63 lines
1.6 KiB
Python
63 lines
1.6 KiB
Python
import socket
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import time
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import pickle
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from mini_bdx_runtime.imu import Imu
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from threading import Thread
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import time
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import argparse
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class IMUServer:
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def __init__(self, imu=None):
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self.host = "0.0.0.0"
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self.port = 1234
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self.server_socket = socket.socket()
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self.server_socket.setsockopt(
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socket.SOL_SOCKET, socket.SO_REUSEADDR, 1
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) # enable address reuse
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self.server_socket.bind((self.host, self.port))
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if imu is None:
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self.imu = Imu(50, user_pitch_bias=args.pitch_bias, upside_down=False)
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else:
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self.imu = imu
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self.stop = False
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Thread(target=self.run, daemon=True).start()
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def run(self):
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while not self.stop:
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self.server_socket.listen(1)
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conn, address = self.server_socket.accept() # accept new connection
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print("Connection from: " + str(address))
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try:
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while True:
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data = self.imu.get_data()
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data = pickle.dumps(data)
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conn.send(data) # send data to the client
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time.sleep(1 / 30)
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except:
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pass
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self.server_socket.close()
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print("thread closed")
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time.sleep(1)
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if __name__ == "__main__":
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parser = argparse.ArgumentParser()
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parser.add_argument("--pitch_bias", type=float, default=0, help="deg")
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args = parser.parse_args()
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imu_server = IMUServer()
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try:
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while True:
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time.sleep(0.01)
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except KeyboardInterrupt:
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print("Closing server")
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imu_server.stop = True
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time.sleep(2)
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