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import socket
import struct
import zlib
import io
from time import time
import numpy
import config
class CRAPClient:
def __init__(self, ip='127.0.0.1', port=1337):
self.ip, self.port = ip, port
self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
self.close = self.sock.close
def sendframe(self, frame):
fb = numpy.frombuffer(frame, dtype=numpy.uint8)
fb.shape = config.frame_size, len(frame)/config.frame_size
self.sock.sendto(fb[:,:3].tobytes(), (self.ip, self.port))
def _timestamped_recv(sock):
while True:
try:
data, addr = sock.recvfrom(config.frame_size*3+4)
except io.BlockingIOError as e:
raise StopIteration()
except socket.timeout:
raise StopIteration()
else:
yield time(), data, addr
class CRAPServer:
def __init__(self, ip='', port=1337, blocking=False, log=print):
self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
self.sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
self.sock.setblocking(blocking)
self.sock.bind((ip, port))
self.blocking = blocking
self.current_client = None
self.last_timestamp = 0
self.begin_timestamp = 0
self.log = log
def close(self):
self.sock.close()
def __iter__(self):
for timestamp, data, (addr, sport) in _timestamped_recv(self.sock):
if data is None:
yield None, None
if timestamp - self.last_timestamp >= config.udp_timeout\
or timestamp - self.begin_timestamp > config.udp_switch_interval:
self.current_client = addr
self.begin_timestamp = timestamp
self.log('\x1B[91mAccepting UDP data from\x1B[0m', addr)
self.sock.settimeout(config.udp_timeout)
if addr == self.current_client:
if len(data) == config.frame_size*3+4:
(crc1,), crc2 = struct.unpack('!I', data[-4:]), zlib.crc32(data, 0),
data = data[:-4] # crop CRC
if crc1 and crc1 != crc2: # crc1 zero-check for backward-compatibility
self.log('Error receiving UDP frame: Invalid frame CRC checksum: Expected {}, got {}'.format(crc2, crc1))
continue
elif len(data) != config.frame_size*3:
self.log('Error receiving UDP frame: Invalid frame size: {}'.format(len(data)))
self.last_timestamp = timestamp
yield 'udp:'+addr, data
self.current_client = None
self.sock.settimeout(None if self.blocking else 0)
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