1 files changed, 66 insertions, 0 deletions
diff --git a/server2.py b/server2.py
new file mode 100644
index 0000000..2066231
--- /dev/null
+++ b/server2.py
@@ -0,0 +1,66 @@
+import cv2
+import os
+import socket
+import sys
+import time
+import struct
+
+
+
+
+
+
+server_address = '/home/flo/uds_socket'
+try:
+    os.unlink(server_address)
+except OSError:
+    if os.path.exists(server_address):
+        raise
+
+# Create a UDS socket
+sock = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM)
+
+# Bind the socket to the port
+print >>sys.stderr, 'starting up on %s' % server_address
+sock.bind(server_address)
+
+# Listen for incoming connections
+sock.listen(1)
+
+
+
+while True:
+    # Wait for a connection
+    print >>sys.stderr, 'waiting for a connection'
+    connection, client_address = sock.accept()
+    try:
+        print >>sys.stderr, 'connection from', client_address
+        
+        cap = cv2.VideoCapture("flight.avi")
+        logfile = open("flight.log", "r")
+        while True:
+            data = connection.recv(16)
+            if data:
+                if data=="get\n":
+                    status, frame = cap.read()
+                    values = logfile.readline().split()
+                    phi = float(values[0])
+                    theta = float(values[1])
+                    psi = float(values[2])
+                    batt = 100.0
+
+                    framestr = frame.tostring()
+                    lenframestr=len(framestr)
+                    connection.sendall(struct.pack(">i",lenframestr)+framestr+struct.pack("@dddd", phi, theta, psi, batt));
+                elif data[0:3] == "fly" and data[-1]=="\n":
+                    values = data[3:-1].split()
+                    print "fly ",values
+            else:
+                print >>sys.stderr, 'no more data from', client_address
+                break
+    except:
+        print "Dingens!!11!1!!!"
+    finally:
+        # Clean up the connection
+        connection.close()
+