lidar_server.py

# -*- coding: utf-8 -*-
"""
Created on Sun Jun 30 16:55:00 2019

@author: user
"""

"""
자율주행 시스템 코드에 마치 라이다를 연결한 것처럼
미리 로깅한 라이다 데이터(.txt)를 읽어서 TCP로 쏴 주는 코드
2018-11
"""
import socket
import time
import os

HOST = ''
PORT = 10018
BUFFER = 2500

DATA_PATH = os.path.join('.', 'lidar_log_example.txt') ## for window & linux


def send_data():
    server_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
    server_socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
    server_socket.bind((HOST, PORT))
    server_socket.listen(1)
    print('LiDAR data serving on {}'.format(server_socket.getsockname()))

    client_socket, address = server_socket.accept()

    # txt_file_name = client_socket.recv(64)
    # txt_file_name = txt_file_name.decode()
    # print("txt file name: ", txt_file_name)
    # PLEASE GIVE ME THE INPUT .txt FILE NAME
    # LOG_FILE_NAME = DATA_PATH + txt_file_name
    # lidar_file = open(LOG_FILE_NAME, 'rb')
    lidar_file = open(DATA_PATH, 'rb')

    stop_flag = False
    file_cursor = 0
    while True:
        data_for_send = lidar_file.read(BUFFER)
        data_for_send = data_for_send.decode()
        end_index = data_for_send.find('')

        data_for_send = data_for_send[:end_index + 1]
        print(data_for_send)
        client_socket.send(data_for_send.encode())

        file_cursor += end_index + 1
        lidar_file.seek(file_cursor)

        if stop_flag:
            print("Shutdown")
            break
        else:
            pass

    server_socket.close()


if __name__ == "__main__":
    send_data()