test_send.py

from time import sleep
import random
from informer import Informer
from proto.python_out import cmd_msgs_pb2
import cv2

import argparse
parser = argparse.ArgumentParser()
parser.add_argument("-n", type=int, help="robot id")
args = parser.parse_args()

def execute_cmd(cmd):
    print(cmd.v, cmd.w)

def parse_cmd(message, robot_id):
    cmd = cmd_msgs_pb2.Cmd()
    cmd.ParseFromString(message)
    execute_cmd(cmd)


class Client(Informer):
    def send_img(self, message):
        self.send(message, 'img')

    def cmd_recv(self):
        self.recv('cmd', parse_cmd)

ifm = Client(
    config = 'config.yaml',
    robot_id = args.n
    )

def callback_img(img):
    # img = cv2.resize(img, (320*4, 4*240))
    ret, jpeg = cv2.imencode('.jpg', img)
    data = jpeg.tobytes()
    ifm.send_img(data)
    # print('send !')

video_reader = cv2.VideoCapture('video.mp4')
img = cv2.imread('img.jpg')

success, img = video_reader.read()
while success:
    callback_img(img)
    success, img = video_reader.read()
    # for key in ifm.conn_dict.keys():
    #     print(key, ifm.conn_dict[key]['status'])
    # print(ifm.working_dict.keys(), ifm.starting_dict.keys())
    # sleep(0.5)

video_reader.release()