5.24

lane_server/client_test.py

@@ -0,0 +1,13 @@
+import zmq
+ 
+context = zmq.Context()
+socket = context.socket(zmq.REQ)
+socket.connect("tcp://localhost:6666")
+ 
+if __name__ == '__main__':
+    print('zmq client start....')
+    while True:
+        # str1 = input(":")
+        socket.send_string('')
+        message = socket.recv_pyobj()
+        print(message)

lane_server/lane_infer_server.py

@@ -4,7 +4,7 @@ from loguru import logger
 import zmq
 from infer import Lane_model_infer
 import numpy as np
-
+import cv2
 lock = threading.Lock()
 response = {'code': 0, 'data': 0}
 
@@ -31,27 +31,28 @@ if __name__ == "__main__":
 
     # 配置日志输出
     logger.add(cfg['debug']['logger_filename'], format=cfg['debug']['logger_format'], retention = 5, level="INFO")
-    camera_cfg = cfg['camera']
 
     # 连接摄像头server 巡线只需要连接前摄像头
     context = zmq.Context()
     camera_socket = context.socket(zmq.SUB)
-    camera_socket.connect(f"tcp://*:{camera_cfg['front_camera_port']}")
+    camera_socket.connect(f"tcp://localhost:{cfg['camera']['front_camera_port']}")
-    camera_socket.setsockopt(zmq.SUBSCRIBE, '')
+    camera_socket.setsockopt_string(zmq.SUBSCRIBE, "")
     logger.info("connect camera success")
     # 初始化paddle推理器
     predictor = Lane_model_infer()
     logger.info("lane model load success")
     # 启动lane_infer_server线程
     mythread = threading.Thread(target=server_resp,
-                                args=(camera_cfg['lane_infer_port'],),
+                                args=(cfg['server']['lane_infer_port'],),
                                 daemon=True)
     mythread.start()
 
     while True:
-        image_data_bytes = camera_socket.recv(320*240)
+        message = camera_socket.recv()
-        image = np.frombuffer(image_data_bytes, dtype=np.uint8).reshape((240, 320, 3))
+        np_array = np.frombuffer(message, dtype=np.uint8)
-        result = predictor.infer(image)
+        frame = cv2.imdecode(np_array, cv2.IMREAD_COLOR)
+        frame = cv2.resize(frame,(320,240))
+        result = predictor.infer(frame)
         with lock:
             response['data'] = result
     mythread.join()

lane_server/test_camera_recv.py

@@ -0,0 +1,19 @@
+import zmq
+import numpy as np
+import cv2
+
+
+context = zmq.Context()
+socket = context.socket(zmq.SUB)
+socket.connect("tcp://localhost:5555")
+socket.setsockopt_string(zmq.SUBSCRIBE, '')
+
+while True:
+    message = socket.recv()
+    np_array = np.frombuffer(message, dtype=np.uint8)
+    frame = cv2.imdecode(np_array, cv2.IMREAD_COLOR)
+    cv2.imshow("Received", frame)
+    if cv2.waitKey(1) == 27:
+        break
+
+cv2.destroyAllWindows()