Implementation of websockets (eeca8fdf) · Commits · ARF / World Analysis API helpers / World Analysis HHI Wrapper

wrapper/WorldAnalysisWrapper.py

+62 −52

Original line number	Diff line number	Diff line
		@@ -77,6 +77,7 @@ print("Using Websockets server: " + webs_server)
		print()

		isTime = False
		isPose = False
		running = True
		success = 0
		#websocket = websockets.connect(my_ws_server)
		@@ -136,7 +137,7 @@ def CheckRESTServer(client):
		#
		# WebSockets helpers
		#
		async def WS_sendNow(websocket, msg, isResponse):
		async def WS_send(websocket, msg, isResponse):
		print(f"[WS] Send to server: {msg}")
		await websocket.send(msg)
		if isResponse:
		@@ -146,10 +147,10 @@ async def WS_sendNow(websocket, msg, isResponse):
		async def WS_receive(websocket):
		#print(f"[WS] Waiting for response...")
		msgResponse = await websocket.recv()
		WS_OnReceiveText(msgResponse);
		_OnReceiveText(msgResponse);
		return msgResponse

		def WS_OnReceiveText(msg):
		def _OnReceiveText(msg):
		# Handle incoming text here?
		print(f"[WS] Received from server: {msg}")

		@@ -171,7 +172,7 @@ async def WS_ConnectAndLoop():

		# Register the user
		print(f"[WS] Send registration request to server for {modulename}")
		registrationResponse = await WS_sendNow(websocket, "RegisterModule:" + modulename, isResponse=True)
		registrationResponse = await WS_send(websocket, "RegisterModule:" + modulename, isResponse=True)

		if not registrationResponse.find("You are now registered"):
		print(f"[WS] Error: Registration of {modulename} was not successful!")
		@@ -198,7 +199,7 @@ async def WS_ConnectAndLoop():
		cap1.latency = 0.5
		cap1.accuracy = 0.8
		cap_json = cap1.to_json()
		await WS_sendNow(websocket, "Capabilities of:" + modulename + " Data=" + cap_json, isResponse=False)
		await WS_send(websocket, "Capabilities of:" + modulename + " Data=" + cap_json, isResponse=False)

		elif modulename == "HHI-MeshDetection":

		@@ -214,7 +215,7 @@ async def WS_ConnectAndLoop():
		cap1.latency = 0.5
		cap1.accuracy = 0.9
		cap_json = cap1.to_json()
		await WS_sendNow(websocket, "Capabilities of:" + modulename + " Data=" + cap_json, isResponse=False)
		await WS_send(websocket, "Capabilities of:" + modulename + " Data=" + cap_json, isResponse=False)

		# Capability #2
		cap2 = Capability()
		@@ -224,64 +225,73 @@ async def WS_ConnectAndLoop():
		cap2.latency = 0.05
		cap2.accuracy = 1
		cap_json = cap2.to_json()
		await WS_sendNow(websocket, "Capabilities of:" + modulename + " Data=" + cap_json, isResponse=False)
		await WS_send(websocket, "Capabilities of:" + modulename + " Data=" + cap_json, isResponse=False)

		msgToSend = "Time" # test
		#msgToSend = "Idle"
		msgToSend = "TimeStart" # test
		#msgToSend = "PoseStart"

		# Receive
		while running:
		#
		# WS LOOP
		# Websocket LOOP
		#
		while running:

		# Is s message to be send to the server?
		if msgToSend != "None":
		serverResponse = await WS_sendNow(websocket, msgToSend, isResponse=True)
		await WS_send(websocket, msgToSend, isResponse=False)
		msgToSend = "None"

		# Wait for a message
		serverMessage = await WS_receive(websocket)

		# Change state
		if msgToSend == "TimeStart":
		# Stop the loop and disconnect the server
		if serverMessage == "SessionStop":
		isPose = False
		running = False

		elif serverMessage.startswith("Time="):
		isTime = True
		msgToSend = "None"
		datetime = serverMessage.split('=')
		print(f"New server time is: { datetime[1] }")

		elif serverMessage.startswith("TimeStop"):
		isTime = False

		elif serverMessage.startswith("ConfigureFramerate:"):
		json = serverMessage.split(':')[1]

		elif serverMessage.startswith("GetPose:"):
		uuid2 = serverMessage.split(':')[1]
		mode = serverMessage.split(':')[2]

		# Send the pose
		p = Pose()
		msgToSend = "PoseNew:" + p.to_json()
		print(f"Send pose for: uuid={ uuid2 }")

		elif serverMessage.startswith("SubscribePose:"):
		uuid = serverMessage.split(':')[1]
		msgToSend = "PoseIsRegistered"
		isPose = True

		elif msgToSend == "Idle":
		elif serverMessage.startswith("UnsubscribePose:"):
		uuid = serverMessage.split(':')[1]
		isPose = False

		elif isPose == True and serverMessage == "RequestNextPose":
		time.sleep(1)
		'''serverResponse = await WS_sendNow(websocket, queryFirstJob, isResponse=True)
		if serverResponse != "Job not found":
		currentJob = Job.from_json(serverResponse)
		currentJob.state = JobState.INITIALISING
		currentJob.creation_time = None
		currentJob.last_write_time = None
		currentJob.progress = "0"
		currentJob.result = 'Scanning location'
		msgToSend = "UpdateJob(" + currentJob.to_json() + ")" '''
		msgToSend = "Idle"

		'''elif msgToSend == "Busy":
		isJob = True
		time.sleep(0.25)
		progress = int(currentJob.progress) + 10
		currentJob.progress = str(progress)
		if progress >= 100:
		if currentJob.state == JobState.INITIALISING:
		currentJob.state = JobState.RUNNING
		currentJob.result = 'Training and querying objects'
		currentJob.progress = "0"
		elif currentJob.state == JobState.RUNNING:
		currentJob.state = JobState.READY
		currentJob.result = 'Found x objects'
		msgToSend = "idle"
		isJob = False

		serverResponse = await WS_sendNow(websocket, "UpdateJob(" + currentJob.to_json() + ")", isResponse=True)
		'''
		if isTime:
		# Send the pose
		p = Pose()
		msgToSend = "PoseNew:" + p.to_json()
		print(f"Send pose for: uuid={ uuid }")

		elif isTime:
		serverResponse = await WS_receive(websocket)
		if serverResponse == "TimeStop":
		isTime = False
		msgToSend = "Idle"

		# Stop the loop and disconnect the server
		if msgToSend == "None" and serverResponse == "Stop":
		running = False

		except websockets.exceptions.ConnectionClosed as e:
		print(f"[WS] Connection closed with error: {e}")