Tipron scripts

cam_stream.py

from urllib.request import Request, urlopen
import json
from socket import socket, AF_INET, SOCK_DGRAM
import cv2
import numpy as np

SELF_IP = '192.168.0.102'
TIPRON_IP = '192.168.0.106'
RECEIVE_PORT = 8082

# Kick camera stream
req = Request(url="http://" + TIPRON_IP + ":8080/camera_control/", data=json.dumps({"eventType":"startCameraStream","ip":SELF_IP,"port":RECEIVE_PORT}).encode(), headers={}, method='POST')

with urlopen(req) as res:
    body = res.read().decode()
    print(body)

# Receive camera stream and show
s = socket(AF_INET, SOCK_DGRAM)
s.bind(('', RECEIVE_PORT))

while True:
    msg, address = s.recvfrom(80000)

    a = msg.find(b'\xff\xd8')
    b = msg.find(b'\xff\xd9')
    if a != -1 and b != -1:
        jpg = msg[a:b+2]
        i = cv2.imdecode(np.frombuffer(jpg, dtype=np.uint8), cv2.IMREAD_COLOR)
        cv2.imshow('cam', i)

        if cv2.waitKey(1) == 27:
            exit(0)
    #print(f"message: {msg}\nfrom: {address}")

s.close()

# Stop camera stream
req = Request(url="http://" + TIPRON_IP + ":8080/camera_control/", data=json.dumps({"eventType":"stopCameraStream","ip":SELF_IP,"port":RECEIVE_PORT}).encode(), headers={}, method='POST')

with urlopen(req) as res:
    body = res.read().decode()
    print(body)

move_base.py

from socket import socket, AF_INET, SOCK_DGRAM

HOST = ''
PORT = 9999
ADDRESS = "192.168.0.106"

s = socket(AF_INET, SOCK_DGRAM)
#msg = '{"clearQueue":false,"commandId":1,"commandName":"moveFront","commandValue":"200"}'	# Fast go ahead
#msg = '{"clearQueue":false,"commandId":1,"commandName":"moveFront","commandValue":"-50"}'	# Slow go back
#msg = '{"clearQueue":false,"commandId":1,"commandName":"turnLeft","commandValue":"-50"}'	# Turn right
msg = '{"clearQueue":false,"commandId":1,"commandName":"turnLeft","commandValue":"100"}'	# Turn left

s.sendto(msg.encode(), (ADDRESS, PORT))

s.close()