AGV/udp_client.py

import cv2
import socket
import math
import pickle
import sys
import time

#max_length = 65000
max_length = 65000
host =  "60.250.156.230"
port = 8000

sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)

#cap = cv2.VideoCapture('rtsp://admin:admin@192.168.50.182/av2_0')
#cap = cv2.VideoCapture('rtsp://admin:abcd1234@192.168.51.48/av2_0')
#cap = cv2.VideoCapture('rtsp://admin:abcd1234@169.254.185.181/av2_0')
cap = cv2.VideoCapture(0)
ret, frame = cap.read()
print("start")
while ret:
    # compress frame
    #time.sleep(0.1)
    frame = cv2.resize(frame,(240,180), interpolation=cv2.INTER_AREA)
    retval, buffer = cv2.imencode(".jpg", frame)

    if retval:
        # convert to byte array
        buffer = buffer.tobytes()
        # get size of the frame
        buffer_size = len(buffer)

        num_of_packs = 1
        if buffer_size > max_length:
            num_of_packs = math.ceil(buffer_size/max_length)

        frame_info = {"packs":num_of_packs}
        # send the number of packs to be expected
        #print("Number of packs:", num_of_packs)
        sock.sendto(pickle.dumps(frame_info), (host, port))
        
        left = 0
        right = max_length

        for i in range(num_of_packs):
            #print("left:", left)
            #print("right:", right)

            # truncate data to send
            data = buffer[left:right]
            left = right
            right += max_length

            # send the frames accordingly
            sock.sendto(data, (host, port))
    
    ret, frame = cap.read()

print("done")