101 lines
3.1 KiB
Python
101 lines
3.1 KiB
Python
import toml
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import threading
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from loguru import logger
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import logging
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import zmq
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from infer import Lane_model_infer
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import numpy as np
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import cv2
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lock = threading.Lock()
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response = {'code': 0, 'data': 0}
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# 处理 server 响应数据
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def server_resp(lane_infer_port):
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logger.info("lane server thread init success")
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global response
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context = zmq.Context()
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# 启动 server
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socket = context.socket(zmq.REP)
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socket.bind(f"tcp://*:{lane_infer_port}")
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logger.info("lane infer server init success")
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while True:
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message = socket.recv_string()
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with lock:
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socket.send_pyobj(response)
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def lane_infer_server_main(queue):
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context2 = zmq.Context()
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socket_server = context2.socket(zmq.PUB)
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socket_server.setsockopt(zmq.SNDHWM,10)
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socket_server.bind("tcp://*:7778")
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if queue != None:
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class Handler(logging.Handler):
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def emit(self, record):
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log_entry = self.format(record)
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queue.put({'level': record.levelname.lower(), 'content': log_entry})
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# logger.remove()
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handler = Handler()
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logger.add(handler, format="{time:MM-DD HH:mm:ss} {message}", level="DEBUG")
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cfg = toml.load('/home/evan/Workplace/project_infer/cfg_infer_server.toml')
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# 配置日志输出
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logger.add(cfg['debug']['logger_filename'], format=cfg['debug']['logger_format'], retention = 5, level="INFO")
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# 连接摄像头 server 巡线只需要连接前摄像头
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context = zmq.Context()
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camera_socket = context.socket(zmq.REQ)
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camera_socket.connect(f"tcp://localhost:{cfg['camera']['front_camera_port']}")
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logger.info("connect camera success")
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# 初始化 paddle 推理器
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predictor = Lane_model_infer()
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logger.info("lane model load success")
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# 启动 lane_infer_server 线程
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mythread = threading.Thread(target=server_resp,
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args=(cfg['server']['lane_infer_port'],),
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daemon=True)
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mythread.start()
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import signal
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import sys
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def signal_handler(signum, frame):
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logger.info("Received signal, exiting...")
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camera_socket.close()
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context.term()
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sys.exit(0)
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# 注册信号处理函数
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signal.signal(signal.SIGTERM, signal_handler)
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signal.signal(signal.SIGINT, signal_handler)
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while True:
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camera_socket.send_string("")
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message = camera_socket.recv()
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np_array = np.frombuffer(message, dtype=np.uint8)
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frame = cv2.imdecode(np_array, cv2.IMREAD_COLOR)
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frame = cv2.cvtColor(frame, cv2.COLOR_RGB2BGR)
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result = predictor.infer(frame)
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with lock:
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response['data'] = result
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# print(result)
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cv2.circle(frame,(int(result[0]),int(result[1])),5,(0,255,0),-1)
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cv2.putText(frame, f"{int(result[0]) - 160}", (0,25), cv2.FONT_HERSHEY_SIMPLEX, 1.0, (0,0,255), 2, cv2.LINE_AA)
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socket_server.send_pyobj(frame)
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if cv2.waitKey(1) == 27:
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break
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mythread.join()
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logger.info("lane infer server exit")
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if __name__ == "__main__":
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lane_infer_server_main(None) |