中是否包含Footer Block
                if (header_size + data_size) < buf_size:
                    self._receive_footer(buf[header_size + data_size])
        elif self.state == UDP_STATE_DATA:
            # receive data block
            self.DataFrame.extend(buf)
            remain_data_size = self.DataLength - self.ReceivedDataLength
            data_size = min(buf_size, remain_data_size)
            self._receive_data(buf[: data_size])
            if data_size < buf_size:
                self._receive_footer(buf[data_size: ])
        elif self.state == UDP_STATE_FOOTER:
            # receive footer block
            self.DataFrame.extend(buf)
            self._receive_footer(buf)



class MicroWaveRequestHandler(BaseRequestHandler):
    """
    micro wave udp request handler
    """
    def handle(self):
        # Get message and client socket
        buf, _ = self.request
        receiver = self.server.Receiver
        # add buffer to receiver
        receiver.AddBuf(buf)
        if receiver.DataFrameReady:
            # dataframe ready, add to udp_queue
            msg = pb.RequestCommand()
            msg.sys_command = pb.SysCommand.MICRO_WAVE_COMMAND
            msg.sub_command = pb.SubCommand.MICRO_WAVE_SUB_COMMAND
            data1 = pb.MicroWaveMessage()
            data1.length = len(receiver.DataFrame)
            data1.data = bytes(receiver.DataFrame)
            data1_str = data1.SerializeToString()
            msg.data1.length = len(data1_str)
            msg.data1.data = data1_str
            self.server.msg_queue.put(msg)


class MicroWaveUDPServer(UDPServer):
    """
    micro wave udp server
    """
    def __init__(self, server_address, msg_queue):
        super().__init__(server_address, MicroWaveRequestHandler)
        # create receiver instance
        self.Receiver = MicroWaveReceiver()
        self.msg_queue = msg_queue

 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 +9,24 @@

@REM Setting the env
if not exist %aerialpython% (
    %envsetting% 
    call %envsetting% 
)
cd %~dp0
echo change to path: %cd%

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 +9,24 @@

@REM Setting the env
if not exist %aerialpython% (
    %envsetting% 
    call %envsetting% 
)
cd %~dp0
echo change to path: %cd%

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 +1,23 @@
@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% 
)

cd %~dp0
echo change to path: %cd%

@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 +1,25 @@
@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% 
)

cd %~dp0
echo change to path: %cd%

@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 +1,23 @@
@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% 
)
cd %~dp0
echo change to path: %cd%

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